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Write mesh inertia to defaults when exporting to xml. Fixes #2478

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PiperOrigin-RevId: 735338748
Change-Id: Id0b71d06c77baef417f7968ae8a14154243a1f83
This commit is contained in:
Tom Power
2025-03-10 05:29:38 -07:00
committed by Copybara-Service
parent adc3cc06fa
commit e7a715497e
2 changed files with 44 additions and 8 deletions
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src/xml/xml_native_writer.cc
+3 -3
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@@ -220,9 +220,6 @@ void mjXWriter::OneMesh(XMLElement* elem, const mjCMesh* mesh, mjCDef* def) {
}
WriteAttrTxt(elem, "content_type", mesh->ContentType());
WriteAttrTxt(elem, "file", mesh->File());
if (mesh->Inertia() != def->Mesh().Inertia()) {
WriteAttrTxt(elem, "inertia", FindValue(meshinertia_map, 4, mesh->Inertia()));
}
// write vertex data
if (!mesh->UserVert().empty()) {
@@ -250,6 +247,9 @@ void mjXWriter::OneMesh(XMLElement* elem, const mjCMesh* mesh, mjCDef* def) {
}
// defaults and regular
if (mesh->Inertia() != def->Mesh().Inertia()) {
WriteAttrTxt(elem, "inertia", FindValue(meshinertia_map, 4, mesh->Inertia()));
}
WriteAttr(elem, "refpos", 3, mesh->Refpos(), def->Mesh().Refpos());
WriteAttr(elem, "refquat", 4, mesh->Refquat(), def->Mesh().Refquat());
WriteAttr(elem, "scale", 3, mesh->Scale(), def->Mesh().Scale());