pub unsafe extern "C" fn PxArticulationReducedCoordinate_computeDenseJacobian(
self_: *const PxArticulationReducedCoordinate,
cache: *mut PxArticulationCache,
nRows: *mut u32,
nCols: *mut u32
)Expand description
Compute the dense Jacobian for the articulation in world space, including the DOFs of a potentially floating base.
This computes the dense representation of an inherently sparse matrix. Multiplication with this matrix maps joint space velocities to world-space linear and angular (i.e. spatial) velocities of the centers of mass of the links.
This call may only be made on articulations that are in a scene, and may not be made during simulation.