[RigidContactMapper] Take radius into account for spheres - #6204
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Jul 29, 2026
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On top of that, it's not easy to understand what r is, and why it should be the radius.
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It appears that no test is affected. This code is not covered? |
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Well it seems like no regression test is covering this. I stumbled upon this by messing around with this scene https://github.com/sofa-framework/sofa/blob/master/examples/Component/Collision/Detection/CompositeCollisionPipeline_none.scn, I would have never saw this if I didn't have another issue with this one. |
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I don't know why but this was commented since 2013. Thus, the SphereCollisionModel was broken for rigids since then.
This restores it. I suspect that many regression scene will fail, let's see...
[with-all-tests]
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