How to use

convertRigidBodyTransformToAffine

method

in

us.ihmc.javaFXToolkit.JavaFXTools

public static Affine convertRigidBodyTransformToAffine(RigidBodyTransform rigidBodyTransform)
{
 Affine ret = new Affine();
 convertRigidBodyTransformToAffine(rigidBodyTransform, ret);
 return ret;
}

public static Affine convertRigidBodyTransformToAffine(RigidBodyTransform rigidBodyTransform)
{
 Affine ret = new Affine();
 convertRigidBodyTransformToAffine(rigidBodyTransform, ret);
 return ret;
}

public static void transformNode(Node nodeToTransform, RigidBodyTransform transform)
{
 nodeToTransform.getTransforms().add(JavaFXTools.convertRigidBodyTransformToAffine(transform));
}

public static Affine createAffineFromQuaternionAndTuple(Quaternion quaternion, Tuple3DBasics translation)
{
 RigidBodyTransform transform = new RigidBodyTransform();
 transform.setRotation(quaternion);
 transform.setTranslation(translation.getX(), translation.getY(), translation.getZ());
 return convertRigidBodyTransformToAffine(transform);
}

public static Affine createAffineFromQuaternionAndTuple(Quat4d quaternion, Tuple3d translation)
{
 RigidBodyTransform transform = new RigidBodyTransform();
 transform.setRotation(quaternion);
 transform.setTranslation(translation.getX(), translation.getY(), translation.getZ());
 return convertRigidBodyTransformToAffine(transform);
}

public static Affine createAffineFromQuaternionAndTuple(Quaternion32 quaternion, Tuple3DBasics translation)
{
 RigidBodyTransform transform = new RigidBodyTransform();
 transform.setRotation(quaternion);
 transform.setTranslation(translation.getX(), translation.getY(), translation.getZ());
 return convertRigidBodyTransformToAffine(transform);
}

public static Affine createAffineFromQuaternionAndTuple(Quat4f quaternion, Tuple3f translation)
{
 RigidBodyTransform transform = new RigidBodyTransform();
 transform.setRotation(quaternion);
 transform.setTranslation(translation.getX(), translation.getY(), translation.getZ());
 return convertRigidBodyTransformToAffine(transform);
}