In the middle of expanding and refactoring the blender feedback
code... need to simplify it to a more fundamental blender first
though, because the "constraint teleportation" trick makes it hard to
think about the definition of the feedback. Will first work it out in
a uniform domain, i.e. where constraints are also handled as
accelerations (if that is easily doable) or where there are no
constraints (trivial).
Finished refactoring, it of course had more side effects than
anticipated. For instance, the demo is still hardcoded for one
specific blender subclass, and it was tailored for path
(nulti-waypoint) updates. Anyway... ready to keep working on the real
deal now.