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* refactor: generalize anchor constraint via beameug-vs2024-12-17-50/+35
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* fix: compute Jacobian by probing in both +- directionseug-vs2024-12-16-6/+5
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* feat: use much smaller dQ for calculating partial derivativeeug-vs2024-12-15-1/+1
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* feat!: add raylib renderingeug-vs2024-12-15-0/+277