[Framework] Apply template method design pattern to Contact#5456

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NiziL wants to merge 13 commits intosofa-framework:masterfrom

NiziL:2025_sedsprint_Contact

Commits on Jan 6, 2026

feat(sed_sprint): apply template method to Contact

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feat(sed_sprint): update child class BarycentricStickContact

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feat(sed_sprint): update child class BarycentricPenaltyContact

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feat(sed_sprint): add forgotten comments

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feat(sed_sprint): update child class BaseUnilateralContactResponse

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feat(sed_sprint): update child class RayContact

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feat(sed_sprint): update child class StickContactConstraint

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fix: RayContact getDetectionOutputs should not be doGet

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fix: comments

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feat(sed_sprint): update child class PersistentFrictionContact

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feat(sed_sprint): update child class CudaCollisionDistanceGrid

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fix: add forgotten override

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fix: add forgotten override

NiziL
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bakpaul
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