Resolve locking force when objects are already in collision.#105
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…ocking_force Resolve locking force when objects are already in collision.
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While it shouldn't typically happen, if collision objects have very small or no minimum distances there is a chance the objects can penetrate each other. If this happens, the direction of the Jacobian remains the same as before penetration but the sign changes. This means that the inequality constraint now enforces that that collision must remain in place.