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Code Issues Releases Activity

hhrhhr's fix for modelview gimbal lock, thank you!!

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This commit is contained in:
dankers 2011-08-13 06:08:07 +10:00
parent a7cce25252
commit 65cb05e212
1 changed files with 6 additions and 10 deletions
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16
ground/openpilotgcs/src/plugins/modelview/modelviewgadgetwidget.cpp
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@ -291,16 +291,12 @@ void ModelViewGadgetWidget::updateAttitude()
{
AttitudeActual::DataFields data = attActual->getData(); // get attitude data
GLC_StructOccurence* rootObject= m_World.rootOccurence(); // get the full 3D model
// create quaternions rotations for each axis
QQuaternion qX= QQuaternion::fromAxisAndAngle(QVector3D(1,0,0),data.Pitch);
QQuaternion qY= QQuaternion::fromAxisAndAngle(QVector3D(0,1,0),data.Roll);
QQuaternion qZ= QQuaternion::fromAxisAndAngle(QVector3D(0,0,1),data.Yaw);
QQuaternion quat= qX * qY * qZ; // create the quaternion of all the rotations
// pass values to simpler variables
double x= quat.vector().x();
double y= quat.vector().y();
double z= quat.vector().z();
double w= quat.scalar();
double x= data.q3;
double y= data.q2;
double z= data.q4;
double w= data.q1;
if (w == 0.0)
w = 1.0;
// create and gives the product of 2 4x4 matrices to get the rotation of the 3D model's matrix
QMatrix4x4 m1;
m1.setRow(0, QVector4D(w,z,-y,x));