Rigid and Affine Body Dynamics#184

Draft

zfergus wants to merge 29 commits intomainfrom

Commits on May 31, 2024

Commits on Jun 6, 2024

Add J matrix to AffineBody class
zfergus
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Commits on Nov 10, 2024

Merge branch 'main' into dynamics
zfergus
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Commits on Nov 11, 2024

Fix comment
zfergus
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Commits on Jun 8, 2025

Merge branch 'main' into dynamics
zfergus
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Commits on Jun 13, 2025

[WIP] Implement rigid body dynamics framework
zfergus
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Commits on Jun 14, 2025

Fix rotation_vector_to_matrix derivatives
zfergus
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Commits on Jun 17, 2025

Test RigidBody class
zfergus
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Commits on Jun 18, 2025

Commits on Jun 21, 2025

Move body forces into separate class
zfergus
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Commits on Aug 19, 2025

Remove unused K_dKj_plus_K_dKj_T
zfergus
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Commits on Aug 20, 2025

Add RigidBody class bindings to expose mass and inertia properties.
zfergus
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Commits on Aug 24, 2025

Commits on Aug 28, 2025

Commits on Sep 1, 2025