Description
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Retrieves an axis and rotation angle that brings one transformation matrix onto another one. The translation part of the transformation matrices is ignored. This function, when used in combination with sim.rotateAroundAxis, can be used to build interpolations between transformation matrices. See also sim.getObjectMatrix, sim.setObjectMatrix and the other matrix/transformation functions. |
C/C++ synopsis
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simInt simGetRotationAxis(const simFloat* matrixStart,const simFloat* matrixGoal,simFloat* axis,simFloat* angle)
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C/C++ parameters |
matrixStart: the start transformation matrix
matrixGoal: the goal transformation matrix
axis: the returned rotation axis in absolute coordinates
angle: the returned rotation angle
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C/C++ return value
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-1 if operation was not successful
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Lua synopsis
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float[3] axis,float angle=sim.getRotationAxis(float[12] matrixStart,float[12] matrixGoal)
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Lua parameters |
Similar to the C-function counterpart
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Lua return values
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axis: the rotation axis in absolute coordinates
angle: the rotation angle
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Python synopsis |
list axis,float angle=sim.getRotationAxis(list matrixStart,list matrixGoal) |