【数学】旋转矩阵

参考链接
OpenGL

from OpenGL.GL import *
from OpenGL.GLUT import *
from math import *
import numpy as np
def draw_axes():
    glClear(GL_COLOR_BUFFER_BIT)

    # 绘制坐标轴
    glColor3f(1.0, 1.0, 1.0)  # 设置坐标轴颜色为白色
    glBegin(GL_LINES)
    glVertex2f(-1.0, 0.0)  # x 轴
    glVertex2f(1.0, 0.0)
    glVertex2f(0.0, -1.0)  # y 轴
    glVertex2f(0.0, 1.0)

    # 绘制刻度线
    glColor3f(0.5, 0.5, 0.5)  # 设置刻度线颜色为灰色
    for i in range(-10, 11):  # x 轴刻度线
        glVertex2f(i * 0.1, -0.02)
        glVertex2f(i * 0.1, 0.02)
    for i in range(-10, 11):  # y 轴刻度线
        glVertex2f(-0.02, i * 0.1)
        glVertex2f(0.02, i * 0.1)


    a1 = np.array([1, 1])
    glColor3f(1.0, 1.0, 0.0)
    glVertex2f(0.0, 0.0)
    glVertex2f(a1[0], a1[1])

    glColor3f(1.0, 0.0, 0.0)

    theta = 30*pi/180
    rotation = np.array([[cos(theta),-sin(theta)],
                        [sin(theta), cos(theta)]])
    a1 = rotation.dot(a1.T)
    glVertex2f(0.0, 0.0)
    glVertex2f(a1[0], a1[1])
    glEnd()
    # 添加 X 轴标签
    x_label = "X"  # X 轴标签内容
    glColor3f(1.0, 0.0, 0.0)
    draw_text(0.9, -0.1, x_label, GLUT_BITMAP_9_BY_15)

    # 添加 Y 轴标签
    y_label = "Y"  # Y 轴标签内容
    glColor3f(0.0, 0.0, 1.0)
    draw_text(-0.1, 0.9, y_label, GLUT_BITMAP_9_BY_15)

    glColor3f(1.0, 1.0, 1.0)
    draw_text(a1[0]-0.2, a1[1]-0.5, "2", GLUT_BITMAP_9_BY_15)
    glColor3f(1.0, 1.0, 1.0)
    draw_text(a1[0], a1[1]-1, "1", GLUT_BITMAP_9_BY_15)
    glFlush()

def draw_text(x, y, text, font):
    glRasterPos2f(x, y)
    for char in text:
        glutBitmapCharacter(font, ord(char))
def main():
    glutInit()
    glutInitDisplayMode(GLUT_SINGLE | GLUT_RGB)
    glutInitWindowSize(400, 400)
    glutCreateWindow(b"OpenGL Axes with Tick Marks")

    glClearColor(0.0, 0.0, 0.0, 0.0)
    glMatrixMode(GL_PROJECTION)
    glLoadIdentity()
    glOrtho(-1.0, 1.0, -1.0, 1.0,-1,1)

    glutDisplayFunc(draw_axes)
    glutMainLoop()

if __name__ == "__main__":
    main()