Contact margin improvements#1314

Merged

nvtw merged 10 commits intonewton-physics:mainfrom

nvtw:dev/tw/margin_thickness_warning

Jan 12, 2026

Commits on Jan 8, 2026

Add a warning that informs the user when the contact margin is smaller than the thickness. Also switches max(contact_margin_shape_a, contact_margin_shape_b) to their sum such that it is compatible …
nvtw
committed