Compute convex hull for collision pairs.

PiperOrigin-RevId: 788074030 Change-Id: I3d4bbe71f824db82e998e374d95a5c49995af806
2025-07-28 10:48:41 -07:00
parent a116653e5f
commit 3434f5d9c7
3 changed files with 92 additions and 2 deletions
@@ -30,6 +30,8 @@ Bug fixes
 - Fixed a bug that caused object lists in the child to have missing elements after attaching an mjSpec. This was caused
  by adding to the lists only the objects that belong to the tree of the requested body, but this causes to skip objects
  that were attached, since they belong to the tree of the parent.
+- Fixed a bug where the convex hull of a collision mesh was not being computed if the mesh could only collide via a
+  :ref:`contact pair<contact-pair>`.

 Version 3.3.4 (July 8, 2025)
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