Added
- Better error messages.
- Typescript definition files.
- Functions for setting draw through and color on
IKRootsHelper.
Fixed
- IKRootsHelper throwing an error when calling
updateStructure. - IKRootsHelper throwing an error when calling
dispose. - Support for prismatic joints when assigning the ik state to URDF joints.
Changed
- Disabled SVD by default on Solver because it was causing solves to diverge.