- wire ContactModifier mass and inertia scales through to the solver
- separate user mass and inertia scales from shock propagation scales in SolverBody
- remove unused mass conditioning in Joint Solver and hook up to SolverBody shock prop scale
- add tests for inertia modification and reset
#rb max.whitehead
#jira none
#preflight 6271c703ea29c2feb3e5db89
[CL 20035885 by Chris Caulfield in ue5-main branch]
- Lower tolerances for GJK and EPA
- Various zero-margin related optimizations
#rb cedric.caillaud, ori.cohen, vincent.robert
#jira none
#preflight 61f1f170fd5285142b5224a7
#ROBOMERGE-AUTHOR: chris.caulfield
#ROBOMERGE-SOURCE: CL 18748709 in //UE5/Release-5.0/... via CL 18748712 via CL 18748897
#ROBOMERGE-BOT: UE5 (Release-Engine-Test -> Main) (v903-18687472)
[CL 18748910 by chris caulfield in ue5-main branch]
- dynamic friction handled in position solve now (except for quadratic shapes)
- use velocity to estimate previous friction anchors when previous contact not available
- reproject vertex contacts onto the contact plane when reusing (friction stability)
#rb michael.forot
#jira UE-138090 , UE-137351, UE-137353
#preflight 61df4559ff67b6fe7ac3b1ee
#ROBOMERGE-AUTHOR: chris.caulfield
#ROBOMERGE-SOURCE: CL 18589924 in //UE5/Release-5.0/... via CL 18589935 via CL 18589946
#ROBOMERGE-BOT: STARSHIP (Release-Engine-Test -> Main) (v899-18417669)
[CL 18589955 by chris caulfield in ue5-main branch]
