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Move fullinertia from mjCAlternative to mjCBody.

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PiperOrigin-RevId: 604607692
Change-Id: Ic2fcc08b9073d01ab190e7acacc3d827dbdfbca4
This commit is contained in:
Alessio Quaglino
2024-02-06 04:42:02 -08:00
committed by Copybara-Service
parent 01439f28b3
commit 737342bdfe
10 changed files with 82 additions and 72 deletions
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src/user/user_model.cc
+2 -3
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@@ -2551,9 +2551,8 @@ void mjCModel::FuseStatic(void) {
}
// compute principal axes of inertia
mjCAlternative alt;
mjuu_copyvec(alt.fullinertia, toti, 6);
const char* err1 = alt.Set(par->iquat, par->inertia, degree, euler);
mjuu_copyvec(par->fullinertia, toti, 6);
const char* err1 = par->FullInertia(par->iquat, par->inertia);
if (err1) {
throw mjCError(NULL, "error '%s' in fusing static body inertias", err1);
}