Function physx_sys::PxScene_computeDenseJacobians_mut

pub unsafe extern "C" fn PxScene_computeDenseJacobians_mut(
    self_: *mut PxScene,
    indices: *const PxIndexDataPair,
    nbIndices: u32,
    computeEvent: *mut c_void
)

Compute dense Jacobian matrices for specified articulations on the GPU.

The size of Jacobians can vary by articulation, since it depends on the number of links, degrees-of-freedom, and whether the base is fixed.

The size is determined using these formulas: nCols = (fixedBase ? 0 : 6) + dofCount nRows = (fixedBase ? 0 : 6) + (linkCount - 1) * 6;

The user must ensure that adequate space is provided for each Jacobian matrix.