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Merge pull request #3432 from VihaanAgarwal:fix/convex-inertia-unreferenced-mesh

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PiperOrigin-RevId: 965896711
Change-Id: I3254a621ef7689544130fd0ce43b86c0261f52b1
This commit is contained in:
Copybara-Service
2026-08-17 04:52:41 -07:00
parent 90ac80707d 95f05402f1
commit 4c993fb238
2 changed files with 25 additions and 2 deletions
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src/user/user_model.cc
+9 -2
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@@ -5317,12 +5317,19 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
if (geoms_[i]->mesh &&
(geoms_[i]->spec.type == mjGEOM_MESH ||
geoms_[i]->spec.type == mjGEOM_SDF) &&
(geoms_[i]->spec.contype || geoms_[i]->spec.conaffinity || is_in_pair ||
geoms_[i]->mesh->spec.inertia == mjMESH_INERTIA_CONVEX)) {
(geoms_[i]->spec.contype || geoms_[i]->spec.conaffinity || is_in_pair)) {
geoms_[i]->mesh->SetNeedHull(true);
}
}
// convex inertia is computed from the hull, so it is needed whether or not
// any geom references the mesh
for (mjCMesh* mesh : meshes_) {
if (mesh->spec.inertia == mjMESH_INERTIA_CONVEX) {
mesh->SetNeedHull(true);
}
}
// automatically set nuser fields
SetNuser();