how can I calculate the jacobian matrix please !!

[crossrulz]

What does your normal matrix look like?  The jacobian is just a derivative of your matrix.  So if you take the derivative of your matrix using the position variables, you will simply get a new matrix that you can now just put in your values just like the original.

[mahaaa19]

thank you 🙂

[altenbach]

The jacobian is the matrix of all first order derivatives of a function with respect to another vector. What kind of function do you have? Are you looking for an analytical solution ir a numerical approximation?

For the math itself, all you need to do is follow wikipedia.