矩阵的OpenGL旋转向量 [英] OpenGL rotation vector from matrix

问题描述

好的，这就是我所拥有的:

Ok, so here is what I have:

• 我在框架中制作的抽象对象"类，将其用作所有3D对象的基类.

• an abstract "Object" class which I made in a framework to use it as a base class for all 3D objects.

此类的Matrix4成员，其唯一目的是存储对象的旋转信息.

a Matrix4 member of this class which has the sole purpose of storing rotation info for the object.

一些将矩阵相乘的函数:对于每个偏航，俯仰&滚动(全局和局部)，我制作了一种将上述旋转矩阵与新矩阵相乘的方法.

some functions that multiply the matrix: for each of the yaw, pitch & roll rotations (both global and local), I made a method that multiplies the above rotation matrix with a new matrix.

例如:如果您在逆时针方向上将对象局部偏航45度，则

e.g.: if you locally yaw the object by 45 degrees in CCW direction, then

rotMatrix = newRotationZMatrix(45) * rotMatrix;

我想知道的是将对象的整体旋转作为矢量的最佳方法是什么-一般而言，如何从包含JUST的变换矩阵中获得围绕X，Y和Z的旋转角度旋转.

What I would like to know is what is the best way of getting the global rotation of the object as a vector - generally speaking, how do you get the rotation angles around X,Y and Z from a transformation matrix that contains JUST rotations.

推荐答案

有一些技术可以做到这一点，只要从旋转矩阵中获得欧拉角，就需要一些数学运算. 在这里，您可以阅读它.

There are techniques to obtain that, just get the euler angles from a rotation matrix, it involves a bit of math. Here you can read about it.

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