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@jslee02 jslee02 commented Nov 26, 2025

Summary

  • add an integration regression test for the four-box bounce and spinning free-fall scenarios from Unsymmetrical behavior when bodies have non-zero rpy values in transformation #870, running the identical scene description for 900/4000 steps and recording per-step symmetry, velocity, and barrier metrics so we can spot drift early
  • remove the non-existent constraint-iteration call and use the non-deprecated dart::math::pi constant so the test builds cleanly
  • the scenario already behaves symmetrically on origin/main as of e29c616 (2025-11-26), and CI shows the new regression passing; if the issue resurfaces the test will surface the drift via its thresholded assertions/skip message

Fixes #870.


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codecov bot commented Nov 26, 2025

Codecov Report

✅ All modified and coverable lines are covered by tests.
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@@           Coverage Diff           @@
##             main    #2283   +/-   ##
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  Files           ?      360           
  Lines           ?    32592           
  Branches        ?     4284           
=======================================
  Hits            ?    20155           
  Misses          ?    12437           
  Partials        ?        0           
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@jslee02 jslee02 added this to the DART 7.0 milestone Nov 26, 2025
@jslee02 jslee02 enabled auto-merge (squash) November 26, 2025 14:50
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jslee02 commented Nov 26, 2025

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jslee02 commented Nov 26, 2025

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Codex Review: Didn't find any major issues. Chef's kiss.

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jslee02 commented Nov 26, 2025

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Codex Review: Didn't find any major issues. Hooray!

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@jslee02 jslee02 disabled auto-merge November 26, 2025 18:21
@jslee02 jslee02 merged commit 1988da0 into main Nov 26, 2025
12 of 36 checks passed
@jslee02 jslee02 deleted the issue/870_unsymmetrical branch November 26, 2025 18:21
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Unsymmetrical behavior when bodies have non-zero rpy values in transformation

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