simRotateAroundAxis

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

C++ synopsis

int simRotateAroundAxis(const double* matrixIn, const double* axis, const double* axisPos, double angle, double* matrixOut)

Arguments

• matrixIn: transformation matrix to rotate (array of 12 values [Vx0 Vy0 Vz0 P0 Vx1 Vy1 Vz1 P1 Vx2 Vy2 Vz2 P2])
• axis: axis vector in absolute coordinates to rotate around
• axisPos: position of the rotation axis in absolute coordinates
• angle: amount of rotation to perform
• matrixOut: returned transformed (rotated) matrix (array of 12 values [Vx0 Vy0 Vz0 P0 Vx1 Vy1 Vz1 P1 Vx2 Vy2 Vz2 P2])

Return

• -1 if operation was not successful