[Lagrangian] Add corrected Jacobi constraint solving method #5680
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…info in GenericCosntraintSolver data that are dependent on the method type. Need to find a way of setting the solving method by adding a component in the scene.
…ritance. Now the constraintProblem is only a container
…oposed in the original paper
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Co-authored-by: Alex Bilger <alxbilger@users.noreply.github.com>
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Tried to add a new simple constraint solving method as a ConstraintSovler using introduced refactoring in #5666
It is basically a Jacobi with a bit of conjugate residue.
I plan to make is multithreaded to be able to run the added example at more than 3Hz...
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