forbes-0023
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b4b8724ff1
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feat(solver): diagnostics, half-space preference, and weight vectors (phase 4)
- Add per-entity DOF analysis via Jacobian SVD (diagnostics.py)
- Add overconstrained detection: redundant vs conflicting constraints
- Add half-space tracking to preserve configuration branch (preference.py)
- Add minimum-movement weighting for least-squares solve
- Extend BFGS fallback with weight vector and quaternion renormalization
- Add snapshot/restore and env accessor to ParamTable
- Fix DistancePointPointConstraint sign for half-space tracking
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2026-02-20 23:32:45 -06:00 |
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