Pose

Kotlin |Java

class Pose

Represents an immutable rigid transformation from one coordinate space to another.

Summary

Public companion functions
`Float`	`distance(lhs: Pose, rhs: Pose)` Returns the distance between the two poses.
`Pose`	`fromLookAt(eye: Vector3, target: Vector3, up: Vector3)` Returns a new pose oriented to look at `target` from `eye` position with `up` as the up vector.
`Pose`	`lerp(start: Pose, end: Pose, ratio: Float)` Returns a new pose that is linearly interpolated between `start` and `end` using the interpolation amount `ratio`.

Public companion properties
`Pose`	`Identity` Returns a new pose using the identity rotation.

Public constructors
`Pose(other: Pose)` Creates a new pose with the same values as the `other` pose.
`Pose(translation: Vector3, rotation: Quaternion)`

Public functions
`infix Pose`	`compose(other: Pose)` Returns the result of composing this with `other`.
`Pose`	`copy(translation: Vector3, rotation: Quaternion)` Returns a copy of the pose.
`open operator Boolean`	`equals(other: Any?)` Returns true if this pose is equal to the `other`.
`open Int`	`hashCode()`
`Pose`	`rotate(rotation: Quaternion)` Rotates this pose by the given `rotation`.
`open String`	`toString()`
`infix Vector3`	`transformPoint(point: Vector3)` Transforms the provided point by the pose by applying both the rotation and the translation components of the pose.
`infix Vector3`	`transformVector(vector: Vector3)` Transforms the provided vector by the pose by only applying the rotation component of the pose.
`Pose`	`translate(translation: Vector3)` Translates this pose by the given `translation`.

Public properties
`Vector3`	`backward` The backward vector in the local coordinate system.
`Vector3`	`down` The down vector in the local coordinate system.
`Vector3`	`forward` The forward vector in the local coordinate system.
`Pose`	`inverse` Returns a pose that performs the opposite translation.
`Vector3`	`left` The left vector in the local coordinate system.
`Vector3`	`right` The right vector in the local coordinate system.
`Quaternion`	`rotation` the rotation component of this pose.
`Vector3`	`translation` the translation component of this pose.
`Vector3`	`up` The up vector in the local coordinate system.

Public companion functions

distance

Added in 1.0.0-alpha01

fun distance(lhs: Pose, rhs: Pose): Float

Returns the distance between the two poses.

fromLookAt

Added in 1.0.0-alpha01

fun fromLookAt(eye: Vector3, target: Vector3, up: Vector3 = Vector3.Up): Pose

Returns a new pose oriented to look at target from eye position with up as the up vector.

Parameters
`eye: Vector3`	the position from which to look at `target`.
`target: Vector3`	the target position to look at.
`up: Vector3 = Vector3.Up`	a vector indicating the general "up" direction.

Returns
`Pose`	the pose oriented to look at `target` from `eye` position with `up` as the up vector.

lerp

Added in 1.0.0-alpha01

fun lerp(start: Pose, end: Pose, ratio: Float): Pose

Returns a new pose that is linearly interpolated between start and end using the interpolation amount ratio. The position is lerped, but the rotation will be slerped if the angles are far apart.

If ratio is outside of the range [0, 1], the returned pose will be extrapolated.

Public companion properties

Identity

val Identity: Pose

Returns a new pose using the identity rotation.

Public constructors

Pose

Added in 1.0.0-alpha01

Pose(other: Pose)

Creates a new pose with the same values as the other pose.

Pose

Added in 1.0.0-alpha01

Pose(translation: Vector3 = Vector3(), rotation: Quaternion = Quaternion())

Public functions

compose

Added in 1.0.0-alpha01

infix fun compose(other: Pose): Pose

Returns the result of composing this with other.

copy

Added in 1.0.0-alpha01

fun copy(
    translation: Vector3 = this.translation,
    rotation: Quaternion = this.rotation
): Pose

Returns a copy of the pose.

equals

open operator fun equals(other: Any?): Boolean

Returns true if this pose is equal to the other.

hashCode

open fun hashCode(): Int

rotate

Added in 1.0.0-alpha01

fun rotate(rotation: Quaternion): Pose

Rotates this pose by the given rotation.

toString

open fun toString(): String

transformPoint

Added in 1.0.0-alpha01

infix fun transformPoint(point: Vector3): Vector3

Transforms the provided point by the pose by applying both the rotation and the translation components of the pose. This is because a point represents a specific location in space. It needs to account for the position, scale and orientation of the space it is in.

transformVector

Added in 1.0.0-alpha01

infix fun transformVector(vector: Vector3): Vector3

Transforms the provided vector by the pose by only applying the rotation component of the pose. This is because a vector represents a direction and magnitude, not a specific location. It only needs to account for the scale and orientation of the space it is in since it has no position.

translate

Added in 1.0.0-alpha01

fun translate(translation: Vector3): Pose

Translates this pose by the given translation.

Public properties

backward

Added in 1.0.0-alpha01

val backward: Vector3

The backward vector in the local coordinate system.

down

Added in 1.0.0-alpha01

val down: Vector3

The down vector in the local coordinate system.

forward

Added in 1.0.0-alpha01

val forward: Vector3

The forward vector in the local coordinate system.

inverse

Added in 1.0.0-alpha01

val inverse: Pose

Returns a pose that performs the opposite translation.

left

Added in 1.0.0-alpha01

val left: Vector3

The left vector in the local coordinate system.

right

Added in 1.0.0-alpha01

val right: Vector3

The right vector in the local coordinate system.

rotation

Added in 1.0.0-alpha01

val rotation: Quaternion

the rotation component of this pose.

translation

Added in 1.0.0-alpha01

val translation: Vector3

the translation component of this pose.

up

Added in 1.0.0-alpha01

val up: Vector3

The up vector in the local coordinate system.