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	I don't already know how the fuck it works, but it is. A bit slow currently, but hope to improve it soon. The current limitations: 1. No constraints. At all. 2. Used simplest CCD algorithm, I just can't believe in jacobian construction from code. 3. Slow to get to target.
		
			
				
	
	
		
			11 lines
		
	
	
	
		
			82 B
		
	
	
	
		
			Python
		
	
	
	
	
	
			
		
		
	
	
			11 lines
		
	
	
	
		
			82 B
		
	
	
	
		
			Python
		
	
	
	
	
	
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def can_build(platform):
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  return True
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def configure(env):
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	pass
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