使用矩阵和四元数实现三维模型的空间定位

最新推荐文章于 2022-01-16 17:09:11 发布

最新推荐文章于 2022-01-16 17:09:11 发布 · 202 阅读

本文介绍了两种实现三维模型绕坐标轴旋转的方法：一种是使用矩阵变换，另一种是利用四元数进行旋转。通过键盘输入控制旋转方向和速度，同时支持模型沿其正向移动。

通过矩阵变换实现绕三个坐标轴的特定角度的旋转:

//-----------------------------------------------------------------------------

//Desc:设置世界矩阵

//-----------------------------------------------------------------------------

VOIDSetWorldMatrix()

{

staticlongcurTime=0;

staticfloatelapsetime=0;

elapsetime=(timeGetTime()-curTime)/1000.0f;

curTime=timeGetTime();

//创建并设置世界矩阵

floatfRoll,fPitch,fYaw;

fRoll=fPitch=fYaw=0.0f;

if(m_bKey['D'])fRoll-=3*elapsetime;

if(m_bKey['A'])fRoll+=3*elapsetime;

if(m_bKey['S'])fPitch-=3*elapsetime;

if(m_bKey['W'])fPitch+=3*elapsetime;

if(m_bKey['Q'])fYaw-=3*elapsetime;

if(m_bKey['E'])fYaw+=3*elapsetime;

//更新网格模型姿态

staticD3DXVECTOR3vRight,vUp,vLook,vPos;

vRight.x=g_matWorld._11;

vRight.y=g_matWorld._12;

vRight.z=g_matWorld._13;

vUp.x=g_matWorld._21;

vUp.y=g_matWorld._22;

vUp.z=g_matWorld._23;

vLook.x=g_matWorld._31;

vLook.y=g_matWorld._32;

vLook.z=g_matWorld._33;

vPos.x=g_matWorld._41;

vPos.y=g_matWorld._42;

vPos.z=g_matWorld._43;

D3DXVec3Normalize(&vLook,&vLook);

D3DXVec3Cross(&vRight,&vUp,&vLook);

D3DXVec3Normalize(&vRight,&vRight);

D3DXVec3Cross(&vUp,&vLook,&vRight);

D3DXVec3Normalize(&vUp,&vUp);

staticD3DXMATRIXmatPitch,matYaw,matRoll;

D3DXMatrixRotationAxis(&matYaw,&vUp,fYaw);

D3DXVec3TransformCoord(&vLook,&vLook,&matYaw);

D3DXVec3TransformCoord(&vRight,&vRight,&matYaw);

D3DXMatrixRotationAxis(&matRoll,&vLook,fRoll);

D3DXVec3TransformCoord(&vRight,&vRight,&matRoll);

D3DXVec3TransformCoord(&vUp,&vUp,&matRoll);

D3DXMatrixRotationAxis(&matPitch,&vRight,fPitch);

D3DXVec3TransformCoord(&vLook,&vLook,&matPitch);

D3DXVec3TransformCoord(&vUp,&vUp,&matPitch);

g_matWorld._11=vRight.x;

g_matWorld._12=vRight.y;

g_matWorld._13=vRight.z;

g_matWorld._21=vUp.x;

g_matWorld._22=vUp.y;

g_matWorld._23=vUp.z;

g_matWorld._31=vLook.x;

g_matWorld._32=vLook.y;

g_matWorld._33=vLook.z;

//向前移动

if(m_bKey['F'])

{

g_matWorld._41+=30*elapsetime*vLook.x;

g_matWorld._42+=30*elapsetime*vLook.y;

g_matWorld._43+=30*elapsetime*vLook.z;

}

//向后移动

if(m_bKey['V'])

{

g_matWorld._41-=30*elapsetime*vLook.x;

g_matWorld._42-=30*elapsetime*vLook.y;

g_matWorld._43-=30*elapsetime*vLook.z;

}

g_pd3dDevice->SetTransform(D3DTS_WORLD,&g_matWorld);

}

通过四元数实现绕三个坐标轴的特定角度的旋转:

//-----------------------------------------------------------------------------

//Desc:设置世界矩阵

//-----------------------------------------------------------------------------

VOIDSetWorldMatrix()

{

staticlongcurTime=0;

staticfloatelapsetime=0;

elapsetime=(timeGetTime()-curTime)/1000.0f;

curTime=timeGetTime();

//创建并设置世界矩阵

floatfRoll,fPitch,fYaw;

fRoll=fPitch=fYaw=0.0f;

if(m_bKey['D'])fRoll-=3*elapsetime;

if(m_bKey['A'])fRoll+=3*elapsetime;

if(m_bKey['S'])fPitch-=3*elapsetime;

if(m_bKey['W'])fPitch+=3*elapsetime;

if(m_bKey['Q'])fYaw-=3*elapsetime;

if(m_bKey['E'])fYaw+=3*elapsetime;

//更新网格模型姿态

D3DXQUATERNIONqR;

D3DXMATRIXmatRot;

D3DXQuaternionRotationYawPitchRoll(&qR,fYaw,fPitch,fRoll);

D3DXMatrixRotationQuaternion(&matRot,&qR);

D3DXMatrixMultiply(&g_matWorld,&matRot,&g_matWorld);

//获取网格模型前向量

staticD3DXVECTOR3vLook;

vLook.x=g_matWorld._31;

vLook.y=g_matWorld._32;

vLook.z=g_matWorld._33;

//向前移动

if(m_bKey['F'])

{

g_matWorld._41+=10*elapsetime*vLook.x;

g_matWorld._42+=10*elapsetime*vLook.y;

g_matWorld._43+=10*elapsetime*vLook.z;

}

//向后移动

if(m_bKey['V'])

{

g_matWorld._41-=10*elapsetime*vLook.x;

g_matWorld._42-=10*elapsetime*vLook.y;

g_matWorld._43-=10*elapsetime*vLook.z;

}

g_pd3dDevice->SetTransform(D3DTS_WORLD,&g_matWorld);

}