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