GetDenseJacobian(ref ArticulationJacobian)
Calculates and writes dense Jacobian matrix of the articulation body hierarchy to the supplied struct.
読み終わるまでの所要時間 1 分最終更新 1ヶ月前
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 ArticulationJacobian.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 ArticulationJacobian.columns of the matrix is equal to the total number of all joints degrees of freedom(DOF), plus 6 if ArticulationBody.immovable is false. Additional Resources: ArticulationBody.index, ArticulationJacobian, ArticulationBody.GetDofStartIndices.