From: Tomlinson, Gordon (GORDON.TOMLINSON++at++ca.com)
Date: 09/28/2001 07:49:14
You need to rotate the robots by -90 in the X this will
transform you coords to Performer space
Regards
Gordon.
_________________________________________________________________
Gordon Tomlinson
Manager
Urban Simulation Products Engineering.
MultiGen-Paradigm
"a Computer Associates Company"
Suite 200, 16415 Addison Road, Addison, TX 75001 USA
Tel: 972 380 9798 ext 309 Fax: 972 380 9468
Email: gordon.tomlinson++at++ca.com
-----Original Message-----
From: Thomas Proell [mailto:thomas.proell++at++ei.tum.de]
Sent: Friday, September 28, 2001 11:03 AM
To: info-performer++at++sgi.com
Subject: Rotation again :-)
Hi Performers!
Okay, yesterday I thought I was going insane. The rotations didn't work
the way I thought. Now I found out, why:
The basic problem is that I get the transformation matrix that
represents the current position of the hand of a robot. Now I should
animate the movements of that robot in real time.
It didn't work. The problem is that the robot uses other axis. Its
z-axis is where I have my y-axis, its y-axis is where I have my z-axis.
Only the x-axis are the same.
The next problem is that Performer uses the rotation-order (z, x, y),
while the robot uses (his_z, his_y, his_x).
So, I know my problem, but I don't know a way out. Should I manipulate
the transformation matrix (exchanging the coloms for z and y) or is
there any other way to do it?
Sincerely
Thomas
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