This PR adds the ability to select active joints in a collision. This works in a way similar to the JointsSelector by zero-ing the columns related to the disabled joints.
Notes:
the default behaviors is to use all joints
there's no extra allocation or operation for the default selection, only an extra (predictable) branch
when the collision is a self-collision, only one selector is considered (the first one)
This PR adds the ability to select active joints in a collision. This works in a way similar to the
JointsSelectorby zero-ing the columns related to the disabled joints.Notes: