Re: [JAVA3D] Gimbal lock

[Asle Olsen]

Title: Message

Hi,

I think maybe the way you create the Quat4f is not correct.

This code works fine in my application:

public void setRotation(float[] rotation) {           
            /*Converts rotation angles into quaternions*/
            axisAngleX.set(1.0f, 0.0f, 0.0f, (float)Math.toRadians(rotation[0]));
            quatX.set(axisAngleX);
           
            axisAngleY.set(0.0f, 1.0f, 0.0f, (float)Math.toRadians(rotation[1] ));
            quatY.set(axisAngleY);
           
            axisAngleZ.set(0.0f, 0.0f, 1.0f, (float)Math.toRadians(rotation[2]));
            quatZ.set(axisAngleZ);
           
            quat.mul(quatY,quatX);
            quat.mul(quatZ);
            
            transform3D.setRotation(quat);

  }

Hope it helps,

 

Regards

Asle

-----Original Message-----
From: Discussion list for Java 3D API [mailto:[EMAIL PROTECTED]On Behalf Of Cavill, SA (Stuart)
Sent: 25. august 2004 15:19
To: [EMAIL PROTECTED]
Subject: [JAVA3D] Gimbal lock

Hi,

I'm having problems with Gimbal Lock in my JAVA 3D code ( all I need to do is rotate a simple cube in 3 dimensions).

I initially used

 

transx.rotX(anglex);

transy.rotX(angley);

transz.rotX(anglez);

trans4m.set(transx);
trans4m.mul(transy);
trans4m.mul(transz);
transformGroup.setTransform(trans4m);

 

which caused gimbal lock

 

I then tried to use

public Quat4f setQ(float pitch, float yaw, float roll)
{
  Quat4f qx =new Quat4f((float) Math.cos(pitch/2f),(float)Math.sin(pitch/2f),0,0);
  Quat4f qy =new Quat4f((float) Math.cos(yaw/2f),0,(float)Math.sin(yaw/2f),0);
  Quat4f qz =new Quat4f((float) Math.cos(roll/2f),0,0,(float)Math.sin(roll/2f));
  Quat4f qt =new Quat4f();
  qt.set(qx);
  qt.mul(qy);
  qt.mul(qz);
  return(qt);
 
}

trans4m.set(q2);

transformGroup.setTransform(trans4m);

 

but again gimbal lock occurred.

 

I would appreciate any comments on what I am doing wrong or seeing an example of the correct way to go about this problem without gimbal lock occurring.

Any help would be greatly appreciated.

 

regards

 

 

Stuart Cavill

email: S[EMAIL PROTECTED]

 

 

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