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erwincoumans / tiny-differentiable-simulator

Tiny Differentiable Simulator is a header-only C++ and CUDA physics library for reinforcement learning and robotics with zero dependencies.
Apache License 2.0
1.2k stars 129 forks source link

fix long outstanding friction bugs in the mb_constraint_solver.hpp, n… #31

Closed erwincoumans closed 3 years ago

erwincoumans commented 3 years ago

…ow static contact works well!

expose 'get_position' and 'get_orientation' in MultiBody