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Backport #2742 and #2745 to release 1.2#2798

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eric-heiden merged 3 commits into
newton-physics:release-1.2from
eric-heiden:eric/release-1.2-2742-2745
May 7, 2026
Merged

Backport #2742 and #2745 to release 1.2#2798
eric-heiden merged 3 commits into
newton-physics:release-1.2from
eric-heiden:eric/release-1.2-2742-2745

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@eric-heiden eric-heiden commented May 7, 2026

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Description

Backport the fixes from:

This PR cherry-picks the relevant source commits onto release-1.2 without pulling main branch history into the release branch.

Checklist

  • New or existing tests cover these changes
  • The documentation is up to date with these changes
  • CHANGELOG.md has been updated (if user-facing change)

Test plan

uv run --extra dev -m newton.tests -k test_solver_mujoco_planar_mesh
uv run --extra dev -m newton.tests -k test_narrow_phase
uvx pre-commit run -a

Bug fix

Steps to reproduce:

  1. Use nonuniformly scaled mesh/convex geometry or planar mesh colliders with SolverMuJoCo on the release branch.
  2. Observe incorrect mesh-vs-convex contact behavior or MuJoCo mesh compilation/contact handling failures for planar mesh assets.

Minimal reproduction:

See the regression tests added by the cherry-picked commits:

  • newton/tests/test_narrow_phase.py
  • newton/tests/test_solver_mujoco_planar_mesh.py

nvtw and others added 3 commits May 7, 2026 09:39
@nvtw @eric-heiden
Fix bug with nonuniform scaling in mesh vs convex collisions
e0a37ea 
(cherry picked from commit cd98996)
@eric-heiden
Fix planar meshes in SolverMuJoCo
9f0a636 
Add a MuJoCo-only sliver vertex for planar mesh assets when Newton supplies contacts, so MuJoCo's convex-hull compile path has a full-dimensional mesh. Reject planar meshes when MuJoCo contact generation is requested because the temporary hull is not suitable for MuJoCo contacts.

(cherry picked from commit cca630c)
@eric-heiden
Reject planar explicit MuJoCo pairs
5df278c 
Track template-world MuJoCo pair references during export so planar mesh assets are rejected when explicit pairs would make MuJoCo generate contacts against the synthetic hull. Add a regression for pair-only planar meshes.

(cherry picked from commit e997de8)
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@eric-heiden eric-heiden marked this pull request as ready for review May 7, 2026 17:03
@codecov

codecov Bot commented May 7, 2026

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Codecov Report

❌ Patch coverage is 83.62069% with 19 lines in your changes missing coverage. Please review.
✅ All tests successful. No failed tests found.

Files with missing lines Patch % Lines
newton/_src/solvers/mujoco/solver_mujoco.py 83.62% 19 Missing ⚠️

📢 Thoughts on this report? Let us know!

@eric-heiden eric-heiden enabled auto-merge May 7, 2026 17:13
@eric-heiden eric-heiden merged commit 2f82d99 into newton-physics:release-1.2 May 7, 2026
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2 participants

@eric-heiden @nvtw