From e0c808e4a1f5b3af4c8a45802c9cb0c6ed5f6011 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Wed, 15 Jan 2025 22:23:45 +0000 Subject: [PATCH] add entry to migration guide about the updated auto-inertia behavior Signed-off-by: Ian Chen --- Migration.md | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/Migration.md b/Migration.md index 5d036b71b..eb7aa1ef4 100644 --- a/Migration.md +++ b/Migration.md @@ -12,6 +12,18 @@ forward programmatically. This document aims to contain similar information to those files but with improved human-readability.. + +## libsdformat 15.1.1 to 15.2.0 + +1. Auto-inertia computation now takes into account the mass if specified. +Previously when auto-inertia is set to true, mass is ignored and the inertia +matrix is computed based on the collision densities. The new behavior is that +if mass is specified, the inertial values will be computed to preserve the +specified mass. The is done by first resolving the inertia from all +collisions using density as usual, it is then normalized to get unit inertia, +and finally the unit inertia is scaled so that the resulting mass matches the +specified mass. + ## libsdformat 14.x to 15.x ### Additions