[Answered] Matrix create from XYZ rotation: scale problem

Math and Physics Programming

Started by bdubreuil October 07, 2012 02:00 AM

1 comment, last by haegarr 11 years, 6 months ago

638

Author

October 07, 2012 02:00 AM

Hi

I've been coding my own math library and I got a bug when I create a Matrix from a rotation across the X, Y and Z axises. The bug is that it also scales my vectors. I know it might be hard to understand my code, but you are my only hope left (I checked and checked again my code a lot of times) so here's my code:



static Matrix4x4<T> CreateFromRotationXYZ_S(const T &radiansX, const T &radiansY, const T &radiansZ)

	{

		Matrix4x4<T> result;

		result.m11 = cos(radiansY) * cos(radiansZ);

		result.m12 = cos(radiansY) * sin(radiansZ);

		result.m13 = sin(radiansY);

		result.m14 = 0;

		result.m21 = sin(radiansX) * -sin(radiansY) * cos(radiansZ) + cos(radiansX) * -sin(radiansZ) + sin(radiansX) * cos(radiansY);

		result.m22 = sin(radiansX) * -sin(radiansY) * sin(radiansZ) + cos(radiansX) * cos(radiansZ) + sin(radiansX) * cos(radiansX);

		result.m23 = sin(radiansX) * cos(radiansY);

		result.m24 = 0;

		result.m31 = cos(radiansX) * -sin(radiansY) * cos(radiansZ) + sin(radiansX) * sin(radiansZ);

		result.m32 = cos(radiansX) * -sin(radiansY) * sin(radiansZ) + -sin(radiansX) * cos(radiansZ);

		result.m33 = cos(radiansX) * cos(radiansY);

		result.m34 = 0;

		result.m41 = 0;

		result.m42 = 0;

		result.m43 = 0;

		result.m44 = 1;

		return result;

	}

Thank you

Hide yo cheese! Hide yo wife!

xissburg

204

October 07, 2012 03:16 AM

Ouch. You better create a simple rotation matrix for each axis and multiply(compose) all three to obtain the final rotation matrix.

haegarr

7,408

October 07, 2012 09:05 AM

Mistakes are at least in the formulas of m21 and m22 (both showing 3 summands), because their format has to be the same as those of m31 and m32 (both showing 2 summands).

As a hint: The length of each column vector and each row vector in a pure rotation matrix is 1. If the length differs from 1 then scaling will occur.

[Answered] Matrix create from XYZ rotation: scale problem

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[Answered] Matrix create from XYZ rotation: scale problem

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