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Re: [Gnu3dkit-discuss] r * p * h
From: |
Philippe C.D. Robert |
Subject: |
Re: [Gnu3dkit-discuss] r * p * h |
Date: |
Fri, 12 Jul 2002 19:59:49 +0200 |
Hi Brent,
On Friday, July 12, 2002, at 07:02 PM, Brent Gulanowski wrote:
In the function G3DMakeEulerTransform4f, this comment:
/*
* Euler(h,p,r) := Rz(r) * Rx(p) * Ry(h)
*
*/
doesn't seem to be supported by the code which follows, where the
angles are applied
Ry(h) * Rx(p) * Rz(r) -- where multiplication is done right to left,
these being matrices.
I think the convention is reflected in the comment, not in the code.
Alternately, please explain how the existing setup is best used.
Nope, read carefully through the code! What is done is:
1. create Rz
2. create Rx, calculate Rzx = Rz * Rx
3. create Ry, calculate Euler = Rzx * Ry
which is what it should be: Rz * Rx * Ry.
-Phil
--
Philippe C.D. Robert
http://www.nice.ch/~phip