Databases
StackOverflow2013
Postsdbo
PO
 

Note that there are some explanatory texts on larger screens.

plurals
  1. PO
    primarykey
    data
    text
    <p>There are six different ways to convert three Euler Angles into a Matrix depending on the Order that they are applied:</p> <pre><code>typedef float Matrix[3][3]; struct EulerAngle { float X,Y,Z; }; // Euler Order enum. enum EEulerOrder { ORDER_XYZ, ORDER_YZX, ORDER_ZXY, ORDER_ZYX, ORDER_YXZ, ORDER_XZY }; Matrix EulerAnglesToMatrix(const EulerAngle &amp;inEulerAngle,EEulerOrder EulerOrder) { // Convert Euler Angles passed in a vector of Radians // into a rotation matrix. The individual Euler Angles are // processed in the order requested. Matrix Mx; const FLOAT Sx = sinf(inEulerAngle.X); const FLOAT Sy = sinf(inEulerAngle.Y); const FLOAT Sz = sinf(inEulerAngle.Z); const FLOAT Cx = cosf(inEulerAngle.X); const FLOAT Cy = cosf(inEulerAngle.Y); const FLOAT Cz = cosf(inEulerAngle.Z); switch(EulerOrder) { case ORDER_XYZ: Mx.M[0][0]=Cy*Cz; Mx.M[0][1]=-Cy*Sz; Mx.M[0][2]=Sy; Mx.M[1][0]=Cz*Sx*Sy+Cx*Sz; Mx.M[1][1]=Cx*Cz-Sx*Sy*Sz; Mx.M[1][2]=-Cy*Sx; Mx.M[2][0]=-Cx*Cz*Sy+Sx*Sz; Mx.M[2][1]=Cz*Sx+Cx*Sy*Sz; Mx.M[2][2]=Cx*Cy; break; case ORDER_YZX: Mx.M[0][0]=Cy*Cz; Mx.M[0][1]=Sx*Sy-Cx*Cy*Sz; Mx.M[0][2]=Cx*Sy+Cy*Sx*Sz; Mx.M[1][0]=Sz; Mx.M[1][1]=Cx*Cz; Mx.M[1][2]=-Cz*Sx; Mx.M[2][0]=-Cz*Sy; Mx.M[2][1]=Cy*Sx+Cx*Sy*Sz; Mx.M[2][2]=Cx*Cy-Sx*Sy*Sz; break; case ORDER_ZXY: Mx.M[0][0]=Cy*Cz-Sx*Sy*Sz; Mx.M[0][1]=-Cx*Sz; Mx.M[0][2]=Cz*Sy+Cy*Sx*Sz; Mx.M[1][0]=Cz*Sx*Sy+Cy*Sz; Mx.M[1][1]=Cx*Cz; Mx.M[1][2]=-Cy*Cz*Sx+Sy*Sz; Mx.M[2][0]=-Cx*Sy; Mx.M[2][1]=Sx; Mx.M[2][2]=Cx*Cy; break; case ORDER_ZYX: Mx.M[0][0]=Cy*Cz; Mx.M[0][1]=Cz*Sx*Sy-Cx*Sz; Mx.M[0][2]=Cx*Cz*Sy+Sx*Sz; Mx.M[1][0]=Cy*Sz; Mx.M[1][1]=Cx*Cz+Sx*Sy*Sz; Mx.M[1][2]=-Cz*Sx+Cx*Sy*Sz; Mx.M[2][0]=-Sy; Mx.M[2][1]=Cy*Sx; Mx.M[2][2]=Cx*Cy; break; case ORDER_YXZ: Mx.M[0][0]=Cy*Cz+Sx*Sy*Sz; Mx.M[0][1]=Cz*Sx*Sy-Cy*Sz; Mx.M[0][2]=Cx*Sy; Mx.M[1][0]=Cx*Sz; Mx.M[1][1]=Cx*Cz; Mx.M[1][2]=-Sx; Mx.M[2][0]=-Cz*Sy+Cy*Sx*Sz; Mx.M[2][1]=Cy*Cz*Sx+Sy*Sz; Mx.M[2][2]=Cx*Cy; break; case ORDER_XZY: Mx.M[0][0]=Cy*Cz; Mx.M[0][1]=-Sz; Mx.M[0][2]=Cz*Sy; Mx.M[1][0]=Sx*Sy+Cx*Cy*Sz; Mx.M[1][1]=Cx*Cz; Mx.M[1][2]=-Cy*Sx+Cx*Sy*Sz; Mx.M[2][0]=-Cx*Sy+Cy*Sx*Sz; Mx.M[2][1]=Cz*Sx; Mx.M[2][2]=Cx*Cy+Sx*Sy*Sz; break; } return(Mx); } </code></pre> <p>FWIW, some CPU's can compute Sin &amp; Cos simultaneously (for example fsincos on x86). If you do this, you can make it a bit faster with three calls rather than 6 to compute the initial sin &amp; cos values.</p> <p>Update: There are actually 12 ways depending if you want right-handed or left-handed results -- you can change the "handedness" by negating the angles.</p>
    singulars
    1. This table or related slice is empty.
    1. POHow to convert Euler angles to directional vector?
      singulars
      1. PTQuestion
    1. PTAnswer
    1. USAdisak
    1. USAdisak
    plurals
    1. This table or related slice is empty.
    1. This table or related slice is empty.
    1. This table or related slice is empty.
    1. This table or related slice is empty.
    1. VO
      singulars
      1. PO
      1. This table or related slice is empty.
      1. VTUpMod
    2. VO
      singulars
      1. PO
      1. This table or related slice is empty.
      1. VTUpMod
    3. VO
      singulars
      1. PO
      1. This table or related slice is empty.
      1. VTUpMod
    1. COBTW, you can change the "handedness" by negating the angles.
      singulars
      1. PO
      1. USAdisak
 

Querying!

 
Guidance
A row detail

Detail views are divided into sections. All the information in the data section comes from columns in the selected row. The other sections display data from other, related rows.

Related data can be related in a to-one or a to-many fashion. Captions of data related in a to-many fashion link to a list view showing a filtered view of the table.

Try moving around until you find a non-empty to-many entry and click on the label to get to one. You can move back to the root by clicking on the database name in the header.

SQuiL has stopped working due to an internal error.

If you are curious you may find further information in the browser console, which is accessible through the devtools (F12).

Reload