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It seems like the entire rigid-body solver is differentiable, but I was wondering how constraint force calculation is made differentiable. AFAIK, it's notorious for not playing well with AutoDiff systems, unless JAX tackled this problem?
It seems like the entire rigid-body solver is differentiable, but I was wondering how constraint force calculation is made differentiable. AFAIK, it's notorious for not playing well with AutoDiff systems, unless JAX tackled this problem?