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* feat!: correctly compute jacobian derivativeeug-vs2024-12-18-101/+217
* refactor: generalize anchor constraint via beameug-vs2024-12-17-50/+35
* fix: compute Jacobian by probing in both +- directionseug-vs2024-12-16-6/+5
* feat: use much smaller dQ for calculating partial derivativeeug-vs2024-12-15-1/+1
* feat: use Runge Kutta ODE solvereug-vs2024-12-15-19/+38
* feat!: add raylib renderingeug-vs2024-12-15-0/+1055