[osg-users] How to scale rotations ?

[J.P. Delport]

Hi,

I normally like to think about the heading, attitude and bank as just 
rotations about certain axes. In osg you can make a quat using e.g.:

// angles in radians, yaw, pitch, roll
double y,p,r;

osg::Quat ori = osg::Quat(r, osg::Vec3(1,0,0),
			  p, osg::Vec3(0,1,0),
			  y, osg::Vec3(0,0,1));

Change the order/axes for your app. Try to do all the scaling using 
quats. Either by multiplying them together, or changing the r,p,y values 
in the code above.

jp

Janusz wrote:
> Dear all:
> 
> Appreciate any answer on the topic:
> 
> I am reading an orientation / rotation matrix info from a sensor, then 
> visualizing the rotation of an object on screen with OSG. Given the 
> matrix or the resulting quaternion I need to be able to scale the 
> rotations independently, i.e.
> 
> heading_scale*heading_angle, heading_scale=<0,1>
> attitude_scale*attitude_angle
> bank_scale*bank_angle
> 
> in order to be able to control them on its own or restrict the rotation 
> to one angle only.
> 
> I have written 2 functions. The first one converts a quaternion to the 
> Euler angles, the other one does the opposite. In between the calls to 
> the functions I am trying to scale the rotations or switch them on/off 
> as needed.
> 
> The results are not quite good, however, and I often get trapped in the 
> famous "gimbal lock" as probably expected. :-)
> 
> Q: Is there any other possibility to handle rotations on its own? Is 
> there a way to do that without running the conversion, scaling, then 
> converting back to quat ?
> 
> All I have is the rotation matrix.
> 
> Appreciate any answer/advice or pointing me in the right direction.
> 
> Best regards,
> Janusz Goldasz
> 
> -- 
> void getEulerFromQuat(osg::Quat q, double& heading, double& attitude, 
> double& bank)
> {
>    double sqx = q.x()*q.x();     double sqy = q.y()*q.y();     double 
> sqz = q.z()*q.z();
> 
>    double t = q.x()*q.y() + q.z()*q.w();
>    if (t>0.49999)
>    {
>        heading = 2 * atan2(q.x(),q.w());
>        attitude = osg::PI_2;
>        bank = 0;
>    }
>    else if (t<-0.49999)
>    {
>        heading = -2 * atan2(q.x(),q.w());
>        attitude = - osg::PI_2;
>        bank = 0;
>    }
>    else
>    {
>        heading = atan2(2*q.y()*q.w()-2*q.x()*q.z() , 1 - 2*sqy - 2*sqz);
>        attitude = asin(2*t);
>        bank = atan2(2*q.x()*q.w()-2*q.y()*q.z() , 1 - 2*sqx - 2*sqz);
>    }
> }
> 
> 
> 
> 
> void getQuatFromEuler(double heading, double attitude, double bank, 
> osg::Quat& q)
> {
>    double c1 = cos(heading/2);     double s1 = sin(heading/2);     
> double c2 = cos(attitude/2);     double s2 = sin(attitude/2);     double 
> c3 = cos(bank/2);     double s3 = sin(bank/2);
>    double c1c2 = c1*c2;    double s1s2 = s1*s2;
> 
>    double w =c1c2*c3 - s1s2*s3;
>    double x =c1c2*s3 + s1s2*c3;
>    double y =s1*c2*c3 + c1*s2*s3;
>    double z =c1*s2*c3 - s1*c2*s3;
> 
>    q[0] = x; q[1] = y;
>    q[2] = z; q[3] = w;
> }
> 
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> 

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