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Replace margin/gap max with sum.

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PiperOrigin-RevId: 868842521
Change-Id: Ia4a4ca5c6821c5a7b3ba7b0af7f71d981c2866c1
This commit is contained in:
Yuval Tassa
2026-02-11 14:21:37 -08:00
committed by Copybara-Service
parent 336e1026a4
commit 6af0d4c823
9 changed files with 61 additions and 30 deletions
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doc/changelog.rst
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@@ -77,6 +77,9 @@ General
- Removed ``getdir`` from the ``mjpResourceProvider`` struct. All Resource Providers now use the same shared
implementation.
- When combining the ``margin`` and ``gap`` :ref:`parameters<CContact>` of two geoms to obtain the parameters
of a contact, the respective values are now **summed** rather than than taking the maximum. This allows geom
margins to be a proper "inflation" of the geom.
- Camera frustum visualization is now triggered by setting :ref:`resolution<body-camera-resolution>` to values larger
than 1. Relatedly, frustum visualization also works for :ref:`orthographic<body-camera-projection>` cameras.