Transform along local axis using VEX

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Hello, everyone. I want to manipulate (transform) multiple points (and or primitives) along their local or averaged local axis. I keep reading about quaternions, matricies, dihedral and what not. But I don't understand how to use them and all the tutorials seem to assume you have some understanding of them.
Curently I can only transform with vex as if its a transform node, as in global axis. But even that looks odd for example I rotate along 2 axis at once. (with matrix, rotate/scale/translate expressions)
Edited by Thunderbeast - Nov. 15, 2017 13:17:20
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