all: start to handle constraints over two joints
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- bindings/python/algorithm/contact-info.hpp 9 additions, 5 deletionsbindings/python/algorithm/contact-info.hpp
- src/algorithm/contact-cholesky.hpp 3 additions, 2 deletionssrc/algorithm/contact-cholesky.hpp
- src/algorithm/contact-cholesky.hxx 82 additions, 33 deletionssrc/algorithm/contact-cholesky.hxx
- src/algorithm/contact-dynamics-derivatives.hxx 3 additions, 3 deletionssrc/algorithm/contact-dynamics-derivatives.hxx
- src/algorithm/contact-dynamics.hxx 73 additions, 37 deletionssrc/algorithm/contact-dynamics.hxx
- src/algorithm/contact-info.hpp 31 additions, 10 deletionssrc/algorithm/contact-info.hpp
- src/algorithm/impulse-dynamics-derivatives.hxx 1 addition, 1 deletionsrc/algorithm/impulse-dynamics-derivatives.hxx
- src/algorithm/impulse-dynamics.hxx 1 addition, 1 deletionsrc/algorithm/impulse-dynamics.hxx
- unittest/contact-cholesky.cpp 276 additions, 2 deletionsunittest/contact-cholesky.cpp
- unittest/contact-dynamics.cpp 332 additions, 25 deletionsunittest/contact-dynamics.cpp
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