Attempt to correct mass matrix in mesh inertia calculator (backport #2775)

[mergify]

🦟 Bug fix

Depends on #2770

Summary

The mesh inertia calculator can potentially generate invalid inertial values for complex / non-water tight meshes. This PR adds a function that attempts to correct the auto-calculated mass matrix if it is strictly positive and within the specified tolerance of satisfying the triangle inequality.

Credits go to @shameekganguly and @scpeters for the mass matrix correction algorithm

Checklist

• Signed all commits for DCO
• Added tests
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• 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.

---

This is an automatic backport of pull request #2775 done by [Mergify](https://mergify.com).

[scpeters]

INTEGRATION_mesh_inertia_calculation test failed to run on windows (though it passes on gz-sim9):

• https://build.osrfoundation.org/job/gz_sim-pr-clowin/190/testReport/(root)/INTEGRATION_mesh_inertia_calculation/test_ran/

173: [==========] Running 3 tests from 1 test suite.
173: [----------] Global test environment set-up.
173: [----------] 3 tests from MeshInertiaCalculationTest
173: [ RUN      ] MeshInertiaCalculationTest.CylinderColladaMeshInertiaCalculation
173: [       OK ] MeshInertiaCalculationTest.CylinderColladaMeshInertiaCalculation (8650 ms)
173: [ RUN      ] MeshInertiaCalculationTest.CylinderColladaMeshWithNonCenterOriginInertiaCalculation
173: [       OK ] MeshInertiaCalculationTest.CylinderColladaMeshWithNonCenterOriginInertiaCalculation (1087 ms)
173: [ RUN      ] MeshInertiaCalculationTest.CylinderColladaOptimizedMeshInertiaCalculation
173/252 Test #173: INTEGRATION_mesh_inertia_calculation ...................***Exception: SegFault 10.35 sec

I'll try rerunning to see if it's flaky

[scpeters]

INTEGRATION_mesh_inertia_calculation test failed to run on windows (though it passes on gz-sim9):

• https://build.osrfoundation.org/job/gz_sim-pr-clowin/190/testReport/(root)/INTEGRATION_mesh_inertia_calculation/test_ran/

173: [==========] Running 3 tests from 1 test suite.
173: [----------] Global test environment set-up.
173: [----------] 3 tests from MeshInertiaCalculationTest
173: [ RUN      ] MeshInertiaCalculationTest.CylinderColladaMeshInertiaCalculation
173: [       OK ] MeshInertiaCalculationTest.CylinderColladaMeshInertiaCalculation (8650 ms)
173: [ RUN      ] MeshInertiaCalculationTest.CylinderColladaMeshWithNonCenterOriginInertiaCalculation
173: [       OK ] MeshInertiaCalculationTest.CylinderColladaMeshWithNonCenterOriginInertiaCalculation (1087 ms)
173: [ RUN      ] MeshInertiaCalculationTest.CylinderColladaOptimizedMeshInertiaCalculation
173/252 Test #173: INTEGRATION_mesh_inertia_calculation ...................***Exception: SegFault 10.35 sec

I'll try rerunning to see if it's flaky

failed again but earlier:

https://build.osrfoundation.org/job/gz_sim-pr-clowin/191/testReport/(root)/INTEGRATION_mesh_inertia_calculation/test_ran/

173: [==========] Running 3 tests from 1 test suite.
173: [----------] Global test environment set-up.
173: [----------] 3 tests from MeshInertiaCalculationTest
173: [ RUN      ] MeshInertiaCalculationTest.CylinderColladaMeshInertiaCalculation
173/252 Test #173: INTEGRATION_mesh_inertia_calculation ...................Exit code 0xc0000374
***Exception:   8.66 sec

[iche033]

hmm it may have been caused by #2798. I see that the win build passed there, but in a separate non-related PR, the INTEGRATION_mesh_inertia_calculator test failed.

[scpeters]

hmm it may have been caused by #2798. I see that the win build passed there, but in a separate non-related PR, the INTEGRATION_mesh_inertia_calculator test failed.

I just ran CI for gz-sim8, and the test fails there already, so it looks unrelated to this PR:

• https://build.osrfoundation.org/view/gz-harmonic/job/gz_sim-8-clowin/18/testReport/junit/(root)/INTEGRATION_mesh_inertia_calculation/test_ran/

[scpeters]

hmm it may have been caused by #2798. I see that the win build passed there, but in a separate non-related PR, the INTEGRATION_mesh_inertia_calculator test failed.

I just ran CI for gz-sim8, and the test fails there already, so it looks unrelated to this PR:

• https://build.osrfoundation.org/view/gz-harmonic/job/gz_sim-8-clowin/18/testReport/junit/(root)/INTEGRATION_mesh_inertia_calculation/test_ran/

actually a see a failure as far back as https://build.osrfoundation.org/view/gz-harmonic/job/gz_sim-8-clowin/10/

[iche033]

hmm it may have been caused by #2798. I see that the win build passed there, but in a separate non-related PR, the INTEGRATION_mesh_inertia_calculator test failed.

I just ran CI for gz-sim8, and the test fails there already, so it looks unrelated to this PR:

• https://build.osrfoundation.org/view/gz-harmonic/job/gz_sim-8-clowin/18/testReport/junit/(root)/INTEGRATION_mesh_inertia_calculation/test_ran/

actually a see a failure as far back as https://build.osrfoundation.org/view/gz-harmonic/job/gz_sim-8-clowin/10/

oh then it could be due to #2754. The changes here just increase the chance of it failing.

[scpeters]

reported as flaky test in #2801

[iche033]

73e82c3 should fix the crash on Windows. Found that the crash happens on server exit when another server instance is run immediately right after an existing one. An explicit call to server->Stop() seems to get rid of the crash. I got the build to pass 2 times in a row. I'll start another one and if that passes, I'll merge this PR.

[iche033]

73e82c3 should fix the crash on Windows. Found that the crash happens on server exit when another server instance is run immediately right after an existing one. An explicit call to server->Stop() seems to get rid of the crash. I got the build to pass 2 times in a row. I'll start another one and if that passes, I'll merge this PR.

spoke too soon. It failed again: https://build.osrfoundation.org/job/gz_sim-pr-clowin/202