Add plane collision error function#1531
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Summary: Add PlaneCollisionErrorFunctionT for character collision primitives against an input plane. The implementation follows CollisionErrorFunctionT conventions: it uses CollisionGeometryStateT, supports capsules, ellipsoids, and boxes, applies the existing collision weight, and exposes matching error, gradient, Jacobian, and debug helpers. Differential Revision: D108674418
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Summary: Add PlaneCollisionErrorFunctionT for character collision primitives against an input plane. The implementation follows CollisionErrorFunctionT conventions: it uses CollisionGeometryStateT, supports capsules, ellipsoids, and boxes, applies the existing collision weight, and exposes matching error, gradient, Jacobian, and debug helpers.
Differential Revision: D108674418