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Estimation of mass returns non- positive definite inertia matrix #99

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smeng9 opened this issue Apr 27, 2021 · 1 comment · May be fixed by krishauser/KrisLibrary#20
Closed

Estimation of mass returns non- positive definite inertia matrix #99

smeng9 opened this issue Apr 27, 2021 · 1 comment · May be fixed by krishauser/KrisLibrary#20

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@smeng9
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smeng9 commented Apr 27, 2021

Hi Professor,

I have encountered a problem with rigidObjects when using the Simulator.

For some specific objects that I tried to add to the world, it will prevent the simulator running.
The inertia matrix returned should be positive definite all the time.

I have created a minimum example that shows the issue.
bug_reproduce.zip

Thanks.
@krishauser
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I found the issue. The problem is that your mesh is basically one-sided, and the method used to estimate volumetric inertia assumes the mesh is watertight. Hence, its results are way, way off. For geometries that are one-sided, you should use surfaceFraction = 1 in the estimate.

This was referenced May 23, 2021
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@krishauser @smeng9