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

PiperOrigin-RevId: 723477903 Change-Id: Ibc50d62741f47a5b96a648efd8fb244810664c17
google-deepmind · Feb 5, 2025 · fe16c27 · fe16c27
1 parent 49d07c6
commit fe16c27
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Showing 2 changed files with 4 additions and 3 deletions.
diff --git 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
@@ -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"/>