使用四元数旋转不完全正确 [英] Rotation with Quaternion not quite right

问题描述

从我的上一个问题继续，我现在设法旋转我的对象与四元数，但仍有一个小问题，我不知道如何解决它。使用下面的代码我的对象旋转x和y轴。但是当我在x和y键之间切换时，它总是跳回到初始位置。所以我永远不会从新的位置轮换，但总是从程序开始的一个。

Following on from my previous question, I have now managed to rotate my object with quaternions but there is still a small problem and I dont know how to solve it. With the code below my object rotates round the x and y axis. But it always jumps back to the initial position when I switch between x- and y-key. So I never get a rotation from the new position, but always from the one with which the programm started.

Quaternion q1    = quaternion->quat_rotate(anglex,1,0,0);
Quaternion q2    = quaternion->quat_rotate(angley,0,1,0);
quaternion->mult(q1,q2);
quaternion->quat_matrix(Matrix);
glMultMatrixf(Matrix);
object->drawObject(Red,Green,Blue);

我希望你能理解我的意思。

I hope you understand what I mean.

推荐答案

但是当我在x-和y-之间切换时它总是跳回到初始位置，键。所以我永远不会从新的位置轮换，但总是从程序开始的一个。

But it always jumps back to the initial position when I switch between x- and y-key. So I never get a rotation from the new position, but always from the one with which the programm started.

当然。你的代码正在做你正在告诉它做的事情。你还没有向我们展示什么是 Quaternion :: mult（Quaterion& q1，Quaterion& q1），但是我怀疑它将四元数实例的内容替换为q1和q2。您需要将当前方向乘以q1 * q2以获取新方向，而不是使用q1 * q2替换当前方向。

Of course it does. Your code is doing exactly what you are telling it to do. You haven't shown us what Quaternion::mult(Quaterion&q1,Quaterion&q1) does, but I suspect it replaces the contents of the quaternion instance with the product of q1 and q2. You need to multiply the current orientation by q1*q2 to get the new orientation rather than replace the current orientation with q1*q2.

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