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Always compute the convex hull if the mesh inertia is set to convex.

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PiperOrigin-RevId: 723477903
Change-Id: Ibc50d62741f47a5b96a648efd8fb244810664c17
This commit is contained in:
Alessio Quaglino
2025-02-05 05:51:20 -08:00
committed by Copybara-Service
parent 49d07c6100
commit fe16c27555
2 changed files with 4 additions and 3 deletions
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src/user/user_model.cc
+3 -2
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@@ -4243,8 +4243,9 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
// mark meshes that need convex hull
for (int i=0; i<geoms_.size(); i++) {
if (geoms_[i]->mesh &&
(geoms_[i]->spec.type==mjGEOM_MESH || geoms_[i]->spec.type==mjGEOM_SDF) &&
(geoms_[i]->spec.contype || geoms_[i]->spec.conaffinity)) {
(geoms_[i]->spec.type == mjGEOM_MESH || geoms_[i]->spec.type == mjGEOM_SDF) &&
(geoms_[i]->spec.contype || geoms_[i]->spec.conaffinity ||
geoms_[i]->mesh->spec.inertia == mjINERTIA_CONVEX)) {
geoms_[i]->mesh->SetNeedHull(true);
}
}
test/user/testdata/inertia_compare.xml
Vendored
+1 -1
View File
@@ -12,7 +12,7 @@
</asset>
<worldbody>
<body>
<geom type="mesh" mesh="incomplete_convex"/>
<geom type="mesh" mesh="incomplete_convex" contype="0" conaffinity="0"/>
</body>
<body>
<geom type="mesh" mesh="incomplete"/>