[my advanced journey of OpenGL learning] collation of Euler angle, rotation order, rotation matrix, quaternion and other knowledge

Preface

Recently in use OpenGL When making a face sticker , You need to use the knowledge of Euler angle , Here, sort out the knowledge points found on the Internet .

One 、 Introduce Euler angles And how to remember three English words

Euler Angle (Euler Angle) It can be represented 3D Any rotating in space 3 It's worth , By Leonhard · Euler (Leonhard Euler) stay 18 The century puts forward . Altogether 3 Kind of Euler angle ： Pitch angle (Pitch)、 Yaw angle (Yaw) And roll angle (Roll), The following pictures show their meaning ：

1.1 Euler angle in aviation

In aviation ,pitch, yaw, roll As shown in the figure below ：