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Do not use inertia during mesh compilation.

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Fixes #2479.

PiperOrigin-RevId: 735387473
Change-Id: Ib241f2a0efc100bbe2cec24e0399bfcc87268094
This commit is contained in:
Alessio Quaglino
2025-03-10 08:34:38 -07:00
committed by Copybara-Service
parent e7a715497e
commit 14dc6fd33b
4 changed files with 65 additions and 50 deletions
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test/user/testdata/inertia_compare.xml
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+1 -7
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@@ -3,19 +3,13 @@
<mesh name="incomplete_convex" inertia="convex"
vertex="0 0 0 1 0 0 0 1 0 0 0 1"
face="2 0 3 0 1 3 1 2 3" />
<mesh name="incomplete"
vertex="0 0 0 1 0 0 0 1 0 0 0 1"
face="2 0 3 0 1 3 1 2 3"/>
<mesh name="complete"
vertex="0 0 0 1 0 0 0 1 0 0 0 1"
face="2 0 3 0 1 3 1 2 3 1 0 2"/>
</asset>
<worldbody>
<body>
<geom type="mesh" mesh="incomplete_convex" contype="0" conaffinity="0"/>
</body>
<body>
<geom type="mesh" mesh="incomplete"/>
<geom type="mesh" mesh="incomplete_convex"/>
</body>
<body>
<geom type="mesh" mesh="complete"/>