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

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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
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test/user/testdata/inertia_concave.xml
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+6 -4
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@@ -1,9 +1,11 @@
<mujoco>
<compiler exactmeshinertia="true"/>
<default>
<mesh scale="10 10 10" inertia="exact"/>
</default>
<asset>
<mesh file="cube_cup.obj" scale="10 10 10"/>
<mesh file="cube_cup_quad.obj" scale="10 10 10"/>
<mesh file="cube_cup_hi.obj" scale="10 10 10"/>
<mesh file="cube_cup.obj"/>
<mesh file="cube_cup_quad.obj"/>
<mesh file="cube_cup_hi.obj"/>
</asset>
<worldbody>
<light directional="true" diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1"/>