feat: add features required by RL - #36
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…narrow phase Replaces #21 Co-Authored-By: Haixuan Xavier Tao <tao.xavier@outlook.com>
Replaces #24 Co-Authored-By: Haixuan Xavier Tao <tao.xavier@outlook.com>
…able Replaces #28 Co-Authored-By: Haixuan Xavier Tao <tao.xavier@outlook.com>
…te-force broad phase Completes #28
Replaces #16 Co-Authored-By: Haixuan Xavier Tao <tao.xavier@outlook.com>
…the RbdCoupling to insert_rigid_body_in Completes #16
Replaces #12 Co-Authored-By: Haixuan Xavier Tao <tao.xavier@1ms.ai>
… PyArray2 import Replaces #12 Co-Authored-By: Haixuan Xavier Tao <tao.xavier@outlook.com>
…d drop the stale set_gravity copy Completes #12
Replaces #19 Co-Authored-By: Haixuan Xavier Tao <tao.xavier@outlook.com>
… to <=4 points Replaces #17 Co-Authored-By: Haixuan Xavier Tao <tao.xavier@outlook.com>
…ontact-reduction kernel Completes #17
Replaces #21 Co-Authored-By: Haixuan Xavier Tao <tao.xavier@outlook.com>
…d_u32 for the flat dispatch Completes #21
…flat-dispatch port Completes #21
…actuator delay, encoded step, substep-refresh cadence and per-DoF armature/frictionloss
… a tunable threshold
… instead of a dedicated uniform
…nv from control_multibody_motors
Measured 7-21% slower on Metal.
This was referenced Aug 28, 2026
… to fit 8 storage buffers
… 8 storage buffers
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This adds some features needed for reinforcement learning. In particular, this integrates multiple PRs from @haixuanTao (rebased and cleaned up here, with authorship preserved) as well as other improvements from the https://github.com/haixuanTao/nexus fork.
Close #24
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Close #16
Close #12
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Close #17