Expose body Jacobian in shared memory API.

examples/ThirdPartyLibs/BussIK/Jacobian.cpp

@@ -138,6 +138,12 @@ void Jacobian::ComputeJacobian(VectorR3* targets)
 	}
 }
 
+void Jacobian::SetJendTrans(MatrixRmn& J)
+{
+    Jend.SetSize(J.GetNumRows(), J.GetNumColumns());
+    Jend.LoadAsSubmatrix(J);
+}
+
 // The delta theta values have been computed in dTheta array
 // Apply the delta theta values to the joints
 // Nothing is done about joint limits for now.

examples/ThirdPartyLibs/BussIK/Jacobian.h

@@ -59,6 +59,7 @@ public:
 	const MatrixRmn& ActiveJacobian() const { return *Jactive; } 
 	void SetJendActive() { Jactive = &Jend; }						// The default setting is Jend.
 	void SetJtargetActive() { Jactive = &Jtarget; }
+    void SetJendTrans(MatrixRmn& J);
 
 	void CalcDeltaThetas();			// Use this only if the Current Mode has been set.
 	void ZeroDeltaThetas();