# Rotation in Local Space

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Currently I'm rotating objects in local space by repeating multiplying the new rotation matrix by the previous one then loading that as the modelview matrix. It looks like this: glLoadIdentity(); GLdouble final[16]; glGetDoublev( GL_MODELVIEW_MATRIX, final ); while(1) { glLoadIdentity(); static GLdouble modelview[16]={1,0,0,0, 0,1,0,0, 0,0,1,0, 0,0,0,0}; glRotatef(rotY, 0, 1, 0); glRotatef(rotX, 1, 0, 0); glRotatef(rotZ, 0, 0, 1); glGetDoublev( GL_MODELVIEW_MATRIX, modelview ); glLoadMatrixd(final); glMultMatrixd(modelview); glGetDoublev( GL_MODELVIEW_MATRIX, final ); glLoadIdentity(); gluLookAt(...); glMultMatrixd(final); DrawObject(); } This works fine, but is there a way to do the same thing using only the object's local axes? I tried defining 3 vectors, each initially pointing in each axis direction. Then for each rotation I did the following glRotatef(rotY, yaxis[0], yaxis[1], yaxis[2]); glGetDoublev( GL_MODELVIEW_MATRIX, modelview ); ApplyMatrix(modelview, yaxis); ApplyMatrix(modelview, xaxis); ApplyMatrix(modelview, zaxis); glRotatef(rotX, xaxis[0], xaxis[1], xaxis[2]); glGetDoublev( GL_MODELVIEW_MATRIX, modelview ); ApplyMatrix(modelview, yaxis); ApplyMatrix(modelview, xaxis); ApplyMatrix(modelview, zaxis); glRotatef(rotZ, zaxis[0], zaxis[1], zaxis[2]); glGetDoublev( GL_MODELVIEW_MATRIX, modelview ); ApplyMatrix(modelview, yaxis); ApplyMatrix(modelview, xaxis); ApplyMatrix(modelview, zaxis); But I got stuck on exactly what to do next with the transformed vectors. I tried just doing the following right before rendering the object: glRotatef(rotY, yaxis[0], yaxis[1], yaxis[2]); glRotatef(rotX, xaxis[0], xaxis[1], xaxis[2]); glRotatef(rotZ, zaxis[0], zaxis[1], zaxis[2]); But rotations started going crazy very fast. Does anybody have a solution for this? I would like to use actual local vectors so that I can also translate the object locally.

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I hate it when you post then the answer comes to you. I'm an idiot, but here's how I solved it.

while(1) {

glRotatef(rotY, yaxis[0], yaxis[1], yaxis[2]);
glGetDoublev( GL_MODELVIEW_MATRIX, modelview );
ApplyMat(modelview, yaxis);
ApplyMat(modelview, xaxis);
ApplyMat(modelview, zaxis);

glRotatef(rotX, xaxis[0], xaxis[1], xaxis[2]);
glGetDoublev( GL_MODELVIEW_MATRIX, modelview );
ApplyMat(modelview, yaxis);
ApplyMat(modelview, xaxis);
ApplyMat(modelview, zaxis);

glRotatef(rotZ, zaxis[0], zaxis[1], zaxis[2]);
glGetDoublev( GL_MODELVIEW_MATRIX, modelview );
ApplyMat(modelview, yaxis);
ApplyMat(modelview, xaxis);
ApplyMat(modelview, zaxis);

// final represents object's local transformation
for(int i=0; i < 3; i++) {
final = xaxis;
final[4+i] = yaxis;
final[8+i] = zaxis;
}

gluLookAt(...);

glMultMatrixd(final);
DrawObject();
}

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