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Default flex internal contacts to "false".

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This function is unusual in the context of soft body simulations and has been a common gotcha for users, see e.g. #2500, #2079, #1900, and #1433. It should be used only if element inversion cannot be prevented otherwise.

PiperOrigin-RevId: 736822983
Change-Id: I76b0965c91c94dd88123826d218d7544ec37a88c
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Alessio Quaglino
2025-03-14 04:54:12 -07:00
committed by Copybara-Service
parent 40891eeadc
commit f25fc63f0f
4 changed files with 15 additions and 4 deletions
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doc/changelog.rst
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@@ -5,6 +5,12 @@ Changelog
Upcoming version (not yet released)
-----------------------------------
.. admonition:: Breaking API changes
:class: attention
- The default value of the flag for toggling :ref:`internal flex contacts<flex-contact-internal>` was changed from
"true" to "false". This feature has proven to be counterintuitive for users.
Bug fixes
^^^^^^^^^
- :ref:`mj_jacDot` was missing a term that accounts for the motion of the point with respect to