Regular API function

simSetSphericalJointMatrix / sim.setSphericalJointMatrix

Description Sets the intrinsic orientation matrix of a spherical joint object. This function cannot be used with non-spherical joints (use sim.setJointPosition instead). See also sim.getJointMatrix.
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
Lua synopsis sim.setSphericalJointMatrix(int objectHandle,table[12] matrix)
Lua parameters
Similar to the C-function counterpart
Lua return values
Remote API equiv.
B0-based remote API: -
Legacy remote API: simxSetSphericalJointMatrix