The mid-phase BVH descent filter prunes body pairs using body_margin,
which was compiled as the max over geom margins, excluding gap. Broadphase
and the leaf-level test both use margin+gap, so any multi-geom body relying
on gap could silently lose its in-gap contacts when raw AABBs don't
overlap. Single-geom bodies take the leaf-leaf path and were unaffected.
PiperOrigin-RevId: 946967548
Change-Id: I6d92baa296f1a83be68b4dbfd64a96d1c7efd3c4
mj_contactFilter removed geom pairs where their bodies share the same weldid, but this check can be applied at broadphase instead of at geom-geom level.
PiperOrigin-RevId: 507435848
Change-Id: Ia37c741071dc5e1c26686dd319f42c9bd334d305
Sometimes broadphase returns the same body pair multiple times. In those cases, avoid creating every contact twice.
PiperOrigin-RevId: 499869235
Change-Id: I58606168b0723d40b4fdd43b1fafad79bf35d76d
Yuval Tassa