ManagedObject.getAabb()

[aclegg3]

Motivation and Context

Adds a standard API function for querying the AABB of ManagedObjects.

In C++:

ManagedObject.getAabb()

In python (property):

obj.aabb

For ManagedArticulatedObjects, this function computes the cumulative bounding box from all the child links in the current state. A dirty flag is cached to ensure that re-computation effort is only applied when querying the property after a state change.

How Has This Been Tested

New tests are added to check that the function works for rigids with golden number and for AOs that all links are within the computed cumulative bounding box.

Types of changes

• Docs change / refactoring / dependency upgrade
• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to change)

Checklist

• My code follows the code style of this project.
• My change requires a change to the documentation.
• I have updated the documentation accordingly.
• I have read the CONTRIBUTING document.
• I have completed my CLA (see CONTRIBUTING)
• I have added tests to cover my changes.
• All new and existing tests passed.

[jturner65]

Just one question/suggestion