[ODE] How to compute local yaw, pitch and roll
alexg at acfr.usyd.edu.au
Wed Dec 27 21:00:18 MST 2006
G'day, from the rotation matrix:
// Find Roll Pitch and Yaw
// Rotation Matrix then convert to Euler Angles
dReal *R = (dReal *) dBodyGetRotation(body->bodyID);
roll = atan2(R, R); //phi
pitch = asin(-R); //theta
yaw = atan2(R, R); //greek Y
P.S. Double check the numbers coming out of this for your implementation.
One of the variables may need a to be negated depending on which way you
choose as forward. -alex
> This is my first post on this mailing, but i read it since a few years.
> I use ode, with raydium engine involved in several projects of simulator for
> learning courses.
> I have a problem, trying to implement a small "flight simulateur" with ode,
> i need to have local yaw, pitch and roll of an object (the drone).
> Can i extract thoses informations from a quaternion ?
> How can i mix information from body rotation ?
> Did i have to be scared about gimbal lock ?
> Does someone have a small piece of code as example ?
> Have a nice day
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