[osg-users] Yaw pitch and roll or xyz conversion to and from Quaternion

[Jason Anderssen]

Hi all,

Just wondering if in OSG there is anywhere I can extract either Yaw pitch and roll / or XYZ eular angles, too and from either a matrix or a quaternion?

Thank you in advance.

Cheers

Jason Anderssen

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[Chris Hanson]

Just wondering if in OSG there is anywhere I can extract either Yaw pitch and roll / or XYZ eular angles, too and from either a matrix or a quaternion?

  The 

void	get (Matrixd &matrix) const

method lets you convert a Quat to a 4x4 Matrix.

void	decompose (osg::Vec3d &translation, osg::Quat &rotation, osg::Vec3d &scale, osg::Quat &so) const
	decompose the matrix into translation, rotation, scale and scale orientation.

Will extract the trans, rot and scale components out of the matrix.

Is that what you want?

--

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[Jason Anderssen]

Hi Chris,

Thank you for you reply.

I had a look at those, maybe I can get it to work with them, but I really just want a simple 3 values for Yaw Pitch and Roll, from which I can re-create the exactly same Quat or Matrix.  I will also clarify, I don’t care about translation or scale etc, and the quaternion I am using is of course only a rotation anyway.

So basically I want the following type of code :

getYPR(float &yaw, float &pitch, float &roll);

Quaternion::fromYPR(yaw, pitch, roll);

Cheers

Jason Anderssen

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[Trajce Nikolov NICK]

Hi Jason,

here you have YPR from osg::Quat (look at the snippets)

http://forum.openscenegraph.org/viewtopic.php?t=548

As for the other way it is easy, you create the Matrix and get the rotate Quat, (return matrix.getRotate()), something like:

osg::Matrixd Utils::createMatrix(double x, double y, double z, double h, double p, double r)
{
    osg::Matrixd mxR;
    mxR.makeRotate(osg::DegreesToRadians(r),osg::Vec3(0,1,0));
    osg::Matrixd mxP;
    mxP.makeRotate(osg::DegreesToRadians(p),osg::Vec3(1,0,0));
    osg::Matrixd mxH;
    mxH.makeRotate(osg::DegreesToRadians(h),osg::Vec3(0,0,1));
    osg::Matrixd mxT;
    mxT.makeTranslate(osg::Vec3(x,y,z));

    return (mxP*mxH*mxT*mxR);
}

--

trajce nikolov nick

[Jason Anderssen]

Hi NICK,

Thank you for your reply.

What do you think I maybe doing wrong with the following code : (NOTE: getHPRfromQuat is cut and paste from link, and the createMatrix is cut and paste from your reply.

I was basically hoping that q2  ==  q after the conversion to and from????

osg::Quat q(-0.7071067811865475, 0.0, 0.0, 0.7071067811865476);

osg::Vec3d hpr = getHPRfromQuat(q);

osg::Matrixd m = createMatrix(0.0, 0.0, 0.0, hpr.x(), hpr.y(), hpr.z());

osg::Quat q2;

q2.set(m);

Any assistance is very much appreciated.

Cheers

Jason Anderssen

Jason Anderssen, Senior Product Engineer
Exactal — Precision Software

Level 2, Toowong Tower, 9 Sherwood Road, Toowong QLD 4066, Australia P: +61 7 3870 2666   |   F: +61 7 3870 5266   |   jande...@exactal.com   |   www.exactal.com

---

From: osg-users [osg-user...@lists.openscenegraph.org] on behalf of Trajce Nikolov NICK [trajce.ni...@gmail.com]
Sent: Thursday, 18 December 2014 6:14 PM
To: OpenSceneGraph Users

[Trajce Nikolov NICK]

Hi Jason,

I had to apply -90 (in degrees) to the pitch to get the correct results after getHPRFromQuat(). Also createMatrix is expecting the input in degrees. Maybe this will help

Nick

[Jordi Torres]

Hi Jason et al,

I think in osgWorks there are utilities for such a conversion. Take a look to https://code.google.com/p/osgworks/source/browse/trunk/src/osgwTools/Orientation.cpp

Cheers. 

Jordi Torres

[Jason Anderssen]

Thank you very much, I shall test this and see that f it resolves my issues, by looking over it quickly I think it will.

Cheers

Jason

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