Commit a4c4923

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Exploit the diagonal mass of aligned free bodies, extending it from primitives to meshes and fixed children.

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5 files changed

genesis/engine
- entities/rigid_entity
  - rigid_entity.py
  - rigid_link.py
- solvers/rigid
  - constraint
    - solver.py
  - rigid_solver.py
tests
- test_rigid_physics.py

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