* claim: #9719
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
* Dynamics: rigid-body solver core with joints, gravity and springs (#9719)
A new L1 crate, solidcraft-dynamics (geom only): rigid bodies in maximal coordinates, joint constraint equations with analytic Jacobians for rigid, revolute, slider, cylindrical, planar and ball joints, gravity, linear spring-dampers and constant loads; the index-1 equations of motion solved through a rank-revealing Schur complement (repeated joint equations are solved, not refused); RK4 and Dormand-Prince 5(4) with position and velocity projection; joint values, rates, reactions and energies at every output sample; caps on bodies, joints, rows, steps and samples; Result errors only.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
* Dynamics: take Vec3 from the record crate after the layer split, refresh the lock file
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
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Co-authored-by: Claude Opus 5.5 <noreply@anthropic.com>
Co-authored-by: bherbruck <brennen.herbruck@gmail.com>
PaddleStroke