Regular API function

simSetSphericalJointMatrix (remote API equivalent: simxSetSphericalJointMatrix)

Description Sets the intrinsic orientation matrix of a spherical joint object. This function cannot be used with non-spherical joints (use simSetJointPosition instead). See also simGetJointMatrix.
C synopsis simInt simSetSphericalJointMatrix(simInt objectHandle,const simFloat* matrix)
C parameters
objectHandle: handle of the joint object
matrix: pointer to 12 simFloat values (the last row of the 4x4 matrix (0,0,0,1) is not needed)
The x-axis of the orientation component is (matrix[0],matrix[4],matrix[8])
The y-axis of the orientation component is (matrix[1],matrix[5],matrix[9])
The z-axis of the orientation component is (matrix[2],matrix[6],matrix[10])
The translation component is (matrix[3],matrix[7],matrix[11]) (the translational components will be ignored)
C return value
-1 if operation was not successful. In a future release, a more differentiated return value might be available
Lua synopsis number result=simSetSphericalJointMatrix(number objectHandle,table_12 matrix)
Lua parameters
Same as C-function
Lua return values
Same as C-function

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