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Fix FCL mesh contact regression and add test #2258

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Merged
merged 8 commits into from
Nov 24, 2025
Merged

Fix FCL mesh contact regression and add test #2258

merged 8 commits into from
Nov 24, 2025

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@jslee02
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@jslee02 jslee02 commented Nov 24, 2025

Summary

  • add regression test for mesh–mesh contact points that reproduces the FCL inaccuracy scenario
  • force DART contact point computation for FCL mesh collisions and warn with upstream issue link
  • expose PlanarJoint conversion helpers declarations to fix CI build

Testing

  • pixi run lint
  • GitHub Actions: CI Linux, CI Windows, CI macOS, CI gz-physics, Publish dartpy

@jslee02 jslee02 added this to the DART 7.0 milestone Nov 24, 2025
@jslee02 jslee02 merged commit f435c9a into main Nov 24, 2025
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@jslee02 jslee02 deleted the issue/860_incorrect_contact_points branch November 24, 2025 22:24
@jslee02 jslee02 mentioned this pull request Nov 24, 2025
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DART 7.0

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@jslee02