[Papervision3D] Jacobian

[Nathaniel Warner]

I want to calculate the Jacobian Matrix given a desired effector position,
current effector position and three joints (3x3 square matrix) from a DAE.
Has anyone done this?  If so, how would you determine one of the matrix
elements?  I kind of have an idea but would like an expert opinion.

Thanks, Nate
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