Generalize the way properties of a contact constraints are computed, allow for custom implementations#22

Merged

azeey merged 8 commits intogazebo-forks:release-6.10from peci1:contact-surface

Aug 2, 2021

+709-210

Commits on Apr 6, 2021

Generalize the way properties of a contact constraint are computed, allow for custom implementations.
peci1
committed

Commits on Jun 8, 2021

Merge branch 'release-6.10' into contact-surface
peci1
committed

Commits on Jun 10, 2021

Add possibility to remove contact surface handlers.
peci1
committed
Better generalization of contact constraint generation. Now it allows customizing the whole constraint generation process.
peci1
committed

Commits on Jul 3, 2021

Retain ABI compatibility.
peci1
committed

Commits on Jul 13, 2021

Commits on Jul 31, 2021

Addressed comments from review.
peci1
committed