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• How can I implement 2D cel shading in XNA?

  - by Artii

  So I was just wondering on how to give a scene I am rendering a hand drawn look (like say Crayon Physics). I don't really want to preprocess the sprites and was thinking of using a shader. Cel shading supplies the effect I want to achieve, but I am only aware of the 3D instances for it. So I wanted to ask if anyone knew a way to get this effect in 2D, or if cel shading would work just as fine on 2D scenes?

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• Smooth Camera Rotation around 90 degrees

  - by Nicholas

  I'm developing a third person 3D platformer in XNA. My problem is when I try to rotate the camera around the player. I would like to rotate (and animate) the camera 90 degrees around the player. So the camera should rotate until it has reached 90 degrees from the starting position. I cannot figure out how to keep track of the rotation, and when the rotation has made the full 90 degrees. Currently my cameras update: public void Update(Vector3 playerPosition) { if (rotateCamera) { position = Vector3.Transform(position - playerPosition, Matrix.CreateRotationY(0.1f)) + playerPosition; } this.viewMatrix = Matrix.CreateLookAt(position, playerPosition, Vector3.Up); } The initial position of the camera is set in the constructor. The "rotateCamera" bool is set on keypress. Thanks for the help in advance. Cheers.

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• Island Generation Library

  - by thatguy

  Can anyone recommend a tile map generator (written in Java is a plus), where one can control some land types? For example: islands, large continents, singe large continent, archipelago, etc. I've been reading through many posts on the subject, it almost seems like many are just rolling their own. Before creating my own, I'm wondering if there's already an open source implementation that I might not be finding. If not, it seems like using Perlin Noise is a popular choice. Some articles I've been reading: http://simblob.blogspot.com/2010/01/simple-map-generation.html Generate islands/continents with simplex noise https://sites.google.com/site/minecraftlandgenerator/

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• Producing a smooth mesh from density cloud and marching cubes

  - by Wardy

  Based on my results from this question I decided to build myself a 3D noise map containing float values in place of my existing boolean point values. The effect I'm trying to produce is something like this, rather than typical rolling hills; which should explain the "missing cubes" in the image below. If I render my density map in normal "minecraft mode" (1 block per point in the density map) varying the size of the cube based on the value in my density map (floats in the range 0 to 1) I get something like this: I'm now happy that I can produce a density map for the marching cubes algorithm (which will need a little tweaking) but for some reason when I run it through my implementation it's not producing what I expect. My problem is that I'm getting something like the first image in this answer to my previous question, when I want to achieve the effect in the second image. Upon further investigation I can't see how marching cubes does the "move vertex along the edge" type logic (i.e. the difference between the two images on my previous link). I see that it does do some interpolation, but I'm not convinced I have the correct understanding of what I think it should do, because the code in question appears to give the same result regardless of whether I use boolean or float values. I took the code from here which is a C# implementation of marching cubes, but instead of using the MarchingCubesPrimitive I modified it to accept an object of type IDrawable, containing lists for the various collections (vertices, normals, UVs, indices), the logic was otherwise untouched. My understanding is that given a very low isovalue the accuracy level of the surface being rendered should increase, so in short "less 45 degree slows more rolling hills" type mesh output. However this isn't what I'm seeing. Have I missed something or is the implementation flawed and need to be fixed? EDIT: A little more detail on what I am seeing when I "marching cube" the data. Ok so firstly, ignore the fact that the meshes created by the chunks don't "connect" (i'll probably raise another question about this later). Then look at the shaping of the island, it's too ... square, from the voxels rendered as boxes you get the impression there's a clean soft gradual hill and yet from the image there are sharp falling edges even in the most central areas where the gradient in the first image looks the most smooth. The data is "regenerated" each time I run this so no 2 islands come out the same, and it's purely random so not based on noise, but still, how can it look so smooth in 1 image and so not smooth in the other?

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• ray collision with rectangle and floating point accuracy

  - by phq

  I'm trying to solve a problem with a ray bouncing on a box. Actually it is a sphere but for simplicity the box dimensions are expanded by the sphere radius when doing the collision test making the sphere a single ray. It is done by projecting the ray onto all faces of the box and pick the one that is closest. However because I'm using floating point variables I fear that the projected point onto the surface might be interpreted as being below in the next iteration, also I will later allow the sphere to move which might make that scenario more likely. Also the bounce coefficient might be as low as zero, making the sphere continue along the surface. So my naive solution is to project not only forwards but backwards to catch those cases. That is where I got into problems shown in the figure: In the first iteration the first black arrow is calculated and we end up at a point on the surface of the box. In the second iteration the "back projection" hits the other surface making the second black arrow bounce on the wrong surface. If there are several boxes close to each other this has further consequences making the sphere fall through them all. So my main question is how to handle possible floating point accuracy when placing the sphere on the box surface so it does not fall through. In writing this question I got the idea to have a threshold to only accept back projections a certain amount much smaller than the box but larger than the possible accuracy limitation, this would only cause the "false" back projection when the sphere hit the box on an edge which would appear naturally. To clarify my original approach, the arrows shown in the image is not only the path the sphere travels but is also representing a single time step in the simulation. In reality the time step is much smaller about 0.05 of the box size. The path traveled is projected onto possible sides to avoid traveling past a thinner object at higher speeds. In normal situations the floating point accuracy is not an issue but there are two situations where I have the concern. When the new position at the end of the time step is located very close to the surface, very unlikely though. When using a bounce factor of 0, here it happens every time the sphere hit a box. To add some loss of accuracy, the motivation for my concern, is that the sphere and box are in different coordinate systems and thus the sphere location is transformed for every test. This last one is why I'm not willing to stand on luck that one floating point value lying on top of the box always will be interpreted the same. I did not know voronoi regions by name, but looking at it I'm not sure how it would be used in a projection scenario that I'm using here.

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• adapting a Unity gravitational script to allow moons

  - by PartyMix

  I'm using this script: http://wiki.unity3d.com/index.php/Simple_planetary_orbits to get a solar system going in Unity, but it doesn't seem to support creating bodies that orbit other moving bodies (or I am using it incorrectly). Any idea about how to modify it so that it does (or just use it correctly)? I've been beating my head against this problem for a couple hours, and I really don't feel like I have any idea what I'm doing. Thanks in advance.

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• Automated texture mapping

  - by brandon

  I have a set of seamless tiling textures. I want to be able to take an arbitrary model and create a UV map with these properties: No stretching (all textures tile appropriately so there is no stretching and sheering of the texture) The textures display on the correct axis relative to the model it's mapping to (if you look at the example, you can see some of the letters on the front are tilted, the y axis of the texture should be matching up with the y axis of the object. Some other faces have upside down letters too) the texture is as continuous as possible on the surface of the model (if two faces are adjacent, the texture continues on the adjacent face where it left off) the model is closed (all faces are completely enclosed by other faces) A few notes. This mapping will occur before triangulation. I realize there are ways to do this by hand and it's probably a hard problem to automatically map textures in general, but since these textures are seamless and I just need uniform coverage it seems like an easier problem. I'm looking for an algorithmic approach to this that I can apply in general, not a tool that does it. What approach would work for this, is there an existing one? (I assume so)

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• Unity: Assigning a key to perform an action in the inspector

  - by Marc Pilgaard

  I am trying to write a simple piece of code in JavaScript where a button toggles the activation of a shield, by dragging a prefab with Resources.load("ActivateShieldPreFab") and destroying it again (Haven't implemented that yet). I wish to assign this button through the inspector, so I have created a string variable which appears as intended in the inspector. Though it doesn't seem to register the inspector input, even though I changed the value through the inspector. It only provides the error: "Input Key named: is unknown" When the button name is assigned within the code, there is no issues. Code as follows: var ShieldOn = false; var stringbutton : String; function Start(){ } function Update () { if(Input.GetKey(stringbutton) && ShieldOn != true) { Instantiate(Resources.load("ActivateShieldPreFab"), Vector3 (0, 0, 0), Quaternion.identity); ShieldOn = true; } }

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• How to run the pixel shader effcet??

  - by Yashwinder

  Below stated is the code for my pixel shader which I am rendering after the vertex shader. I have set the wordViewProjection matrix in my program but I don't know to set the progress variable i.e in my pixel shader file which will make the image displayed by the help of a quad to give out transition effect. Here is the code for my pixel shader program::: As my pixel shader is giving a static effect and now I want to use it to give some effect. So for this I have to add a progress variable in my pixel shader and initialize to the Constant table function i.e constantTable.SetValue(D3DDevice,"progress",progress ); I am having the problem in using this function for progress in my program. Anybody know how to set this variable in my program. And my new pixel Shader code is float progress : register(C0); sampler2D implicitInput : register(s0); sampler2D oldInput : register(s1); struct VS_OUTPUT { float4 Position : POSITION; float4 Color : COLOR0; float2 UV : TEXCOORD 0; }; float4 Blinds(float2 uv) { if(frac(uv.y * 5) < progress) { return tex2D(implicitInput, uv); } else { return tex2D(oldInput, uv); } } // Pixel Shader { return Blinds(input.UV); }

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• XNA Quadtree with LOD

  - by Byron Cobb

  I'm looking to create a fairly large environment, and as such would like to implement a quadtree and use LOD on it. I've looked through numerous examples and I get the basic idea of a quadtree. Start with a root node with 4 vertices covering the whole map and divide into 4 children nodes until I meet some criteria(max number of triangles) I'm looking for some very very basic algorithm or explanation with respect to drawing the quadtree. What vertices need to be stored per iteration? When do I determine what vertices to draw? When to update indices and vertices? Hope to integrate the bounding frustrum? Do I include parent and child vertices? I'm looking for very simple instruction on what to do. I've scoured the internet for days now looking, but everyone adds extra code and a different spin without explanation. I understand quadtrees, but not with respect to 3d rendering and lod. A link to an outside source will probably have been read by myself already and won't help. Regards, Byron.

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• CreateRenderTarget returns 0x80070057 in big surface resolution

  - by senggen

  I have created the SLI merged desktop of three 1920x1680 monitors, so the desktop resolution is 5760x1080. There is a 0x80070057 error, while calling CreateRenderTarget to create the RT_Surface: IDirect3DSurface9* _render_surface; HRESULT hr = _device->CreateRenderTarget( _desktop_width * 2, _desktop_height + 1, D3DFMT_A8R8G8B8, D3DMULTISAMPLE_NONE, 0, TRUE, &_render_surface, NULL); It works OK with desktop resolution 1024x768, and the total resolution is 3072x768. In http://msdn.microsoft.com/en-us/library/windows/desktop/bb174361(v=vs.85).aspx, it says If the method succeeds, the return value is D3D_OK. If the method fails, the return value can be one of the following: D3DERR_NOTAVAILABLE, D3DERR_INVALIDCALL, D3DERR_OUTOFVIDEOMEMORY, E_OUTOFMEMORY. and no description about 0x80070057. HRESULT: 0x80070057 (2147942487) Name: E_INVALIDARG Description: An invalid parameter was passed to the returning function Somebody please help me.

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• (Quaternion based) Trouble moving foward based on model rotation

  - by ChocoMan

  Using quaternions, I'm having trouble moving my model in its facing direction. Currently the model moves can move in all cardinal directions with no problems. The problem comes when I rotate the move as it still travelling in the direction of world space. Meaning, if I'm moving forward, backward or any other direction while rotating the model, the model acts like its a figure skater spinning while traveling in the same direction. How do I update the direction of travel proper with the facing direction of the model? Rotates model on Y-axis: Yaw = pController.ThumbSticks.Right.X * MathHelper.ToRadians(speedAngleMAX); AddRotation = Quaternion.CreateFromYawPitchRoll(yaw, 0, 0); ModelLoad.MRotation *= AddRotation; MOrientation = Matrix.CreateFromQuaternion(ModelLoad.MRotation); Moves model forward: // Move Forward if (pController.IsButtonDown(Buttons.LeftThumbstickUp)) { SpeedX = (float)(Math.Sin(ModelLoad.ModelRotation)) * FWDSpeedMax * pController.ThumbSticks.Left.Y * (float)gameTime.ElapsedGameTime.TotalSeconds; SpeedZ = (float)(Math.Cos(ModelLoad.ModelRotation)) * FWDSpeedMax * pController.ThumbSticks.Left.Y * (float)gameTime.ElapsedGameTime.TotalSeconds; // Update model position ModelLoad._modelPos += Vector3.Forward * SpeedZ; ModelLoad._modelPos += Vector3.Left * SpeedX; }

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• How can I pass an array of floats to the fragment shader using textures?

  - by James

  I want to map out a 2D array of depth elements for the fragment shader to use to check depth against to create shadows. I want to be able to copy a float array into the GPU, but using large uniform arrays causes segfaults in openGL so that is not an option. I tried texturing but the best i got was to use GL_DEPTH_COMPONENT glTexImage2D(GL_TEXTURE_2D, 0, GL_DEPTH_COMPONENT, 512, 512, 0, GL_DEPTH_COMPONENT, GL_FLOAT, smap); Which doesn't work because that stores depth components (0.0 - 1.0) which I don't want because I have no idea how to calculate them using the depth value produced by the light sources MVP matrix multiplied by the coordinate of each vertex. Is there any way to store and access large 2D arrays of floats in openGL?

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• Examples of interesting implementations of character stats?

  - by Tchalvak

  I've got this BBG going ( http://ninjawars.net ), and the character stats currently are simplistic. I'm looking to add a few stats to the current 1/2 (strength and maximum hitpoints, essentially). I've come up with: (strength (unchanged), speed, stamina, and some others that are somewhat interesting wildcard stats). However, I'm not satisfied with how boring the effects of some of these stats are, because they're very linear. Better stat, better effects of the stat, but the stats don't interact with each-other, there's no Rock-Paper-Scissors interaction, having more is always better all the time. So what I'd really like is to see examples of interesting character stats or effects of stats? Examples that I can think of off hand: Call of Cthulu's Insanity stat (things get really weird/chaotic if you start losing sanity) White Wolf stats, to a certain extent (the stats themselves have some basic effects, and all skills effectiveness base themselves off of stats as well) What are some other ways people have used stats to check out?

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• running GL ES 2.0 code under Linux ( no Android no iOS )

  - by user827992

  I need to code OpenGL ES 2.0 bits and i would like to do this and run the programs on my desktop for practical reasons. Now, i already have tried the official GLES SDK from ATI for my videocard but it not even runs the examples that comes with the SDK itself, i'm not looking for performance here, even a software based rendering pipeline could be enough, i just need full support for GLES 2.0 and GLSL to code and run GL stuff. There is a reliable solution for this under Ubuntu Linux ?

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• LWJGL glRotatef() without rotating axes?

  - by Brandon oubiub

  Okay so, I noticed when you rotate around an axis, say you do this: glRotatef(90.0f, 1.0f, 0.0f, 0.0f); That will rotate things 90 degrees around the x-axis. However, it also sort of rotates the y and z axes as well. So now the y-axis is pointing in and out of the screen, instead of up and down. So when I try to do stuff like this: glRotatef(90.0f, 1.0f, 0.0f, 0.0f); glRotatef(whatever, 0.0f, 1.0f, 0.0f); glRotatef(whatever2, 0.0f, 0.0f, 1.0f); The rotations around the y and z-axes end up not how I want them. I was wondering if there is any way I can sort of rotate just the axes back to their initial position after using glRotatef(), without rotating the object back. Or something like that, just so that when I rotate around the y-axis, it rotates around a vertical axis.

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• Corona SDK: Animation takes a long time to play after "prepare" step

  - by Michael Taufen

  First off, I'm using the current publicly available build, version 2011.704 I'm building a platformer, and have a character that runs along and jumps when the screen is tapped. While jumping, the animation code has him assume a svelte jumping pose, and upon the detection of a collision with the ground, he returns to running. All of this happens. The problem is that there is this strange gap of time, about 1/2 a second by the feel of it, where my character sits on the first frame of the run animation after landing, before it actually starts playing. This leads me to believe that the problem is somewhere between the "prepare" step of loading up a sprite set's animation sequence and the "play" step. Thanks in advance for any help :). My code for when my character lands is as follows: local function collisionHandler ( event ) if (event.object1.myName == "character") and (event.object2.type == "terrain") then inAir = false characterInstance:prepare( "run" ) -- TODO: time between prepare and play is curiously long... characterInstance:play() end end

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• Raycasting mouse coordinates to rotated object?

  - by SPL

  I am trying to cast a ray from my mouse to a plane at a specified position with a known width and length and height. I know that you can use the NDC (Normalized Device Coordinates) to cast ray but I don't know how can I detect if the ray actually hit the plane and when it did. The plane is translated -100 on the Y and rotated 60 on the X then translated again -100. Can anyone please give me a good tutorial on this? For a complete noob! I am almost new to matrix and vector transformations.

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• Team matchups for Dota Bot

  - by Dan

  I have a ghost++ bot that hosts games of Dota (a warcraft 3 map that is played 5 players versus 5 players) and I'm trying to come up with good formulas to balance the players going into a match based on their records (I have game history for several thousand games). I'm familear with some of the concepts required to match up players, like confidence based on sample size of the number of games they played, and also perameter approximation and degrees of freedom and thus throwing out any variables that don't contribute enough to the r^2. My bot collects quite a few variables for each player from each game: The Important ones: Win/Lose/Game did not finish # of Player Kills # of Player Deaths # of Kills player assisted The not so important ones: # of enemy creep kills # of creep sneak attacks # of neutral creep kills # of Tower kills # of Rax kills # of courier kills Quick explination: The kills/deaths don't determine who wins, but the gold gained and lost from this usually is enough to tilt the game. Tower/Rax kills are what the goal of the game is (once a team looses all their towers/rax their thrown can be attacked if that is destroyed they lose), but I don't really count these as important because it is pretty random who gets the credit for the tower kill, and chances are if you destroy a tower it is only because some other player is doing well and distracting the otherteam elsewhere on the map. I'm getting a bit confused when trying to deal with the fact that 5 players are on a team, so ultimately each individual isn't that responsible for the team winner or losing. Take a player that is really good at killing and has 40 kills and only 10 deaths, but in their 5 games they've only won 1. Should I give him extra credit for such a high kill score despite losing? (When losing it is hard to keep a positive kill/death ratio) Or should I dock him for losing assuming that despite the nice kill/death ratio he probably plays in a really greedy way only looking out for himself and not helping the team? Ultimately I don't think I have to guess at questions like this because I have so much data... but I don't really know how to look at the data to answer questions like this. Can anyone help me come up with formulas to help team balance and predict the outcome? Thanks, Dan

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• How do you turn a cube into a sphere?

  - by Tom Dalling

  I'm trying to make a quad sphere based on an article, which shows results like this: I can generate a cube correctly: But when I convert all the points according to this formula (from the page linked above): x = x * sqrtf(1.0 - (y*y/2.0) - (z*z/2.0) + (y*y*z*z/3.0)); y = y * sqrtf(1.0 - (z*z/2.0) - (x*x/2.0) + (z*z*x*x/3.0)); z = z * sqrtf(1.0 - (x*x/2.0) - (y*y/2.0) + (x*x*y*y/3.0)); My sphere looks like this: As you can see, the edges of the cube still poke out too far. The cube ranges from -1 to +1 on all axes, like the article says. Any ideas what is wrong?

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• What algorithm to use to fill a KenKen square board with cages?

  - by JimmyBoh

  I am working on recreating KenKen, a popular math puzzle involving a blank grid that is divided into "cages". Each cage is just a collection of adjacent squares and has a clue which is generally a number and an operand, shown below: What type of algorithm would be best to fill the square with cages? Assume the maximum number of cells per cage would be 3 and the board is 4x4 in size, like in the example above.

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• Box2D Bicycle Wheels Motor Problem - Flash 2.1a

  - by Craig

  I have made a bicycle with Box2D using several polygons for the frame at different angles connected using weld joints, and I have revolute joints on the wheels with a motor. I have made some basic terrain (straight ground and a small ramp) and added keyboard input to control the bicycle with torque to balance it. All of this is done in with Box2D's Debug Draw. When the bicycle is on its back wheel but diagonally forward (kinda like this position - /) the motors just cause it go spinning backwards over when in reality it should either stay on its back wheel or go down onto both wheels. Here's my code the revolute joints: //Front Wheel Joint var frontWheelJointDef:b2RevoluteJointDef = new b2RevoluteJointDef(); frontWheelJointDef.Initialize(frontWheelBody, secondFrameBody, frontWheelBody.GetWorldCenter()); frontWheelJointDef.enableMotor=true; frontWheelJointDef.maxMotorTorque=10000; frontWheelJoint = _world.CreateJoint(frontWheelJointDef) as b2RevoluteJoint; //Rear Wheel Joint var rearWheelJointDef:b2RevoluteJointDef = new b2RevoluteJointDef(); rearWheelJointDef.Initialize(rearWheelBody, firstFrameBody, rearWheelBody.GetWorldCenter()); rearWheelJointDef.enableMotor=true; rearWheelJointDef.maxMotorTorque=10000; rearWheelJoint = _world.CreateJoint(rearWheelJointDef) as b2RevoluteJoint; And here's the relevant part of my update function: // up and down control wheels motor if (up) { motorSpeed-=0.5; } if (down) { motorSpeed += 0.5; } // left and right control cart torque if (left) { middleCentreFrameBody.ApplyTorque( -3); gearBody.ApplyTorque( -3); firstFrameBody.ApplyTorque( -3); secondFrameBody.ApplyTorque( -3); rearWheelToChainBody.ApplyTorque( -3); chainToFrontFrameBody.ApplyTorque( -3); topMiddleFrameBody.ApplyTorque( -3); } if (right) { middleCentreFrameBody.ApplyTorque( 3); gearBody.ApplyTorque( 3); firstFrameBody.ApplyTorque( 3); secondFrameBody.ApplyTorque( 3); rearWheelToChainBody.ApplyTorque( 3); chainToFrontFrameBody.ApplyTorque( 3); topMiddleFrameBody.ApplyTorque( 3); } // motor friction motorSpeed*=0.99; // motor max speed if (motorSpeed>100) { motorSpeed=100; } rearWheelJoint.SetMotorSpeed(motorSpeed); frontWheelJoint.SetMotorSpeed(motorSpeed); Any ideas what might be causing this? Thanks

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• What's the future of online gamedev. FLASH or UNITY?

  - by Cpucpu

  Currently, i develop for flash, not much ago i discovered unity, not yet played with it, but i have seen so far was cool. Here are my thoughts: Flash is more casual, start with cost less, in time and money. In unity you'd likely have to go more bussines-serious (real money). There are proven bussines models in flash, like adver-gaming, ads, micro-transactions. Have not seen much movement in this in Unity, too soon maybe. Flash is too heavy. By its nature(making games) Unity is way faster. Flash is 2d, doing something 3d with it turns weird and slow. Unity is natively 3d, not optimized for 2d though, it is likely feasible as well. I am overlooking the plug-in widespread, that gap will get closed over the time.

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• How to make an object stay relative to another object

  - by Nick

  In the following example there is a guy and a boat. They have both a position, orientation and velocity. The guy is standing on the shore and would like to board. He changes his position so he is now standing on the boat. The boat changes velocity and orientation and heads off. My character however has a velocity of 0,0,0 but I would like him to stay onboard. When I move my character around, I would like to move as if the boat was the ground I was standing on. How do keep my character aligned properly with the boat? It is exactly like in World Of Warcraft, when you board a boat or zeppelin. This is my physics code for the guy and boat: this.velocity.addSelf(acceleration.multiplyScalar(dTime)); this.position.addSelf(this.velocity.clone().multiplyScalar(dTime)); The guy already has a reference to the boat he's standing on, and thus knows the boat's position, velocity, orientation (even matrices or quaternions can be used).

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• Quaternion dfference + time --> angular velocity (gyroscope in physics library)

  - by AndrewK

  I am using Bullet Physic library to program some function, where I have difference between orientation from gyroscope given in quaternion and orientation of my object, and time between each frame in milisecond. All I want is set the orientation from my gyroscope to orientation of my object in 3D space. But all I can do is set angular velocity to my object. I have orientation difference and time, and from that I calculate vector of angular velocity [Wx,Wy,Wz] from that formula: W(t) = 2 * dq(t)/dt * conj(q(t)) My code is: btQuaternion diffQuater = gyroQuater - boxQuater; btQuaternion conjBoxQuater = gyroQuater.inverse(); btQuaternion velQuater = ((diffQuater * 2.0f) / d_time) * conjBoxQuater; And everything works well, till I get: 1 rotating around Y axis, angle about 60 degrees, then I have these values in 2 critical frames: x: -0.013220 y: -0.038050 z: -0.021979 w: -0.074250 - diffQuater x: 0.120094 y: 0.818967 z: 0.156797 w: -0.538782 - gyroQuater x: 0.133313 y: 0.857016 z: 0.178776 w: -0.464531 - boxQuater x: 0.207781 y: 0.290452 z: 0.245594 - diffQuater -> euler angles x: 3.153619 y: -66.947929 z: 175.936615 - gyroQuater -> euler angles x: 4.290697 y: -57.553043 z: 173.320053 - boxQuater -> euler angles x: 0.138128 y: 2.823307 z: 1.025552 w: 0.131360 - velQuater d_time: 0.058000 x: 0.211020 y: 1.595124 z: 0.303650 w: -1.143846 - diffQuater x: 0.089518 y: 0.771939 z: 0.144527 w: -0.612543 - gyroQuater x: -0.121502 y: -0.823185 z: -0.159123 w: 0.531303 - boxQuater x: nan y: nan z: nan - diffQuater -> euler angles x: 2.985240 y: -76.304405 z: -170.555054 - gyroQuater -> euler angles x: 3.269681 y: -65.977966 z: 175.639420 - boxQuater -> euler angles x: -0.730262 y: -2.882153 z: -1.294721 w: 63.325996 - velQuater d_time: 0.063000 2 rotating around X axis, angle about 120 degrees, then I have these values in 2 critical frames: x: -0.013045 y: -0.004186 z: -0.005667 w: -0.022482 - diffQuater x: -0.848030 y: -0.187985 z: 0.114400 w: 0.482099 - gyroQuater x: -0.834985 y: -0.183799 z: 0.120067 w: 0.504580 - boxQuater x: 0.036336 y: 0.002312 z: 0.020859 - diffQuater -> euler angles x: -113.129463 y: 0.731925 z: 25.415056 - gyroQuater -> euler angles x: -110.232368 y: 0.860897 z: 25.350458 - boxQuater -> euler angles x: -0.865820 y: -0.456086 z: 0.034084 w: 0.013184 - velQuater d_time: 0.055000 x: -1.721662 y: -0.387898 z: 0.229844 w: 0.910235 - diffQuater x: -0.874310 y: -0.200132 z: 0.115142 w: 0.426933 - gyroQuater x: 0.847352 y: 0.187766 z: -0.114703 w: -0.483302 - boxQuater x: -144.402298 y: 4.891629 z: 71.309158 - diffQuater -> euler angles x: -119.515343 y: 1.745076 z: 26.646086 - gyroQuater -> euler angles x: -112.974533 y: 0.738675 z: 25.411509 - boxQuater -> euler angles x: 2.086195 y: 0.676526 z: -0.424351 w: 70.104248 - velQuater d_time: 0.057000 2 rotating around Z axis, angle about 120 degrees, then I have these values in 2 critical frames: x: -0.000736 y: 0.002812 z: -0.004692 w: -0.008181 - diffQuater x: -0.003829 y: 0.012045 z: -0.868035 w: 0.496343 - gyroQuater x: -0.003093 y: 0.009232 z: -0.863343 w: 0.504524 - boxQuater x: -0.000822 y: -0.003032 z: 0.004162 - diffQuater -> euler angles x: -1.415189 y: 0.304210 z: -120.481873 - gyroQuater -> euler angles x: -1.091881 y: 0.227784 z: -119.399445 - boxQuater -> euler angles x: 0.159042 y: 0.169228 z: -0.754599 w: 0.003900 - velQuater d_time: 0.025000 x: -0.007598 y: 0.024074 z: -1.749412 w: 0.968588 - diffQuater x: -0.003769 y: 0.012030 z: -0.881377 w: 0.472245 - gyroQuater x: 0.003829 y: -0.012045 z: 0.868035 w: -0.496343 - boxQuater x: -5.645197 y: 1.148993 z: -146.507187 - diffQuater -> euler angles x: -1.418294 y: 0.270319 z: -123.638245 - gyroQuater -> euler angles x: -1.415183 y: 0.304208 z: -120.481873 - boxQuater -> euler angles x: 0.017498 y: -0.013332 z: 2.040073 w: 148.120056 - velQuater d_time: 0.027000 The problem is the most visible in diffQuater - euler angles vector. Can someone tell me why it is like that? and how to solve that problem? All suggestions are welcome.

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