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Clean up Convex geometry (including fixing AABB computation error) #325

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Aug 14, 2018
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Clean up Convex geometry (including fixing AABB computation error) #325

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4 changes: 4 additions & 0 deletions CHANGELOG.md
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,10 @@
* Switched to Eigen for math operations: [#96](https://github.com/flexible-collision-library/fcl/issues/96), [#150](https://github.com/flexible-collision-library/fcl/pull/150)
* fcl::Transform defined to be an Isometry to facilitate inverses [#318](https://github.com/flexible-collision-library/fcl/pull/318)

* Geometry

* Simplified Convex class, deprecating old constructor in favor of simpler, documented constructor: [#325](https://github.com/flexible-collision-library/fcl/pull/325)

* Broadphase

* Fixed redundant pair checking of SpatialHashingCollisionManager: [#156](https://github.com/flexible-collision-library/fcl/pull/156)
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7 changes: 7 additions & 0 deletions include/fcl/geometry/collision_geometry-inl.h
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Expand Up @@ -141,6 +141,13 @@ S CollisionGeometry<S>::computeVolume() const
template <typename S>
Matrix3<S> CollisionGeometry<S>::computeMomentofInertiaRelatedToCOM() const
{
// TODO(SeanCurtis-TRI): This is *horribly* inefficient. In complex cases,
// this will require computing volume integrals three times. The
// CollisionGeometry class should have a single virtual function that will
// return all three quantities in one call so that particular sub-classes can
// override this to process this answer more efficiently. The default
// implementation can be exactly these three calls.
// See: https://github.com/flexible-collision-library/fcl/issues/327.
Matrix3<S> C = computeMomentofInertia();
Vector3<S> com = computeCOM();
S V = computeVolume();
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