转换本地四元数旋转到全球（陀螺仪） [英] Translate Local quaternion rotation into global (gyro)

问题描述

我需要一种方式来获得欧拉角为参考，从本地全局框架旋转。我使用C＃，WPF 3D和陀螺仪。予具有应以同样的方式作为陀螺仪在屏幕上移动的地球仪。由于陀螺仪将相对运动本身我需要使用四元数，以保持对象的状态和更新，但我坚持。如果我做了以下内容：

  VAR曲= eulerToQ（Gyro.X，Gyro.Y，Gyro.Z）;
                GlobalQu = Quaternion.Multiply（曲，GlobalQu）;
 

IT正确旋转在一个轴上。当我在一个方向中的另一个转动由A，然后由乙对象和陀螺仪的旋转不再在相同的方向，因为绝对旋转上述工程（相对于世界）。

例如：

  VAR曲= eulerToQ（KeyboardValue1，KeyboardValue2，KeyboardValue3）;
                    GlobalQu =渠;
 

这工作，因为我是通过键盘上的全球轴上增加侧倾，俯仰，偏航即键盘值始终。陀螺仪在局部轴旋转发送

切换四元轮换次序没有帮助

  VAR曲= eulerToQ（Giro.X，Giro.Y，Giro.Z）;
                    GlobalQu = Quaternion.Multiply（GlobalQu，曲）;
 

解决方案

这其实是正确的方式。如果你乘globalQuaternion * newQuaternion你得到全球的旋转和newQuaternion * globalQuaternion那么你得到局部旋转。我根本就在创造我的四元数错了。

I need a way to get euler angles for rotation in global frame of reference from a local. I am using c#, wpf 3d and a gyroscope. I have a globe on the screen that should move in the same way as the gyro. Since the gyro sends movement relative to itself I need to use quaternions to keep the state of the object and update it but I'm stuck. If i do the following:

                var qu=eulerToQ(Gyro.X,Gyro.Y,Gyro.Z);
                GlobalQu = Quaternion.Multiply(qu, GlobalQu);

IT rotates correctly on one axis. When I rotate by A in one direction and then by B in another the rotations of the object and the gyro are no longer in the same direction because the above works for absolute rotations (relative to the world).

For example:

                    var qu=eulerToQ(KeyboardValue1,KeyboardValue2,KeyboardValue3);
                    GlobalQu = qu;

This works because I am increasing the roll,pitch,yaw ie keyboard values via keyboard always on the global axis. Gyro send rotations on LOCAL axis.

Switching the order of quaternion rotation doesn't help

                    var qu=eulerToQ(Giro.X,Giro.Y,Giro.Z);
                    GlobalQu = Quaternion.Multiply(GlobalQu,qu);

解决方案

This actually is the proper way. If you multiply globalQuaternion * newQuaternion you get global rotation and newQuaternion * globalQuaternion then you get local rotation. I simply had a mistake in generating my quaternion.

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