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Add new rotation code to prevent gimbal lock.

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This commit is contained in:
Gert Menke 2015-07-19 16:30:30 +02:00 committed by Torsten Paul
parent 4957b0d458
commit 8e6b62ff4b
2 changed files with 56 additions and 4 deletions
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59
src/QGLView.cc
View file

@ -317,7 +317,11 @@ void QGLView::onTranslateEvent(const InputEventTranslate *event)
void QGLView::onRotateEvent(const InputEventRotate *event)
{
rotate(event->x, event->y, event->z, event->relative);
if (event->relative) {
rotate2(event->x, event->y, event->z);
} else {
rotate(event->x, event->y, event->z, event->relative);
}
}
void QGLView::onButtonEvent(const InputEventButton *event)
@ -407,9 +411,9 @@ void QGLView::translate(double x, double y, double z, bool relative, bool viewPo
void QGLView::rotate(double x, double y, double z, bool relative)
{
double f = relative ? 1 : 0;
cam.object_rot.x() = f * cam.object_rot.x() + x;
cam.object_rot.y() = f * cam.object_rot.y() + y;
cam.object_rot.z() = f * cam.object_rot.z() + z;
cam.object_rot.x() = f * cam.object_rot.x() + x;
cam.object_rot.y() = f * cam.object_rot.y() + y;
cam.object_rot.z() = f * cam.object_rot.z() + z;
normalizeAngle(cam.object_rot.x());
normalizeAngle(cam.object_rot.y());
normalizeAngle(cam.object_rot.z());
@ -417,6 +421,53 @@ void QGLView::rotate(double x, double y, double z, bool relative)
emit doAnimateUpdate();
}
void QGLView::rotate2(double x, double y, double z)
{
// This vector describes the rotation.
// The direction of the vector is the angle around which to rotate, and
// the length of the vector is the angle by which to rotate
Vector3d rot = Vector3d(-x, -y, -z);
// get current rotation matrix
Matrix3d aax, aay, aaz, rmx;
aax = Eigen::AngleAxisd(-cam.object_rot.x() / 180 * M_PI, Vector3d::UnitX());
aay = Eigen::AngleAxisd(-cam.object_rot.y() / 180 * M_PI, Vector3d::UnitY());
aaz = Eigen::AngleAxisd(-cam.object_rot.z() / 180 * M_PI, Vector3d::UnitZ());
rmx = aaz * (aay * aax);
// rotate
rmx = rmx * Eigen::AngleAxisd(rot.norm() / 180. * M_PI, rot.normalized());
// back to euler
// see: http://staff.city.ac.uk/~sbbh653/publications/euler.pdf
double theta, psi, phi;
if (abs(rmx(2, 0)) != 1) {
theta = -asin(rmx(2, 0));
psi = atan2(rmx(2, 1) / cos(theta), rmx(2, 2) / cos(theta));
phi = atan2(rmx(1, 0) / cos(theta), rmx(0, 0) / cos(theta));
} else {
phi = 0;
if (rmx(2, 0) == -1) {
theta = M_PI / 2;
psi = phi + atan2(rmx(0, 1), rmx(0, 2));
} else {
theta = -M_PI / 2;
psi = -phi + atan2(-rmx(0, 1), -rmx(0, 2));
}
}
cam.object_rot.x() = -psi * 180. / M_PI;
cam.object_rot.y() = -theta * 180. / M_PI;
cam.object_rot.z() = -phi * 180. / M_PI;
normalizeAngle(cam.object_rot.x());
normalizeAngle(cam.object_rot.y());
normalizeAngle(cam.object_rot.z());
updateGL();
emit doAnimateUpdate();
}
void QGLView::setOrthoMode(bool enabled) {
if (enabled) this->cam.setProjection(Camera::ORTHOGONAL);
else this->cam.setProjection(Camera::PERSPECTIVE);

1
src/QGLView.h
View file

@ -97,6 +97,7 @@ private:
void zoom(double v, bool relative);
void rotate(double x, double y, double z, bool relative);
void rotate2(double x, double y, double z);
void translate(double x, double y, double z, bool relative, bool viewPortRelative = true);
void normalizeAngle(GLdouble& angle);