[SOLVED] Manual Bone Rotations

Questions
1

Hello everyone ! I’m porting an application developed in Godot Engine that receives a set of rotations and displays a character that executes them on the screen:

In GodotEngine the code that rotates the joints correctly is this:

func set_bone_rot(bone, ang):

var b = skeleton.find_bone(bone)

var bone_rest_inv = skeleton.get_bone_rest(b).affine_inverse()
var bone_rest = skeleton.get_bone_rest(b)


var newpose = bone_rest_inv*bone_rest
newpose= newpose.rotated(Vector3(1.0, 0.0, 0.0),ang.x)
newpose = newpose.rotated(Vector3(0.0, 1.0, 0.0),ang.z)
newpose = newpose.rotated(Vector3(0.0, 0.0, 1.0),ang.y)

My code in threejs is like this at this moment:

function setBoneRotation(boneName, ang){
		var bone = scene.getObjectByName(boneName);

		var rotation = new THREE.Quaternion();

		var quat = new THREE.Quaternion();

		var vx = new THREE.Vector3( 1, 0, 0 );
		var vy = new THREE.Vector3( 0, 1, 0 );
		var vz = new THREE.Vector3( 0, 0, 1 );

		quat.setFromAxisAngle( vx, ang.x );
		rotation.multiply( quat );
		quat.setFromAxisAngle( vy, ang.y );
		rotation.multiply( quat );
		quat.setFromAxisAngle( vz, ang.z );
		rotation.multiply( quat );

		bone.setRotationFromQuaternion(rotation);
}

I notice that the rotations in the three.js resemble the correct articulation but somehow it is distorted. Could someone tell me if there is any necessary transformation that I am not doing?

As an additional data im using a Collada Model loaded with ColladaLoader
Sample video with godotEngine https://youtu.be/7LUikSU8hhI
Sample video with three.js https://youtu.be/vTs_6ozCWi8

Thanks Guys !

Enzo

2

Ok I got it … its a rotation order issue … here is the final code …

function setBoneRotation(boneName, ang){
   var bone = scene.getObjectByName(boneName);
   bone.rotation.order="YZX";
   bone.rotation.z=ang.z;		
   bone.rotation.y=ang.y;		
   bone.rotation.x=ang.x;	
}
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