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Restore legacy center-of-mass computation when exactmeshinertia is false.

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PiperOrigin-RevId: 464511268
Change-Id: Ic7c640d01e58dba5049e9fcb2c1b75d6bff4f956
This commit is contained in:
Alessio Quaglino
2022-08-01 05:11:42 -07:00
committed by Copybara-Service
parent 3d77eb1ef4
commit f15bcd04b5
1 changed files with 6 additions and 1 deletions
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src/user/user_mesh.cc
+6 -1
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@@ -993,9 +993,14 @@ void mjCMesh::Process() {
// compute and add volume // compute and add volume
const double vec[3] = {cen[0]-facecen[0], cen[1]-facecen[1], cen[2]-facecen[2]}; const double vec[3] = {cen[0]-facecen[0], cen[1]-facecen[1], cen[2]-facecen[2]};
double vol = type==mjSHELL_MESH ? a : mjuu_dot3(vec, nrm) * a / 3; double vol = type==mjSHELL_MESH ? a : mjuu_dot3(vec, nrm) * a / 3;
GetVolumeRef(type) += vol;
// if legacy computation requested, then always positive
if (!model->exactmeshinertia) {
vol = fabs(vol);
}
// add pyramid com // add pyramid com
GetVolumeRef(type) += vol;
for (j=0; j<3; j++) { for (j=0; j<3; j++) {
CoM[j] += vol*(cen[j]*3.0/4.0 + facecen[j]/4.0); CoM[j] += vol*(cen[j]*3.0/4.0 + facecen[j]/4.0);
} }