我正在使用OpenGL和GLFW,我试图旋转多个对象,每个对象都在同一个枢轴点上具有各自的模型矩阵。我的兔子有三个不同的模型,一个身体,一个前腿,一个后腿,我试图在Y轴上旋转它们,使它们面向一个方向。然而,当我试图将腿旋转到位时,腿看起来像是在“移动”。如果我不沿着Y轴旋转它们,那么它们就没问题。我想找到一种方法,在一个枢轴点上旋转所有三个模型矩阵,所以当它们最终旋转时,它们不会在自己的原点上旋转。下面是我的主要代码:
class rabbit {
public:
std::vector<colored_model_object*> rabbit_renderers;
std::vector<glm::mat4> rabbit_models;
glm::vec3 position = glm::vec3(0.0f);
float fore_leg_rotation = 0;
float hind_leg_rotation = 0;
float whole_rotation = 0;
int jump_phase = 0;
float jump_lerp = 0.0f;
float jump_speed = 0.003f;
glm::vec3 jump_start, jump_end;
float y_velocity = 0;
rabbit() {
rabbit_renderers.push_back(new colored_model_object("res/objects/rabbit/rabbit_body.obj"));
rabbit_renderers.push_back(new colored_model_object("res/objects/rabbit/rabbit_front_legs.obj"));
rabbit_renderers.push_back(new colored_model_object("res/objects/rabbit/rabbit_hind_legs.obj"));
}
void jump(glm::vec3 direction, float magnitude) {
if (jump_phase >= 1) return;
glm::vec3 jump_power = glm::normalize(direction) * magnitude;
jump_start = position;
jump_end = position + jump_power;
jump_phase = 1;
jump_lerp = 0;
fore_leg_rotation = 0.0f;
hind_leg_rotation = 0.0f;
y_velocity = 1;
glm::vec2 dir_2d = glm::normalize(glm::vec2(direction.x, direction.z));
glm::vec2 up = glm::vec2(0, 1);
float dot = dir_2d.x * up.x + dir_2d.y * up.y;
float det = dir_2d.x * up.y - dir_2d.y * up.x;
float body_angle = atan2(det, dot);
whole_rotation = body_angle;
}
void update() {
position.y += y_velocity;
y_velocity -= 0.008f;
if (position.y < 0) position.y = 0;
if (jump_phase> 0) {
glm::vec2 jump_start_xz = glm::vec2(jump_start.x, jump_start.z);
glm::vec2 jump_end_xz = glm::vec2(jump_end.x, jump_end.z);
glm::vec2 position_xz = glm::mix(jump_start_xz, jump_end_xz, jump_lerp);
position.x = position_xz.x;
position.z = position_xz.y;
jump_lerp += jump_speed;
}
if (jump_phase == 1) {
fore_leg_rotation += 1;
hind_leg_rotation += 1;
if (fore_leg_rotation > 45.0f) {
jump_phase = 2;
}
}
if (jump_phase == 2) {
fore_leg_rotation -= 0.2f;
hind_leg_rotation -= 0.2f;
if (fore_leg_rotation < 0.0f) {
jump_phase = 3;
}
}
if (jump_lerp > 1) {
jump_phase = 0;
jump_lerp = 0;
fore_leg_rotation = 0.0f;
hind_leg_rotation = 0.0f;
}
}
void update_models() {
update();
rabbit_models.clear();
rabbit_models.push_back(system3d::get_model());
rabbit_models.push_back(system3d::get_model());
rabbit_models.push_back(system3d::get_model());
rabbit_models.at(0) = (system3d::create_model(rabbit_models.at(0),glm::vec3(0.1f, 0.1f, 0.1f), glm::vec3(-100 + position.x, 310.5f + position.y, 0 + position.z), 0.0f, glm::vec3(1, 1, 1)));
rabbit_models.at(1) = (system3d::create_model(rabbit_models.at(1), glm::vec3(0.1f, 0.1f, 0.1f), glm::vec3(-100 + position.x, 310.5f + position.y, 0 + position.z), fore_leg_rotation, glm::vec3(1, 0, 0), glm::vec3(0, -42.0f, 0)));
rabbit_models.at(2) = (system3d::create_model(rabbit_models.at(2), glm::vec3(0.1f, 0.1f, 0.1f), glm::vec3(-100 + position.x, 310.5f + position.y, 0 + position.z), hind_leg_rotation, glm::vec3(1, 0, 0), glm::vec3(0, -42.0f, 17.0f)));
for (int i = 0; i < rabbit_models.size(); i++) {
rabbit_models.at(i) = glm::rotate(rabbit_models.at(i), glm::radians(whole_rotation), glm::vec3(0, 1, 0));
}
}
};
下面是引用的system3d类:
class system3d {
public:
static glm::mat4 get_model(glm::vec3 scale_vec, glm::vec3 translate_vec, float rotation, glm::vec3 rotation_vec) {
glm::mat4 model = glm::mat4(1.0f);
model = glm::scale(model, scale_vec);
model = glm::rotate(model, glm::radians(rotation), rotation_vec);
model = glm::translate(model, translate_vec);
return model;
}
static glm::mat4 get_model(glm::vec3 scale_vec, glm::vec3 translate_vec, float rotation, glm::vec3 rotation_vec, glm::vec3 rotation_pivot) {
glm::mat4 model = glm::mat4(1.0f);
model = glm::scale(model, scale_vec);
model = glm::translate(model, translate_vec);
model = glm::translate(model, -rotation_pivot);
model = glm::rotate(model, glm::radians(rotation), rotation_vec);
model = glm::translate(model, rotation_pivot);
return model;
}
static glm::mat4 create_model(glm::mat4 existing, glm::vec3 scale_vec, glm::vec3 translate_vec, float rotation, glm::vec3 rotation_vec) {
glm::mat4 model = existing;
model = glm::scale(model, scale_vec);
model = glm::rotate(model, glm::radians(rotation), rotation_vec);
model = glm::translate(model, translate_vec);
return model;
}
static glm::mat4 create_model(glm::mat4 existing, glm::vec3 scale_vec, glm::vec3 translate_vec, float rotation, glm::vec3 rotation_vec, glm::vec3 rotation_pivot) {
glm::mat4 model = existing;
model = glm::scale(model, scale_vec);
model = glm::translate(model, translate_vec);
model = glm::translate(model, -rotation_pivot);
model = glm::rotate(model, glm::radians(rotation), rotation_vec);
model = glm::translate(model, rotation_pivot);
return model;
}
static glm::mat4 get_model() {
glm::mat4 model = glm::mat4(1.0f);
return model;
}
};
我一直在试图找到一个解决方案几个小时了,我还没有找到一个不涉及四元数。(我发现四元数真的很令人困惑,我个人无法编写有效的四元数代码。
这里是一个视频的结果,首先当他们的Y轴旋转为0,然后当Y轴旋转不为0:
有人知道我能做什么吗?
2条答案
按热度按时间cig3rfwq1#
如果我理解你的问题,问题是:
如果这代表问题,则需要通过以下方式执行正确的操作顺序:
例如:您想要:
然后,应用于每个的旋转为:
70gysomp2#
旋转矩阵应首先在任何模型顶点上操作,然后才应应用模型矩阵。所以顺序应该是M*R。另一种方法是“固定”旋转矩阵,使其也平移模型,使其保持在当前位置: