chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions 4 Packages Projects Releases Wiki Activity

Move mesh inertia specification from global <compiler> to <asset/mesh>.

Browse Source 
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
This commit is contained in:
Alessio Quaglino
2024-10-23 07:05:32 -07:00
committed by Copybara-Service
parent 0c97dcf1fd
commit b598d79b3f
19 changed files with 170 additions and 87 deletions
Download Patch File Download Diff File Expand all files Collapse all files
test/user/testdata/inertia_compare.xml
Vendored
+24
View File
@@ -0,0 +1,24 @@
<mujoco>
<asset>
<mesh name="incomplete_convex" inertia="convex"
vertex="0 0 0 1 0 0 0 1 0 0 0 1"
face="2 0 3 0 1 3 1 2 3" />
<mesh name="incomplete"
vertex="0 0 0 1 0 0 0 1 0 0 0 1"
face="2 0 3 0 1 3 1 2 3"/>
<mesh name="complete"
vertex="0 0 0 1 0 0 0 1 0 0 0 1"
face="2 0 3 0 1 3 1 2 3 1 0 2"/>
</asset>
<worldbody>
<body>
<geom type="mesh" mesh="incomplete_convex"/>
</body>
<body>
<geom type="mesh" mesh="incomplete"/>
</body>
<body>
<geom type="mesh" mesh="complete"/>
</body>
</worldbody>
</mujoco>