forbes-0023 b4b8724ff1 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

2026-02-20 23:32:45 -06:00

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