[WIP] Component interface for providing implicit form of dynamics #1147
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This commit depends on a change in Simbody that is only on my computer!
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@chrisdembia, I assume there is no plan for continued development here since is very out-of-date, but just confirming before I close. |
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This PR is a work-in-progress. There is a lot more testing and documenting to do. However, the key elements of the interface are in place.
This change is