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Fix deep penetration for sphere/capsule-convex.

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PiperOrigin-RevId: 615539264
Change-Id: I6a5aac0574ddcb39bae8aafaf63f9561ca69288b
This commit is contained in:
Baruch Tabanpour
2024-03-13 14:11:39 -07:00
committed by Copybara-Service
parent adc4b92c1b
commit f2e107f7aa
4 changed files with 105 additions and 15 deletions
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doc/changelog.rst
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@@ -9,6 +9,7 @@ MJX
^^^
1. Improved performance of SAT for convex collisions.
2. Fixed bug for sphere/capsule-convex deep penetration.
Version 3.1.3 (March 5th, 2024)
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