Move mesh inertia specification from global <compiler> to <asset/mesh>.
Three options: - Convex: Use convex hull - Exact: Use exact geometry (requires watertight mesh) - Legacy: Legacy approximation (deprecated) Fixes #2152 PiperOrigin-RevId: 688949900 Change-Id: I4537f343db917195c6fd58d517b189d5ee3be1cd
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Alessio Quaglino
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Copybara-Service
Copybara-Service
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0c97dcf1fd
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+20
-6
@@ -815,12 +815,6 @@ has any effect. The settings here are global and apply to the entire model.
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to the mass. This results in equivalent inertia boxes which extend far beyond the geometric boundaries of the model.
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Note that the built-in OpenGL visualizer can render equivalent inertia boxes.
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.. _compiler-exactmeshinertia:
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:at:`exactmeshinertia`: :at-val:`[false, true], "false"`
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If this attribute is set to false, computes mesh inertia with the legacy algorithm, which is exact only for convex
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meshes. If set to true, it is exact for any closed mesh geometry.
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.. _compiler-alignfree:
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:at:`alignfree`: :at-val:`[false, true], "false"`
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@@ -1249,6 +1243,24 @@ The full list of processing steps applied by the compiler to each mesh is as fol
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This attribute specifies the scaling that will be applied to the vertex data along each coordinate axis. Negative
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values are allowed, resulting in flipping the mesh along the corresponding axis.
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.. _asset-mesh-inertia:
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:at:`inertia`: :at-val:`[convex, exact, legacy], "legacy"`
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This attribute controls how the mesh is used when mass and inertia are
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:ref:`inferred from geometry<_compiler-inertiafromgeom>`. The current default value :at-val:`legacy` will be changed
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to :at-val:`convex` in a future release.
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:at-val:`convex`
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Use the mesh's convex hull to compute volume and inertia.
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:at-val:`exact`
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Use an exact algorithm to compute volume and inertia. This algorithm requires a well-oriented, watertight mesh and
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will error otherwise.
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:at-val:`legacy`
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Use the legacy algorithm, which is similar to :at-val:`convex`, but leads to volume overcounting for non-convex
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meshes.
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.. _asset-mesh-smoothnormal:
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:at:`smoothnormal`: :at-val:`[false, true], "false"`
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@@ -8016,6 +8028,8 @@ if omitted.
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.. _default-mesh-maxhullvert:
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.. _default-mesh-inertia:
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:el-prefix:`default/` |-| **mesh** (?)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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+3
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@@ -54,9 +54,7 @@
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`discardvisual<compiler-discardvisual>` | :ref:`convexhull<compiler-convexhull>` | :ref:`usethread<compiler-usethread>` | :ref:`fusestatic<compiler-fusestatic>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`inertiafromgeom<compiler-inertiafromgeom>` | :ref:`inertiagrouprange<compiler-inertiagrouprange>` | :ref:`exactmeshinertia<compiler-exactmeshinertia>` | :ref:`assetdir<compiler-assetdir>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`alignfree<compiler-alignfree>` | | | | |
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| | | | :ref:`inertiafromgeom<compiler-inertiafromgeom>` | :ref:`inertiagrouprange<compiler-inertiagrouprange>` | :ref:`assetdir<compiler-assetdir>` | :ref:`alignfree<compiler-alignfree>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| compiler |br| |_| |L| | | .. table:: |
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@@ -105,7 +103,7 @@
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`refpos<asset-mesh-refpos>` | :ref:`refquat<asset-mesh-refquat>` | :ref:`scale<asset-mesh-scale>` | :ref:`smoothnormal<asset-mesh-smoothnormal>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`maxhullvert<asset-mesh-maxhullvert>` | | | | |
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| | | | :ref:`maxhullvert<asset-mesh-maxhullvert>` | :ref:`inertia<asset-mesh-inertia>` | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_2| mesh |br| |_2| |L| | | .. table:: |
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@@ -1422,7 +1420,7 @@
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| :ref:`mesh | ? | :class: mjcf-attributes |
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| <default-mesh>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`scale<default-mesh-scale>` | :ref:`maxhullvert<default-mesh-maxhullvert>` | | | |
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| | | | :ref:`scale<default-mesh-scale>` | :ref:`maxhullvert<default-mesh-maxhullvert>` | :ref:`inertia<default-mesh-inertia>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| default |br| |_| |L| | | .. table:: |
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+6
-1
@@ -5,6 +5,11 @@ Changelog
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Upcoming version (not yet released)
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-----------------------------------
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General
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^^^^^^^
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- The global compiler flag ``exactmeshinertia`` has been removed and replaced with the mesh-specific
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:ref:`inertia<asset-mesh-inertia>` attribute.
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MJX
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^^^
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- Added ``apply_ft``, ``jac``, and ``xfrc_accumulate`` as public functions.
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@@ -1076,7 +1081,7 @@ Bug fixes
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12. Fixed bug in the handling of ellipsoid-based fluid model forces in the new implicitfast integrator.
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#. Removed spurious whole-arena copying in `mj_copyData`, which can considerably
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`slow down <https://github.com/google-deepmind/mujoco/issues/568>`__ the copying operation.
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#. Make :ref:`shellinertia<body-geom-shellinertia>` ignore :ref:`exactmeshinertia<compiler-exactmeshinertia>`, which is
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#. Make :ref:`shellinertia<body-geom-shellinertia>` ignore ``exactmeshinertia``, which is
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only used for legacy volume computations (`#759 <https://github.com/google-deepmind/mujoco/issues/759>`__).
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@@ -1638,9 +1638,14 @@ struct mjrContext_ { // custom OpenGL context
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};
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typedef struct mjrContext_ mjrContext;
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typedef enum mjtGeomInertia_ { // type of inertia inference
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mjINERTIA_VOLUME, // mass distributed in the volume
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mjINERTIA_VOLUME = 0, // mass distributed in the volume
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mjINERTIA_SHELL, // mass distributed on the surface
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} mjtGeomInertia;
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typedef enum mjtMeshInertia_ { // type of mesh inertia
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mjINERTIA_CONVEX = 0, // convex mesh inertia
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mjINERTIA_EXACT, // exact mesh inertia
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mjINERTIA_LEGACY, // legacy mesh inertia
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} mjtMeshInertia;
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typedef enum mjtBuiltin_ { // type of built-in procedural texture
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mjBUILTIN_NONE = 0, // no built-in texture
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mjBUILTIN_GRADIENT, // gradient: rgb1->rgb2
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@@ -1700,7 +1705,6 @@ typedef struct mjSpec_ { // model specification
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mjtByte fusestatic; // fuse static bodies with parent
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int inertiafromgeom; // use geom inertias (mjtInertiaFromGeom)
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int inertiagrouprange[2]; // range of geom groups used to compute inertia
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mjtByte exactmeshinertia; // if false, use old formula
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int alignfree; // align free joints with inertial frame
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mjLROpt LRopt; // options for lengthrange computation
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@@ -1989,6 +1993,7 @@ typedef struct mjsMesh_ { // mesh specification
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double refpos[3]; // reference position
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double refquat[4]; // reference orientation
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double scale[3]; // rescale mesh
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mjtMeshInertia inertia; // inertia type (convex, legacy, exact)
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mjtByte smoothnormal; // do not exclude large-angle faces from normals
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int maxhullvert; // maximum vertex count for the convex hull
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mjFloatVec* uservert; // user vertex data
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