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Changes to inertia inference from meshes.

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PiperOrigin-RevId: 726051033
Change-Id: I6edfc118280d103a2dd9d07f29f0094858769761
This commit is contained in:
Tom Power
2025-02-12 07:42:15 -08:00
committed by Copybara-Service
parent e39a5df06a
commit 89253d957d
21 changed files with 438 additions and 299 deletions
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doc/XMLreference.rst
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@@ -1246,18 +1246,21 @@ The full list of processing steps applied by the compiler to each mesh is as fol
.. _asset-mesh-inertia:
:at:`inertia`: :at-val:`[convex, exact, legacy], "legacy"`
:at:`inertia`: :at-val:`[convex, exact, legacy, shell], "legacy"`
This attribute controls how the mesh is used when mass and inertia are
:ref:`inferred from geometry<compiler-inertiafromgeom>`. The current default value :at-val:`legacy` will be changed
to :at-val:`convex` in a future release.
:at-val:`convex`: Use the mesh's convex hull to compute volume and inertia.
:at-val:`convex`: Use the mesh's convex hull to compute volume and inertia, assuming uniform density.
:at-val:`exact`: Use an exact algorithm to compute volume and inertia. This algorithm requires a well-oriented,
watertight mesh and will error otherwise.
:at-val:`exact`: Compute volume and inertia exactly, even for non-convex meshes. This algorithm requires a
well-oriented, watertight mesh and will error otherwise.
:at-val:`legacy`: Use the legacy algorithm, which is similar to :at-val:`convex`, but leads to volume overcounting
for non-convex meshes.
:at-val:`legacy`: Use the legacy algorithm, leads to volume overcounting for non-convex meshes. Though currently the
default to avoid breakages, it is not recommended.
:at-val:`shell`: Assume mass is concentrated on the surface of the mesh. Use the mesh's surface to compute
the inertia, assuming uniform surface density.
.. _asset-mesh-smoothnormal:
@@ -2457,8 +2460,10 @@ helps clarify the role of bodies and geoms in MuJoCo.
.. _body-geom-shellinertia:
:at:`shellinertia` :at-val:`[false, true], "false"`
If true, the geom's inertia is computed assuming that all the mass is concentrated on the boundary. In this case
:at:`density` is interpreted as surface density rather than volumetric density.
If true, the geom's inertia is computed assuming that all the mass is concentrated on the surface. In this case
:at:`density` is interpreted as surface rather than volumetric density. This attribute only applies to primitive
geoms and is ignored for meshes. Surface inertia for meshes can be specified by setting the
:ref:`asset/mesh/inertia<asset-mesh-inertia>` attribute to :at-val:`"shell"`.
.. _body-geom-solmix: