srwopschall
commented
2 months ago - Adjacent faces were precluded from contact ONLY for matching mesh ids, which presents issues at sharp edges or corners where the configuration and opposing normals make the faces appear to be in contact.
- This removes the conditional on the mesh ids, which doesn't mean anything anymore, and simply precludes contact between adjacent faces. This removes adjacent faces at corners from being included in contact (which is wrong).
- The consequence is that two adjacent faces can't be in self contact, but self-contact should be resolved beyond such a local face-pair anyway.