Conversation
… Cone (#730) - Extract shared circular-segment and GL10 quadrature helpers into detail/WetVolume.hh, replacing duplicate code in Cylinder and Cone - Improve Capsule CenterOfVolumeBelow numerical stability by guarding against catastrophic cancellation when hemisphere slice volume is tiny - Add float instantiation tests for all four shapes - Add Python pybind11 bindings and tests for volume_below and center_of_volume_below on all four shapes - Add Ruby SWIG bindings for VolumeBelow/CenterOfVolumeBelow on Cylinder, Cone, and new Ellipsoid/Capsule .i files - Fix MSVC C4305 truncation warning in Ellipsoid::Volume Generated-by: Claude Signed-off-by: Carlos Agüero <caguero@osrfoundation.org> (cherry picked from commit 2860804)
16 tasks
caguero
approved these changes
Mar 19, 2026
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
🎉 New feature
Summary
Continuing with #724 , this patch extends the volume API (
VolumeBelowandCenterOfVolumeBelow) — previously available only onSphereandBox— to Ellipsoid, Cylinder, Capsule, and Cone.Each shape computes the volume and centroid of the region below an arbitrary cutting plane, which is the key primitive needed for buoyancy force and torque calculations in simulation.
Algorithms
sqrt, 0 trig, 0 heap allocsWetVolume.hhAll implementations are header-only, zero-allocation, and suitable for real-time stepping.
Changes
detail/WetVolume.hh(new) — shared circular-segment and GL10 quadrature helpers, eliminating duplication between Cylinder and Cone.detail/{Ellipsoid,Cylinder,Capsule,Cone}.hh—VolumeBelowandCenterOfVolumeBelowimplementations.VolumeBelowFloattests for all four shapes.volume_below/center_of_volume_belowbindings and tests for all four shapes.VolumeBelow/CenterOfVolumeBelowadded toCylinder.i,Cone.i. NewEllipsoid.i,Capsule.icreated (preparatory; not in active build).Test plan
ctest --output-on-failure)Checklist
codecheckpassed (See contributing)Generated-by: Claude
Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-byandGenerated-bymessages.Backports: If this is a backport, please use Rebase and Merge instead.
This is an automatic backport of pull request #730 done by Mergify.