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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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include/mujoco/mjspec.h
+6 -5
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@@ -62,10 +62,11 @@ typedef enum mjtGeomInertia_ { // type of inertia inference
} mjtGeomInertia;
typedef enum mjtMeshInertia_ { // type of mesh inertia
mjINERTIA_CONVEX = 0, // convex mesh inertia
mjINERTIA_EXACT, // exact mesh inertia
mjINERTIA_LEGACY, // legacy mesh inertia
typedef enum mjtMeshInertia_ { // type of mesh inertia
mjMESH_INERTIA_CONVEX = 0, // convex mesh inertia
mjMESH_INERTIA_EXACT, // exact mesh inertia
mjMESH_INERTIA_LEGACY, // legacy mesh inertia
mjMESH_INERTIA_SHELL // shell mesh inertia
} mjtMeshInertia;
@@ -459,7 +460,7 @@ typedef struct mjsMesh_ { // mesh specification
double refpos[3]; // reference position
double refquat[4]; // reference orientation
double scale[3]; // rescale mesh
mjtMeshInertia inertia; // inertia type (convex, legacy, exact)
mjtMeshInertia inertia; // inertia type (convex, legacy, exact, shell)
mjtByte smoothnormal; // do not exclude large-angle faces from normals
int maxhullvert; // maximum vertex count for the convex hull
mjFloatVec* uservert; // user vertex data