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Help with quaternions

seamus0riley
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seamus0riley

seamus0riley

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Posted (edited)

Hi guys, I'm trying to move a control surface to a deployed state with a quaternion but it's doing some weird stuff. Here's the code:


[

[FONT=Consolas][SIZE=2][COLOR=#2b91af][FONT=Consolas][SIZE=2][COLOR=#2b91af][FONT=Consolas][SIZE=2][COLOR=#2b91af]KSPEvent[/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][FONT=Consolas][SIZE=2][FONT=Consolas][SIZE=2](guiActive = [/SIZE][/FONT][/SIZE][/FONT][FONT=Consolas][SIZE=2][COLOR=#0000ff][FONT=Consolas][SIZE=2][COLOR=#0000ff][FONT=Consolas][SIZE=2][COLOR=#0000ff]true[/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][FONT=Consolas][SIZE=2][FONT=Consolas][SIZE=2], guiName = [/SIZE][/FONT][/SIZE][/FONT][FONT=Consolas][SIZE=2][COLOR=#a31515][FONT=Consolas][SIZE=2][COLOR=#a31515][FONT=Consolas][SIZE=2][COLOR=#a31515]"Open Bay"[/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][FONT=Consolas][SIZE=2][FONT=Consolas][SIZE=2], guiActiveEditor = [/SIZE][/FONT][/SIZE][/FONT][FONT=Consolas][SIZE=2][COLOR=#0000ff][FONT=Consolas][SIZE=2][COLOR=#0000ff][FONT=Consolas][SIZE=2][COLOR=#0000ff]true[/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][FONT=Consolas][SIZE=2][FONT=Consolas][SIZE=2])][/SIZE][/FONT][/SIZE][/FONT]
[FONT=Consolas][SIZE=2][COLOR=#0000ff][FONT=Consolas][SIZE=2][COLOR=#0000ff][FONT=Consolas][SIZE=2][COLOR=#0000ff]public[/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][FONT=Consolas][SIZE=2][COLOR=#0000ff][FONT=Consolas][SIZE=2][COLOR=#0000ff][FONT=Consolas][SIZE=2][COLOR=#0000ff]void[/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][FONT=Consolas][SIZE=2][FONT=Consolas][SIZE=2] OpenBay()[/SIZE][/FONT][/SIZE][/FONT]
[FONT=Consolas][SIZE=2][FONT=Consolas][SIZE=2]        {
[/SIZE][/FONT][/SIZE][/FONT][FONT=Consolas][SIZE=2][FONT=Consolas][SIZE=2][COLOR=#008000]
[/COLOR][/SIZE][/FONT][/SIZE][/FONT]
[FONT=Consolas][SIZE=2][FONT=Consolas][SIZE=2]                    

[/SIZE][/FONT][/SIZE][/FONT][FONT=Consolas][SIZE=2][FONT=Consolas][SIZE=2]               isOpen = [/SIZE][/FONT][/SIZE][/FONT][FONT=Consolas][SIZE=2][COLOR=#0000ff][FONT=Consolas][SIZE=2][COLOR=#0000ff][FONT=Consolas][SIZE=2][COLOR=#0000ff]true[/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][FONT=Consolas][SIZE=2][FONT=Consolas][SIZE=2];[/SIZE][/FONT][/SIZE][/FONT]
[FONT=Consolas][SIZE=2][FONT=Consolas][SIZE=2]　
[/SIZE][/FONT][/SIZE][/FONT][FONT=Consolas][SIZE=2][COLOR=#2b91af][FONT=Consolas][SIZE=2][COLOR=#2b91af][FONT=Consolas][SIZE=2][COLOR=#2b91af]    Quaternion[/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][FONT=Consolas][SIZE=2][FONT=Consolas][SIZE=2] open = [/SIZE][/FONT][/SIZE][/FONT][FONT=Consolas][SIZE=2][COLOR=#2b91af][FONT=Consolas][SIZE=2][COLOR=#2b91af][FONT=Consolas][SIZE=2][COLOR=#2b91af]Quaternion[/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][FONT=Consolas][SIZE=2][FONT=Consolas][SIZE=2].AngleAxis(120, [/SIZE][/FONT][/SIZE][/FONT][FONT=Consolas][SIZE=2][COLOR=#2b91af][FONT=Consolas][SIZE=2][COLOR=#2b91af][FONT=Consolas][SIZE=2][COLOR=#2b91af]Vector3[/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][FONT=Consolas][SIZE=2][FONT=Consolas][SIZE=2].down);[/SIZE][/FONT][/SIZE][/FONT]
[FONT=Consolas][SIZE=2][FONT=Consolas][SIZE=2]               transform.rotation = open;
[/SIZE][/FONT][/SIZE][/FONT][FONT=Consolas][SIZE=2][COLOR=#2b91af][FONT=Consolas][SIZE=2][COLOR=#2b91af][FONT=Consolas][SIZE=2][COLOR=#2b91af]    Debug[/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][FONT=Consolas][SIZE=2][FONT=Consolas][SIZE=2].Log(open);[/SIZE][/FONT][/SIZE][/FONT]
[FONT=Consolas][SIZE=2][FONT=Consolas][SIZE=2]           
　
　
[/SIZE][/FONT][/SIZE][/FONT][FONT=Consolas][SIZE=2][FONT=Consolas][SIZE=2]                Toggle([/SIZE][/FONT][/SIZE][/FONT][FONT=Consolas][SIZE=2][COLOR=#a31515][FONT=Consolas][SIZE=2][COLOR=#a31515][FONT=Consolas][SIZE=2][COLOR=#a31515]"OpenBay"[/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][FONT=Consolas][SIZE=2][FONT=Consolas][SIZE=2], [/SIZE][/FONT][/SIZE][/FONT][FONT=Consolas][SIZE=2][COLOR=#0000ff][FONT=Consolas][SIZE=2][COLOR=#0000ff][FONT=Consolas][SIZE=2][COLOR=#0000ff]false[/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][FONT=Consolas][SIZE=2][FONT=Consolas][SIZE=2]);[/SIZE][/FONT][/SIZE][/FONT]
[FONT=Consolas][SIZE=2][FONT=Consolas][SIZE=2]                Toggle([/SIZE][/FONT][/SIZE][/FONT][FONT=Consolas][SIZE=2][COLOR=#a31515][FONT=Consolas][SIZE=2][COLOR=#a31515][FONT=Consolas][SIZE=2][COLOR=#a31515]"CloseBay"[/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][FONT=Consolas][SIZE=2][FONT=Consolas][SIZE=2], [/SIZE][/FONT][/SIZE][/FONT][FONT=Consolas][SIZE=2][COLOR=#0000ff][FONT=Consolas][SIZE=2][COLOR=#0000ff][FONT=Consolas][SIZE=2][COLOR=#0000ff]true[/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][FONT=Consolas][SIZE=2][FONT=Consolas][SIZE=2]);[/SIZE][/FONT][/SIZE][/FONT]
[FONT=Consolas][SIZE=2][FONT=Consolas][SIZE=2] 
[/SIZE][/FONT][/SIZE][/FONT]
[FONT=Consolas][SIZE=2][FONT=Consolas][SIZE=2]            
        }
[/SIZE][/FONT][/SIZE][/FONT][FONT=Consolas][SIZE=2][FONT=Consolas][SIZE=2]        [[/SIZE][/FONT][/SIZE][/FONT][FONT=Consolas][SIZE=2][COLOR=#2b91af][FONT=Consolas][SIZE=2][COLOR=#2b91af][FONT=Consolas][SIZE=2][COLOR=#2b91af]KSPEvent[/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][FONT=Consolas][SIZE=2][FONT=Consolas][SIZE=2](guiActive = [/SIZE][/FONT][/SIZE][/FONT][FONT=Consolas][SIZE=2][COLOR=#0000ff][FONT=Consolas][SIZE=2][COLOR=#0000ff][FONT=Consolas][SIZE=2][COLOR=#0000ff]false[/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][FONT=Consolas][SIZE=2][FONT=Consolas][SIZE=2], guiName = [/SIZE][/FONT][/SIZE][/FONT][FONT=Consolas][SIZE=2][COLOR=#a31515][FONT=Consolas][SIZE=2][COLOR=#a31515][FONT=Consolas][SIZE=2][COLOR=#a31515]"Close Bay"[/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][FONT=Consolas][SIZE=2][FONT=Consolas][SIZE=2], guiActiveEditor = [/SIZE][/FONT][/SIZE][/FONT][FONT=Consolas][SIZE=2][COLOR=#0000ff][FONT=Consolas][SIZE=2][COLOR=#0000ff][FONT=Consolas][SIZE=2][COLOR=#0000ff]false[/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][FONT=Consolas][SIZE=2][FONT=Consolas][SIZE=2])][/SIZE][/FONT][/SIZE][/FONT]
[FONT=Consolas][SIZE=2][COLOR=#0000ff][FONT=Consolas][SIZE=2][COLOR=#0000ff][FONT=Consolas][SIZE=2][COLOR=#0000ff]public[/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][FONT=Consolas][SIZE=2][COLOR=#0000ff][FONT=Consolas][SIZE=2][COLOR=#0000ff][FONT=Consolas][SIZE=2][COLOR=#0000ff]void[/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][FONT=Consolas][SIZE=2][FONT=Consolas][SIZE=2] CloseBay()[/SIZE][/FONT][/SIZE][/FONT]
[FONT=Consolas][SIZE=2][FONT=Consolas][SIZE=2]        {
[/SIZE][/FONT][/SIZE][/FONT][FONT=Consolas][SIZE=2][FONT=Consolas][SIZE=2][COLOR=#008000]
[/COLOR][/SIZE][/FONT][/SIZE][/FONT]
[FONT=Consolas][SIZE=2][FONT=Consolas][SIZE=2]                  isOpen = [/SIZE][/FONT][/SIZE][/FONT][FONT=Consolas][SIZE=2][COLOR=#0000ff][FONT=Consolas][SIZE=2][COLOR=#0000ff][FONT=Consolas][SIZE=2][COLOR=#0000ff]false[/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][FONT=Consolas][SIZE=2][FONT=Consolas][SIZE=2];[/SIZE][/FONT][/SIZE][/FONT]
[FONT=Consolas][SIZE=2][COLOR=#2b91af][FONT=Consolas][SIZE=2][COLOR=#2b91af][FONT=Consolas][SIZE=2][COLOR=#2b91af]   Quaternion[/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][FONT=Consolas][SIZE=2][FONT=Consolas][SIZE=2] close = [/SIZE][/FONT][/SIZE][/FONT][FONT=Consolas][SIZE=2][COLOR=#2b91af][FONT=Consolas][SIZE=2][COLOR=#2b91af][FONT=Consolas][SIZE=2][COLOR=#2b91af]Quaternion[/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][FONT=Consolas][SIZE=2][FONT=Consolas][SIZE=2].AngleAxis(120, [/SIZE][/FONT][/SIZE][/FONT][FONT=Consolas][SIZE=2][COLOR=#2b91af][FONT=Consolas][SIZE=2][COLOR=#2b91af][FONT=Consolas][SIZE=2][COLOR=#2b91af]Vector3[/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][FONT=Consolas][SIZE=2][FONT=Consolas][SIZE=2].up);[/SIZE][/FONT][/SIZE][/FONT]
[FONT=Consolas][SIZE=2][FONT=Consolas][SIZE=2]              transform.rotation = close;
[/SIZE][/FONT][/SIZE][/FONT][FONT=Consolas][SIZE=2][COLOR=#2b91af][FONT=Consolas][SIZE=2][COLOR=#2b91af][FONT=Consolas][SIZE=2][COLOR=#2b91af]   Debug[/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][FONT=Consolas][SIZE=2][FONT=Consolas][SIZE=2].Log(close);[/SIZE][/FONT][/SIZE][/FONT]
[FONT=Consolas][SIZE=2][FONT=Consolas][SIZE=2]　
　
[/SIZE][/FONT][/SIZE][/FONT][FONT=Consolas][SIZE=2][FONT=Consolas][SIZE=2]              Toggle([/SIZE][/FONT][/SIZE][/FONT][FONT=Consolas][SIZE=2][COLOR=#a31515][FONT=Consolas][SIZE=2][COLOR=#a31515][FONT=Consolas][SIZE=2][COLOR=#a31515]"OpenBay"[/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][FONT=Consolas][SIZE=2][FONT=Consolas][SIZE=2], [/SIZE][/FONT][/SIZE][/FONT][FONT=Consolas][SIZE=2][COLOR=#0000ff][FONT=Consolas][SIZE=2][COLOR=#0000ff][FONT=Consolas][SIZE=2][COLOR=#0000ff]true[/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][FONT=Consolas][SIZE=2][FONT=Consolas][SIZE=2]);[/SIZE][/FONT][/SIZE][/FONT]
[FONT=Consolas][SIZE=2][FONT=Consolas][SIZE=2]              Toggle([/SIZE][/FONT][/SIZE][/FONT][FONT=Consolas][SIZE=2][COLOR=#a31515][FONT=Consolas][SIZE=2][COLOR=#a31515][FONT=Consolas][SIZE=2][COLOR=#a31515]"CloseBay"[/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][FONT=Consolas][SIZE=2][FONT=Consolas][SIZE=2], [/SIZE][/FONT][/SIZE][/FONT][FONT=Consolas][SIZE=2][COLOR=#0000ff][FONT=Consolas][SIZE=2][COLOR=#0000ff][FONT=Consolas][SIZE=2][COLOR=#0000ff]false[/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][/COLOR][/SIZE][/FONT][FONT=Consolas][SIZE=2][FONT=Consolas][SIZE=2]);[/SIZE][/FONT][/SIZE][/FONT]
[FONT=Consolas][SIZE=2][FONT=Consolas][SIZE=2] 
[/SIZE][/FONT][/SIZE][/FONT]
[FONT=Consolas][SIZE=2][FONT=Consolas][SIZE=2]        }
[/SIZE][/FONT][/SIZE][/FONT]

Here's the result:

Open the bay makes the door go all wonky, but the close action looks like it's pretty close to what I want for the open one, it's just not sticking. I have an earlier video where everything was kind of working but in reverse, and I can't get it to go back to even that now. Any help you guys could give would be great.

Edited by seamus0riley
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Diazo

Diazo

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Posted

I'm not really familiar with Quats, but one thing that jumps out at me is that it looks like you are referencing the part's local space (Vector3.up and .down), then setting the world position transform.

What happens if you set the .localRotation instead?

A bit of a long shot, but I don't know enough to help you any further.

D.

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seamus0riley

seamus0riley

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I appreciate any help I can get right now haha.

So you mean, calling transform.localRotation = open; ? I just tried that and unfortunately it did the same thing. It's driving me nuts that I had this kind of working earlier, changed something to reverse the buttons because they were backwards somehow, and broke everything.

Not crazy proof:

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Crzyrndm

Crzyrndm

Posted
Posted (edited)

As Diazo mentioned, the Vector3 static directions don't mean anything at all in KSP unless you apply other transforms to unrotate your parts. Generally, it's better to use part.transform.up (KSP convention is towards the front of the vessel), .forward (down), and .right

The other thing I would say is that you probably shouldn't be directly assigning the Quat to the model rotation. You're telling it to rotate 120 degrees from an unrotated position about the up/-up axis. Thing is, that unrotated position isn't really defined all that well. I would do something like:

//in awake or start
OrgRotation = part.transform.rotation; // cache closed rotation so multiple open / close events can't accumulate errors

// in open
rotation = OrgRotation * Quaternion.AngleAxis(120, part.transform.up); // rotate original rotation by 120 degrees about the part up axis

// in close
rotation = OrgRotation;

Edited by Crzyrndm
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lo-fi

lo-fi

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Posted

Wait a minute, are you actually trying to rotate a whole part? Don't forget that there is a physics joint formed between the rigidybody component of to part and its parents rigidbody. This is destined to do really random things no matter what you do with the rotations, unless I'm missing something.

With regard to rotations themselves, you'll probably find it's a lot easier to work with the local euler angles directly using transform.Rotate(vector3) and transform.localEulerAngles. Certainly for simple rotations, anyway.

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seamus0riley

seamus0riley

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As Diazo mentioned, the Vector3 static directions don't mean anything at all in KSP unless you apply other transforms to unrotate your parts. Generally, it's better to use part.transform.up (KSP convention is towards the front of the vessel), .forward (down), and .right

The other thing I would say is that you probably shouldn't be directly assigning the Quat to the model rotation. You're telling it to rotate 120 degrees from an unrotated position about the up/-up axis. Thing is, that unrotated position isn't really defined all that well. I would do something like:

//in awake or start
OrgRotation = part.transform.rotation; // cache closed rotation so multiple open / close events can't accumulate errors

// in open
rotation = OrgRotation * Quaternion.AngleAxis(120, part.transform.up); // rotate original rotation by 120 degrees about the part up axis

// in close
rotation = OrgRotation;

Ah, that makes more sense. I'll give that a try tonight.

Wait a minute, are you actually trying to rotate a whole part? Don't forget that there is a physics joint formed between the rigidybody component of to part and its parents rigidbody. This is destined to do really random things no matter what you do with the rotations, unless I'm missing something.

With regard to rotations themselves, you'll probably find it's a lot easier to work with the local euler angles directly using transform.Rotate(vector3) and transform.localEulerAngles. Certainly for simple rotations, anyway.

Yep, i'm just trying to mimic the "control surface" deploy module. As far as I can tell, they just rotate around an axis when you toggle them. Thanks for the advice, I'll try that too and see if it works better for me.

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