旋转Vector3D

Question

我正在尝试像这样旋转Vector3D：

Vector3D i = new Vector3D(1, 1, 0);
i.Normalize();

Matrix3D m = Matrix3D.Identity;
Quaternion rot = GetShortestRotationBetweenVectors(i, new Vector3D(1, 0, 0));
m.Rotate(rot);

Vector3D j = new Vector3D(0, 1, 0);
Vector3D jRotated = m.Transform(j);
// j should be equal to i

public static Quaternion GetShortestRotationBetweenVectors(Vector3D vector1, Vector3D vector2)
{
vector1.Normalize();
vector2.Normalize();
float angle = (float)Math.Acos(Vector3D.DotProduct(vector1, vector2));
Vector3D axis = Vector3D.CrossProduct(vector2, vector1);

// Check to see if the angle is very small, in which case, the cross product becomes unstable,
// so set the axis to a default.  It doesn't matter much what this axis is, as the rotation angle 
// will be near zero anyway.
if (angle < 0.001f)
{
    axis = new Vector3D(0.0f, 0.0f, 1.0f);
}

if (axis.Length < .001f)
{
    return Quaternion.Identity;
}

axis.Normalize();
Quaternion rot = new Quaternion(axis, angle);

return rot;
}

我得到旋转矩阵从i =（0.77,0.77,0）传递到（1,0,0）=＆gt; 45°。所以（0,1,0）旋转45º，结果应为（0.77,0.77,0）。但结果几乎与原始矢量（0,1,0）相同，因此没有进行任何变换。

如何旋转矢量？我有一个向量（x，y，z），这个向量应该旋转到（1,0,0）。对于此操作，假设我们必须旋转30º。那么如何旋转我有30º的所有矢量？

Answer 1

最后我发现了问题。

float angle = (float)Math.Acos(Vector3D.DotProduct(vector1, vector2));

以弧度给出角度。

Quaternion rot = new Quaternion(axis, angle);

期望以度为单位的角度

所以解决方案很简单：

float angle = (float)(Math.Acos(Vector3D.DotProduct(vector1, vector2)) * (180 / Math.PI));

这意味着Avateering-XNA（Microsoft官方软件）存在错误。