Eulers or Quaternions?

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  05 May 2013
Eulers or Quaternions?

Hi there,

I have a bit of a question about what is going on with rotations.

If I set up a very simple 3 joint chain, that looks a bit like the lower leg and foot and perform the same rotations in different ways, I get unexpected results.

For example; if I rotate joint2 (the heel bit) like this

rotate -r -os 0 -60 -30

I get 0 -60 -30 in the rotateXYZ attributes, but it doesn't look like it has really rotated down by 30

rotate -r -os 0 -60 0;
rotate -r -os 0 0 -30

This code makes it look like the joint has rotated by -60 and -30 respectively, but I get 40.893 -48.590 -49.107 in the rotateXYZ attributes.

How does it get these rather odd values?!

From what I can gather, the maths behind how it gets them is either through Euler rotations or Quaternions. Can anybody tell me which it might be and what calculation it performs? And perhaps is there a script which I can run to return the values which I appear to be looking at (i'm guessing the local rotation of the joint)?

Thanks in anticipation,

  05 May 2013
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