Regular API function

simRotateAroundAxis / sim.rotateAroundAxis

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)

<