From fe16c2755525a68890c5578666e2109b01e4c793 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Wed, 5 Feb 2025 05:51:20 -0800
Subject: [PATCH] Always compute the convex hull if the mesh inertia is set to
 convex.

PiperOrigin-RevId: 723477903
Change-Id: Ibc50d62741f47a5b96a648efd8fb244810664c17
---
 src/user/user_model.cc                 | 5 +++--
 test/user/testdata/inertia_compare.xml | 2 +-
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index 9fe4113a..db330026 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -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);
     }
   }
diff --git a/test/user/testdata/inertia_compare.xml b/test/user/testdata/inertia_compare.xml
index f59d1199..d497809d 100644
--- a/test/user/testdata/inertia_compare.xml
+++ b/test/user/testdata/inertia_compare.xml
@@ -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"/>