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fix: Refactor bepu contact management, support compound shape child index lookup and provide Impact Force evaluation to users #2901

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Merged
Eideren merged 13 commits into from
Oct 1, 2025

Collect previous velocities before contacts are generated

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fix: Refactor bepu contact management, support compound shape child index lookup and provide Impact Force evaluation to users #2901

Collect previous velocities before contacts are generated
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