文件名称:rotationmat3D
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输入一个旋转角度，以及一个旋转轴，可以求出空间中任意点的旋转矩阵
注意角度用弧度单位-Given input:
r: angle to rotate, in rads
Axis: axis of rotation, defined as a 3point which connects to the origin.
Output:
3x3 Matrix R such that for an arbitrary point v, Rv is the point corresponding to v rotated around the Axis.
注意角度用弧度单位-Given input:
r: angle to rotate, in rads
Axis: axis of rotation, defined as a 3point which connects to the origin.
Output:
3x3 Matrix R such that for an arbitrary point v, Rv is the point corresponding to v rotated around the Axis.
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rotationmat3D.mht