public int CalculatePositionAndVelocityKinematics(bool fixedBase, float[] q, float[] u) { int baseDofs; if (fixedBase) { baseDofs = 0; } else { baseDofs = 6; } int numDof = q.Length - baseDofs; return(UnsafeNativeMethodsInverseDynamics.MultiBodyTree_calculatePositionAndVelocityKinematics(Native, numDof, baseDofs, q, u)); }