Incompatibility between current pruning and contacts in collection update

[EulalieCoevoet]

When you have this configuration:

The contact pruning between the collection and the pinned body makes the update of the contacts in collections wrong. We are using these contacts as external forces, when updating the contacts in collections. While in this example, the third contact we just lost is important for the update...

It requires another approach for the pruning. Like doing the actual pruning by looping in the collection bodies?

[EulalieCoevoet]

I've implemented and commited this idea... Still l'll leave this issue open for discussion...

[paulkry]

I see that we didn't think through the pruning to the point of needing the contacts on the sub bodies to properly refine internal forces. If the new revision is able to prune the merged body level at a sub-body level, then that seems like the right way to go. If it is tested and works then let's celebrate by closing the issue! :)

[EulalieCoevoet]

Ok then :)