Pybullet world to local coordinate transfer
Posted: Wed Jul 24, 2019 5:11 pm
Hi Everyone,
I am trying to convert some global coordinates defined in a link into its local coordinate system.
This issue was raised earlier in [viewtopic.php?t=8881].
Like in the example code below, is there also a python API for the same? Especially getCenterOfMassTransform().inverse()
Thank you,
Shravan
I am trying to convert some global coordinates defined in a link into its local coordinate system.
This issue was raised earlier in [viewtopic.php?t=8881].
Like in the example code below, is there also a python API for the same? Especially getCenterOfMassTransform().inverse()
Code: Select all
btVector3 RagdollDemo::pointWorldToLocal(int bodyIndex, btVector3 worldPoint)
{
return body[bodyIndex]->getCenterOfMassTransform().inverse()(worldPoint);
}
Shravan