Yuval Tassa dddb2767c6 Include gap in body_margin, fixing mid-phase pruning of in-gap contacts. ...

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

2026-07-13 05:04:55 -07:00

..

mujoco

Include gap in body_margin, fixing mid-phase pruning of in-gap contacts.

2026-07-13 05:04:55 -07:00