how does the sdk caculate joint local rotation?

Question

   i am now trying to use the joint orientation to animate a custom avatar, i have done many search works and found some informations :

   <1>the msdn about the joint orientation of this sdk[here] demostrate that joints in sdk use different local axes

         these images shows the joint axes:

           

  <2> the avateering-xna sample tells the local axes of each joint       

          these below are main of them:

          spine,head : x left in body,y up, z forward

          leftshouder,elbow:y along arm( left in body?) x down, z forward

          right shoulder,elbow:y along arm(right in body?) x up, z forward

          lefthip,righthip:y along leg(down) x right ,z forward

         in here ,we see joints of shoulder and elbow have same local axes, but in <1> they are different, this is why ? or i misunderstand about this ?

   <3> Mauro Giusti [msft] says in a thread that all joints lie on the y-axis

         but this is also contradict to <1><2> ,because left shoulder and left elbow ,their y axes don't lie on y-axis

    

     what exactly the local axes sdk use?

 

Answer 1

    also, i do some experience with the avateering-xna sample, do some usual poses and trace out their HierarchicalRotation quaternions

   quaternion's vector is normalized for better understanding.

  <1> pose 1 ,two hands lay down

   http://social.msdn.microsoft.com/Forums/getfile/130637    

(i just can use two images per message , so ...i quit this image)

   chest quaternion  (w,x,y,z) 0.993 -0.997 -0.033 -0.064        neck quaternion (w,x,y,z) 0.982 0.951 -0.055 0.303
left shoulder quaternion (w,x,y,z) 0.914 0.029 0.039 -0.999    left elbow quaternion  (w,x,y,z) 0.987 0.961 0.043 -0.272
right shoulder quaternion (w,x,y,z) 0.920 0.102 0.009 0.995   right elbow quaternion (w,x,y,z) 0.993 0.944 -0.038 0.329
left hip quaternion (w,x,y,z) -0.046 -0.002 -0.110 0.994         right hip quaternion (w,x,y,z) 0.036 -0.002 -0.083 0.997

<2> pose2

chest quaternion  (w,x,y,z) 0.960 -0.994 0.110 0.014              neck quaternion (w,x,y,z) 0.993 0.945 -0.036 0.324
left shoulder quaternion (w,x,y,z) 0.651 0.892 -0.369 0.261     left elbow quaternion  (w,x,y,z) 0.976 1.000 0.000 0.000
right shoulder quaternion (w,x,y,z) 0.751 0.752 0.081 -0.655   right elbow quaternion (w,x,y,z) 0.991 0.613 0.065 -0.788
left hip quaternion (w,x,y,z) -0.032 -0.005 -0.151 0.988          right hip quaternion (w,x,y,z) 0.038 0.000 -0.119 0.993

<3> pose3 two hands raise up

chest quaternion  (w,x,y,z) 0.959 -0.996 -0.015 -0.089           neck quaternion (w,x,y,z) 0.995 0.714 -0.049 0.698
left shoulder quaternion (w,x,y,z) 0.826 0.288 -0.935 0.207    left elbow quaternion  (w,x,y,z) 0.694 1.000 0.000 0.000
right shoulder quaternion (w,x,y,z) 0.824 0.178 0.976 -0.125  right elbow quaternion (w,x,y,z) 0.694 1.000 0.000 0.000
left hip quaternion (w,x,y,z) -0.045 -0.001 -0.068 0.998         right hip quaternion (w,x,y,z) 0.042 0.005 -0.042 0.999

from these results , i got some confusing questions:

<1>chest and neck ,their quaternion's vectors are in opposite direction?

<2> in pose 1 ,left shoulder quaternion (w,x,y,z) 0.914 0.029 0.039 -0.999 ,its main axis is z(-0.999 )

in pose2 ,left shoulder quaternion (w,x,y,z) 0.651 0.892 -0.369 0.261 ,its main axis is x(0.892)

in pose3 ,right shoulder quaternion (w,x,y,z) 0.824 0.178 0.976 -0.125,its main axis is y(0.976)

the three poses are rotate around z axis in real world , they should have the same main axis , but why in here there are changed , why?

now i am asking how does sdk calculate the rotations ,or hoping you can give me an answer to may quesiton.

Answer 2

  finally i find that it is the problem of the local axes