simGetRotationAxis

Retrieves an axis and rotation angle that brings one pose or transformation matrix onto another one. The translation part of the poses/matrices is ignored. This function, when used in combination with sim.rotateAroundAxis, can be used to build interpolations between transformation matrices

C++ synopsis

int simGetRotationAxis(const double* matrixStart, const double* matrixGoal, double* axis, double* angle)

Arguments

• matrixStart: the start transformation matrix (array of 12 values [Vx0 Vy0 Vz0 P0 Vx1 Vy1 Vz1 P1 Vx2 Vy2 Vz2 P2])
• matrixGoal: the goal transformation matrix (array of 12 values [Vx0 Vy0 Vz0 P0 Vx1 Vy1 Vz1 P1 Vx2 Vy2 Vz2 P2])
• axis: the returned rotation axis in absolute coordinates (array of 3 values [Vx Vy Vz])
• angle: the returned rotation angle

Return

• -1 if operation was not successful