Simulation of beam models and other soft bodies.

A collection of various soft body simulations, in particular beam models. This package depends on the optimization package IPOPT (https://projects.coin-or.org/Ipopt).

Currently it implements the non-linear 'Modified Russel' beam model, described in the Ph.D. dissertation 'Modeling and Simulation of Grasping of Deformable Objects' by Andreas Rune Fugl (2012).