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我想知道 3D 旋转的方程来自哪里?(http://en.wikipedia.org/wiki/Rotation_matrix)。如果我想先围绕 x 轴旋转一个点以获得 thetax 度数,然后围绕 y 轴旋转以获得 thetay 度数,最后围绕 z 轴旋转以获得 thetaz 度数,我想问:如何定义 ux、uy 和 uz在上面的等式中?