How to use

convertRotationMatrixToAffine

method

in

us.ihmc.javaFXToolkit.JavaFXTools

public static void convertAxisAngleToAffine(AxisAngle axisAngle, Affine affineToPack)
{
 RotationMatrix intermediateMatrix = new RotationMatrix();
 intermediateMatrix.set(axisAngle);
 convertRotationMatrixToAffine(intermediateMatrix, affineToPack);
}

public static void convertAxisAngleToAffine(AxisAngle4d axisAngle, Affine affineToPack)
{
 Matrix3d intermediateMatrix = new Matrix3d();
 intermediateMatrix.set(axisAngle);
 convertRotationMatrixToAffine(intermediateMatrix, affineToPack);
}

private void computeOffset()
{
 Vector3D cameraZAxis = new Vector3D(forward);
 Vector3D cameraYAxis = new Vector3D(down);
 Vector3D cameraXAxis = new Vector3D();
 cameraXAxis.cross(cameraYAxis, cameraZAxis);
 RotationMatrix rotationOffset = new RotationMatrix();
 rotationOffset.setColumns(cameraXAxis, cameraYAxis, cameraZAxis);
 JavaFXTools.convertRotationMatrixToAffine(rotationOffset, offset);
}

private void computeOffset()
{
 Vector3d cameraZAxis = new Vector3d(forward);
 Vector3d cameraYAxis = new Vector3d(down);
 Vector3d cameraXAxis = new Vector3d();
 cameraXAxis.cross(cameraYAxis, cameraZAxis);
 Matrix3d rotationOffset = new Matrix3d();
 rotationOffset.setColumn(0, cameraXAxis);
 rotationOffset.setColumn(1, cameraYAxis);
 rotationOffset.setColumn(2, cameraZAxis);
 JavaFXTools.convertRotationMatrixToAffine(rotationOffset, offset);
}