Changes to inertia inference from meshes.

PiperOrigin-RevId: 726051033 Change-Id: I6edfc118280d103a2dd9d07f29f0094858769761
2025-02-12 07:42:15 -08:00
parent e39a5df06a
commit 89253d957d
21 changed files with 438 additions and 299 deletions
@@ -734,9 +734,10 @@ ENUMS: Mapping[str, EnumDecl] = dict([
         name='mjtMeshInertia',
         declname='enum mjtMeshInertia_',
         values=dict([
-             ('mjINERTIA_CONVEX', 0),
-             ('mjINERTIA_EXACT', 1),
-             ('mjINERTIA_LEGACY', 2),
+             ('mjMESH_INERTIA_CONVEX', 0),
+             ('mjMESH_INERTIA_EXACT', 1),
+             ('mjMESH_INERTIA_LEGACY', 2),
+             ('mjMESH_INERTIA_SHELL', 3),
         ]),
     )),
    ('mjtBuiltin',
@@ -10415,7 +10415,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
             StructFieldDecl(
                 name='inertia',
                 type=ValueType(name='mjtMeshInertia'),
-                 doc='inertia type (convex, legacy, exact)',
+                 doc='inertia type (convex, legacy, exact, shell)',
             ),
             StructFieldDecl(
                 name='smoothnormal',