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Fix various issues with body inertial parsing and compiling.

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- Add errors in body compiler for incorrect mixing of specifiers.
- Correctly process inertia orientation specifiers.

PiperOrigin-RevId: 676843326
Change-Id: I7e7eb22e25a6769754794f98fad5e0dcc0e5946f
This commit is contained in:
Yuval Tassa
2024-09-20 07:52:31 -07:00
committed by Copybara-Service
parent 78832db53f
commit 50f43b8745
5 changed files with 89 additions and 11 deletions
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src/user/user_objects.cc
+26 -7
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@@ -1497,15 +1497,34 @@ void mjCBody::Compile(void) {
}
// check and process orientation alternatives for body
const char* err = ResolveOrientation(quat, model->degree, model->eulerseq, alt);
if (err) {
throw mjCError(this, "error '%s' in frame alternative", err);
if (alt.type != mjORIENTATION_QUAT) {
const char* err = ResolveOrientation(quat, model->degree, model->eulerseq, alt);
if (err) {
throw mjCError(this, "error '%s' in frame alternative", err);
}
}
// check and process orientation alternatives for inertia
const char* ierr = mjuu_fullInertia(iquat, inertia, this->fullinertia);
if (ierr) {
throw mjCError(this, "error '%s' in inertia alternative", ierr);
// check orientation alternatives for inertia
if (mjuu_defined(fullinertia[0]) && ialt.type != mjORIENTATION_QUAT) {
throw mjCError(this, "fullinertia and inertial orientation cannot both be specified");
}
if (mjuu_defined(fullinertia[0]) && (inertia[0] || inertia[1] || inertia[2])) {
throw mjCError(this, "fullinertia and diagonal inertia cannot both be specified");
}
// process orientation alternatives for inertia
if (mjuu_defined(fullinertia[0])) {
const char* err = mjuu_fullInertia(iquat, inertia, this->fullinertia);
if (err) {
throw mjCError(this, "error '%s' in fullinertia", err);
}
}
if (ialt.type != mjORIENTATION_QUAT) {
const char* err = ResolveOrientation(iquat, model->degree, model->eulerseq, ialt);
if (err) {
throw mjCError(this, "error '%s' in inertia alternative", err);
}
}
// compile all geoms