feat(core): add c3 plus#22

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Meow404 wants to merge 16 commits intomainfrom

stephen/port-c3+

Commits on Aug 5, 2025

feat: add c3 plus
Meow404
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Commits on Aug 6, 2025

fix: add fixes from making push T and jacktoy example work
Meow404
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Commits on Aug 12, 2025

Commits on Aug 19, 2025

feat: add regularized lcp solve for lcs factory
Meow404
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Commits on Dec 3, 2025

feat: add ability to use difference friction directions for each contact pair
Meow404
committed

Commits on Jan 9, 2026

fix: apply augmented costs only for lambda and eta for c3+
Meow404
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