Version: 2021.3
言語: 日本語
public int GetDenseJacobian (ref ArticulationJacobian jacobian);

パラメーター

jacobian Supplied struct to read back and store Jacobian matrix values.

戻り値

int Number of elements in Jacobian matrix.

説明

Calculates and writes dense Jacobian matrix of the articulation body hierarchy to the supplied struct.

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. See Also: index, ArticulationJacobian, GetDofStartIndices.

Copyright © 2023 Unity Technologies
优美缔软件(上海)有限公司 版权所有
"Unity"、Unity 徽标及其他 Unity 商标是 Unity Technologies 或其附属机构在美国及其他地区的商标或注册商标。其他名称或品牌是其各自所有者的商标。
公安部备案号:
31010902002961