Combining 2 Rotations: Global and Local

Questions & Answers
1

Here is the problem: ship on the sea (XY plane).Ship turns left right ok. When turning I want the ship to heel (rotate a little along the longitudinal axis).

Left right turning works ok with this code:

 var rotationVector = GameObject.Find ("SHIP").transform.rotation.eulerAngles;
    rotationVector.x = 0f;
    rotationVector.y = 0f;
    rotationVector.z =  rotationVector.z + 0.5f; //well , a function anyway
    GameObject.Find ("SHIP").transform.rotation = Quaternion.Euler(rotationVector);

If I try to add the second rotation on the Y axis (the heeling), the resultant rotation gets weird.

 var rotationVector = GameObject.Find ("SHIP").transform.rotation.eulerAngles;
    rotationVector.x = 0f;
    rotationVector.y = rotationVector.y+ 0.5f;
    rotationVector.z =  rotationVector.z + 0.5f;
    GameObject.Find ("SHIP").transform.rotation = Quaternion.Euler(rotationVector);

As far as I get it, the rotation is local, and heeling takes steering off the horizontal and the ship goes either airplane or submarine. I could make an Z adjustment each frame to compensate but I don’t get the heeling!
Tried 2 rotations stages, tried fist one then the other, variants from forums but I can’t get it working…

How to get the banking local and the turning global on the same object?

This is getting me bugnuts
Heelp!?!

2

It might be that the order of rotations is different than you expect. Try this (of flip the order to y/z quaternions):

GameObject.Find ("SHIP").transform.rotation = 
   Quaternion.Euler(new Vector3(0, rotY, 0)) * 
   Quaternion.Euler(new Vector3(0, 0, rotZ));
3

It turns out the solution was

 GameObject.Find ("SHIP5").transform.rotation = Quaternion.AngleAxis(rudder5, Vector3.forward)*Quaternion.AngleAxis(heel5, Vector3.up);

41188-steer-and-heel-done.jpg

Well, the angle changes from 0 to 360 and from 360 to 0 when passing 0 but that can be dealt with with a ton of IF’s for both rudder and heel angles.

For anyone having this problem, I’m attaching the whole code

[41190-turn-and-heel-code-solved.txt|41190]