Add support to get link AABB from its collisions #2787
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Signed-off-by: Gabriel Pacheco <[email protected]>
This was referenced Feb 19, 2025
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Signed-off-by: Gabriel Pacheco <[email protected]>
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Feb 20, 2025
include/gz/sim/Link.hh
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| /// collision shapes attached to the it. The link bounding box is | ||
| /// generated by merging all the bounding boxes of the collision | ||
| /// geometries. | ||
| /// \param _ecm |
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| /// \param _ecm | |
| /// \param _ecm Entity-component manager. |
| EXPECT_EQ(aab.Center(), math::Vector3d::Zero); | ||
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| meshSdf.SetUri("duck.dae"); | ||
| std::string filePath = common::joinPaths(std::string(PROJECT_SOURCE_PATH), |
| TEST_F(UtilTest, TransformAxisAlignedBoxFrame) | ||
| { | ||
| // Creates a pseudo-random vector with values between -max and max | ||
| std::srand(std::time(nullptr)); |
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include <cstdlib> and <ctime>
Signed-off-by: Gabriel Pacheco <[email protected]>
Signed-off-by: Gabriel Pacheco <[email protected]>
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🎉 New feature
Summary
This PR adds AABB support to the Link API. It computes the overall link aligned bounding box (in local and world coordinates) by merging all collision bounding boxes obtained from their geometry shapes. Plus, it adds utility functions to transform AABB coordinates and calculate mesh AABB using utilities from
gz::common::Mesh.Test it
gz-simandsdformatbranches$ colcon build --packages-select sdformat15 gz-sim9 --merge-installgz-sim9tests:$ ./build/gz-sim9/bin/UNIT_Util_TEST && ./build/gz-sim9/bin/INTEGRATION_linkChecklist
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.