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
2024-10-23 07:05:32 -07:00
parent 0c97dcf1fd
commit b598d79b3f
19 changed files with 170 additions and 87 deletions
@@ -451,8 +451,13 @@ public enum mjtFont : int{
  mjFONT_BIG = 2,
 }
 public enum mjtGeomInertia : int{
-  mjINERTIA_VOLUME = 1,
-  mjINERTIA_SHELL = 2,
+  mjINERTIA_VOLUME = 0,
+  mjINERTIA_SHELL = 1,
+}
+public enum mjtMeshInertia : int{
+  mjINERTIA_CONVEX = 0,
+  mjINERTIA_EXACT = 1,
+  mjINERTIA_LEGACY = 2,
 }
 public enum mjtBuiltin : int{
  mjBUILTIN_NONE = 0,