feat(solver): full constraint vocabulary — all 24 BaseJointKind types (phase 2)
Add 18 new constraint classes covering all BaseJointKind types from Types.h:
- Point: PointOnLine (2r), PointInPlane (1r)
- Orientation: Parallel (2r), Perpendicular (1r), Angle (1r)
- Surface: Concentric (4r), Tangent (1r), Planar (3r), LineInPlane (2r)
- Kinematic: Ball (3r), Revolute (5r), Cylindrical (4r), Slider (5r),
Screw (5r), Universal (4r)
- Mechanical: Gear (1r), RackPinion (1r)
- Stubs: Cam, Slot, DistanceCylSph
New modules:
- geometry.py: marker axis extraction, vector ops (dot3, cross3, sub3),
geometric primitives (point_plane_distance, point_line_perp_components)
- bfgs.py: L-BFGS-B fallback solver via scipy for when Newton fails
solver.py changes:
- Wire all 20 supported types in _build_constraint()
- BFGS fallback after Newton-Raphson in solve()
183 tests passing (up from 82), including:
- DOF counting for every joint type
- Solve convergence from displaced initial conditions
- Multi-body mechanisms (four-bar linkage, slider-crank, revolute chain)
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