C# (CSharp) UnsafeNativeMethodsInverseDynamics.MultiBodyTree_calculateJacobians примеры использования

Пример #1

        public int CalculateJacobians(bool fixedBase, float[] q, float[] u)
        {
            int baseDofs;

            if (fixedBase)
            {
                baseDofs = 0;
            }
            else
            {
                baseDofs = 6;
            }

            int numDof = q.Length - baseDofs;

            return(UnsafeNativeMethodsInverseDynamics.MultiBodyTree_calculateJacobians(Native, numDof, baseDofs, q, u));
        }