the direction cosine matrix 方向余弦矩阵
The coordinate transformation matrix based on the direction cosine parameters from the object coordinate system to the world coordinate system is derived by vector algebra.
利用矢量代数的方法，推导出以方向余弦为参量的物坐标系到世界坐标系的坐标变换矩阵；利用矩阵求逆的方法，推导出世界坐标系到物坐标系的坐标变换矩阵。
Then this is the component in your direction we call that the radial component which is v cosine theta.
这是y方向的，组成因素,我们称之为辐射组成,等于vcosθ
Since there is no acceleration in the y direction, the normal force must be also mg cosine theta.
既然在y方向上,没有加速度，法向力也等于mgcosθ
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