Thank you, Matthias Hölzl !
I know the subject of “Rotation Matrix” is a fairly large research content. But I really impressed with your answer! Previously, I had no idea what coordinate system was about , and what was the real role of the matrixes in the transform.
I will be a good read on your references. It’s generous of you to give me so much your time. Thanks again!
I suggest everyone who has the same question with me should read this answer carefully. Hope it will help you too.