VPython中的显示框，了解横摇和偏航

我正试图想象VPython的一个盒子 问题是：我知道是横摇和横摆，但Vpython的属性是“轴”和“向上”。 我怎样才能把我的角度转换成这两个需要的向量呢

下面是显示3个轴和一个框的简短代码。 功能设置方向应更改提供横滚、俯仰和偏航的框属性“向上”和“轴”

import vis

def setOrientation(element, roll, pitch, yaw):    
    element.axis = ???
    element.up = ???


vis.display(
    title='Board orientation',
    x=0, y=200,
    width=600, height=600,
    center=(0, 0, 0),
    forward=(1, 0.4, 1),
    up = (0,0,-1),
    lights =[
        vis.distant_light(direction=(0.22, 0.44, -0.88), color=vis.color.gray(0.8)),
        vis.distant_light(direction=(-0.88, -0.22, 0.44), color=vis.color.gray(0.3))], 
range = 5
)

# Draw all axes
startingpoint = vis.sphere(pos=vis.vector(0, 0, 0), radius=0.2, color=vis.color.yellow)
vis.arrow(pos=startingpoint.pos, axis=vis.vector(3, 0, 0), shaftwidth=0.1, color=vis.color.red)
vis.arrow(pos=startingpoint.pos, axis=vis.vector(0, 3, 0), shaftwidth=0.1, color=vis.color.green)
vis.arrow(pos=startingpoint.pos, axis=vis.vector(0, 0, 3), shaftwidth=0.1, color=vis.color.blue)

#Make a box
mybox = vis.box(pos=(0,0,0), length=6, height=2, width=0.1, color=vis.color.red)
#Orient it by proviging roll, pitch and yaw
setOrientation(mybox, 0, 0, 0)

轴和方向应与

X点前进

Y-指向右边

Z点向下

滚动-正方向为顺时针

正俯仰向上

偏航-正向为顺时针方向

我找到的最接近的东西是迈克·斯莫托

axis=(cos(pitch)*cos(yaw),-cos(pitch)*sin(yaw),sin(pitch)) 
up=(sin(roll)*sin(yaw)+cos(roll)*sin(pitch)*cos(yaw),sin(roll)*cos(yaw)-cos(roll)*sin(pitch)*sin(yaw),-cos(roll)*cos(pitch))

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此解决方案的问题是，它的轴与我的问题不匹配，我无法修改它以满足我的需要。

您正在执行从身体四等分系统到全局坐标系统的旋转。你可以用一个

您可以使用此选项从侧滚俯仰和偏航创建四元数

def QuaternionFromEuler(Roll, Pitch, Yaw):
    cRoll = math.cos(Roll/2)
    cPitch = math.cos(Pitch/2)
    cYaw = math.cos(Yaw/2)
    sRoll = math.sin(Roll/2)
    sPitch = math.sin(Pitch/2)
    sYaw = math.sin(Yaw/2)
    Quaternion = numpy.empty(4)
    Quaternion[0] = cRoll*cPitch*cYaw + sYaw*sPitch*sYaw
    Quaternion[1] = sRoll*cPitch*cYaw - cRoll*sPitch*sYaw
    Quaternion[2] = cRoll*sPitch*cYaw + cYaw*cPitch*sYaw
    Quaternion[3] = cRoll*cPitch*sYaw - sRoll*sPitch*cYaw
    return Quaternion

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好的-但是这如何帮助我计算两个需要的向量“轴”和“向上”？我知道旋转（我有横摇和横摆），但我无法用VPython正确显示它。