Distance3d

Features

* Add [Nesterov-accelerated GJK](https://lmontaut.github.io/nesterov-gjk.github.io/)

Bugfixes

* Fix numerical problem in Jolt's GJK implementation.
* Fix numerical problem in MPR.
* Use `time.perf_counter()` for benchmark.

Features

- Fast AABB tree implementation for broad phase, accelerated with numba 61
- Hydroelastic contact model supports Young's modulus as input 62
- Script to compute potentials of tetrahedral mesh 56
- Add hydroelastic BVH for loading URDFs 68

Bug Fixes

* Update to API of pytransform3d 2.0.0

Features

* Improvements of hydroelastic contacts
* Faster tetrahedron intersections with AABB checks
* Tetrahedral box meshes 50
* Tetrahedral ellipsoid meshes 51
* Tetrahedral cylinder meshes 52
* Tetrahedral capsule meshes 53

Features

* Ellipse collider 34
* GJK from Jolt Physics 38
* GJK intersection test is about 30-40% faster
* GJK distance calculation is about 3-5x faster
* Adds `distance3d.geometry.barycentric_coordinates_tetrahedron`
* Adds hydroelastic contact model (module: `distance3d.hydroelastic_contact`) https://github.com/AlexanderFabisch/distance3d/pull/44
* Adds function to load tetrahedral meshes: `distance3d.io.load_tetrahedral_mesh`

Features

* Use trimesh as a fallback solution to load meshes from URDF files when Open3D does not work
* Collision margin collider 30
* Containment tests 32

Performance

* Faster inversion of transformation matrices with numba