Refactor SoftContacts algorithm
#245
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Co-authored-by: Filippo Luca Ferretti <[email protected]>
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I realized that we can greatly simplify the algorithm by removing all conditional branches. It might run slightly slower since it has to compute a few more variables, but the code becomes much more readable and easy to debug in case of problems.
I tried to run some simulations either with spheres (that are approximated with 250 points) and humanoid robots free falling on terrain, and performance are almost the same, in few cases I get average execution time couple of % points slower, which is more than acceptable.
Furthermore, I generalized some soft contact resources for something else that will land soon 😃
📚 Documentation preview 📚: https://jaxsim--245.org.readthedocs.build//245/