5 Commits

Author	SHA1	Message	Date
Xuchen Han	c610ba49df	fix bug in computing rhs in momentum solve	2019-10-15 13:47:55 -07:00
Xuchen Han	ccaddfca21	documentation and optimization	2019-09-28 14:44:42 -07:00
Xuchen Han	cb46440e17	add normal cone optimization for self-collision	2019-09-28 14:44:41 -07:00
Xuchen Han	657a7468b3	documentation and optimization	2019-09-28 14:44:41 -07:00
Xuchen Han	416e516735	add naive implementation of self collision	2019-09-28 14:44:41 -07:00