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Allow meshes with flipped faces if exactmeshinertia is false.

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Fixes #1529.

PiperOrigin-RevId: 617824308
Change-Id: I926c385475dd79f07e88fe1925ecbb2adb4f8917
This commit is contained in:
Alessio Quaglino
2024-03-21 06:34:40 -07:00
committed by Copybara-Service
parent 624becca52
commit b0daccc234
2 changed files with 7 additions and 7 deletions
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src/user/user_mesh.cc
+1 -1
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@@ -1637,7 +1637,7 @@ void mjCMesh::CheckMesh(mjtGeomInertia type) {
if (!processed_) {
return;
}
if (invalidorientation_.first>=0 || invalidorientation_.second>=0)
if ((invalidorientation_.first>=0 || invalidorientation_.second>=0) && model->exactmeshinertia)
throw mjCError(this,
"faces of mesh '%s' have inconsistent orientation. Please check the "
"faces containing the vertices %d and %d.",