fedoo.constraint.RigidTie.rotation_jacobian

RigidTie.rotation_jacobian(rotvec, points)

Rotation matrix and per-point displacement/rotation derivatives.

For each point, du_dr{k} = (point - center) @ (dR/dr{k}).T is the sensitivity of the slaved displacement to rigid rotation DOF k. Shared by the MPC linearization (generate()) and the IPC contact Jacobians (RigidBodyAssembly and IPCContact) so the three stay consistent.

Returns (R, du_drx, du_dry, du_drz) where each derivative array has the same shape as points.