Attempt to correct mass matrix in mesh inertia calculator #2775
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Signed-off-by: Ian Chen <[email protected]>
Signed-off-by: Ian Chen <[email protected]>
Signed-off-by: Ian Chen <[email protected]>
Signed-off-by: Ian Chen <[email protected]>
Signed-off-by: Ian Chen <[email protected]>
Signed-off-by: Ian Chen <[email protected]>
Signed-off-by: Ian Chen <[email protected]>
Signed-off-by: Ian Chen <[email protected]>
Signed-off-by: Ian Chen <[email protected]>
Signed-off-by: Ian Chen <[email protected]>
Signed-off-by: Ian Chen <[email protected]>
Signed-off-by: Ian Chen <[email protected]>
Signed-off-by: Ian Chen <[email protected]>
scpeters
reviewed
Feb 14, 2025
Signed-off-by: Ian Chen <[email protected]>
Signed-off-by: Ian Chen <[email protected]>
Signed-off-by: Ian Chen <[email protected]>
This was referenced Feb 14, 2025
Signed-off-by: Ian Chen <[email protected]>
Signed-off-by: Ian Chen <[email protected]>
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🦟 Bug fix
Depends on #2770
Summary
The mesh inertia calculator can potentially generate invalid inertial values for complex / non-water tight meshes. This PR adds a function that attempts to correct the auto-calculated mass matrix if it is strictly positive and within the specified tolerance of satisfying the triangle inequality.
Credits go to @shameekganguly and @scpeters for the mass matrix correction algorithm
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.