nimblephysics
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return `LcpResult` in `solveLcp`
Defines a struct that solveLcp()
returns called LcpResult
, and stores all useful information from solveLcp()
inside of this struct.
Notes:
- This branch should only be merged after merging in #72. The reason is that #72 changes the type of impulses from a vector to a matrix, and this PR assumes that the type of impulses is a matrix. Without merging in #72, your code will not build successfully.