Pitch Yaw Roll 累积 opengl

Question

我正在尝试实现 yaw pitch roll 用于可视化相机 yaw pitch roll 超过 360 度，例如在 Maya、Blender、Unreal Engine、Unity 等中。所有这些应用程序都可以在 gui 中显示超过 360 度的角度并且没有任何云台锁定问题。

当前psevdo代码；

Quaternion rotation; //relative (local rotation)
Quaternion parentRotation;
    //it is psevdo code where we calculate delta angle that user generate on current frame by mouse
void SetDeltaWorldRotationFromUserInput(Quaternion value)
{
    SetWorldRotation(value);
}

void SetWorldRotation(Quaternion value)
{
    SetLocalRotation(parentQuaternion.inverted() * value); //get/set local rotation
}

void SetLocalRotation(Quaternion value)
{
    rotation = value; //this we save new local rotation but i want to save somehow more then 360 degree 
    auto eulersForGui = value.toEulers(); //it is current eulers but i want to accumulate and show in gui accumulate rotation. like currentRotation + delta or somehow

    auto deltaEulers = (value * rotation.inverted()).toEulers(); //i can get delta eulers but i can't add it to euelers and don't know what i need to do with this value

}

Answer 1

我在评论部分留下了您问题的链接。但是，作为对您问题的快速回答，我认为该网页上的这句话应该为您指明正确的方向：

“旋转序列可以用一系列四元数相乘来表示，产生一个对组合旋转进行编码的结果四元数。”

上面的引用可以指多个四元数，每个四元数围绕不同的轴旋转以获得 3D 组合旋转，或者围绕同一轴的多次旋转将累积到超过 360 度的单个旋转。