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 Trying to use Java3D quats with Jogl, but not quite working right  (Read 1217 times) 0 Members and 1 Guest are viewing this topic.
Boltimus

Junior Newbie

 « Posted 2011-11-10 21:02:46 »

Hello everyone, rather than trying to recreate a quaternion library, I thought I would simply try to use what was in Java3D. I'm simply trying to get a sphere to rotate in all 3 axes: roll, pitch, and yaw... but am having difficulties.... The code is below. Here is what is happening ... I can pitch (rotate around x-axis) fine, but if I roll to the right or left by 90 degrees and then pitch, the ball appears to yaw.

 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 `private void drawBall( GL2 gl )   {            /* now add the texture */      rdsTexture.enable( gl );      rdsTexture.bind( gl );            /* rotate for inclination and toolface */      AxisAngle4f pitchAA = new AxisAngle4f( 1.0f , 0 , 0 , ( float ) Math.toRadians( pitch + 90 ) );      Quat4f pitchQuat = new Quat4f( );      pitchQuat.set( pitchAA );            AxisAngle4f rollAA = new AxisAngle4f( 0 , 0 , 1.0f , ( float ) Math.toRadians( roll + 180 ) );      Quat4f rollQuat = new Quat4f( );      rollQuat.set( rollAA );            AxisAngle4f yawAA = new AxisAngle4f( 0 , 1.0f , 0 , ( float ) Math.toRadians( yaw ) );      Quat4f yawQuat = new Quat4f( );      yawQuat.set( yawAA );            result.mul( yawQuat , pitchQuat );      result.mul( rollQuat );            float[ ] m = new float[ 16 ];      gl.glGetFloatv( GL2.GL_MODELVIEW_MATRIX , m , 0 );      Transform3D transform = new Transform3D( m );       transform.setRotation( result );      Matrix4f m4 = new Matrix4f( );      transform.get( m4 );            float[ ] modelView = new float[ ] { m4.m00 , m4.m01 , m4.m02 , m4.m03 , m4.m10 , m4.m11 , m4.m12 , m4.m13 ,            m4.m20 , m4.m21 , m4.m22 , m4.m23 , m4.m30 , m4.m31 , m4.m32 , m4.m33 , };            /* the default view is straight and level */      gl.glMultMatrixf( modelView , 0 );            /* draw a sphere */      GLUquadric quadric = glu.gluNewQuadric( );      glu.gluQuadricTexture( quadric , true );      glu.gluSphere( quadric , 6.0f , 64 , 64 );   }`
gouessej
 « Reply #1 - Posted 2011-11-10 22:07:16 »

Hi

This is a problem of gimbal lock. Ardor3D has a workaround to use Euler's angles without gimbal lock, it is based on singularities on poles. Otherwise, you can use non eulerian transforms:
http://www.javafr.com/codes/JOGL-SYSTEME-ANTI-GIMBAL-LOCK-APPLIQUE-CUBE_53349.aspx

Julien Gouesse | Personal blog | Website | Jogamp
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