## KinematicState

Object Hierarchy | Related C++ Class: KinematicState

### Inheritance

SIObject

Parameter

KinematicState

### Description

The KinematicState object represents the current pose of a X3DObject object whereas the base pose of an object is represented by the StaticKinematicState property.
The transformation state of the KinematicState object is accessible both through the KinematicState.Transform property and through its ParameterCollection. Both expose the same transformation data, but the KinematicState.Transform is convenient for mathematical manipulation (see XSIMath), while the ParameterCollection exposes the transform as it is shown on the KinematicState property page.

### Methods

AddCustomOp | AddExpression | AddFCurve | AddFCurve2
AddScriptedOp | AddScriptedOpFromFile | AnimatedParameters | Connect
ConnectFromFile | ConnectFromFile2 | ConnectFromPreset | ConnectFromPreset2
ConnectFromProgID | ConnectFromProgID2 | Disconnect | Enable
GetInstanceValue | GetTransform2 | GetValue2 | IsAnimated
IsClassOf | IsEqualTo | IsLocked | IsSupportedInstanceValue
PutTransform2 | PutValue2 | SetCapabilityFlag | SetInstanceValue
SetLock | Show | UnSetLock |

### Properties

Animatable | Application | Capabilities | Categories
Default | Description | FullName | HasInstanceValue
Help | Keyable | LockLevel | LockType
Marked | Max | Min | Model
Name | NestedObjects | Origin | OriginPath
OriginalValue | OverridenObject | OverridingObject | Parameters
Parent | Parent3DObject | ReadOnly | ScriptName
Source | Sources | SuggestedMax | SuggestedMin
Tags | Transform | Type | Value
ValueType |  |  |

### Examples

#### 1. JScript Example

    /*
            Example of using the SITransformation to read the local
            and global transforms of an object
    */
    NewScene(null,false) ;
    var oNull = Application.ActiveSceneRoot.AddNull( "ParentNull" ) ;
    //Change the position and rotation of the null
    //by providing a new transform
    oNewLocalTransform = XSIMath.CreateTransform() ;
    // Change posx, posy
    oNewLocalTransform.SetTranslationFromValues( 10, 20, 0 ) ;
    // set rotx to 90 degrees (pi/2 radians)
    oNewLocalTransform.SetRotationFromXYZAnglesValues( XSIMath.pi / 2, 0, 0 ) ;
    oNull.Kinematics.Local.Transform = oNewLocalTransform ;
    PrintLocalGlobalTransforms( oNull ) ;
    var oNullChild = oNull.AddNull( "ChildNull" ) ;
    PrintLocalGlobalTransforms( oNullChild ) ;
    // Show but the local and global SRT of an object
    function PrintLocalGlobalTransforms( in_obj )
    {
            Application.LogMessage( "--------" + in_obj.Name + "---------" ) ;
            var oLocalSITranformation = in_obj.Kinematics.Local.Transform ;
            Application.LogMessage( "Local Transform" ) ;
            PrintTransformation( oLocalSITranformation ) ;
            Application.LogMessage( "" ) ;
            Application.LogMessage( "Global Transform" ) ;
            var oGlobalSITranformation = in_obj.Kinematics.Global.Transform ;
            PrintTransformation( oGlobalSITranformation ) ;
            Application.LogMessage( "" ) ;
    }
    // Show the "SRT: of a SITransformation object
    function PrintTransformation( in_oTransform )
    {
            var oVector = XSIMath.CreateVector3();
            in_oTransform.GetScaling( oVector ) ;
            PrintVector( "Scaling:", oVector ) ;
            // In Radians
            in_oTransform.GetRotationXYZAngles( oVector ) ;
            PrintVector( "Rotation:", oVector ) ;
            in_oTransform.GetTranslation( oVector ) ;
            PrintVector( "Translation:", oVector ) ;
    }
    // Print a vector.  Values are rounded to 3 decimal places
    function PrintVector( in_Prefix, in_oVec )
    {
            Application.LogMessage( in_Prefix + " " +
                            XSIRound(in_oVec.x,3) + ", " +
                            XSIRound(in_oVec.y,3) + ", " +
                            XSIRound(in_oVec.z,3) ) ;
    }
    //Output: (note how the local transform of
    //the Child null is relative to the center
    //of the parent null)
    //
    //INFO : --------ParentNull---------
    //INFO : Local Transform
    //INFO : Scaling: 1, 1, 1
    //INFO : Rotation: 1.571, 0, 0
    //INFO : Translation: 10, 20, 0
    //INFO :
    //INFO : Global Transform
    //INFO : Scaling: 1, 1, 1
    //INFO : Rotation: 1.571, 0, 0
    //INFO : Translation: 10, 20, 0
    //INFO :
    //INFO : --------ChildNull---------
    //INFO : Local Transform
    //INFO : Scaling: 1, 1, 1
    //INFO : Rotation: -1.571, 0, 0
    //INFO : Translation: -10, 0, 20
    //INFO :
    //INFO : Global Transform
    //INFO : Scaling: 1, 1, 1
    //INFO : Rotation: 0, 0, 0
    //INFO : Translation: 0, 0, 0

#### 2. JScript Example

    /*
            Example of using the ParameterCollection of
            a KinematicState object
    */
    var oNull = ActiveSceneRoot.AddNull( "Null" ) ;
    // The transform can be set through the parameters
    // of the kinematicstate object
    var oLocalKinematics = oNull.Kinematics.Local ;
    oLocalKinematics.Parameters( "posx" ).Value = 10 ;
    oLocalKinematics.Parameters( "posy" ).Value = 20 ;
    oLocalKinematics.Parameters( "rotx" ).Value = 90 ;
    oLocalKinematics.Parameters( "sclz" ).Value = 3 ;
    // All the SRT values, plus many more parameters can
    // be read via the parameter collection
    var oAllParameters = oLocalKinematics.Parameters ;
    for ( var i = 0 ; i < oAllParameters.Count ; i++ )
    {
            Application.LogMessage( oAllParameters(i).ScriptName + ":" +
                                    oAllParameters(i).Value ) ;
    }
    //Output:
    //INFO : blendweight:1
    //INFO : active:true
    //INFO : posx:10
    //INFO : posy:20
    //INFO : posz:0
    //INFO : rotx:90
    //INFO : roty:0
    //INFO : rotz:0
    //INFO : quatw:0.7071067811865476
    //INFO : quatx:0.7071067811865475
    //INFO : quaty:0
    //INFO : quatz:0
    //INFO : sclx:1
    //INFO : scly:1
    //INFO : sclz:3
    //INFO : sclorix:0
    //INFO : scloriy:0
    //INFO : scloriz:0
    //INFO : cnsscl:true
    //INFO : cnsori:true
    //INFO : cnspos:true
    //INFO : affbyscl:true
    //INFO : affbyori:true
    //INFO : posxmaxactive:false
    //INFO : posxminactive:false
    //INFO : posymaxactive:false
    //INFO : posyminactive:false
    //INFO : poszmaxactive:false
    //INFO : poszminactive:false
    //INFO : rotxmaxactive:false
    //INFO : rotxminactive:false
    //INFO : rotymaxactive:false
    //INFO : rotyminactive:false
    //INFO : rotzmaxactive:false
    //INFO : rotzminactive:false
    //INFO : siscaling:true
    //INFO : rotorder:0
    //INFO : pivotactive:true
    //INFO : pposx:0
    //INFO : pposy:0
    //INFO : pposz:0
    //INFO : protx:0
    //INFO : proty:0
    //INFO : protz:0
    //INFO : psclx:1
    //INFO : pscly:1
    //INFO : psclz:1
    //INFO : pivotcompactive:true
    //INFO : pcposx:0
    //INFO : pcposy:0
    //INFO : pcposz:0
    //INFO : pcrotx:0
    //INFO : pcroty:0
    //INFO : pcrotz:0
    //INFO : pcsclx:1
    //INFO : pcscly:1
    //INFO : pcsclz:1
    //INFO : nposx:0
    //INFO : nposy:0
    //INFO : nposz:0
    //INFO : nrotx:0
    //INFO : nroty:0
    //INFO : nrotz:0
    //INFO : nsclx:1
    //INFO : nscly:1
    //INFO : nsclz:1
    //INFO : nsclorix:0
    //INFO : nscloriy:0
    //INFO : nscloriz:0

### See Also

Kinematics.Global Kinematics.Local StaticKinematicState