[info-performer] Can anyone help me with the rotation coordinates transformation between WRML and Iris Performer?

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From: Susana Lopez (slopez++at++euve.org)
Date: 08/27/2002 05:06:42

        I want to make my camera move according a determinated xyz-hpr, but the
data are in wrl format, so for the rotation I´ve got four values, x,y,z and
a.

        I send you the explanation of these values, I´ve found on a manual:

        "The SFRotation field and event specifies one arbitrary rotation. The
MFRotation field and event specifies zero or more arbitrary rotations. An
SFRotation is written to the VRML file as four ISO C floating point values
(see 2.[ISOC]) separated by whitespace. The first three values specify a
normalized rotation axis vector about which the rotation takes place. The
fourth value specifies the amount of right-handed rotation about that axis
in radians. For example, an SFRotation containing a PI radians rotation
about the Y axis is:

            fooRot 0.0 1.0 0.0 3.14159265
        The 3x3 matrix representation of a rotation (x y z a) is

                    [ tx2+c txy+sz txz-sy
              txy-sz ty2+c tyz+sx
              txz+sy tyz-sx tz2+c ]

            where c = cos(a), s = sin(a), and t = 1-c
        The initial value of an SFRotation eventOut is (0 0 1 0). The initial value
of an MFRotation eventOut is [ ]."

        Can anybody help me to obtain my HPR in IRIS Performer?

        Thank you in advance.

            Susana López Belso

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