欧拉角旋转函数

写在前面：正当很高兴地完成了矩阵相关的旋转后，发现如果涉及到旋转；矩阵，欧拉角(EulerAngles) ，四元数(Quaternions)这三个概念哪本书上都会提。这次先讲下欧拉角。

 

 

1.什么是欧拉角

 

欧拉角是由三个角组成，这三个角分别是Yaw,Pitch,Roll。很难翻译这三个单词，Yaw 表示绕y轴旋转的角度，Pitch表示绕x轴旋转的角度，Roll表示绕z轴旋转的角度。也就是说，任意的旋转角度都可以通过这三次按照先后顺序旋转得到。矩阵很难让人具体形象表示，欧拉角就容易多了。注意可能很多地方三个角的先后次序不一样，我们这里选择跟DirectX 中的D3DXMatrixRotationYawPitchRoll函数保持一致，先绕y轴旋转，在绕x轴旋转，最后绕z轴旋转。

感觉Yaw(偏航),Pitch(投掷；倾斜；坠落),Roll(转动) 介绍飞机旋转的比较多，窃了三张图来更象形地表示下：

 

2.欧拉角中的旋转

 

还记得这三个矩阵吗？绕相关轴旋转，乘以相关矩阵就行了，也就是说欧拉角最终还是转换成矩阵相乘，不过是要与三个矩阵相乘。

我们知道可以先把这三个矩阵相乘，这样可以节约计算量。就是要先计算这三个矩阵相乘，注意矩阵相乘次序是不可更改的，更改了结果就不一样了。

欧拉角的三个角，可以转变为矩阵与矩阵的相乘。

 

3.开始替换D3DXMatrixRotationYawPitchRoll函数

 

 

Directx 9.0中有个函数叫D3DXMatrixRotationYawPitchRoll(D3DXMATRIX *pOut, FLOAT Yaw, FLOAT Pitch, FLOAT Roll)。根据上面复杂的矩阵，我们用C++替换成下面的函数。可能这个函数还有优化空间，数学太差啊。

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//----------------------------------------------------------------------------- // Name: setupRotate() // Desc: 绕3个角度旋转 //-----------------------------------------------------------------------------    VOID setupRotate(D3DXMATRIXA16 *returnMatrix, float yaw, float pitch, float roll) {         float sx = sin (pitch); float sy = sin (yaw); float sz = sin (roll);      float cx = cos (pitch); float cy = cos (yaw); float cz = cos (roll);      returnMatrix->_11 = cz * cy - sx * sy * sz;      returnMatrix->_12 = cy * sz + sx * sy * cz;      returnMatrix->_13 = -sy * cx;      returnMatrix->_14 = 0.0f;      returnMatrix->_21 = -cx * sz;      returnMatrix->_22 = cx * cz;      returnMatrix->_23 = sx;      returnMatrix->_24 = 0.0f;      returnMatrix->_31 = sy * cz + sx * cy * sz;      returnMatrix->_32 = sy * sz - sx * cy * cz;      returnMatrix->_33 = cx * cy;      returnMatrix->_34 = 0.0f;      returnMatrix->_41 = 0.0f;      returnMatrix->_42 = 0.0f;      returnMatrix->_43 = 0.0f;      returnMatrix->_44 = 1.0f; }

 

先看下我们使用这个函数的例子效果：跟随鼠标移动的水壶，而不是自己在那旋转个不停。

 

对上面这张gif图片是如何制作感兴趣？看截取视频，然后制成gif 教程

 

除了上面的函数之外的核心代码(需要对Windows中的消息处理熟悉)：

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float g_fSpinX = 0.0f; float g_fSpinY = 0.0f; //鼠标最后位置 static POINT ptLastMousePosit; //当前鼠标位置 static POINT ptCurrentMousePosit; static bool bMousing; switch ( msg )      { case WM_LBUTTONDOWN: // 当鼠标左键按下时，记录当前的位置(屏幕坐标),并设置按下标志              {                  ptLastMousePosit.x = ptCurrentMousePosit.x = LOWORD (lParam);                  ptLastMousePosit.y = ptCurrentMousePosit.y = HIWORD (lParam);                  bMousing = true ;              }              break ;          case WM_LBUTTONUP:              {                  bMousing = false ;              }              break ;          case WM_MOUSEMOVE: // 鼠标移动时，保存X/Y轴的移动距离              {                  ptCurrentMousePosit.x = LOWORD (lParam);                  ptCurrentMousePosit.y = HIWORD (lParam);                     if ( bMousing )                  {                      g_fSpinX -= (ptCurrentMousePosit.x - ptLastMousePosit.x);                      g_fSpinY -= (ptCurrentMousePosit.y - ptLastMousePosit.y);                  }                     ptLastMousePosit.x = ptCurrentMousePosit.x;                  ptLastMousePosit.y = ptCurrentMousePosit.y;              }           break ;           }           //最后两个值传到我们写好的函数中即可           setupRotate(&matWorld,D3DXToRadian(g_fSpinX),D3DXToRadian(g_fSpinY),0.0f);

完整代码：如果觉得看起来太累，拉到最底部，下载整个项目来看。

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//----------------------------------------------------------------------------- // File: Lights.cpp // Copyright (c) Microsoft Corporation & Waitingfy.com. All rights reserved. //----------------------------------------------------------------------------- #include <Windows.h> #include <mmsystem.h> #include <d3dx9.h> #include <strsafe.h> #include <math.h> #include <assert.h> //----------------------------------------------------------------------------- // Global variables //----------------------------------------------------------------------------- LPDIRECT3D9             g_pD3D       = NULL; // Used to create the D3DDevice LPDIRECT3DDEVICE9       g_pd3dDevice = NULL; // Our rendering device LPDIRECT3DVERTEXBUFFER9 g_pVB        = NULL; // Buffer to hold vertices ID3DXMesh* Objects = 0; //茶壶    float g_fSpinX = 0.0f; float g_fSpinY = 0.0f;    // A structure for our custom vertex type. We added a normal, and omitted the // color (which is provided by the material) struct CUSTOMVERTEX {      D3DXVECTOR3 position; // The 3D position for the vertex      D3DXVECTOR3 normal;   // The surface normal for the vertex };    // Our custom FVF, which describes our custom vertex structure #define D3DFVF_CUSTOMVERTEX (D3DFVF_XYZ|D3DFVF_NORMAL)    //----------------------------------------------------------------------------- // Name: InitD3D() // Desc: Initializes Direct3D //----------------------------------------------------------------------------- HRESULT InitD3D( HWND hWnd ) {      // Create the D3D object.      if ( NULL == ( g_pD3D = Direct3DCreate9( D3D_SDK_VERSION ) ) )          return E_FAIL;         // Set up the structure used to create the D3DDevice. Since we are now      // using more complex geometry, we will create a device with a zbuffer.      D3DPRESENT_PARAMETERS d3dpp;      ZeroMemory( &d3dpp, sizeof (d3dpp) );      d3dpp.Windowed = TRUE;      d3dpp.SwapEffect = D3DSWAPEFFECT_DISCARD;      d3dpp.BackBufferFormat = D3DFMT_UNKNOWN;      d3dpp.EnableAutoDepthStencil = TRUE;      d3dpp.AutoDepthStencilFormat = D3DFMT_D16;         // Create the D3DDevice      if ( FAILED( g_pD3D->CreateDevice( D3DADAPTER_DEFAULT, D3DDEVTYPE_HAL, hWnd,                                        D3DCREATE_SOFTWARE_VERTEXPROCESSING,                                        &d3dpp, &g_pd3dDevice ) ) )      {          return E_FAIL;      }         // Turn off culling      g_pd3dDevice->SetRenderState( D3DRS_CULLMODE, D3DCULL_NONE );         // Turn on the zbuffer      g_pd3dDevice->SetRenderState( D3DRS_ZENABLE, TRUE );         return S_OK; }    //----------------------------------------------------------------------------- // Name: Cleanup() // Desc: Releases all previously initialized objects //----------------------------------------------------------------------------- VOID Cleanup() {      if ( g_pVB != NULL )          g_pVB->Release();         if ( g_pd3dDevice != NULL )          g_pd3dDevice->Release();         if ( g_pD3D != NULL )          g_pD3D->Release();      if (Objects != NULL){         Objects->Release();      }    }    //----------------------------------------------------------------------------- // Name: setupRotate() // Desc: 绕3个角度旋转 //-----------------------------------------------------------------------------    VOID setupRotate(D3DXMATRIXA16 *returnMatrix, float yaw, float pitch, float roll) {         float sx = sin (pitch); float sy = sin (yaw); float sz = sin (roll);      float cx = cos (pitch); float cy = cos (yaw); float cz = cos (roll);      returnMatrix->_11 = cz * cy - sx * sy * sz;      returnMatrix->_12 = cy * sz + sx * sy * cz;      returnMatrix->_13 = -sy * cx;      returnMatrix->_14 = 0.0f;      returnMatrix->_21 = -cx * sz;      returnMatrix->_22 = cx * cz;      returnMatrix->_23 = sx;      returnMatrix->_24 = 0.0f;      returnMatrix->_31 = sy * cz + sx * cy * sz;      returnMatrix->_32 = sy * sz - sx * cy * cz;      returnMatrix->_33 = cx * cy;      returnMatrix->_34 = 0.0f;      returnMatrix->_41 = 0.0f;      returnMatrix->_42 = 0.0f;      returnMatrix->_43 = 0.0f;      returnMatrix->_44 = 1.0f; }    //----------------------------------------------------------------------------- // Name: SetupMatrices() // Desc: Sets up the world, view, and projection transform matrices. //----------------------------------------------------------------------------- VOID SetupMatrices() {      // 旋转      D3DXMATRIXA16 matWorld;      D3DXMatrixIdentity( &matWorld );      //根据x轴和y轴移动距离旋转      setupRotate(&matWorld,D3DXToRadian(g_fSpinX),D3DXToRadian(g_fSpinY),0.0f);      g_pd3dDevice->SetTransform( D3DTS_WORLD, &matWorld );         // 摄像机的位置      D3DXVECTOR3 vEyePt( 0.0f, 3.0f,-5.0f );      D3DXVECTOR3 vLookatPt( 0.0f, 0.0f, 0.0f );      D3DXVECTOR3 vUpVec( 0.0f, 1.0f, 0.0f );      D3DXMATRIXA16 matView;      D3DXMatrixLookAtLH( &matView, &vEyePt, &vLookatPt, &vUpVec );      g_pd3dDevice->SetTransform( D3DTS_VIEW, &matView );         // 设置视锥体大小      D3DXMATRIXA16 matProj;      D3DXMatrixPerspectiveFovLH( &matProj, D3DX_PI/4, 1.0f, 1.0f, 100.0f );      g_pd3dDevice->SetTransform( D3DTS_PROJECTION, &matProj ); }    //----------------------------------------------------------------------------- // Name: SetupLights() // Desc: Sets up the Lights and materials for the scene. //----------------------------------------------------------------------------- VOID SetupLights() {      // 初始化一个材料         D3DMATERIAL9 mtrl;      ZeroMemory( &mtrl, sizeof (D3DMATERIAL9) );      mtrl.Diffuse = mtrl.Ambient = D3DXCOLOR(1.0f,1.0f,0.0f,1.0f); //材质有漫射和环境光的设置，都为黄色      g_pd3dDevice->SetMaterial( &mtrl );         // 初始化一个白色的方向光      ///*      D3DXVECTOR3 vecDir;      D3DLIGHT9 light;      ZeroMemory( &light, sizeof (D3DLIGHT9) );      light.Type       = D3DLIGHT_DIRECTIONAL; //方向光      light.Diffuse = D3DXCOLOR(1.0f,1.0f,1.0f,1.0f); //设置光源的漫射光颜色为白色      light.Direction = D3DXVECTOR3(0.0f,0.0f,1.0f); //光的传播方向平行z轴      light.Range       = 1000.0f;      g_pd3dDevice->SetLight( 0, &light );      g_pd3dDevice->LightEnable( 0, TRUE );      g_pd3dDevice->SetRenderState( D3DRS_LIGHTING, TRUE );         //*/      // Finally, turn on some ambient light.      g_pd3dDevice->SetRenderState( D3DRS_AMBIENT, 0x00202020 ); }    //----------------------------------------------------------------------------- // Name: Render() // Desc: Draws the scene //----------------------------------------------------------------------------- VOID Render() {      // 背景为蓝色      g_pd3dDevice->Clear( 0, NULL, D3DCLEAR_TARGET|D3DCLEAR_ZBUFFER,                           D3DCOLOR_XRGB(0,0,255), 1.0f, 0 );      // Begin the scene      if ( SUCCEEDED( g_pd3dDevice->BeginScene() ) )      {          // 茶壶的材料颜色也定义在这个函数中          SetupLights();             // Setup the world, view, and projection matrices          SetupMatrices();             // Render the vertex buffer contents          g_pd3dDevice->SetStreamSource( 0, g_pVB, 0, sizeof (CUSTOMVERTEX) );          g_pd3dDevice->SetFVF( D3DFVF_CUSTOMVERTEX );             //创建一个茶壶             //Objects = 0;          D3DXMATRIX  Worlds;          D3DXCreateTeapot(g_pd3dDevice, &Objects, 0);          Objects->DrawSubset(0);          Objects->Release();          Objects = 0;          // End the scene          g_pd3dDevice->EndScene();      }         // Present the backbuffer contents to the display      g_pd3dDevice->Present( NULL, NULL, NULL, NULL );      //Objects->Release(); }    //----------------------------------------------------------------------------- // Name: MsgProc() // Desc: The window's message handler //----------------------------------------------------------------------------- LRESULT WINAPI MsgProc( HWND hWnd, UINT msg, WPARAM wParam, LPARAM lParam ) {      static POINT ptLastMousePosit;      static POINT ptCurrentMousePosit;      static bool bMousing;      switch ( msg )      {          case WM_DESTROY:              Cleanup();              PostQuitMessage( 0 );              return 0;          case WM_LBUTTONDOWN: // 当鼠标左键按下时，记录当前的位置（屏幕坐标），并设置按下标志              {                  ptLastMousePosit.x = ptCurrentMousePosit.x = LOWORD (lParam);                  ptLastMousePosit.y = ptCurrentMousePosit.y = HIWORD (lParam);                  bMousing = true ;              }              break ;          case WM_LBUTTONUP:              {                  bMousing = false ;              }              break ;          case WM_MOUSEMOVE: // 鼠标移动时，保存X/Y轴的移动距离              {                  ptCurrentMousePosit.x = LOWORD (lParam);                  ptCurrentMousePosit.y = HIWORD (lParam);                  if ( bMousing )                  {                      g_fSpinX -= (ptCurrentMousePosit.x - ptLastMousePosit.x);                      g_fSpinY -= (ptCurrentMousePosit.y - ptLastMousePosit.y);                  }                  ptLastMousePosit.x = ptCurrentMousePosit.x;                  ptLastMousePosit.y = ptCurrentMousePosit.y;              }           break ;      }      return DefWindowProc( hWnd, msg, wParam, lParam ); } //----------------------------------------------------------------------------- // Name: WinMain() // Desc: The application's entry point //----------------------------------------------------------------------------- INT WINAPI WinMain( HINSTANCE hInst, HINSTANCE , LPSTR , INT ) {      // Register the window class      WNDCLASSEX wc = { sizeof (WNDCLASSEX), CS_CLASSDC, MsgProc, 0L, 0L,                        GetModuleHandle(NULL), NULL, NULL, NULL, NULL,                        "D3D Tutorial" , NULL };      RegisterClassEx( &wc );      // Create the application's window      HWND hWnd = CreateWindow( "D3D Tutorial" , "D3D Tutorial 04: Lights" ,                                WS_OVERLAPPEDWINDOW, 100, 100, 300, 300,                                GetDesktopWindow(), NULL, wc.hInstance, NULL );      // Initialize Direct3D      if ( SUCCEEDED( InitD3D( hWnd ) ) )      {              // Show the window              ShowWindow( hWnd, SW_SHOWDEFAULT );              UpdateWindow( hWnd );                 // Enter the message loop              MSG msg;              ZeroMemory( &msg, sizeof (msg) );              while ( msg.message!=WM_QUIT )              {                  if ( PeekMessage( &msg, NULL, 0U, 0U, PM_REMOVE ) )                  {                      TranslateMessage( &msg );                      DispatchMessage( &msg );                  }                  else                      Render();                           }      }      UnregisterClass( "D3D Tutorial" , wc.hInstance );      return 0; }

文章源地址：http://www.waitingfy.com/?p=375

YawPitchRoll (本站下载)

http://download.csdn.net/detail/fox64194167/4856842(CSDN下载，免积分)
参考资源：http://hi.baidu.com/_鈊_烦_薏乱/blog/item/bac886c46164c1d438db49e7.html