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R. J. Renka
02/01/2010
v = α1 v1 + α2 v2 + . . . αk vk
u = (1/kvk)v = v/kvk.
kuk = (1/kvk)kvk = 1.
hu, vi = u1 v1 + u2 v2 + u3 v3 .
Theorem
hu, vi = kukkvk cos θ,
where θ is the angle between u and v treated as directed line
segments. Note that, since cos(0) = 1, we have the corollary
hu, ui = kuk2 ,
cos(θ) = a/c
c sin(θ) = b/c
b
a2 +b 2
cos2 (θ) + sin2 (θ) = c2
=1
θ
a
The double angle formulas can be obtained by equating real and
imaginary parts in the following.
v
θ
- - u, kuk = 1
hv, uiu
Theorem
u × v = kukkvk sin θ n,
where θ is the smaller angle between u and v treated as directed
line segments, and n is a unit vector in the direction orthogonal to
the plane of u and v with sense defined by the right-hand rule (in
our right-handed coordinate system).
For nonzero vectors, u × v = 0 if u and v are collinear (θ = 0 or
θ = π). Otherwise u × v has direction normal to the plane of u
and v.
The cross product can be defined for vectors in R2 by using only
the third component — a scalar:
(u × v)z = u1 v2 − u2 v1 for u, v ∈ R2 .
u = (v2 − v1 ) × (v3 − v1 )
to a unit vector:
n = u/kuk.
Any cyclic permutation of the three vertices will produce the same
vector u. This is obvious from the geometry and is easily verified
algebraically. Reversing the order, however, reverses the sign of u
and n. When computing surface normals for lighting calculations
with a triangle mesh surface, care must be taken to consistently
order the triangle vertices.
d = kp − p1 k sin θ
= kp − p1 kk(p2 − p1 ) × (p − p1 )k/(kp2 − p1 kkp − p1 k)
= k(p2 − p1 ) × (p − p1 )k/kp2 − p1 k.
[(p2 − p1 ) × (p − p1 )]z ≥ 0
Identity Description
u+v=v+u Commutativity of addition
u-v=u+(-v) Definition of subtraction
(u+v)+w=u+(v+w) Associativity of addition
α(βv)=(αβ)v Associativity of scalar multiplication
α(u+v)=αu+αv Distributive property
hu, vi = hv, ui Symmetry of dot product
hαu, vi = αhu, vi Linearity of dot product
hu + v,p wi = hu, wi + hv, wi Linearity of dot product
kvk = hv, vi Definition of norm
Identity Description
kvk ≥ 0 Nonnegativity of norm
kαvk = |α| kvk Norm of scalar times vector
ku + vk ≤ kuk + kvk Triangle inequality
αv × v = 0 Collinear vectors
u × v = −(v × u) Skew-symmetry (antisymmetry)
(αu) × v = α(u × v) Linearity of cross product
(u + v) × w = u × w + v × w Linearity of cross product
u × (v × w) = hu, wiv − hu, viw Vector triple product
hu, v × wi = det(u, v, w) Rows of determinant
= det(v, w, u) = det(w, u, v)