math

Fully qualified name: isaacsim::core::includes::math

namespace math

Functions

carb::Float3 cross(const carb::Float3 &b, const carb::Float3 &c)

Computes the cross product of two 3D vectors.

float dot(const carb::Float4 &v1, const carb::Float4 &v2)

Computes the dot product of two 4D vectors.

float dot(const carb::Float3 &v1, const carb::Float3 &v2)

Computes the dot product of two 3D vectors.

carb::Float3 getBasisVectorX(const carb::Float4 &q)

Gets the X basis vector from a rotation quaternion.

carb::Float3 getBasisVectorY(const carb::Float4 &q)

Gets the Y basis vector from a rotation quaternion.

carb::Float3 getBasisVectorZ(const carb::Float4 &q)

Gets the Z basis vector from a rotation quaternion.

carb::Float4 inverse(const carb::Float4 &q)

Computes the inverse of a quaternion.

carb::Float3 lerp(const carb::Float3 &start, const carb::Float3 &end, const float t)

Linearly interpolates between two 3D vectors.

carb::Float4 lerp(const carb::Float4 &start, const carb::Float4 &end, const float t)

Linearly interpolates between two quaternions.

pxr::GfQuatf lookAt(const pxr::GfVec3f &camera, const pxr::GfVec3f &target, const pxr::GfVec3f &up)

Computes a look-at quaternion rotation.

carb::Float3 normalize(const carb::Float3 &q)

Normalizes a 3D vector to unit length.

carb::Float4 normalize(const carb::Float4 &q)

Normalizes a quaternion to unit length.

carb::Float4 operator*(const carb::Float4 &a, const carb::Float4 &b)

Performs quaternion multiplication.

carb::Float4 operator*(const carb::Float4 &a, const float x)

Scales a 4D vector/quaternion by a scalar value.

carb::Float3 operator*(const carb::Float3 &a, const float x)

Scales a 3D vector by a scalar value.

carb::Float4 operator+(const carb::Float4 &a, const carb::Float4 &b)

Adds two 4D vectors/quaternions.

carb::Float3 operator+(const carb::Float3 &a, const carb::Float3 &b)

Adds two 3D vectors.

carb::Float3 operator-(const carb::Float3 &a, const carb::Float3 &b)

Subtracts two 3D vectors.

carb::Float4 operator-(const carb::Float4 &a, const carb::Float4 &b)

Subtracts two 4D vectors/quaternions.

carb::Float3 rotate(const carb::Float4 &q, const carb::Float3 x)

Rotates a vector by a quaternion.

double roundNearest(double input, double place)

Rounds a number to the nearest multiple of a given value.

carb::Float4 slerp(const carb::Float4 &start, const carb::Float4 &end, const float t)

Performs spherical linear interpolation between quaternions.

pxr::GfTransform transformInv(const pxr::GfTransform &a, const pxr::GfTransform &b)

Computes the local transform of b relative to transform a.