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Pose Class

Modifiers: open
Represents a pose in 3D space, which includes a position and an orientation.

Signature

open class Pose(var t: Vector3 = Vector3(0f, 0f, 0f), var q: Quaternion = Quaternion(1.0f, 0f, 0f, 0f))

Constructors

Pose ( t , q )
Signature 
constructor(t: Vector3 = Vector3(0f, 0f, 0f), q: Quaternion = Quaternion(1.0f, 0f, 0f, 0f))
Parameters
t: Vector3  The position vector of the pose.
q: Quaternion  The orientation quaternion of the pose.
Returns
Pose

Properties

q : Quaternion
[Get][Set]
The orientation quaternion of the pose.
Signature 
open var q: Quaternion
t : Vector3
[Get][Set]
The position vector of the pose.
Signature 
open var t: Vector3

Methods

component1 ()
Signature 
operator fun component1(): Vector3
Returns
Vector3
component2 ()
Signature 
operator fun component2(): Quaternion
Returns
Quaternion
copy ()
Returns a copy of this pose.
Signature 
fun copy(): Pose
Returns
Pose  A copy of this pose.
equals ( other )
Signature 
open operator override fun equals(other: Any?): Boolean
Parameters
other: Any?
Returns
Boolean
forward ()
Calculates the forward direction vector of this pose.
Signature 
fun forward(): Vector3
Returns
Vector3  The forward vector.
hashCode ()
Signature 
open override fun hashCode(): Int
Returns
Int
inverse ()
Computes the inverse of this pose.
Signature 
fun inverse(): Pose
Returns
Pose  The inverse pose.
isApproximatelyEqual ( other , distanceThreshold , angleDegreesThreshold )
Checks if this pose is approximately equal to another pose, considering both position and rotation.
This method combines position proximity (Euclidean distance) and rotation proximity (angular distance) checks into a single convenience method. Both conditions must be satisfied for the poses to be considered approximately equal.
Signature 
fun isApproximatelyEqual(other: Pose, distanceThreshold: Float, angleDegreesThreshold: Float): Boolean
Parameters
other: Pose  The other pose to compare with.
distanceThreshold: Float  The maximum allowed Euclidean distance between positions (in meters).
angleDegreesThreshold: Float  The maximum allowed angular difference in degrees.
Returns
Boolean  True if both the position is within the distance threshold and the rotation is within the angle threshold.
isWithinAngle ( other , angleRadians )
Checks if the rotation of this pose is within a specified angular distance of another pose's rotation.
This method uses the industry-standard approach for comparing quaternion orientations: computing the angular distance between the two rotations using the dot product. It correctly handles the q vs -q equivalence (both represent the same rotation).
Signature 
fun isWithinAngle(other: Pose, angleRadians: Float): Boolean
Parameters
other: Pose  The other pose to compare with.
angleRadians: Float  The maximum allowed angular difference in radians.
Returns
Boolean  True if the angular distance between the two pose rotations is less than or equal to angleRadians.
isWithinAngleDegrees ( other , angleDegrees )
Checks if the rotation of this pose is within a specified angular distance of another pose's rotation.
This method uses the industry-standard approach for comparing quaternion orientations: computing the angular distance between the two rotations using the dot product. It correctly handles the q vs -q equivalence (both represent the same rotation).
Signature 
fun isWithinAngleDegrees(other: Pose, angleDegrees: Float): Boolean
Parameters
other: Pose  The other pose to compare with.
angleDegrees: Float  The maximum allowed angular difference in degrees.
Returns
Boolean  True if the angular distance between the two pose rotations is less than or equal to angleDegrees.
isWithinDistance ( other , distance )
Checks if the position of this pose is within a specified Euclidean distance of another pose's position.
This is the recommended approach for position-based proximity checks in VR/AR applications.
Signature 
fun isWithinDistance(other: Pose, distance: Float): Boolean
Parameters
other: Pose  The other pose to compare with.
distance: Float  The maximum allowed Euclidean distance (in meters).
Returns
Boolean  True if the Euclidean distance between the two pose positions is less than or equal to distance.
lerp ( dest , ratio )
Interpolates between this pose and another pose.
Signature 
fun lerp(dest: Pose, ratio: Float): Pose
Parameters
dest: Pose  The destination pose to interpolate towards.
ratio: Float  The interpolation ratio.
Returns
Pose  The interpolated pose.
removePitchAndRoll ()
Removes the pitch and roll components from this pose, effectively aligning it with the up vector.
Signature 
fun removePitchAndRoll(): Pose
Returns
Pose  A new pose with pitch and roll removed.
right ()
Calculates the right direction vector of this pose.
Signature 
fun right(): Vector3
Returns
Vector3  The right vector.
times ( p )
Multiplies this pose with another pose.
Signature 
inline operator fun times(p: Pose): Pose
Parameters
p: Pose  The other pose to multiply with.
Returns
Pose  A new pose resulting from the multiplication.
times ( v )
Multiplies this pose with a vector.
Signature 
inline operator fun times(v: Vector3): Vector3
Parameters
v: Vector3  The vector to multiply with.
Returns
Vector3  The transformed vector.
toString ()
Provides a string representation of the pose.
Signature 
open override fun toString(): String
Returns
String  A string that represents the pose.
up ()
Calculates the up direction vector of this pose.
Signature 
fun up(): Vector3
Returns
Vector3  The up vector.
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