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feat: improve performance scaling of multi-env single-robot scenes - #46
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…d jacobian assembly
… in one SIMD group
… to twist friction
…er-compile memory
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This significantly improves the performances of Nexus when running a small scene on thouthands of environments (typically 2048, 4096, etc.)
This is mainly achieved by loop-unrolling and the multibody mass matrix calculations.
Also fixes build/run on cuda.