The same changes are also available in https://github.com/gazebosim/gz-sim/pull/2352. With that PR, you can visualize the decomposed mesh. Here's an example with the cordless drill model
This mesh is relatively simple so the difference is small but on right drill with higher voxel resolution, the collision wraps more tightly to the actual mesh.
Checklist
[x] Signed all commits for DCO
[ ] Added tests
[ ] Added example and/or tutorial
[ ] Updated documentation (as needed)
[ ] Updated migration guide (as needed)
[ ] Consider updating Python bindings (if the library has them)
[ ] While waiting for a review on your PR, please help review another open pull request to support the maintainers
Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.
🎉 New feature
Summary
Similar to https://github.com/gazebosim/gz-physics/pull/655 but applies the changes here for dartsim.
Test it
The same changes are also available in https://github.com/gazebosim/gz-sim/pull/2352. With that PR, you can visualize the decomposed mesh. Here's an example with the cordless drill model
Left: voxel resolution 80000 Right: voxel resolution 800000 (10x)
This mesh is relatively simple so the difference is small but on right drill with higher voxel resolution, the collision wraps more tightly to the actual mesh.
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.