dartsim/dart — pull request #291 by tobiaskunz (2014-12-31 17:24:43+00:00)
Title: Fix bug in collision checking when a body node has multiple collision shapes

Fix bug: Only the first collision shape of a body node is considered when checking for collision without calculating contact points

The change is smaller than it seems here. When ignoring whitespace changes, only 3 lines are changed.

I have only tested this bug fix with DART 3, but it should be the same for DART 4.