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Le Quang Anh authored
Get pair of joints involved in differentiable fn Get locked joint for explicit constraint Add method to retrieve a joint whose whole or partial configuration will decide the value of the implicit function in an explicit constraint. This is currently done by inspecting the set of configuration input and output intervals: if input has size 0 and output falls into interval of a joint, then the joint is "locked" its config alone will affect the fn value. Fix bug comparing joints from their pointers Fix: locked joint should be locked wrt parent joint Previous implementation misunderstands the locked joint, and assumes that locked joint is locked wrt the world joint. The correct understanding is that locked joints are locked wrt the parent joint, which may or may not be the world joint. Edit documentation based on comments Clearer documentation on how the method works and what the arguments are Add API check if all rows in constraint are active Add API to find joint pair constrained Return a pair of joints whose relative pose is fully constrained because of constraint. Clearer name for API to get joints involved Add API for convex shape contact complement and hold For now, it only works if the all convex shapes in floorConvexShapes_ are on the same joint an all the convex shapes in objectConvexShapes_ are on the same joint. Refactor APIs and fix minor bugs
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