swift/core/Eigen/ vendors Eigen 3.4.0 in full (337 files) for
phys.cpp (the step_v/step_shape physics C extension). Latest
Eigen is 5.0.0 (Sept 2025) -- a major version gap.
spatialgeometry's vendored Eigen copy was trimmed 337 -> 175 files
during its Coal migration (2026-07), since that code only needs
Matrix4d/Vector4d/Map/basic multiply -- see spatialgeometry's own
tech-debt tracking. phys.cpp's actual Eigen usage hasn't been audited
to see if the same trim applies; likely does, given step_v/step_shape's
job (joint-limit clipping, small rotation/cross-product math) doesn't
obviously need anything beyond Core. Not attempted yet. A version bump
(3.4.0 -> 5.0.0) is a separate, higher-risk piece of work -- see the RTB
and spatialgeometry tech-debt tracking for the const-correctness/CMake
caveats that apply equally here.
swift/core/Eigen/vendors Eigen 3.4.0 in full (337 files) forphys.cpp(thestep_v/step_shapephysics C extension). LatestEigen is 5.0.0 (Sept 2025) -- a major version gap.
spatialgeometry's vendored Eigen copy was trimmed 337 -> 175 filesduring its Coal migration (2026-07), since that code only needs
Matrix4d/Vector4d/Map/basic multiply -- see spatialgeometry's owntech-debt tracking.
phys.cpp's actual Eigen usage hasn't been auditedto see if the same trim applies; likely does, given
step_v/step_shape'sjob (joint-limit clipping, small rotation/cross-product math) doesn't
obviously need anything beyond Core. Not attempted yet. A version bump
(3.4.0 -> 5.0.0) is a separate, higher-risk piece of work -- see the RTB
and spatialgeometry tech-debt tracking for the const-correctness/CMake
caveats that apply equally here.