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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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test/user/testdata/inertia_concave.xml
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<mujoco>
<compiler exactmeshinertia="true"/>
<asset>
<mesh file="cube_cup.obj" scale="10 10 10"/>
<mesh file="cube_cup_quad.obj" scale="10 10 10"/>
<mesh file="cube_cup_hi.obj" scale="10 10 10"/>
</asset>
<worldbody>
<light directional="true" diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1"/>
<body pos="-1.5 0 1">
<geom type="mesh" mesh="cube_cup" density="1"/>
</body>
<body pos="0 0 1">
<geom type="mesh" mesh="cube_cup_quad" density="1"/>
</body>
<body pos="1.5 0 1">
<geom type="mesh" mesh="cube_cup_hi" density="1"/>
</body>
<body pos="3 0 1">
<geom type="box" pos="0 0 0.05" size=".5 .5 .05" density="1"/>
<geom type="box" pos="-.45 0 .55" size=".05 .5 .45" density="1"/>
<geom type="box" pos=" .45 0 .55" size=".05 .5 .45" density="1"/>
<geom type="box" pos="0 -.45 .55" size=".4 .05 .45" density="1"/>
<geom type="box" pos="0 .45 .55" size=".4 .05 .45" density="1"/>
</body>
</worldbody>
</mujoco>