If <composite flatinertia="true">, set mjCBody.explicit_inertial so that an <inertial> element is added in mj_saveLastXML. Bug found by the WriteReadCompare test.

PiperOrigin-RevId: 450702639 Change-Id: I978dfb6713d68ce8327f2e8eea1fc31f43a38b5e
2022-05-24 09:38:06 -07:00
parent dbf6c74f8f
commit 43e3b3a3f9
4 changed files with 15 additions and 6 deletions
@@ -644,6 +644,10 @@ void mjCBody::MakeLocal(double* _locpos, double* _locquat,
  }
 }

+// set explicit_inertial to true
+void mjCBody::MakeInertialExplicit() {
+  explicit_inertial = true;
+}


 // compiler