Making a .MIS Exporter, need some help with Math

#1 Here is the Maya MEL version of Euler rotations to axis thingy majiggy that Torque likes (look at a past post of mine asking about rotations). I already wrote a Maya MIS exporter a while ago and I love it. :) Hehe.

global proc string getROT(string $item)
{
float $data[] = 'xform -q -ws -ro';

float $radX = ($data[0]*3.14)/180;
float $radY = ($data[1]*3.14)/180;
float $radZ = ($data[2]*3.14)/180;


float $c1 = cos($radY/2);
float $s1 = sin($radY/2);
float $c2 = cos($radZ/2);
float $s2 = sin($radZ/2);
float $c3 = cos($radX/2);
float $s3 = sin($radX/2);


float $c1c2 = $c1*$c2;
float $s1s2 = $s1*$s2;

float $w =$c1c2*$c3 - $s1s2*$s3;
float $x =$c1c2*$s3 + $s1s2*$c3;
float $y =$s1*$c2*$c3 + $c1*$s2*$s3;
float $z =$c1*$s2*$c3 - $s1*$c2*$s3;
float $angle = 2 * acos(($c1*$c2*$c3) - ($s1*$s2*$s3));

$angle = ($angle*180)/3.14;

float $norm = $x*$x+$y*$y+$z*$z;
if ($norm < 0.001)
{
$x=1;
$y=$z=0;
} else {
$norm = sqrt($norm);
$x = $x / $norm;
$y = $y / $norm;
$z = $z / $norm;
}

string $result = ($x + " " + $z + " " + $y + " " + $angle);
//print $result;
//print "\n";
return $result;
}

#2 Ah, thanks. I'll try using you code and see if it'll work better. I'll post some results.

#3 One note, you use 3.14 when figuring you angle, that results in a little less then perfection. like i'd get 90.0456 or something like that. not much, but not accurate.

I think i got it going. Perhaps a little more understanding of how these things work would help. correct if i'm wrong, but the first 3 digits represent a rotational amount -1 to 1. and the 4th number is applied to the other 3 numbers.

1 0 0 90 will mean a rotation of 90 degress to X

this one looks trickier, i rotated 90 on Heading, and 90 on Pitch
0.57735 0.57735 -0.57735 120.061

that one is harder to understand I only rotate 2 axis, so why does it generate a 3rd number?



here's my fuction using your code now.

pos= obj.getPosition(0);
	rot = obj.getRotation(0);
	scl = obj.getScaling(0);



// Convesion to Quaterions
	MPI = 3.14159265358979323846;



//Heading
	radX=((rot.x * MPI) / (180));
//Pitch
	radY=((rot.y * MPI) / (180));
//Bank
	radZ=((rot.z * MPI) / (180));


	c1 = cos(radY/2);
	s1 = sin(radY/2);
	c2 = cos(radZ/2);
	s2 = sin(radZ/2);
	c3= cos(radX/2);
	s3 = sin(radX/2);


	c1c2 = c1*c2;
	s1s2 = s1*s2; 

	w =c1c2*c3 - s1s2*s3;
	x =c1c2*s3 + s1s2*c3;
	y =s1*c2*c3 + c1*s2*s3;
	z =c1*s2*c3 - s1*c2*s3;
	angle = 2 * acos((c1*c2*c3) - (s1*s2*s3));

	angle = (angle*180)/3.14;


	norm = x*x+y*y+z*z;
	if (norm < 0.001){ 
		x=1;
		y=z=0;
	}
	else {
		norm = sqrt(norm);
		x = x / norm;
		y = y / norm;
		z = z / norm;
	}
	result = (string(x) + " " + string(z) + " " + string(y) + " " + string(angle));

#4 I know can verify working results, how to also keep the angle value from being turned into a degree. Thanks for the assit.

#5 Looks like you're on top of this stuff, but FTR,
torque's "quaternion" should be written as "Vx Vy Vz Theta", and has two parts.
first a unit vector: Vx Vy Vz,
and then the amount to rotate around that vector: Theta.

theta is in radians, i believe.
the vector must be normalized to unit length.

#6 Uh oh, i got a problem. When objects are rotated in torque, their position changes! So when they are loaded with a rotation, the angle is correct, but their positions are not. after manually rotating items, i noticed the position changes.

#7 That doesn't seem to really matter much it seems. Well i believe i've hit a landmark. Everythint seems to export position and rotation wise correctly. Thaks for helping.

#8 Turns out i am having issues with rotation on all three axis's. everything is perfect if i only pick two of the axis's and export, but adding it a third causes it to rotate in directions it's not supposed to. Perhaps Juan can lend me a hand?