GetDenseJacobian(ref ArticulationJacobian)
Calculates and writes dense Jacobian matrix of the articulation body hierarchy to the supplied struct.
Read time 1 minuteLast updated 4 days ago
Definition
- Type: Method
- Namespace: UnityEngine
- Assembly: UnityEngine.PhysicsModule
GetDenseJacobian(ArticulationJacobian)
public int GetDenseJacobian(ref ArticulationJacobian jacobian)
Parameters
Supplied struct to read back and store Jacobian matrix values.
Returns
Type | Description |
|---|---|
| int | Number of elements in Jacobian matrix. |
Remarks
This calculates dense Jacobian matrix of the entire articulation body hierarchy starting from root articulation body. Number of rows _rows of the matrix is equal to the number of articulation bodies in hierarchy times 6: 3 rows of linear/positional DOF and 3 rows of angular/rotational DOF for each body. Number of columns _columns of the matrix is equal to the total number of all joints degrees of freedom(DOF), plus 6 if _immovable is false.