Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai>

…ibution (#615)

Signed-off-by: Ian Chen <ichen@openrobotics.org>

Signed-off-by: Jagadeeshan S <jagadeeshanmsj@gmail.com>
Co-authored-by: Arjo Chakravarty <arjo@openrobotics.org>
Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org>

Signed-off-by: Shameek Ganguly <shameekarcanesphinx@gmail.com>

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

Backport of #636 with adapted package finding logic and a note
about requiring cmake 3.22.1.

This allows the src/python_pybind11/CMakeLists.txt file to be
built as a top-level cmake project against an external gz-math
library, with documentation added to the installation tutorial.

The logic for finding pybind11 is also moved from the root
CMakeLists.txt to src/python_pybind11/CMakeLists.txt to
reduce code duplication. When invoked through the root
CMakeLists.txt, pybind11 is treated as an optional
dependency, but when invoked from the src/python_pybind11
folder, pybind11 is treated it as required by setting
CMAKE_REQUIRE_FIND_PACKAGE_pybind11 to TRUE.

Signed-off-by: Silvio Traversaro <silvio.traversaro@iit.it>
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Co-authored-by: Silvio Traversaro <silvio.traversaro@iit.it>
(cherry picked from commit 17deea2)

* Update BUILD rules
* Add eigen3 test targets to satisfy layering checks
* Add default visibility for math/eigen3

Signed-off-by: Shameek Ganguly <shameek@intrinsic.ai>

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

The value of this variable may change if other code paths
call find_package(Python3), so move the warning to be
co-located with the add_subdirectory call.

Signed-off-by: Steve Peters <scpeters@openrobotics.org>

Part of gazebo-tooling/release-tools#1288

Signed-off-by: Jose Luis Rivero <jrivero@honurobotics.com>

* Docs/spell check (#669)

Signed-off-by: Gabriel Augusto <95982237+gabrielaugz@users.noreply.github.com>
Co-authored-by: gabrielaugz <wornbr22p@outlook.com>
(cherry picked from commit d5a19fe)

Signed-off-by: Steve Peters <scpeters@openrobotics.org>

Use unit normal for projection.

Update InterpolatePointTest to capture projection edges cases
- Resize the sample grid and add a gradient to the field
  to check projection normalisation.

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org>
(cherry picked from commit 06d73ac)

…724)

Replace the surface-mesh + divergence theorem implementation of
Box::VolumeBelow and Box::CenterOfVolumeBelow with an analytic
inclusion-exclusion formula (Scardovelli-Zaleski / Lehmann-Gekle).

The old VolumeBelow used TrianglesInPlane which relied on exact float
comparison (Plane::Side() == NO_SIDE) and produced wrong volumes for
non-axis-aligned planes. The old CenterOfVolumeBelow returned the
arithmetic mean of vertex positions instead of the volumetric centroid,
which was only correct for axis-aligned cuts.

The new implementation:
- Computes volume analytically via IE3/IE2/IE1 formulas with proper
  dimensional reduction (handles 3D, 2D, 1D, and degenerate cases)
- Computes centroid via first-moment IE formula with F_k functions
  matched to the effective dimensionality
- Keeps TrianglesInPlane for source compatibility (with bug note)
- Fixes Sphere<float> compilation by replacing hardcoded Vector3d
  with Vector3<T>::Zero in VolumeBelow and CenterOfVolumeBelow

Generated-by: Claude Opus 4.6 (1M context)
Signed-off-by: Carlos Agüero <caguero@osrfoundation.org>

… Cone (#730)

Generated-by: Claude
Signed-off-by: Carlos Agüero <caguero@osrfoundation.org>

Signed-off-by: Carlos Aguero <caguero@honurobotics.com>