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Add watertight checking for TriMesh#20

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smeng9 wants to merge 1 commit intokrishauser:masterfrom
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Add watertight checking for TriMesh#20
smeng9 wants to merge 1 commit intokrishauser:masterfrom
smeng9:master

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@smeng9 smeng9 commented May 23, 2021

Closes krishauser/Klampt#99 by adding proper warnings and checking before throwing error in some later code

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Estimation of mass returns non- positive definite inertia matrix

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