Offset Geometric Contact

[zfergus]

Description

Implementation of "Offset Geometric Contact" [Chen et al. 2025].

Details

TODO: list of detailed changes

Type of change

• [x] Enhancement (non-breaking change which improves existing functionality)
• [x] New feature (non-breaking change which adds functionality)
• [x] This change requires a documentation update

[codecov[bot]]

Codecov Report

:x: Patch coverage is 96.29630% with 20 lines in your changes missing coverage. Please review. :white_check_mark: Project coverage is 97.35%. Comparing base (d2cb640) to head (12ba0e4).

Files with missing lines	Patch %	Lines
src/ipc/ogc/trust_region.cpp	90.41%	7 Missing :warning:
...pc/collisions/normal/normal_collisions_builder.cpp	87.23%	6 Missing :warning:
src/ipc/collision_mesh.hpp	71.42%	4 Missing :warning:
src/ipc/barrier/barrier.hpp	0.00%	2 Missing :warning:
src/ipc/candidates/candidates.cpp	99.03%	1 Missing :warning:

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #192      +/-   ##
==========================================
- Coverage   97.40%   97.35%   -0.05%     
==========================================
  Files         149      153       +4     
  Lines       23748    24069     +321     
  Branches      797      835      +38     
==========================================
+ Hits        23132    23433     +301     
- Misses        616      636      +20     

Flag	Coverage Δ
unittests	97.35% <96.29%> (-0.05%)	:arrow_down:

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