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Do not modify mesh position when fitting a geom to the mesh AABB.

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Also, unify the meaning of fitting a geom to an AABB: it now means to find the smallest geom such that its AABB contains the mesh AABB.

Fixes #2881.

PiperOrigin-RevId: 817097544
Change-Id: I883c686feffa803bd16ba461db24a474dfec7712
This commit is contained in:
Alessio Quaglino
2025-10-09 03:04:14 -07:00
committed by Copybara-Service
parent 3a299c49ca
commit 98682ae284
7 changed files with 41 additions and 63 deletions
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src/user/user_objects.cc
+9 -5
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@@ -3732,22 +3732,26 @@ void mjCGeom::Compile(void) {
// save reference in case this is not an mjGEOM_MESH
mjCMesh* pmesh = mesh;
double center[3] = {0, 0, 0};
// fit geom if type is not mjGEOM_MESH
if (type != mjGEOM_MESH && type != mjGEOM_SDF) {
double meshpos[3];
mesh->FitGeom(this, meshpos);
mesh->FitGeom(this, center);
// remove reference to mesh
meshname_.clear();
mesh = nullptr;
mjuu_copyvec(pmesh->GetPosPtr(), meshpos, 3);
} else if (typeinertia == mjINERTIA_SHELL) {
throw mjCError(this, "for mesh geoms, inertia should be specified in the mesh asset");
}
// apply geom pos/quat as offset
mjuu_frameaccum(pos, quat, pmesh->GetPosPtr(), pmesh->GetQuatPtr());
// rotate center to geom frame and add it to mesh frame
double meshpos[3];
mjuu_rotVecQuat(meshpos, center, pmesh->GetQuatPtr());
mjuu_addtovec(meshpos, pmesh->GetPosPtr(), 3);
// accumulate mesh frame into geom frame
mjuu_frameaccum(pos, quat, meshpos, pmesh->GetQuatPtr());
}
// check size parameters