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Compute moment of inertia for concave and boundary meshes. Resolve #338.

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- Mesh inertias can now be computed exactly for well-formed (no holes) non-convex meshes.
- To activate this feature, set `<compiler exactmeshinertia="true">` (defaults to `false`). This default may change in the future.
- Added `<geom shellinertia="true/false">` (defaults to `false`). When true, geom inertia is computed assuming all the mass is concentrated on the surface, and `density` is interpreted as surface density (mass/area). Currently only mesh geoms are supported.

PiperOrigin-RevId: 464368395
Change-Id: I17afd99b9b221c9d24ae951f6e63d5c61ff89820
This commit is contained in:
Alessio Quaglino
2022-07-31 04:31:46 -07:00
committed by Copybara-Service
parent 52d78f8d24
commit 5c5449bf82
19 changed files with 37807 additions and 272 deletions
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doc/changelog.rst
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@@ -5,7 +5,18 @@ Changelog
Upcoming version (not yet released)
-----------------------------------
- Added :ref:`mj_jacSubtreeCom` for computing the translational Jacobian of the center-of-mass of a subtree.
General
^^^^^^^
- Added :ref:`mj_jacSubtreeCom` for computing the translational Jacobian of the center-of-mass of a subtree.
- Added moment of inertia computation for concave meshes. This is a breaking change, to get back to the previous
behavior set the compiler flag :at:`exactmeshinertia` to false.
- Added parameter :at:`shellinertia` in :at:`geom` for treating a mesh as a boundary mesh (shell) for inertia
computations. This is currently supported only for meshes.
- Raise error if the orientation of mesh faces is not consistent, which causes the inertia computations to be
inaccurate. If this occurs, open the mesh in MeshLab or Blender and recalculate the faces.
Bug fixes
^^^^^^^^^
Version 2.2.1 (July 18, 2022)
-----------------------------