From 2b583cbc3f40ac4f1af27613a49b475f2d0d99b7 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Thu, 16 Jan 2025 13:38:15 -0800 Subject: [PATCH] Add entry to Migration guide about the updated auto-inertia behavior (#1528) * add entry to migration guide about the updated auto-inertia behavior --------- Signed-off-by: Ian Chen Co-authored-by: Steve Peters --- Migration.md | 14 ++++++++++++++ 1 file changed, 14 insertions(+) diff --git a/Migration.md b/Migration.md index 5d036b71b..5370703c6 100644 --- a/Migration.md +++ b/Migration.md @@ -12,6 +12,20 @@ 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. 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 14.x to 15.x ### Additions