From 0108d358c63c3c4795f52e90f4900a29d23d2052 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Thu, 16 Jan 2025 21:39:56 +0000 Subject: [PATCH] update migration Signed-off-by: Ian Chen --- Migration.md | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/Migration.md b/Migration.md index 1f859ee5f..05bb063d4 100644 --- a/Migration.md +++ b/Migration.md @@ -12,6 +12,19 @@ forward programmatically. This document aims to contain similar information to those files but with improved human-readability.. +## libsdformat 14.6.0 to 14.7.0 + +1. Inertial parameters can now be automatically calculated with a specified +mass. Previously when the `//inertial/@auto` attribute is set to true, the +`//inertial/mass` value is ignored and the mass, center of mass location, and +inertia matrix are computed based on the collision geometries and densities. +The new behavior is that if `//inertial/mass` is specified, the inertial values +will be computed to preserve the specified mass. This is done by first +calculating inertial parameters from all collisions using density as usual, +calculating the ratio between user-specified mass and the auto-computed mass, +and rescaling the computed mass and moment of inertia by that mass ratio so +that the resulting mass matches the specified mass. + ## libsdformat 13.x to 14.x ### Additions