// 旋转一个点(x,y)绕原点旋转angle弧度
function rotatePoint(x, y, angle) {
    const cos = Math.cos(angle);
    const sin = Math.sin(angle);
    return {
        x: x * cos - y * sin,
        y: x * sin + y * cos
    };
}

import numpy as np

def rotate_3d(point, angle_x, angle_y, angle_z):
    # 转换为弧度
    angle_x, angle_y, angle_z = np.radians(angle_x), np.radians(angle_y), np.radians(angle_z)
    
    # 绕X轴旋转矩阵
    Rx = np.array([
        [1, 0, 0],
        [0, np.cos(angle_x), -np.sin(angle_x)],
        [0, np.sin(angle_x), np.cos(angle_x)]
    ])
    
    # 绕Y轴旋转矩阵
    Ry = np.array([
        [np.cos(angle_y), 0, np.sin(angle_y)],
        [0, 1, 0],
        [-np.sin(angle_y), 0, np.cos(angle_y)]
    ])
    
    # 绕Z轴旋转矩阵
    Rz = np.array([
        [np.cos(angle_z), -np.sin(angle_z), 0],
        [np.sin(angle_z), np.cos(angle_z), 0],
        [0, 0, 1]
    ])
    
    # 组合旋转矩阵
    rotation_matrix = Rz @ Ry @ Rx
    
    # 应用旋转
    return rotation_matrix @ point

function rotateAroundPoint(x, y, centerX, centerY, angle) {
    // 平移至原点
    const translatedX = x - centerX;
    const translatedY = y - centerY;
    
    // 旋转
    const rotated = rotatePoint(translatedX, translatedY, angle);
    
    // 平移回原位置
    return {
        x: rotated.x + centerX,
        y: rotated.y + centerY
    };
}

// 使用四元数进行3D旋转
glm::quat rotation = glm::quat(glm::vec3(pitch, yaw, roll));
glm::mat4 rotationMatrix = glm::toMat4(rotation);