Bugfix: Updated Mesh Inertia Calculator to incorporate mesh scale in the calculations #2171
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Signed-off-by: Jasmeet Singh <[email protected]>
Codecov Report
@@ Coverage Diff @@
## gz-sim8 #2171 +/- ##
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+ Coverage 65.47% 65.49% +0.01%
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Files 323 323
Lines 30711 30714 +3
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+ Hits 20108 20116 +8
+ Misses 10603 10598 -5
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iche033
reviewed
Sep 25, 2023
src/MeshInertiaCalculator.cc
Outdated
| @@ -40,6 +40,7 @@ using namespace sim; | |||
| ////////////////////////////////////////////////// | |||
| void MeshInertiaCalculator::GetMeshTriangles( | |||
| std::vector<Triangle>& _triangles, | |||
| gz::math::Vector3d _meshScale, | |||
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make it const ref? i.e. const gz::math::Vector3d &_meshScale
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Updated in d892b53
Signed-off-by: Jasmeet Singh <[email protected]>
iche033
approved these changes
Sep 26, 2023
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🦟 Bug fix
The
MeshInertiaCalculator.ccwas not incorporating the scale value set through the SDF for the inertia calculations leading to incorrect values. This PR fixes this issue by scaling the mesh coordinates inMeshInertiaCaclulator::GetMeshTriangles()function before calculating the inertia.Checklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-bymessages.