几何位置变换

二维旋转： 因为 x1=cos(α)*r,y1=sin(α)*r,x2=cos(α+β)*r,y2=sin(α+β)*r 所以 x2=cos(α+β)*r=cos(α)*cos(β)*r-sin(α)*sin(β)*r=cos(β)*x1-sin(β)*y1 y2=sin(α+β)*r=sin(α)*cos(β)*r+cos(α)*sin(β)*r=y1*cos(β)+x1*sin(β) 三维旋转

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