Unity中的旋转

FeastSC · 发表于 2023-1-11 16:57

坐标系

Unity采用左手坐标系（正向角度为顺时针方向，右手系正向角度为逆时针方向）
x轴旋转\theta，旋转矩阵为
R_x(\theta) = \begin{bmatrix}  1 & 0 & 0 \\  0 & \cos \theta & \sin \theta \\  0 & -\sin \theta & \cos \theta \end{bmatrix}
y轴旋转 \alpha ，旋转矩阵为
R_y(\alpha ) = \begin{bmatrix}  \cos \alpha & 0 & -\sin \alpha \\  0 & 1 & 0 \\  \sin \alpha & 0 & \cos \alpha \end{bmatrix}
z轴旋转 \beta ，旋转矩阵为
R_z(\beta) = \begin{bmatrix} \cos \beta & \sin \beta & 0 \\  -\sin \beta & \cos \beta & 0 \\ 0       & 0       & 1 \end{bmatrix}
顺归

unity中旋转顺归是：Z，X，Y 顺序。

In Unity these rotations are performed around the Z axis, the X axis, and the Y axis, in that order.

using UnityEngine;

public class Test : MonoBehaviour
{
public GameObject actor;

// Update is called once per frame
void Update()
{
      var angle = actor.transform.rotation.eulerAngles;
      var a = angle.z * Mathf.Deg2Rad;
      var c = Mathf.Cos(a);
      var s = Mathf.Sin(a);

      var rZ = new Matrix4x4(
         new Vector4(c,  s, 0, 0),
         new Vector4(-

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