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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_) { if (!processed_) {
return; return;
} }
if (invalidorientation_.first>=0 || invalidorientation_.second>=0) if ((invalidorientation_.first>=0 || invalidorientation_.second>=0) && model->exactmeshinertia)
throw mjCError(this, throw mjCError(this,
"faces of mesh '%s' have inconsistent orientation. Please check the " "faces of mesh '%s' have inconsistent orientation. Please check the "
"faces containing the vertices %d and %d.", "faces containing the vertices %d and %d.",
test/user/user_mesh_test.cc
+6 -6
View File
@@ -464,19 +464,19 @@ TEST_F(MjCMeshTest, TinyInertiaFails) {
"mass and inertia of moving bodies must be larger than mjMINVAL")); "mass and inertia of moving bodies must be larger than mjMINVAL"));
} }
TEST_F(MjCMeshTest, MalformedFaceFails) { TEST_F(MjCMeshTest, FlippedFaceAllowedInexactInertia) {
const std::string xml_path = GetTestDataFilePath(kMalformedFaceOBJPath); const std::string xml_path = GetTestDataFilePath(kMalformedFaceOBJPath);
std::array<char, 1024> error; std::array<char, 1024> error;
mjModel* model = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size()); mjModel* model = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
EXPECT_THAT(model, testing::IsNull()); EXPECT_THAT(model, testing::NotNull());
EXPECT_THAT(error.data(), HasSubstr( EXPECT_THAT(model->nmeshface, 4);
"Error: faces of mesh 'malformed_face' have inconsistent orientation. " mj_deleteModel(model);
"Please check the faces containing the vertices 1 and 2."));
} }
TEST_F(MjCMeshTest, FlippedFaceFails) { TEST_F(MjCMeshTest, FlippedFaceFailsExactInertia) {
static constexpr char xml[] = R"( static constexpr char xml[] = R"(
<mujoco> <mujoco>
<compiler exactmeshinertia="true"/>
<asset> <asset>
<mesh name="example_mesh" <mesh name="example_mesh"
vertex="0 0 0 1 0 0 0 1 0 0 0 1" vertex="0 0 0 1 0 0 0 1 0 0 0 1"