|
Description
|
Rotates a pose or transformation matrix around a random axis in space. This function, when used in combination with sim.getRotationAxis, can be used to build interpolations between poses or transformation matrices. See also the section about positions, orientations and transformations |
C/C++
synopsis
|
simInt simRotateAroundAxis(const simFloat* matrixIn,const simFloat* axis,const simFloat* axisPos,simFloat angle,simFloat* matrixOut)
|
C/C++
parameters |
matrixIn: the transformation matrix to rotate
axis: the axis vector in absolute coordinates to rotate around
axisPos: the position of the rotation axis in absolute coordinates
angle: the amount of rotation to perform
matrixOut: the returned transformed (rotated) matrix
|
C/C++
return value
|
-1 if operation was not successful
|
Lua
synopsis
|
float[7]/float[12] poseOut/matrixOut=sim.rotateAroundAxis(float[7]/float[12] poseIn/matrixIn,float[3] axis,float[3] axisPos,float angle)
|
Lua
parameters |
poseIn/matrixIn: the pose or transformation matrix to rotate
axis: the axis vector in absolute coordinates to rotate around
axisPos: the position of the rotation axis in absolute coordinates
angle: the amount of rotation to perform
|
Lua
return values
|
poseOut/matrixOut: the transformed (rotated) pose/matrix
|
Python
synopsis |
list poseOut/matrixOut=sim.rotateAroundAxis(list poseIn/matrixIn,list axis,list axisPos,float angle) |
