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ihmcrobotics / euclid

Vector math, geometry, reference frame, and shapes 2D & 3D

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`FrameShape3D`'s should have a `ReferenceFrame` for the shape's pose, too.

calvertdw opened this issue · comments

commented

FrameShape3DReadOnly has ReferenceFrameHolder#getReferenceFrame and Shape3DReadOnly#getPose.

When doing collisions and other geometric shape operation, it really helps to have the ReferenceFrame of the shape's geometric origin. Currently, I'm finding I have to maintain that frame and pass is around with the FrameShape.