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Use shell inertia to compute mesh aabb and frame if volume is invalid.

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PiperOrigin-RevId: 530925161
Change-Id: I94b97efc7198e2b750480df8687e91bc047a6fc9
This commit is contained in:
Alessio Quaglino
2023-05-10 09:11:09 -07:00
committed by Copybara-Service
parent 1aadef5927
commit 41a7049920
4 changed files with 192 additions and 143 deletions
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test/user/user_mesh_test.cc
+26 -1
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@@ -493,7 +493,7 @@ TEST_F(MjCMeshTest, AreaTooSmall) {
</asset>
<worldbody>
<body>
<geom type="mesh" mesh="example_mesh"/>
<geom type="mesh" mesh="example_mesh" shellinertia="true"/>
</body>
</worldbody>
</mujoco>
@@ -544,6 +544,31 @@ TEST_F(MjCMeshTest, VolumeTooSmall) {
EXPECT_THAT(error.data(), HasSubstr("mesh volume is too small"));
}
TEST_F(MjCMeshTest, VolumeSmallAllowedShell) {
static constexpr char xml[] = R"(
<mujoco>
<compiler convexhull="false"/>
<asset>
<mesh name="example_mesh"
vertex="0 0 0 1 0 0 0 1 0 1 1 0"
face="0 1 2 2 1 3" />
</asset>
<worldbody>
<body>
<geom type="mesh" mesh="example_mesh" shellinertia="true"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_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);
mj_deleteModel(model);
}
TEST_F(MjCMeshTest, VolumeNegativeDefaultsLegacy) {
static constexpr char xml[] = R"(
<mujoco>