master
If a convex has called 'initializePolyhedralFeatures', use those features also to create debug visualizer mesh, to avoid showing penetration. Avoid crash in InvertedPendulumPDControl, due to recent change in m_jointFeedbackInWorldSpace
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
Disable velocity calculation in kinematic multibody mode by default
Add kinematic multibody base example
don't use empty frame for pose in sdf files use hint for clang that if (0) is intentional
Revert "Revert "Reduced Deformable Model""
Add MLCP constraint solver for multibody