Pose

Kotlin |Java

class Pose

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)` Creates a pose looking at `target` from `eye` with `up` vector.
`Pose`	`lerp(start: Pose, end: Pose, ratio: Float)` Linearly interpolates between `start` and `end` by `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`.
`Quaternion`	`getForwardVectorToUpRotation(other: Pose)` Calculates rotation to align local Z-axis `forward` with `other`'s `up` direction.
`Quaternion`	`getUpVectorToUpRotation(other: Pose)` Calculates rotation to align local Y-axis `up` with `other`'s up direction.
`open Int`	`hashCode()`
`Pose`	`rotate(rotation: Quaternion)` Rotates this pose by the given `rotation`.
`open String`	`toString()`
`infix Vector3`	`transformPoint(point: Vector3)` Transforms `point` using pose rotation and translation.
`infix Vector3`	`transformVector(vector: Vector3)` Transforms `vector` using only pose rotation.
`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 transformation.
`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-beta02

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

Returns the distance between the two poses.

Parameters
`lhs: Pose`	the first pose
`rhs: Pose`	the second pose

fromLookAt

Added in 1.0.0-beta02

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

Creates a pose looking at target from eye with 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-beta02

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

Linearly interpolates between start and end by 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.

Parameters
`start: Pose`	the starting pose
`end: Pose`	the ending pose
`ratio: Float`	the interpolation ratio

Public companion properties

Identity

val Identity: Pose

Returns a new pose using the identity rotation.

Public constructors

Pose

Added in 1.0.0-beta02

Pose(other: Pose)

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

Pose

Added in 1.0.0-beta02

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

Public functions

compose

Added in 1.0.0-beta02

infix fun compose(other: Pose): Pose

Returns the result of composing this with other.

copy

Added in 1.0.0-beta02

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

Returns a copy of the pose.

Parameters
`translation: Vector3 = this.translation`	the new translation for the copied pose
`rotation: Quaternion = this.rotation`	the new rotation for the copied pose

equals

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

Returns true if this pose is equal to the other.

getForwardVectorToUpRotation

Added in 1.0.0-beta02

fun getForwardVectorToUpRotation(other: Pose): Quaternion

Calculates rotation to align local Z-axis forward with other's up direction.

Parameters
`other: Pose`	the given pose

Returns
`Quaternion`	a Quaternion representing the rotation to apply to the pose

getUpVectorToUpRotation

Added in 1.0.0-beta02

fun getUpVectorToUpRotation(other: Pose): Quaternion

Calculates rotation to align local Y-axis up with other's up direction.

Parameters
`other: Pose`	the given pose

Returns
`Quaternion`	a Quaternion representing the rotation to apply to the pose

hashCode

open fun hashCode(): Int

rotate

Added in 1.0.0-beta02

fun rotate(rotation: Quaternion): Pose

Rotates this pose by the given rotation.

toString

open fun toString(): String

transformPoint

Added in 1.0.0-beta02

infix fun transformPoint(point: Vector3): Vector3

Transforms point using pose rotation and translation. A point represents a specific location in space and is affected by translation, scale, and orientation.

transformVector

Added in 1.0.0-beta02

infix fun transformVector(vector: Vector3): Vector3

Transforms vector using only pose rotation. 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-beta02

fun translate(translation: Vector3): Pose

Translates this pose by the given translation.

Public properties

backward

Added in 1.0.0-beta02

val backward: Vector3

The backward vector in the local coordinate system.

down

Added in 1.0.0-beta02

val down: Vector3

The down vector in the local coordinate system.

forward

Added in 1.0.0-beta02

val forward: Vector3

The forward vector in the local coordinate system.

inverse

Added in 1.0.0-beta02

val inverse: Pose

Returns a pose that performs the opposite transformation.

left

Added in 1.0.0-beta02

val left: Vector3

The left vector in the local coordinate system.

right

Added in 1.0.0-beta02

val right: Vector3

The right vector in the local coordinate system.

rotation

Added in 1.0.0-beta02

val rotation: Quaternion

the rotation component of this pose

translation

Added in 1.0.0-beta02

val translation: Vector3

the translation component of this pose

up

Added in 1.0.0-beta02

val up: Vector3

The up vector in the local coordinate system.