如何使用 glRotatef 围绕对象的局部（非全局）轴进行旋转？

Question

我有一个网格/游戏对象可以使用 FreeGLUT 库通过 glRotatef 旋转：

glPushMatrix();
    glTranslatef(GlobalPos_x, GlobalPos_y, GlobalPos_z);

    glRotatef(Global_Yaw,0,1,0);
    glRotatef(Global_Pitch,1,0,0);
    glRotatef(Global_Roll,0,0,1);

    RenderMesh(mesh_Plane);
glPopMatrix();

开始时，对象与前 Z 轴对齐； Y 轴向上，X 轴向左。

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“控制”：

W：每帧间距 +5 度

S：每帧俯仰 -5 度

A：每帧偏航 +5 度

D：每帧偏航 -5 度

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目标：Global_Yaw、Global_Pitch 和 Global_Roll 值必须以某种方式从这些控件增加（范围分别为 -180 到 +180、-90 到 +90 和 -180 到 +180）。

问题是，如果飞机已经倾斜 90 度 它原来的位置，“偏航”反而会让它旋转 Y 轴（万向节锁定），这应该只发生在 First- 人物射击游戏。

所以只需执行 'if(GetAsyncKeyState(Key_A)) Global_Yaw += 5;'不是我要找的。​​p>

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编辑：正方形 2

根据 tkausl 的提醒，我挖掘了我之前的一项尝试。我的想法是我将飞机当前的全局角度转换为一个矩阵，将该矩阵与玩家的关键输入生成的另一个矩阵相乘，然后以某种方式使用该矩阵来获得新的 Global_Yaw、Global_Pitch 和 Global_Roll 值：

// Convert ORIENTATION to MATRIX
Omatrix00 = cos(Global_Pitch)*cos(Global_Yaw);
Omatrix01 = sin(Global_Pitch);
Omatrix02 = cos(Global_Pitch)*sin(Global_Yaw);
Omatrix03 = 0;
Omatrix10 = -cos(Global_Roll)*sin(Global_Pitch)*cos(Global_Yaw)+sin(Global_Roll)*sin(Global_Yaw);
Omatrix11 = cos(Global_Roll)*cos(Global_Pitch);
Omatrix12 = -cos(Global_Roll)*sin(Global_Pitch)*sin(Global_Yaw)-sin(Global_Roll)*cos(Global_Yaw);
Omatrix13 = 0;
Omatrix20 = -sin(Global_Roll)*sin(Global_Pitch)*cos(Global_Yaw)-cos(Global_Roll)*sin(Global_Yaw);
Omatrix21 = sin(Global_Roll)*cos(Global_Pitch);
Omatrix22 = cos(Global_Roll)*cos(Global_Yaw)-sin(Global_Roll)*sin(Global_Pitch)*sin(Global_Yaw);
Omatrix23 = 0;
Omatrix30 = 0;
Omatrix31 = 0;
Omatrix32 = 0;
Omatrix33 = 1;


// Convert Commanded Turn Angles to MATRIX
matrix00 = cos(pitch_speed)*cos(yaw_speed);
matrix02 = cos(pitch_speed)*sin(yaw_speed);
matrix01 = sin(pitch_speed);
matrix03 = 0;
matrix10 = -cos(roll_speed)*sin(pitch_speed)*cos(yaw_speed)+sin(roll_speed)*sin(yaw_speed);
matrix11 = cos(roll_speed)*cos(pitch_speed);
matrix12 = -cos(roll_speed)*sin(pitch_speed)*sin(yaw_speed)-sin(roll_speed)*cos(yaw_speed);
matrix13 = 0;
matrix20 = -sin(roll_speed)*sin(pitch_speed)*cos(yaw_speed)-cos(roll_speed)*sin(yaw_speed);
matrix21 = sin(roll_speed)*cos(pitch_speed);
matrix22 = cos(roll_speed)*cos(yaw_speed)-sin(roll_speed)*sin(pitch_speed)*sin(yaw_speed);
matrix23 = 0;
matrix30 = 0;
matrix31 = 0;
matrix32 = 0;
matrix33 = 1;

// Next step: Somehow using this matrix to get new Global_Yaw, Global_Pitch and Global_Roll values...

我什至不确定我是否在我的代码中正确地乘以我的矩阵。

Answer 1

您必须先绕 x 轴或 z 轴旋转，最后绕 y 轴旋转才能获得正确的结果。在大多数不需要滚动的游戏中，您会先围绕 x 旋转，然后围绕 z 旋转，一切都按预期旋转。