[farshizzo]

Hi,

Once you begin to introduce pitch and roll, you cannot use integers to represent the Axis-Angle rotation. I've modified the script so that it doesn't round the rotation values. I also changed the rotation code so that it performs a pre-rotation instead of a post-rotation. This makes each rotation relative to the current reference frame.

If you still need the extra precision you could round the angle value of the rotation to an integer. You could also round the axis values of the rotation, but you need to make sure that you don't round the value when it is close to ±0.57735

import viz
viz.go()

#Add a ground
viz.add('tut_ground.wrl')

#Get main viewpoint object
view = viz.get(viz.MAIN_VIEWPOINT)

#Create a variable that will tell whether viewpoing is currently moving/turning
view.animating = 0

#Variable that holds current destination value
final = [0,0,0,0]

def rotateview(x,y,z,angle):
	#Make sure view is not animating
	if not view.animating:
		#Compute rotation of turning body 90 degrees to right
		xform = viz.Transform(view.get(viz.BODY_MAT))
		xform.preRot(x,y,z,angle)
		final[:] = xform.getRot()[:]
		#Start animating viewpoint
		view.spinmask(viz.BODY_ORI) #Spin the body orientation
		view.spinto(final,2,viz.TIME) #Spin for 2 seconds
		view.animating = 1

def onkeydown(key):
	if key == viz.KEY_UP:
		#Make sure view is not animating
		if not view.animating:
			pos = view.get(viz.HEAD_POS) 
			trans = view.get(viz.BODY_LOOK)
			#Round values to nearest integer
			final[0] = int(round(pos[0] + trans[0]))
			final[1] = int(round(pos[1] + trans[1]))
			final[2] = int(round(pos[2] + trans[2]))
			#Start animating viewpoint
			view.goto(final,1,viz.TIME) 
			view.animating = 1
	elif key == '6': #yaw right
		rotateview(0,1,0,90)
	elif key == '4': #yaw left
		rotateview(0,1,0,-90)
	elif key == '8': #pitch up
		rotateview(1,0,0,-90)
	elif key == '2': #pitch down
		rotateview(1,0,0,90)
	elif key == '9': #roll right
		rotateview(0,0,1,-90)
	elif key == '7': #roll left
		rotateview(0,0,1,90)

viz.callback(viz.KEYDOWN_EVENT,onkeydown)

def onstop(object, type):
	if type == viz.MOVE:
		#Viewpoint is done moving, translate it to the final value just to be sure
		view.translate(final)
		view.animating = 0
	elif type == viz.SPIN:
		#Viewpoint is done spinning, rotate it to the final value just to be sure
		view.rotate(final,viz.BODY_ORI)
		view.animating = 0
	
view.callback(viz.STOP_EVENT,onstop)