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Generalize the way properties of a contact constraints are computed, allow for custom implementations #1626

Merged
merged 15 commits into from
Jan 14, 2022
Merged

Generalize the way properties of a contact constraints are computed, allow for custom implementations #1626

merged 15 commits into from
Jan 14, 2022

Commits on Dec 18, 2021

  1. Better generalization of contact constraint generation. Now it allows… 

    … customizing the whole constraint generation process.

Signed-off-by: Martin Pecka <peckama2@fel.cvut.cz>
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    peci1 committed Dec 18, 2021
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  2. Add possibility to remove contact surface handlers. 

    Signed-off-by: Martin Pecka <peckama2@fel.cvut.cz>
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  3. Better generalization of contact constraint generation. Now it allows… 

    … customizing the whole constraint generation process.

Signed-off-by: Martin Pecka <peckama2@fel.cvut.cz>
    @peci1
    peci1 committed Dec 18, 2021
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  4. Improve comment. 

    Signed-off-by: Martin Pecka <peckama2@fel.cvut.cz>
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  5. Addressed comments from review. 

    Signed-off-by: Martin Pecka <peckama2@fel.cvut.cz>
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  6. clang-format. 

    Signed-off-by: Martin Pecka <peckama2@fel.cvut.cz>
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Commits on Jan 5, 2022

  1. Apply suggestions from code review 

    Co-authored-by: Jeongseok Lee <jslee02@users.noreply.github.com>
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    peci1 and jslee02 authored Jan 5, 2022
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  2. Merge branch 'main' into contact-surface-upstream

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  3. Changes according to review. 

    Signed-off-by: Martin Pecka <peckama2@fel.cvut.cz>
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  4. More verbose docs. 

    Signed-off-by: Martin Pecka <peckama2@fel.cvut.cz>
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    peci1 committed Jan 5, 2022
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  5. Added test for ConstraintSolver surface handler. 

    Signed-off-by: Martin Pecka <peckama2@fel.cvut.cz>
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  6. Check for a possible infinite recursion and prevent it. 

    Signed-off-by: Martin Pecka <peckama2@fel.cvut.cz>
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  7. Trying to fix build on Mac. 

    Signed-off-by: Martin Pecka <peckama2@fel.cvut.cz>
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Commits on Jan 14, 2022

  1. Update dart/constraint/ContactSurface.hpp

    @jslee02
    jslee02 authored Jan 14, 2022
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  2. Update dart/constraint/ContactSurface.cpp

    @jslee02
    jslee02 authored Jan 14, 2022
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