Regular API function

simRotateAroundAxis / sim.rotateAroundAxis

Description Rotates a transformation matrix around a random axis in space. This function, when used in combination with sim.getRotationAxis, can be used to build interpolations between transformation matrices. See also sim.getObjectMatrix, sim.setObjectMatrix and the other matrix/transformation functions.
C synopsis simInt simRotateAroundAxis(const simFloat* matrixIn,const simFloat* axis,const simFloat* axisPos,simFloat angle,simFloat* matrixOut)
C parameters
matrixIn: the transformation matrix to rotate
axis: the axis vector in absolute coordinates to rotate around
axisPos: the position of the rotation axis in absolute coordinates
angle: the amount of rotation to perform
matrixOut: the returned transformed (rotated) matrix
C return value
-1 if operation was not successful
Lua synopsis table[12] matrixOut=sim.rotateAroundAxis(table[12] matrixIn,table[3] axis,table[3] axisPos,float angle)
Lua parameters
Similar to the C-function counterpart
Lua return values
matrixOut: the transformed (rotated) matrix, or nil in case of an error