[feat] Add nonlinear-CG SAP solver#16

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g1n0st wants to merge 8 commits intoresidual-sapfrom

Commits on Dec 27, 2025

[feat, wip] add nonlinear-CG SAP solver with strong Wolfe / exact line search
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[add, wip] use an (approximate) Hessian Jacobi preconditioner to improve conditioning when contact stiffness dominates
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Commits on Dec 28, 2025

[wip, fixme] use a larger `restart_threshold` to avoid fall back to gradient descent frequently
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Commits on Dec 29, 2025

Commits on Jan 2, 2026

[fix] fix compile error caused by a typo
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Commits on Jan 3, 2026

[add, wip] `||D * ∇ℓ_p(v_k)|| <= ε_abs + ε_rel * ||D * ∇ℓ_p(v_0)||` stop certerion option
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