RE: axis of rotation :: again

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BOCCARA Michael (MICHAEL.BOCCARA++at++siege.aerospatiale.fr)
Thu, 15 May 1997 11:49:06 +0200

  If I remember well :

Let's set a center (cx, cy, cz) (a point of the shoulder in the object crd
syst)
Let's set an axis (ax, ay, az) (again in the shoulder's object crd syst)

the pitch parameter is a rotation around (O, x)

instead of
dcs->setRot(0.0f, angle, 0.0f);

you do:
pfMatrix mat;
mat.makeRot(angle, ax, ay, az);
mat.preTrans(cx, cy, cz, mat);
mat.postTrans(mat, -cx, -cy, -cz);
dcs->setMat(mat);

Try it.

There is another method by inserting a SCS above the DCS in the scene tree,
but I don't remember the formula.

Mike
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