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
@@ -458,9 +458,10 @@ public enum mjtGeomInertia : int{
  mjINERTIA_SHELL = 1,
 }
 public enum mjtMeshInertia : int{
-  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,
 }
 public enum mjtBuiltin : int{
  mjBUILTIN_NONE = 0,