Pose

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

Returns the distance between the two poses.

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.

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.

val Identity: Pose

Returns a new pose using the identity rotation.

Pose(other: Pose)

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

infix fun compose(other: Pose): Pose

Returns the result of composing this with other.

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

Returns a copy of the pose.

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

Returns true if this pose is equal to the other.

fun getForwardVectorToUpRotation(other: Pose): Quaternion

Calculates a rotation to align this pose's local Z-axis forward with the given pose's up direction.

fun getUpVectorToUpRotation(other: Pose): Quaternion

Calculates a rotation to align this pose's local Y-axis up with the given pose's up direction.

fun rotate(rotation: Quaternion): Pose

Rotates this pose by the given rotation.

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.

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.

fun translate(translation: Vector3): Pose

Translates this pose by the given translation.

val backward: Vector3

The backward vector in the local coordinate system.

val down: Vector3

The down vector in the local coordinate system.

val forward: Vector3

The forward vector in the local coordinate system.

val inverse: Pose

Returns a pose that performs the opposite transformation.

val left: Vector3

The left vector in the local coordinate system.

val right: Vector3

The right vector in the local coordinate system.

val rotation: Quaternion

the rotation component of this pose

val translation: Vector3

the translation component of this pose

val up: Vector3

The up vector in the local coordinate system.