Regular API function

simComputeJacobian

Description Computes the Jacobian of a registered IK group. The result can then be read via simGetIkGroupMatrix. See also simHandleIkGroup and simCheckIkGroup.
C synopsis simInt simComputeJacobian(simInt ikGroupHandle,simInt options,simVoid* reserved)
C parameters
ikGroupHandle: handle of the IK group. See also simGetIkGroupHandle.
options: bit-coded:
bit0 set (1): the joint IK weights are taken into account.
reserved: reserved for future extensions. Set to NULL.
C return value
-1 if operation failed
Lua synopsis number result=simComputeJacobian(number ikGroupHandle,number options)
Lua parameters
Same as C-function
Lua return values
Same as C-function

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