orx-shapes/org.openrndr.extra.shapes.pose/PosePath3D

PosePath3D

class PosePath3D(val path: RectifiedPath3D, up: Vector3 = Vector3.UNIT_Y)(source)

Represents a 3D pose path defined along a rectified path. The class provides interpolation and orientation adjustments along the defined path.

Parameters

path

The rectified 3D path along which the poses will be calculated.

up

The default upward direction vector, which is used to establish orientation; defaults to Vector3.UNIT_Y.

Constructors

constructor(path: RectifiedPath3D, up: Vector3 = Vector3.UNIT_Y)

Initializes a PosePath3D instance with an optional upward direction vector.

Properties

val frames: List<Matrix33>

val path: RectifiedPath3D

The rectified 3D path for which the pose is calculated.

val PosePath3D.poseFunction: (t: Double) -> Matrix44

Functions

fun pose(t: Double): Matrix44

Calculates the pose (transformation matrix) at a specified position on the path. The pose includes translation and orientation, where orientation is interpolated between frames based on the position parameter t.

fun poseDerivative(t: Double, eps: Double = 0.01): Matrix44

Computes the numerical derivative of the pose (transformation matrix) at a specified position on the path, using central difference approximation.