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New contact#580

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tkoolen wants to merge 25 commits intomasterJuliaRobotics/RigidBodyDynamics.jl:masterfrom tk/new-contact-3JuliaRobotics/RigidBodyDynamics.jl:tk/new-contact-3Copy head branch name to clipboard

+1,026-592

Commits

Commits on Jan 12, 2020

• Add CatVector.

  tkoolen

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  2a0fa7c

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• Add similar for CatVector

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  350896c

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• Add copyto, map for CatVector.

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  b43949b

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• Add broadcast for CatVector. Works, but it's pretty slow.

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  53886a6

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• Faster broadcast.

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  5ad06ac

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• Minor tweaks.

  tkoolen

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  e46a068

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• Add docstring.

  tkoolen

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  ac27a70

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• Broadcast improvements.

  tkoolen

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  a7d3567

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• Rip out old contact code.

  tkoolen

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  0bb8b92

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• Gut Contact module, move into its own directory, return vectors instead of packing.

  tkoolen

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  00daf54

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• Start fleshing out new contact stuff.

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  4fea745

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• More progress on new contact stuff.

  tkoolen

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  2555183

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• Distinguish between OdeIntegrators.{configuration, velocity, ...} and RigidBodyDynamics versions.

  tkoolen

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  af1cba8

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• Contact bug fixes. Starting to work.

  tkoolen

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  0c485e8

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• Get rid of default OdeIntegrator method implementations.

  tkoolen

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  6a4f28e

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• Minor tweaks.

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  955fd47

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• Reset caches.

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  9cdec1f

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• Handle HalfSpaces again, tweaks.

  tkoolen

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  8890cd5

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• Just use relative_twist

  tkoolen

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  665778d

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• Remove unused normals var.

  tkoolen

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  c9d5065

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• Temporarily re-add additional state related stuff for MechanismState.

  tkoolen

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  11fa82d

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• Adapt to EnhancedGJK changes. Untested.

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  dabe5eb

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• Halfspace caching.

  tkoolen

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  a8c8e9b

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• AbstractAffineMap -> Transform3D constructors.

  tkoolen

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  724d3fd

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• Add HRep, specialize collision checking for point-to-hrep.

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