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This article comprehensively explores the mathematical principles of vector rotation in three-dimensional space, starting from basic 2D rotation matrices and detailing the construction methods for rotation matrices around X, Y, and Z axes. Through concrete code examples, it demonstrates how to apply rotation matrices to spacecraft movement vector control in OpenGL ES, and discusses the limitations of Euler angle systems along with advanced rotation representations like quaternions. The article also covers practical techniques including rotation composition and local rotation implementation, providing complete rotation solutions for computer graphics and game development.