Optimize plane collision contacts for retargeting#1532
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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
Summary: * Add a parent-space candidate filter for plane collision, evaluate only the deepest colliding primitive per parent during solving * Expose reduced plane-collision support points for projected center-of-mass support polygons while keeping floor-marker contacts in the support set * Make the Gauss-Newton block path ignore inactive Jacobian rows when collision constraints return fewer active rows than their allocation. Differential Revision: D108836254
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Summary:
Differential Revision: D108836254