欧拉角旋转矩阵 c语言代码
时间: 2024-01-26 11:00:20 浏览: 30
欧拉角是描述物体在三维空间中旋转的一种方式,常用的欧拉角包括 yaw、pitch 和 roll。对于欧拉角的旋转矩阵,可以使用以下的 C 语言代码进行计算:
```c
#include <math.h>
void eulerToRotationMatrix(float yaw, float pitch, float roll, float matrix[3][3]) {
float cosYaw = cos(yaw);
float sinYaw = sin(yaw);
float cosPitch = cos(pitch);
float sinPitch = sin(pitch);
float cosRoll = cos(roll);
float sinRoll = sin(roll);
matrix[0][0] = cosYaw * cosPitch;
matrix[0][1] = cosYaw * sinPitch * sinRoll - sinYaw * cosRoll;
matrix[0][2] = cosYaw * sinPitch * cosRoll + sinYaw * sinRoll;
matrix[1][0] = sinYaw * cosPitch;
matrix[1][1] = sinYaw * sinPitch * sinRoll + cosYaw * cosRoll;
matrix[1][2] = sinYaw * sinPitch * cosRoll - cosYaw * sinRoll;
matrix[2][0] = -sinPitch;
matrix[2][1] = cosPitch * sinRoll;
matrix[2][2] = cosPitch * cosRoll;
}
```
该代码接受欧拉角的输入,并计算出对应的旋转矩阵,存储在 `matrix` 数组中。这样的旋转矩阵可以用于将物体进行相应的旋转操作。