Changeset 3039 for code/trunk/src/orxonox/objects/worldentities/pawns

Timestamp:

May 24, 2009, 6:09:23 PM (16 years ago)

Author:

landauf

Message:

changed rotation convertion.

+pitch is a counterclockwise rotation around the x axis (pointing to the right)
+yaw is a counterclockwise rotation around the y axis (pointing upwards)
+roll is a counterclockwise rotation around the z axis (pointing backwards)

This corresponds to the implementation of Ogre and Bullet, so we don't have to apply magic "-" signs anymore.

Don't get misleaded by wikipedia, they use another convention using a weird mix of clockwise and counterclockwise rotation. Our system is rather like this, except for the names of the axes:
​http://developer.valvesoftware.com/w/images/7/7e/Roll_pitch_yaw.gif

So a rotation around an axis is counterclockwise if the clock faces in the direction of the axis. I hope you get it.

(This will break the AI even more, but it will be fixed in a later commit.)

Location:

code/trunk/src/orxonox/objects/worldentities/pawns

Files:

• SpaceShip.cc (modified) (1 diff)
• Spectator.cc (modified) (1 diff)

code/trunk/src/orxonox/objects/worldentities/pawns/SpaceShip.cc

@@ -160 +160 @@
     void SpaceShip::rotateYaw(const Vector2& value)
     {
-        this->localAngularAcceleration_.setY(this->localAngularAcceleration_.y() - value.x);
+        this->localAngularAcceleration_.setY(this->localAngularAcceleration_.y() + value.x);
 
         Pawn::rotateYaw(value);

code/trunk/src/orxonox/objects/worldentities/pawns/Spectator.cc

@@ -177 +177 @@
     void Spectator::rotateYaw(const Vector2& value)
     {
-        this->yaw_ -= value.y;
+        this->yaw_ += value.y;
 
         ControllableEntity::rotateYaw(value);