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  Trying to use Java3D quats with Jogl, but not quite working right  (Read 553 times)
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Offline 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.

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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 );
   }
Offline 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

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