绕固定 xyz 轴旋转

struct mat3 {float3 x;float3 y;float3 z;};float3 rotation(float3 mp, float3 pos) {float s = 0.0f;float c = 0.0f;struct mat3 rotX;s = sin(mp.x);c = cos(mp.x);rotX.x = (float3)(1.0f, 0.0f, 0.0f);rotX.y = (float3)(0.0f, c, -s);rotX.z = (float3)(0.0f, s,  c);struct mat3 rotY;s = sin(mp.y);c = cos(mp.y);rotY.x = (float3)(c,0.0f, s);rotY.y = (float3)(0.0f, 1.0f, 0.0f);rotY.z = (float3)(-s,0.0f, c);struct mat3 rotZ;s = sin(mp.z);c = cos(mp.z);rotZ.x = (float3)(c,-s,0.0f);rotZ.y = (float3)(s,c,0.0f);rotZ.z = (float3)(0.0f, 0.0f,1.0f);float3 m2x = (float3)(rotY.x.x, rotY.y.x, rotY.z.x);float3 m2y = (float3)(rotY.x.y, rotY.y.y, rotY.z.y);float3 m2z = (float3)(rotY.x.z, rotY.y.z, rotY.z.z);struct mat3 m;m.x.x = dot(m2x, rotX.x);m.x.y = dot(m2y, rotX.x);m.x.z = dot(m2z, rotX.x);m.y.x = dot(m2x, rotX.y);m.y.y = dot(m2y, rotX.y);m.y.z = dot(m2z, rotX.y);m.z.x = dot(m2x, rotX.z);m.z.y = dot(m2y, rotX.z);m.z.z = dot(m2z, rotX.z);float3 m3x = (float3)(rotZ.x.x, rotZ.y.x, rotZ.z.x);float3 m3y = (float3)(rotZ.x.y, rotZ.y.y, rotZ.z.y);float3 m3z = (float3)(rotZ.x.z, rotZ.y.z, rotZ.z.z);struct mat3 mm;mm.x.x = dot(m3x, m.x);mm.x.y = dot(m3y, m.x);mm.x.z = dot(m3z, m.x);mm.y.x = dot(m3x, m.y);mm.y.y = dot(m3y, m.y);mm.y.z = dot(m3z, m.y);mm.z.x = dot(m3x, m.z);mm.z.y = dot(m3y, m.z);mm.z.z = dot(m3z, m.z);float3 result = 0.0f;result.x = dot(mm.x, pos.xyz);result.y = dot(mm.y, pos.xyz);result.z = dot(mm.z, pos.xyz);return result;}float3 makeRotationMatrix(float3 input, float3 pos){float3 a;a.x = input.z;a.y = input.y;a.z = input.x;float3 result = 0.0f;struct mat3 m;m.x = (float3)(cos(a.x) * cos(a.z) - sin(a.x) * cos(a.y) * sin(a.z),-cos(a.x) * sin(a.z) - sin(a.x) * cos(a.y) * cos(a.z),sin(a.x) * sin(a.y));m.y = (float3)(sin(a.x) * cos(a.z) + cos(a.x) * cos(a.y) * sin(a.z),-sin(a.x) * sin(a.z) + cos(a.x) * cos(a.y) * cos(a.z),-cos(a.x) * sin(a.y));m.z = (float3)(sin(a.y) * sin(a.z),sin(a.y) * cos(a.z),cos(a.y));result.x = dot(m.x, pos.xyz);result.y = dot(m.y, pos.xyz);result.z = dot(m.z, pos.xyz);return result;}float3 rotationMatrix(float3 axis, float angle, float3 pos) {float3 a = normalize(axis);float s = sin(angle);float c = cos(angle);float oc = 1.0f - c;float sx = s * a.x;float sy = s * a.y;float sz = s * a.z;float ocx = oc * a.x;float ocy = oc * a.y;float ocz = oc * a.z;float ocxx = ocx * a.x;float ocxy = ocx * a.y;float ocxz = ocx * a.z;float ocyy = ocy * a.y;float ocyz = ocy * a.z;float oczz = ocz * a.z;struct mat3 mm;mm.x = (float3)(ocxx + c, ocxy - sz, ocxz + sy);mm.y = (float3)(ocxy + sz, ocyy + c, ocyz - sx);mm.z = (float3)(ocxz - sy, ocyz + sx, oczz + c);float3 result = 0.0f;result.x = dot(mm.x, pos.xyz);result.y = dot(mm.y, pos.xyz);result.z = dot(mm.z, pos.xyz);return result;}