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feat: add debug-renderer - #41
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This PR adds a debug-renderer for both solvers currently supported by Nexus (RBD, MPM).
The debug-lines can either be rendered alongside the main rendering, or it can replace it (selectable from the debug-render tab of the testbed UI). See the online demos. Some screenshots are shown below.
Note that the debug-renderer is mainly for debugging. So it is not optimized for speed and keeping it enabled will have a noticeable performance impact.