rotation angles - convention

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Marco Senteler
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Joined: Wed Nov 03, 2010 2:43 am

rotation angles - convention

Post by Marco Senteler » Tue Jul 05, 2011 6:49 am

I wonder how the rotations of a body (specified for example by <xyz_body_rotation>, <transform> or <orientation>) are defined. I noticed that they are performed wrt body origin, and therefore I assume that they are performed around body coordinate axis, too.
But how is the sequence of applied rotations, and are further rotations performed about the new axis or about the initial ones?
Would highly appreciate your help!
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Ayman Habib
Posts: 2248
Joined: Fri Apr 01, 2005 12:24 pm

RE: rotation angles - convention

Post by Ayman Habib » Wed Jul 06, 2011 11:19 am

Hi Marcos,

OpenSim uses the convention of Body-Fixed rotations and not Space-Fixed rotations, if that doesn't explain please let me know and I'll point you to more documentation.

Best regards,
-Ayman
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