UniVRM Coordinate Transformations

2018-04-16 16:30:00 +0900 +0900
Last modified September 15, 2020: tags(unity, detail, api, gltf...) (cdaf1eb)

UniVRM automatically performs the coordinate transformation with GLTF during import / export.

VRM coordinate system

Since VRM is an extension of GLTF, it conforms to the coordinate system of GLTF. It is right-handed Y-UP (OpenGL standard) coordinate system.

  • Right: X+
  • Up: Y+
  • In front: Z-

Unity coordinate system

Left-handed Y-UP coordinate system。

  • Right:X+
  • Up:Y+
  • In front:Z+ (+- is inverted)

Transformation matrix

Z-axis is inverted.

Vector3 (Position, Normal, etc.)

public static Vector3 ReverseZ(this Vector3 v)
    return new Vector3(v.x, v.y, -v.z);

Quaternion (Rotation)

public static Quaternion ReverseZ(this Quaternion q)
    float angle;
    Vector3 axis;
    q.ToAngleAxis(out angle, out axis);
    return Quaternion.AngleAxis(-angle, ReverseZ(axis));

Matrix (BindMatrices)

Not working well if a scale value is contained.

public static Matrix4x4 ReverseZ(this Matrix4x4 m)
#if UNITY_2017_1_OR_NEWER
    m.SetTRS(m.GetColumn(3).ReverseZ(), m.rotation.ReverseZ(), Vector3.one);
    m.SetTRS(m.ExtractPosition().ReverseZ(), m.ExtractRotation().ReverseZ(), Vector3.one);
    return m;

VRM - humanoid 3d avatar format for VR