Tighter axis-aligned bounding box for meshes.

PiperOrigin-RevId: 516166936 Change-Id: Ie99217f8894bdd4bb093900fc0df9d4a1e5030d3
2023-03-13 03:53:35 -07:00
parent 2f03da740a
commit ae2c530d8b
3 changed files with 22 additions and 32 deletions
@@ -510,7 +510,7 @@ class mjCMesh: public mjCBase {
  double quat_surface[4];             // inertia orientation
  double boxsz_volume[3];             // half-sizes of equivalent inertia box (volume)
  double boxsz_surface[3];            // half-sizes of equivalent inertia box (surface)
-  double aabb[3];                     // half-sizes of axis-aligned bounding box
+  double aabb[6];                     // axis-aligned bounding box
  double volume;                      // volume of the mesh
  double surface;                     // surface of the mesh