koobas.hobune.stream
Why the calculated quaternions not the same as recieved from transform.localRotation?
Cant understand what is wrong with my code that calculates euler or quaternions from two vectors. I have a rigged model with bones hierarchy, so try to find the angles between 14 and 15 bones. For that reason i calculate 2 vectors Hand and Elb using there positions (transform.position). Then I try to compare my calculated vector for normal and with current localRotation of bone 15 but it is definitely not the same. Why is there such a huge error or where is the mistake in such method of bones rotation calculate?
private Vector3 calcEulersYawPitchRoll(Vector3 N, float angle){
Vector3 eulers = new Vector3();
eulers.x = Mathf.Atan2(N.y * Mathf.Sin(angle)- N.x * N.z * (1 - Mathf.Cos(angle)) , 1 - (N.y * N.y + N.z * N.z) * (1 - Mathf.Cos(angle))) * Mathf.Rad2Deg;
eulers.y = Mathf.Asin(N.x * N.y * (1 - Mathf.Cos(angle)) + N.z * Mathf.Sin(angle)) * Mathf.Rad2Deg;
eulers.z = Mathf.Atan2(N.x * Mathf.Sin(angle) - N.y * N.z * (1 - Mathf.Cos(angle)) , 1 - (N.x * N.x + N.z * N.z) * (1 - Mathf.Cos(angle))) * Mathf.Rad2Deg;
return eulers;
}
private void DisplayQuaternAndNormal(){
Quaternion hand = m_BoneMapping[15].transform.localRotation;
float angle = 2 * Mathf.Acos(hand.w) * Mathf.Rad2Deg;
float qw = Mathf.Sqrt(1 - hand.w * hand.w);
Vector3 NfromQuat = new Vector3(hand.x / qw, hand.y / qw, hand.z / qw);
Vector3 ShldP = m_BoneMapping[14].transform.position;
Vector3 ArmP = m_BoneMapping[15].transform.position;
Vector3 ElbP = m_BoneMapping[16].transform.position;
Vector3 Hand = ElbP - ArmP; Vector3.Normalize(Hand);
Vector3 Elb = ArmP - ShldP; Vector3.Normalize(Elb);
float angle2 = Vector3.Angle(Hand, Elb);
Vector3 N = Vector3.Cross(Hand, Elb).normalized;
Vector3 Ncalc = calcEulersYawPitchRoll(N, angle2 * Mathf.Deg2Rad);
Vector3 Neulers = m_BoneMapping[15].transform.localRotation.eulerAngles;
if(Ncalc.x <= 0){
Ncalc.x += 360;
}
if(Ncalc.y <= 0){
Ncalc.y += 360;
}
if(Ncalc.z <= 0){
Ncalc.z += 360;
}
Debug.Log("Comapare Angle Quat is " + angle + " Calculated is " + angle2);
Debug.Log("Comapare Eulers is " + Neulers.x + " " + Neulers.y + " " + Neulers.z + " " + " Calculated is " + + Ncalc.x + " " + Ncalc.y + " " + Ncalc.z);
Debug.Log("Comapare Quaternions is " + NfromQuat.x + " " + NfromQuat.y + " " + NfromQuat.z + " " + " Calculated is " + + N.x + " " + N.y + " " + N.z);
}
