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Rotating Steps in Quaternions

Hello,

I’m using a quaternion (obtained by a simple ArcBall system) to rotate an actor. Everything is working great!
(Important note: It doesn’t work very well if I convert it to Euler before applying the rotation :frowning: )

But problem arises as soon as I try to make it rotate only by 10 degrees.

I tried using a FRotator:



	FQuat MyRotation = GetMyArcBall()->GetRotationQuat(); // My code, get the rotation quaternion 
// ...
	const int rotationStep = 10; // TODO: Add a setting for this
	FRotator CurrentRotator = MyRotation.Rotator();
	
	float YawMod = FMath::Fmod(CurrentRotator.Yaw, rotationStep);
	float YawAdjustment = -YawMod;
	if (YawMod > (rotationStep / 2))
		YawAdjustment = (rotationStep - YawMod);
		
	FQuat RotationStepAdjustment(FRotator(0.f, YawAdjustment, 0.f));
	
	MyRotation = RotationStepAdjustment * MyRotation;

This works nicely. But if I try the exact same code for Pitch, the rotation freaks out! (with the obvious replacement, below)


FQuat RotationStepAdjustment(FRotator(PitchAdjustment, 0.f, 0.f));

I’m trying to fix this for a gooooood while now :frowning:

From what I understood, I’d need to modify the x,y,z part of the quaternion, without touching the w part. Still, I’m having a hard time to understand how to do that properly.

Can someone give me a hand in this?

Thank you very much in advance!

I don’t understand why you’re creating an FRotator only to pass it to the FQuat constructor, just use directly a quaternion.
You can declare a quaternion like this:


// World space
FQuat YawRotation(FVector::UpVector, YawAdjustment);

// Actor space, GetActorUpVector() if derives from AActor
FQuat YawRotation(GetMyArcBall()->GetActorUpVector(), YawAdjustment);

For pitch rotation:


// World space
FQuat PitchRotation(FVector::RightVector, PitchAdjustment);

// Actor space
FQuat PitchRotation(GetMyArcBall()->GetActorRightVector(), PitchAdjustment);

Thanks for your input Sneppy.

This was my previous code:


	FQuat PitchRotation(FVector::RightVector, FMath::DegreesToRadians(PitchAdjustment));

With so many different attempts to find a solution, my code changed a lot and ended up with a FRotator.

Still, it works with Yaw, but in Pitch, it keeps “flickering” around.
I just tried with GetMyArcBall()->GetActorRightVector(), but didn’t work either :frowning:

Are you trying to create a kind of angle snapping system?

Exactly :slight_smile:

Advices? :slight_smile:

Well, it depends on what kind of rotation you want to perform. A very simple method is applying rotation and then round to the nearest 10 each component of the FRotator, something like:


void RSnap(FRotator &OutRotation, float SnapValue = 10.f)
{
	const float Pitch = round(OutRotation.Pitch / SnapValue) * SnapValue;
	const float Yaw = round(OutRotation.Yaw / SnapValue) * SnapValue;
	const float Roll = round(OutRotation.Roll / SnapValue) * SnapValue;

	// I don't really remember components' order in constructor
	OutRotation = FRotator(Pitch, Yaw, Roll).GetNormalized();
}

But I’m not sure it’s what you want. Try it.

That was what I initially tried, and refined a bit to get to the code I pasted in the original topic. While it seems it will work, when it gets close to 0/90/180/270 degrees, the rotation gets wonky and starts to look bad.

Before, I converted the angle to euler and did all the math, it was great, but had singularity issues (i.e. gimbal lock, objects flipping, etc.), thus I converted the rotation to quaternion.
It works great, but I can’t find a way to apply rotation steps // angle snapping directly to quaternions.
All the attempts I did using euler angles did have problems :frowning:

I’m hoping someone can aid me with this (dense) math required to manipulate it directly in quaternions :slight_smile:

Thank you for your attempts! Hopefully you can help me reach a solution :smiley:

I’m bumping this topic in hopes more people can help :slight_smile:


// set the direction of A to direction of B.
// rotator
FRotator UWatsUp::QuatRotation(UArrowComponent *Obj, FRotator RotA, FRotator RotB) {
	FQuat QuatA = RotA.Quaternion();
	FQuat QuatB = RotB.Quaternion();
	FQuat FinalQuat = QuatA.Inverse() * QuatB;
	FinalQuat = QuatA * FinalQuat;
//	Obj->SetRelativeRotation(FinalQuat);	// works fine
	return FinalQuat.Rotator();			// works fine
}
//Directional Unit Vector
FRotator UWatsUp::QuatUnitVec(UArrowComponent *Obj, FVector VecA, FVector VecB) {
	FQuat QuatA = VecA.ToOrientationQuat();
	FQuat QuatB = VecB.ToOrientationQuat();
	FQuat FinalQuat = QuatA.Inverse() * QuatB;
	FinalQuat = QuatA * FinalQuat;
//	Obj->SetRelativeRotation(FinalQuat);
	return FinalQuat.Rotator();
}

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