http://realtimerendering.comhttp://www.geimetrictools.comhttp://astronomy.swin.edu.au/~pbourke/
http://www.opengl.org/
http://www.gamasutra.com/php-bin/article_display.php
http://www.blizzhackers.com/index.php
(M*N)^T = (N^T) * (M^T)
(M*N)^-1 = (N^-1) * (M^-1)
(M^-1)^T = (M^T)^-1
E(h,p,r) = Rz(r)Rx(p)Ry(h)
orthonormal vectors:正交单位向量组
trace:矩阵主对角线元素之和
adjoint:伴随矩阵