* Fix small bug when registering resource providers.
* Add test cases for OS filesystem fallback with VFS.
* Rewrite LoadModelFromString using a resource provider (now can pass custom VFSs).
PiperOrigin-RevId: 526959705
Change-Id: Iee1773e5584535d868aab6b206d1bf362e600c8a
- Mesh inertias can now be computed exactly for well-formed (no holes) non-convex meshes.
- To activate this feature, set `<compiler exactmeshinertia="true">` (defaults to `false`). This default may change in the future.
- Added `<geom shellinertia="true/false">` (defaults to `false`). When true, geom inertia is computed assuming all the mass is concentrated on the surface, and `density` is interpreted as surface density (mass/area). Currently only mesh geoms are supported.
PiperOrigin-RevId: 464368395
Change-Id: I17afd99b9b221c9d24ae951f6e63d5c61ff89820
Inertias of moving bodies are enforced to be greater mjMINVAL at model compilation, there is no need to enforce inertias at mesh load time. Tiny meshes could be static or part of a larger geom assembly, in which case their tiny inertia is not a problem.
Also, make error message for small masses/inertias more precise.
PiperOrigin-RevId: 451625216
Change-Id: I4b48d7a881e620d6fbb591ec77fbdacc7c03496c
Alessio Quaglino