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Add entry to Migration guide about the updated auto-inertia behavior #1528

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Jan 16, 2025
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Add entry to Migration guide about the updated auto-inertia behavior #1528

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e0c808e
add entry to migration guide about the updated auto-inertia behavior
iche033 Jan 15, 2025
8918a83
Merge branch 'sdf15' into auto_inertia_migration
iche033 Jan 15, 2025
8ee7758
Update Migration.md
iche033 Jan 16, 2025
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12 changes: 12 additions & 0 deletions Migration.md
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Expand Up @@ -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.
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## libsdformat 14.x to 15.x

### Additions
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