User:LindaB Helendale/rot2roll pitch yaw - Revision history

Strife Onizuka: If the documentation is imprecise, please edit it. Make it more precise!

2015-08-08T22:29:38Z

If the documentation is imprecise, please edit it. Make it more precise!

← Older revision		Revision as of 15:29, 8 August 2015
Line 3:		Line 3:
	Roll, pitch and yaw are commonly used object related rotations (intrinsic Tait-Bryan angles, nautical angles) in avionics, sailing and navigation. Here are conversion functions between LSL rotation and roll, pitch and yaw angles.		Roll, pitch and yaw are commonly used object related rotations (intrinsic Tait-Bryan angles, nautical angles) in avionics, sailing and navigation. Here are conversion functions between LSL rotation and roll, pitch and yaw angles.

	Note that in [~~http://http://wiki.secondlife.com/wiki/~~LlRot2Euler ~~http://wiki.secondlife.com/wiki/LlRot2Euler llRot2Euler~~] it is imprecisely stated that llRot2Euler returns roll, pitch and yaw angles. However, LSL Euler angles are extrinsic Tait-Bryan angles, in Z Y X order. With extrinsic rotations, after the Z-rotation (yaw) the Y-rotation is done in the world coordinates, rotating the rotated prim vertices around the world Y-axis, and similarly with X. The nautical pitch angle is with respect to the local Y-axis, nose up/down independent of heading. As an example of the difference, with a 90 degree yaw the Y-rotation will actually cause roll around the local X-axis that is aligned with the world Y-axis. If the order of Euler angles in LSL were X Y Z the angles would be proper nautical angles (and llRot2Euler would return the same values as rot2roll_pitch_yaw below), but the order is built-in in the llRot2Euler and llEuler2Rot functions.		Note that in [[LlRot2Euler]] it is imprecisely stated that llRot2Euler returns roll, pitch and yaw angles. However, LSL Euler angles are extrinsic Tait-Bryan angles, in Z Y X order. With extrinsic rotations, after the Z-rotation (yaw) the Y-rotation is done in the world coordinates, rotating the rotated prim vertices around the world Y-axis, and similarly with X. The nautical pitch angle is with respect to the local Y-axis, nose up/down independent of heading. As an example of the difference, with a 90 degree yaw the Y-rotation will actually cause roll around the local X-axis that is aligned with the world Y-axis. If the order of Euler angles in LSL were X Y Z the angles would be proper nautical angles (and llRot2Euler would return the same values as rot2roll_pitch_yaw below), but the order is built-in in the llRot2Euler and llEuler2Rot functions.

LindaB Helendale at 18:41, 8 August 2015

2015-08-08T18:41:27Z

← Older revision		Revision as of 11:41, 8 August 2015
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	{{LSL Header}}		{{LSL Header}}

	Roll, pitch and yaw are commonly used object related rotations (intrinsic Tait-Bryan angles) in avionics, sailing and navigation. Here are conversion functions between LSL rotation and roll, pitch and yaw angles.		Roll, pitch and yaw are commonly used object related rotations (intrinsic Tait-Bryan angles, nautical angles) in avionics, sailing and navigation. Here are conversion functions between LSL rotation and roll, pitch and yaw angles.

	Note that in [http://http://wiki.secondlife.com/wiki/LlRot2Euler http://wiki.secondlife.com/wiki/LlRot2Euler llRot2Euler] it is ~~(somewhat)~~ imprecisely stated that it returns roll, pitch and yaw angles. However, LSL Euler angles are extrinsic Tait-Bryan angles, in Z Y X order. With extrinsic rotations, after the Z-rotation (yaw) the Y-rotation is done in the world coordinates, rotating the rotated vertices around the world Y-axis, and similarly with X. ~~As the Y-rotation~~ is ~~not~~ with respect to the local Y-axis ~~it does not represent~~ the ~~pitch angle. For~~ a 90 degree yaw, the Y-rotation will actually cause roll around the local X-axis that is aligned with the world Y-axis. If the order of Euler angles in LSL were X Y Z the angles would be proper nautical angles (and llRot2Euler would return the same values as rot2roll_pitch_yaw below), but the order is built-in in the llRot2Euler and llEuler2Rot functions.		Note that in [http://http://wiki.secondlife.com/wiki/LlRot2Euler http://wiki.secondlife.com/wiki/LlRot2Euler llRot2Euler] it is imprecisely stated that llRot2Euler returns roll, pitch and yaw angles. However, LSL Euler angles are extrinsic Tait-Bryan angles, in Z Y X order. With extrinsic rotations, after the Z-rotation (yaw) the Y-rotation is done in the world coordinates, rotating the rotated prim vertices around the world Y-axis, and similarly with X. The nautical pitch angle is with respect to the local Y-axis, nose up/down independent of heading. As an example of the difference, with a 90 degree yaw the Y-rotation will actually cause roll around the local X-axis that is aligned with the world Y-axis. If the order of Euler angles in LSL were X Y Z the angles would be proper nautical angles (and llRot2Euler would return the same values as rot2roll_pitch_yaw below), but the order is built-in in the llRot2Euler and llEuler2Rot functions.

LindaB Helendale at 16:32, 8 August 2015

2015-08-08T16:32:21Z

← Older revision		Revision as of 09:32, 8 August 2015
Line 3:		Line 3:
	Roll, pitch and yaw are commonly used object related rotations (intrinsic Tait-Bryan angles) in avionics, sailing and navigation. Here are conversion functions between LSL rotation and roll, pitch and yaw angles.		Roll, pitch and yaw are commonly used object related rotations (intrinsic Tait-Bryan angles) in avionics, sailing and navigation. Here are conversion functions between LSL rotation and roll, pitch and yaw angles.

	Note that in [http://http://wiki.secondlife.com/wiki/LlRot2Euler http://wiki.secondlife.com/wiki/LlRot2Euler llRot2Euler] it is (somewhat) imprecisely stated that it returns roll, pitch and yaw angles. However, LSL Euler angles are extrinsic Tait-Bryan angles, in Z Y X order. With extrinsic rotations, after the Z-rotation (yaw) the Y-rotation is done in world coordinates, rotating the rotated vertices around world Y-axis, and similarly with X. As the Y-rotation is not with respect to the local Y-axis it does not represent the pitch angle. For 90 degree yaw, the Y-rotation will actually cause roll around the local X-axis that is aligned with world Y-axis. If the order of Euler angles in LSL were X Y Z the angles would be proper nautical angles (and llRot2Euler would return the same values as rot2roll_pitch_yaw below), but the order is built-in in the llRot2Euler and llEuler2Rot functions.		Note that in [http://http://wiki.secondlife.com/wiki/LlRot2Euler http://wiki.secondlife.com/wiki/LlRot2Euler llRot2Euler] it is (somewhat) imprecisely stated that it returns roll, pitch and yaw angles. However, LSL Euler angles are extrinsic Tait-Bryan angles, in Z Y X order. With extrinsic rotations, after the Z-rotation (yaw) the Y-rotation is done in the world coordinates, rotating the rotated vertices around the world Y-axis, and similarly with X. As the Y-rotation is not with respect to the local Y-axis it does not represent the pitch angle. For a 90 degree yaw, the Y-rotation will actually cause roll around the local X-axis that is aligned with the world Y-axis. If the order of Euler angles in LSL were X Y Z the angles would be proper nautical angles (and llRot2Euler would return the same values as rot2roll_pitch_yaw below), but the order is built-in in the llRot2Euler and llEuler2Rot functions.

LindaB Helendale at 16:30, 8 August 2015

2015-08-08T16:30:33Z

← Older revision		Revision as of 09:30, 8 August 2015
Line 3:		Line 3:
	Roll, pitch and yaw are commonly used object related rotations (intrinsic Tait-Bryan angles) in avionics, sailing and navigation. Here are conversion functions between LSL rotation and roll, pitch and yaw angles.		Roll, pitch and yaw are commonly used object related rotations (intrinsic Tait-Bryan angles) in avionics, sailing and navigation. Here are conversion functions between LSL rotation and roll, pitch and yaw angles.

	Note that in [http://http://wiki.secondlife.com/wiki/LlRot2Euler http://wiki.secondlife.com/wiki/LlRot2Euler llRot2Euler] it is (somewhat) imprecisely stated that it returns roll, pitch and yaw angles. However, LSL Euler angles are extrinsic Tait-Bryan angles, in Z Y X order. With extrinsic rotations, after the Z-rotation the Y-rotation is done in world coordinates, rotating the rotated vertices around world Y-axis, and similarly with X. If the order of Euler angles in LSL were X Y Z the angles would be proper nautical angles (and llRot2Euler would return the same values as rot2roll_pitch_yaw below), but the order is built-in in the llRot2Euler and llEuler2Rot functions.		Note that in [http://http://wiki.secondlife.com/wiki/LlRot2Euler http://wiki.secondlife.com/wiki/LlRot2Euler llRot2Euler] it is (somewhat) imprecisely stated that it returns roll, pitch and yaw angles. However, LSL Euler angles are extrinsic Tait-Bryan angles, in Z Y X order. With extrinsic rotations, after the Z-rotation (yaw) the Y-rotation is done in world coordinates, rotating the rotated vertices around world Y-axis, and similarly with X. As the Y-rotation is not with respect to the local Y-axis it does not represent the pitch angle. For 90 degree yaw, the Y-rotation will actually cause roll around the local X-axis that is aligned with world Y-axis. If the order of Euler angles in LSL were X Y Z the angles would be proper nautical angles (and llRot2Euler would return the same values as rot2roll_pitch_yaw below), but the order is built-in in the llRot2Euler and llEuler2Rot functions.

LindaB Helendale at 15:51, 8 August 2015

2015-08-08T15:51:13Z

← Older revision		Revision as of 08:51, 8 August 2015
Line 3:		Line 3:
	Roll, pitch and yaw are commonly used object related rotations (intrinsic Tait-Bryan angles) in avionics, sailing and navigation. Here are conversion functions between LSL rotation and roll, pitch and yaw angles.		Roll, pitch and yaw are commonly used object related rotations (intrinsic Tait-Bryan angles) in avionics, sailing and navigation. Here are conversion functions between LSL rotation and roll, pitch and yaw angles.

	Note that in [http://http://wiki.secondlife.com/wiki/LlRot2Euler http://wiki.secondlife.com/wiki/LlRot2Euler llRot2Euler] it is (somewhat) imprecisely stated that it returns roll, pitch and yaw angles. However, LSL Euler angles are extrinsic Tait-Bryan angles, in Z Y X order. With extrinsic rotations, after the Z-rotation the Y-rotation is done in world coordinates, rotating the rotated vertices around world Y-axis, and similarly with X. If the order of Euler angles in ~~llRot2Euler~~ were X Y Z the angles would be proper nautical angles (and llRot2Euler would return the same values as rot2roll_pitch_yaw below), but the order is built-in in the llRot2Euler and llEuler2Rot functions.		Note that in [http://http://wiki.secondlife.com/wiki/LlRot2Euler http://wiki.secondlife.com/wiki/LlRot2Euler llRot2Euler] it is (somewhat) imprecisely stated that it returns roll, pitch and yaw angles. However, LSL Euler angles are extrinsic Tait-Bryan angles, in Z Y X order. With extrinsic rotations, after the Z-rotation the Y-rotation is done in world coordinates, rotating the rotated vertices around world Y-axis, and similarly with X. If the order of Euler angles in LSL were X Y Z the angles would be proper nautical angles (and llRot2Euler would return the same values as rot2roll_pitch_yaw below), but the order is built-in in the llRot2Euler and llEuler2Rot functions.

LindaB Helendale at 15:49, 8 August 2015

2015-08-08T15:49:41Z

← Older revision		Revision as of 08:49, 8 August 2015
Line 3:		Line 3:
	Roll, pitch and yaw are commonly used object related rotations (intrinsic Tait-Bryan angles) in avionics, sailing and navigation. Here are conversion functions between LSL rotation and roll, pitch and yaw angles.		Roll, pitch and yaw are commonly used object related rotations (intrinsic Tait-Bryan angles) in avionics, sailing and navigation. Here are conversion functions between LSL rotation and roll, pitch and yaw angles.

	Note that in [http://http://wiki.secondlife.com/wiki/LlRot2Euler http://wiki.secondlife.com/wiki/LlRot2Euler llRot2Euler] it is (somewhat) imprecisely stated that it returns roll, pitch and yaw angles. However, LSL Euler angles are extrinsic Tait-Bryan angles, in Z Y X order. With extrinsic rotations after the Z-rotation the Y-rotation is done in world coordinates, rotating the rotated vertices around world Y-axis, and similarly with X. In order X Y Z the ~~LSL Euler~~ angles would be proper nautical angles but the order is built-in in the llRot2Euler and llEuler2Rot functions.		Note that in [http://http://wiki.secondlife.com/wiki/LlRot2Euler http://wiki.secondlife.com/wiki/LlRot2Euler llRot2Euler] it is (somewhat) imprecisely stated that it returns roll, pitch and yaw angles. However, LSL Euler angles are extrinsic Tait-Bryan angles, in Z Y X order. With extrinsic rotations, after the Z-rotation the Y-rotation is done in world coordinates, rotating the rotated vertices around world Y-axis, and similarly with X. If the order of Euler angles in llRot2Euler were X Y Z the angles would be proper nautical angles (and llRot2Euler would return the same values as rot2roll_pitch_yaw below), but the order is built-in in the llRot2Euler and llEuler2Rot functions.

LindaB Helendale at 09:09, 8 August 2015

2015-08-08T09:09:44Z

← Older revision		Revision as of 02:09, 8 August 2015
Line 3:		Line 3:
	Roll, pitch and yaw are commonly used object related rotations (intrinsic Tait-Bryan angles) in avionics, sailing and navigation. Here are conversion functions between LSL rotation and roll, pitch and yaw angles.		Roll, pitch and yaw are commonly used object related rotations (intrinsic Tait-Bryan angles) in avionics, sailing and navigation. Here are conversion functions between LSL rotation and roll, pitch and yaw angles.

	Note that in [http://http://wiki.secondlife.com/wiki/LlRot2Euler http://wiki.secondlife.com/wiki/LlRot2Euler llRot2Euler] it is (somewhat) imprecisely stated that it returns roll, pitch and yaw angles. However, LSL Euler angles are extrinsic Tait-Bryan angles, in Z Y X order. With extrinsic rotations after the Z-rotation the Y-rotation is done in world coordinates, rotating the rotated vertices around world Y-axis, and similarly with X. In order X Y Z the LSL Euler angles would be proper nautical angles.		Note that in [http://http://wiki.secondlife.com/wiki/LlRot2Euler http://wiki.secondlife.com/wiki/LlRot2Euler llRot2Euler] it is (somewhat) imprecisely stated that it returns roll, pitch and yaw angles. However, LSL Euler angles are extrinsic Tait-Bryan angles, in Z Y X order. With extrinsic rotations after the Z-rotation the Y-rotation is done in world coordinates, rotating the rotated vertices around world Y-axis, and similarly with X. In order X Y Z the LSL Euler angles would be proper nautical angles but the order is built-in in the llRot2Euler and llEuler2Rot functions.


	<source lang="lsl2">		<source lang="lsl2">

LindaB Helendale at 09:06, 8 August 2015

2015-08-08T09:06:14Z

← Older revision		Revision as of 02:06, 8 August 2015
Line 2:		Line 2:

	Roll, pitch and yaw are commonly used object related rotations (intrinsic Tait-Bryan angles) in avionics, sailing and navigation. Here are conversion functions between LSL rotation and roll, pitch and yaw angles.		Roll, pitch and yaw are commonly used object related rotations (intrinsic Tait-Bryan angles) in avionics, sailing and navigation. Here are conversion functions between LSL rotation and roll, pitch and yaw angles.

			Note that in [http://http://wiki.secondlife.com/wiki/LlRot2Euler http://wiki.secondlife.com/wiki/LlRot2Euler llRot2Euler] it is (somewhat) imprecisely stated that it returns roll, pitch and yaw angles. However, LSL Euler angles are extrinsic Tait-Bryan angles, in Z Y X order. With extrinsic rotations after the Z-rotation the Y-rotation is done in world coordinates, rotating the rotated vertices around world Y-axis, and similarly with X. In order X Y Z the LSL Euler angles would be proper nautical angles.

	<source lang="lsl2">		<source lang="lsl2">

LindaB Helendale at 08:47, 8 August 2015

2015-08-08T08:47:55Z

← Older revision		Revision as of 01:47, 8 August 2015
Line 33:		Line 33:
	{		{
	// convert vector <roll,pitch,yaw> to LSL rotation		// convert vector <roll,pitch,yaw> to LSL rotation
	return llEuler2Rot(<R.x,0,0>) * llEuler2Rot(<0,R.y,0>) * llEuler2Rot(<0,0R.z>);		return llEuler2Rot(<R.x,0,0>) * llEuler2Rot(<0,R.y,0>) * llEuler2Rot(<0,0,R.z>);
	}		}

LindaB Helendale at 08:39, 8 August 2015

2015-08-08T08:39:55Z

← Older revision		Revision as of 01:39, 8 August 2015
Line 32:		Line 32:
	rotation roll_pitch_yaw2rot(vector R)		rotation roll_pitch_yaw2rot(vector R)
	{		{
			// convert vector <roll,pitch,yaw> to LSL rotation
	return llEuler2Rot(<R.x,0,0>) * llEuler2Rot(<0,R.y,0>) * llEuler2Rot(<0,0R.z>);		return llEuler2Rot(<R.x,0,0>) * llEuler2Rot(<0,R.y,0>) * llEuler2Rot(<0,0R.z>);
	}		}