Implements margin for convex hulls

RobotLocomotion / drake

Model-based design and verification for robotics.

https://drake.mit.edu

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Implements margin for convex hulls #21655

Closed amcastro-tri closed 2 months ago

amcastro-tri commented 3 months ago

Implements internal code to inflate a convex geometry by a given margin amount.

Note: a marked this as release notes: fix given that I did find a bug in the convex hull code. However, I was unable to come up with a simpler unit test for just the fix. Now, the newly introduced unit tests would not pass without the fix.

This change is

jwnimmer-tri commented 3 months ago

I am fine with landing this prep work to inflate a convex hull.

I do think we should be consistent, and I agree that "inflate" is the best choice.

We can debate what to do with non-convex meshes elsewhere (maybe #21528?).

jwnimmer-tri commented 3 months ago

So for https://github.com/RobotLocomotion/drake/pull/21528 we'll just document that non-convex meshes are the only exception and that we "deflate" in that case.

FYI I already posted in that PR earlier today. (I am skeptical about deflation.) We can discuss it over there. This PR is OK.