Regular API function

simGetRotationAxis / sim.getRotationAxis

Description 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.
simInt simGetRotationAxis(const simFloat* matrixStart,const simFloat* matrixGoal,simFloat* axis,simFloat* angle)
matrixStart: the start transformation matrix
matrixGoal: the goal transformation matrix
axis: the returned rotation axis in absolute coordinates
angle: the returned rotation angle
return value
-1 if operation was not successful
Lua synopsis table[3] axis,float angle=sim.getRotationAxis(table[12] matrixStart,table[12] matrixGoal)
Lua parameters
Similar to the C-function counterpart
Lua return values
axis: the rotation axis in absolute coordinates
angle: the rotation angle
Python synopsis list axis,float angle=sim.getRotationAxis(list matrixStart,list matrixGoal)