Performing consecutive rotations

[rdlecler]

I am trying to perform consecutive rotations on a cylinder but once I do the first rotation my coordinate space changes and it messes everything up for consecutive rotations. I would like to keep rotating the object with reference to world space. I find it frustrating that if I use Transform3D that I can do a rotZ OR a rotY for instance, but they are not cumulative which is what I would like to accomplish.

Basically I have to take a cylinder and orientate it properly with the correct rotation so I need to perform rotations for roll pitch and yaw to get it correct.

I am using the following code to fgure this out. As you can see, if I want to rotate the cylinder along the x axis, and then turn it on its side by rotating (world coord) on the Y axis it doesn’t work because it rotates on its own axis.

Matrix3f m3f1 = new Matrix3f();
m3f1.setIdentity();
//Z axis
double zRot = Math.atan2(delta.y, delta.x);
m3f1.m00 = (float)Math.cos(zRot);
m3f1.m01 = (float)Math.sin(zRot);
m3f1.m10 = -(float)Math.sin(zRot);
m3f1.m11 = (float)Math.cos(zRot);

// Y axis
Matrix3f m3f2 = new Matrix3f();
m3f2.setIdentity();
double yRot = -Math.PI/2 + Math.atan2(delta.z, delta.x);
m3f2.m00 = (float)Math.cos(yRot);
m3f2.m02 = -(float)Math.sin(yRot);
m3f2.m20 = (float)Math.sin(yRot);
m3f2.m22 = (float)Math.cos(yRot);

//X Axis
Matrix3f m3f3 = new Matrix3f();
m3f3.setIdentity();
double xRot = -Math.PI/2 + Math.atan2(delta.z, delta.y);
m3f3.m11 = (float)Math.cos(xRot);
m3f3.m12 = (float)Math.sin(xRot);
m3f3.m21 = -(float)Math.sin(xRot);
m3f3.m22 = (float)Math.cos(xRot);
Matrix3f inverse = new Matrix3f(m3f3);

m3f3.mul(m3f3, m3f2);
m3f3.mul(m3f3, m3f1);

Thanks in advance.

[cweila2s]

Perhaps is what you search for:

http://www.java-gaming.org/cgi-bin/JGNetForums/YaBB.cgi?board=3D;action=display;num=1092691103

[cweila2s]

The key is to use one single target t3d and have all other transforms happen on it, like:

target.mul(rotX);
target.mul(rotY);
target.mul(rotZ);