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Print warning and default to computing mesh inertia from convex hull if volume is negative (malformed mesh).

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PiperOrigin-RevId: 526053615
Change-Id: I3974b3433da513f869b1bdab5e98232e215f6509
This commit is contained in:
Alessio Quaglino
2023-04-21 09:00:43 -07:00
committed by Copybara-Service
parent a2a1ac9fc2
commit 3db483c248
3 changed files with 47 additions and 22 deletions
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test/user/user_mesh_test.cc
+7 -3
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@@ -464,7 +464,7 @@ TEST_F(MjCMeshTest, VolumeTooSmall) {
EXPECT_THAT(error.data(), HasSubstr("mesh volume is too small"));
}
TEST_F(MjCMeshTest, VolumeNegative) {
TEST_F(MjCMeshTest, VolumeNegativeDefaultsLegacy) {
static constexpr char xml[] = R"(
<mujoco>
<compiler exactmeshinertia="true"/>
@@ -482,8 +482,12 @@ TEST_F(MjCMeshTest, VolumeNegative) {
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(model, testing::IsNull());
EXPECT_THAT(error.data(), HasSubstr("mesh volume is negative"));
EXPECT_THAT(model, testing::NotNull());
EXPECT_LE(mju_abs(model->geom_size[0]), 1);
EXPECT_LE(mju_abs(model->geom_size[1]), 1);
EXPECT_LE(mju_abs(model->geom_size[2]), 1);
EXPECT_THAT(error.data(), HasSubstr("Malformed"));
mj_deleteModel(model);
}
TEST_F(MjCMeshTest, VolumeTooSmallAllowedWorld) {