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 How to get Yaw, Pitch, and Roll from a Matrix?  (Read 1778 times) 0 Members and 1 Guest are viewing this topic.
CyanPrime
 « Posted 2011-05-23 03:44:29 »

Is this correct? If now can you post what would be?

this is the site I'm getting my formulas from: http://planning.cs.uiuc.edu/node103.html
 1  2  3 `float yaw = (float) -(Math.tan(m.m10/m.m00));        float pitch = (float) -(Math.tan((-m.m20)/(Math.sqrt(Math.pow(m.m21, 2) + Math.pow(m.m22, 2)))));        float roll = (float) -(Math.tan(m.m21/m.m22));`
endolf

JGO Coder

Medals: 7
Exp: 15 years

Current project release date: sometime in 3003

 « Reply #1 - Posted 2011-05-23 06:15:42 »

Hi

Take a look at the source for Java3D or Ardor3d, they will do the maths in there somewhere, for ardor it's done using quaternions, which can be calculated from a matrix and then converted to euler angles.

HTH

Endolf

Roquen
 « Reply #2 - Posted 2011-05-23 11:53:55 »

Euler angles:  Just say no (at runtime).  Seriously, they aren't interesting unless you're doing some specific types of integration.

Want to improved speed? If not: Do you want to improve your accuracy?  If yes to at least one, then:

Math.pow(x,2) -> x*x
Math.sqrt(Math.pow(x,2)) -> Math.abs(x)

If you still decide to use Euler angles, then note that most references will be for right-handed coordinate frames (instead of OpenGL's left-handed).
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endolf

JGO Coder

Medals: 7
Exp: 15 years

Current project release date: sometime in 3003

 « Reply #3 - Posted 2011-05-23 12:03:23 »

Unless you are doing simple rotations with them (land vehicles) you're best off using quaternions.

I'm no mathematician, see here for some discussion.

Endolf

CyanPrime
 « Reply #4 - Posted 2011-05-23 16:53:28 »

Math.sqrt(Math.pow(x,2)) -> Math.abs(x)

You forgot the + between the two Pow calls.
 1 `Math.sqrt(Math.pow(m.m21, 2) + Math.pow(m.m22, 2))`

Also is there a way to use quaternions from a openGL call, or a matrix to move/rotate?

CyanPrime
 « Reply #5 - Posted 2011-05-23 19:13:32 »

Alright, this is what I got so far, but my camera doesn't seem to move at all. Even if I put lookAt on (5,50,5) it stays looking foward. This is my code so far:

 1  2  3  4  5  6  7  8  9  10  11  12  13  14  15  16  17  18  19  20  21  22  23  24  25  26  27  28  29  30  31  32  33  34  35  36  37  38  39  40  41  42  43  44  45  46  47  48  49  50  51  52  53  54  55  56  57  58  59  60  61  62  63  64  65  66  67  68  69  70  71  72  73  74  75  76  77  78 `import org.lwjgl.opengl.GL11;import org.lwjgl.util.vector.Matrix3f;import org.lwjgl.util.vector.Vector3f;public class Camera {    //3d vector to store the camera's position in    Vector3f position = null;    Vector3f lookAt = null;    Vector3f up = null;    //the rotation around the Y axis of the camera    float yaw = 0;        //the rotation around the X axis of the camera    float pitch = 0;        //the rotation around the Z axis of the camera    float roll = 0;        public Camera(float x, float y, float z)    {        //instantiate position Vector3f to the x y z params.        position = new Vector3f(x, y, z);        lookAt = new Vector3f();        up = new Vector3f(0,1,0);    }        public void lookThrough()    {       Matrix3f m = new Matrix3f();                     up = new Vector3f(0,1,0);       Vector3f out = new Vector3f();       Vector3f.sub(position, lookAt, out);       out.normalise();       Vector3f.sub(up, (Vector3f) out.scale(Vector3f.dot(out,up)), up);              Vector3f camUp = new Vector3f();       Vector3f.sub(up , (Vector3f) out.scale(Vector3f.dot(out,up)), camUp);       //set forward vector       m.m00 = 0;       m.m01 = 0;       m.m02 = 1;              //set right vector       m.m10 = 1;       m.m11 = 0;       m.m12 = 0;              //set up vector       m.m20 = camUp.x;       m.m21 = camUp.y;       m.m22 = camUp.z;              if(m.m00 != 0)          yaw = (float) Math.atan2((-m.m20),(Math.sqrt(Math.pow(m.m21, 2) + Math.pow(m.m22, 2))));       else           yaw = 0;              pitch = (float) Math.atan2(m.m21,m.m22);              if(m.m22 != 0)          roll =  (float) Math.atan2(m.m10,m.m00);       else          roll = 0;              System.out.println("roll: " + roll + " pitch: " + pitch + " yaw: " + yaw);               //roatate the pitch around the X axis        GL11.glRotatef(pitch, 1.0f, 0.0f, 0.0f);        //roatate the yaw around the Y axis        GL11.glRotatef(yaw, 0.0f, 1.0f, 0.0f);        //roatate the yaw around the Y axis        GL11.glRotatef(roll, 0.0f, 0.0f, 1.0f);        //translate to the position vector's location        GL11.glTranslatef(position.x, position.y, position.z);    }}`

And this is my output:
 1  2  3  4  5  6  7  8  9  10  11  12  13  14  15  16  17  18  19  20  21  22  23  24  25  26  27 `roll: 1.5707964 pitch: 2.819842 yaw: 0.0roll: 1.5707964 pitch: 2.819842 yaw: 0.0roll: 1.5707964 pitch: 2.819842 yaw: 0.0roll: 1.5707964 pitch: 2.819842 yaw: 0.0roll: 1.5707964 pitch: 2.819842 yaw: 0.0roll: 1.5707964 pitch: 2.819842 yaw: 0.0roll: 1.5707964 pitch: 2.819842 yaw: 0.0roll: 1.5707964 pitch: 2.819842 yaw: 0.0roll: 1.5707964 pitch: 2.819842 yaw: 0.0roll: 1.5707964 pitch: 2.819842 yaw: 0.0roll: 1.5707964 pitch: 2.819842 yaw: 0.0roll: 1.5707964 pitch: 2.819842 yaw: 0.0roll: 1.5707964 pitch: 2.819842 yaw: 0.0roll: 1.5707964 pitch: 2.819842 yaw: 0.0roll: 1.5707964 pitch: 2.819842 yaw: 0.0roll: 1.5707964 pitch: 2.819842 yaw: 0.0roll: 1.5707964 pitch: 2.819842 yaw: 0.0roll: 1.5707964 pitch: 2.819842 yaw: 0.0roll: 1.5707964 pitch: 2.819842 yaw: 0.0roll: 1.5707964 pitch: 2.819842 yaw: 0.0roll: 1.5707964 pitch: 2.819842 yaw: 0.0roll: 1.5707964 pitch: 2.819842 yaw: 0.0roll: 1.5707964 pitch: 2.819842 yaw: 0.0roll: 1.5707964 pitch: 2.819842 yaw: 0.0roll: 1.5707964 pitch: 2.819842 yaw: 0.0roll: 1.5707964 pitch: 2.819842 yaw: 0.0roll: 1.5707964 pitch: 2.819842 yaw: 0.0`

Yaw should be at something aside of 0, right?
Hansdampf

Senior Devvie

Projects: 3

too offending?

 « Reply #6 - Posted 2011-05-24 06:24:02 »

 1  2 `m.m00 = 0;if(m.m00 != 0)...;else yaw = 0;`

do you see?

lots of sillystupid games: http://www.emaggame.com
lhkbob

JGO Knight

Medals: 32

 « Reply #7 - Posted 2011-05-24 15:29:59 »

If you still decide to use Euler angles, then note that most references will be for right-handed coordinate frames (instead of OpenGL's left-handed).

I'm pretty sure OpenGL is right-handed, they just do some weirdness where the camera looks down the negative z-axis.

Roquen
 « Reply #8 - Posted 2011-05-24 15:51:44 »

You're correct.  It's Direct X that uses a left handed coordinate frame..shame on me.
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