四元数的摄像头。我如何让它正常旋转？ [英] Quaternion camera. How do I make it rotate correctly?

问题描述

我有一个3D摄像头，作为四元数存储当前的旋转，我无法正确地转动它。我希望相机逐渐围绕其局部轴基于鼠标移动每帧（第一人称射击风格）旋转，而旋转是错误的。那种它的工作原理，但相机似乎滚围绕其轴线向前当它不应该。

I have a 3D camera with its current rotation stored as a quaternion, and I'm having trouble rotating it correctly. I want the camera to rotate incrementally around its local axes based on mouse movement each frame (first-person-shooter-style), but the rotation is wrong. It kind of works, but the camera seems to "roll" around its forward axis when it shouldn't.

我更新了旋转的每一帧具有这种功能：

I update the rotation each frame with this function:

void Camera::rotate(const Quat& q)
{
    // m_rot is the current rotation
    m_rot = m_rot * q;
}

下面是我的四元数乘法函数：

Here's my quaternion multiplication function:

Quat Quat::operator*(const Quat &rhs) const
{
    // quaternion elements in w,x,y,z order
    Vector4d res;

    res[0] = m_q[0]*rhs.m_q[0] - m_q[1]*rhs.m_q[1] -
             m_q[2]*rhs.m_q[2] - m_q[3]*rhs.m_q[3];
    res[1] = m_q[0]*rhs.m_q[1] + m_q[1]*rhs.m_q[0] +
             m_q[2]*rhs.m_q[3] - m_q[3]*rhs.m_q[2];
    res[2] = m_q[0]*rhs.m_q[2] - m_q[1]*rhs.m_q[3] +
             m_q[2]*rhs.m_q[0] + m_q[3]*rhs.m_q[1];
    res[3] = m_q[0]*rhs.m_q[3] + m_q[1]*rhs.m_q[2] -
             m_q[2]*rhs.m_q[1] + m_q[3]*rhs.m_q[0];

    return Quat(res);
}

难道我做错了什么，或者这是某种形式的浮点错误的事情吗？

Am I doing something wrong, or is this some kind of floating-point error thing?

推荐答案

想通了这个问题。对于鼠标controled第一人称的相机像一个我要为我想绕本地x轴看上下，但全球Y轴看一边到另一边。

Figured out the problem. For a mouse-controled first-person camera like the one I'm going for, I want to rotate around the local x-axis to look up and down, but the global y-axis for looking side to side.

因此​​，这是正确的x轴：

So this is correct for the x-axis:

m_rot = m_rot * q;

不过，我需要做的Y轴：

But I need to do this for the y-axis:

m_rot = d * m_rot;

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