Various fixes - #7
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createShapePrimitive() called createShapePrimitiveHelper() a second time on the return instead of returning the already-created shape. This caused every geometry to be built twice and the cached instance to be immediately lost (only held by a weak_ptr in the cache), defeating the cache entirely. https://claude.ai/code/session_01JpfY1C2isv3cgud2grpKro
The normal was computed as (distance * (p1 - p0)).normalized(). When distance is exactly zero this produces a zero vector whose normalization is NaN. Use std::copysign to extract only the sign (+1/-1) so the direction is preserved for negative distances without collapsing to zero. https://claude.ai/code/session_01JpfY1C2isv3cgud2grpKro
The assertion searched pose1 for a key from pose1 (always succeeds) and compared the result against pose2.end(), mixing iterators from different containers which is undefined behavior. Fix by searching pose2 instead, which correctly validates that the key exists in both maps. https://claude.ai/code/session_01JpfY1C2isv3cgud2grpKro
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