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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/xml/xml_native_reader.cc
+6 -5
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@@ -781,10 +781,11 @@ const mjMap meshtype_map[2] = {
// mesh inertia type
const mjMap meshinertia_map[3] = {
{"convex", mjINERTIA_CONVEX},
{"legacy", mjINERTIA_LEGACY},
{"exact", mjINERTIA_EXACT}
const mjMap meshinertia_map[4] = {
{"convex", mjMESH_INERTIA_CONVEX},
{"legacy", mjMESH_INERTIA_LEGACY},
{"exact", mjMESH_INERTIA_EXACT},
{"shell", mjMESH_INERTIA_SHELL}
};
@@ -1432,7 +1433,7 @@ void mjXReader::OneMesh(XMLElement* elem, mjsMesh* mesh, const mjVFS* vfs) {
ReadAttr(elem, "refpos", 3, mesh->refpos, text);
ReadAttr(elem, "refquat", 4, mesh->refquat, text);
ReadAttr(elem, "scale", 3, mesh->scale, text);
if (MapValue(elem, "inertia", &n, meshinertia_map, 3)) {
if (MapValue(elem, "inertia", &n, meshinertia_map, 4)) {
mesh->inertia = (mjtMeshInertia)n;
}