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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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src/user/user_model.cc
+5 -5
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@@ -2793,8 +2793,8 @@ void mjCModel::CopyObjects(mjModel* m) {
m->mesh_bvhnum[i] = pme->tree().Nbvh();
m->mesh_bvhadr[i] = pme->tree().Nbvh() ? bvh_adr : -1;
mjuu_copyvec(&m->mesh_scale[3 * i], pme->Scale(), 3);
mjuu_copyvec(&m->mesh_pos[3 * i], pme->GetOffsetPosPtr(), 3);
mjuu_copyvec(&m->mesh_quat[4 * i], pme->GetOffsetQuatPtr(), 4);
mjuu_copyvec(&m->mesh_pos[3 * i], pme->GetPosPtr(), 3);
mjuu_copyvec(&m->mesh_quat[4 * i], pme->GetQuatPtr(), 4);
// copy vertices, normals, faces, texcoords, aux data
pme->CopyVert(m->mesh_vert + 3*vert_adr);
@@ -4249,7 +4249,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
if (geoms_[i]->mesh &&
(geoms_[i]->spec.type == mjGEOM_MESH || geoms_[i]->spec.type == mjGEOM_SDF) &&
(geoms_[i]->spec.contype || geoms_[i]->spec.conaffinity ||
geoms_[i]->mesh->spec.inertia == mjINERTIA_CONVEX)) {
geoms_[i]->mesh->spec.inertia == mjMESH_INERTIA_CONVEX)) {
geoms_[i]->mesh->SetNeedHull(true);
}
}
@@ -4633,8 +4633,8 @@ bool mjCModel::CopyBack(const mjModel* m) {
mjCMesh* pm;
for (int i=0; i<nmesh; i++) {
pm = meshes_[i];
mjuu_copyvec(pm->GetOffsetPosPtr(), m->mesh_pos+3*i, 3);
mjuu_copyvec(pm->GetOffsetQuatPtr(), m->mesh_quat+4*i, 4);
mjuu_copyvec(pm->GetPosPtr(), m->mesh_pos+3*i, 3);
mjuu_copyvec(pm->GetQuatPtr(), m->mesh_quat+4*i, 4);
}
// heightfield