Integrated an updated version of the hash grid collision detection
Separated broad-phase and narrow-phase code into two different source files
Replaced the hardcoded quadratic coefficients in compute_edge_vertex_time_of_impact with the autogen coefficeints. I trust these values more than my previous copy-paste-find-replace version.
Renamed compute_edge_vertex_time_of_impact and temporal_parameterization_to_spatial parameters to be more in line with the rest of the code.
compute_edge_vertex_time_of_impactwith the autogen coefficeints. I trust these values more than my previous copy-paste-find-replace version.compute_edge_vertex_time_of_impactandtemporal_parameterization_to_spatialparameters to be more in line with the rest of the code.Vi, Vj, Vk, Ui, Uj, Uk, ...BarrierProblemsparseMat.coeffRef(i, j) = ...instead ofsparseMat.insert(i, j) = ...)