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user:sei:roll_pitch_yaw [2015-07-31 09:59 SLT] sei created |
user:sei:roll_pitch_yaw [2017-08-17 08:30 SLT] (current) sei note the order applies to extrinsic rotations |
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| - | Since this seems to be a FAQ, here is a function to return classic roll/pitch/yaw (as used by planes, for example). $lfn[llRot2Euler] can't be used because classic roll/pitch/yaw requires XYZ rotation order, and SL uses ZYX rotation order. | + | Since this seems to be a FAQ, here is a function to return classic roll/pitch/yaw (nautical angles). $lfn[llRot2Euler] can't be used because classic roll/pitch/yaw requires (extrinsic) XYZ rotation order, and SL uses ZYX rotation order. |
| <code lsl2> | <code lsl2> | ||
| vector Rot2EulerXYZ(rotation rot) | vector Rot2EulerXYZ(rotation rot) | ||
| { | { | ||
| - | return <llAtan2(2*(rot.s*rot.x + rot.y*rot.z), 1 - 2*(rot.x*rot.x + rot.y*rot.y)), | + | return <llAtan2((rot.s*rot.x + rot.y*rot.z), 0.5 - (rot.x*rot.x + rot.y*rot.y)), |
| llAsin (2*(rot.s*rot.y - rot.x*rot.z)), | llAsin (2*(rot.s*rot.y - rot.x*rot.z)), | ||
| - | llAtan2(2*(rot.s*rot.z + rot.x*rot.y), 1 - 2*(rot.y*rot.y + rot.z*rot.z))>; | + | llAtan2((rot.s*rot.z + rot.x*rot.y), 0.5 - (rot.y*rot.y + rot.z*rot.z))>; |
| } | } | ||
| </code> | </code> | ||
| - | It assumes SL avatar coordinate conventions (X=forward, Y=left, Z=up). The output vector has components output.x=roll, output.y=pitch, output.z=yaw. | + | It assumes SL avatar coordinate conventions (X=forward, Y=left, Z=up). Unlike LSL functions, it also assumes the input rotation is normalized. The //x// component of the returned vector is roll (bank), the //y// component is pitch (elevation), and the //z// component is yaw (heading). |
| - | The following is another version, perhaps easier to remember but less precise (rotations are not normalized to save memory): | + | The following is another version, perhaps easier to remember and to inline but less precise (rotations are not normalized to save memory under Mono, but that doesn't change the result): |
| <code lsl2> | <code lsl2> | ||
| vector Rot2EulerXYZ(rotation rot) | vector Rot2EulerXYZ(rotation rot) | ||
| Line 29: | Line 29: | ||
| } | } | ||
| </code> | </code> | ||
| - | and one symmetrical to the alternative above (needs normalized rotations though): | + | and one symmetrical to the alternative above but also less precise (returns a normalized rotation): |
| <code lsl2> | <code lsl2> | ||
| rotation EulerXYZ2Rot(vector euler) | rotation EulerXYZ2Rot(vector euler) | ||