Differentiable collision detection

[AlexanderFabisch]

• https://arxiv.org/pdf/2207.00669.pdf, https://github.com/kevin-tracy/dpax
• https://arxiv.org/abs/2209.09012
• https://arxiv.org/pdf/2102.07413.pdf
• https://www.youtube.com/watch?v=4H-lThQQZ-E

[AlexanderFabisch]

@MaartenBehn