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Features
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Forward dynamics via Articulated Body Algorithm (O(N_B))
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Forward dynamics via Composite Rigid Body Algorithm (O(N_B²))
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Inverse dynamics via Recursive Newton–Euler Algorithm (O(N_B))
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Collision detection with GJK/EPA and impulse‑based contact resolution
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URDF import/export for model handling
No immediate action
v1.0.1
Feature
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CRBA for BDynamics
No immediate action
v1.0.0
Feature
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openGJK collision detection
No immediate action
v0.12.0
Breaking
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BCollision coordinate change
No immediate action
v0.11.0
Feature
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URDF load/save
No immediate action
v0.9.0
Feature
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Collision detection
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