Improve documentation.

RobotLocomotion · Oct 3, 2024 · f4c5832 · f4c5832
1 parent cb3a25a
commit f4c5832
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/multibody/tree/geometry_spatial_inertia.h b/multibody/tree/geometry_spatial_inertia.h
@@ -46,7 +46,8 @@ SpatialInertia<double> CalcSpatialInertia(const geometry::Shape& shape,
    - All triangles must be "wound" such that their normals point outward
      (according to the right-hand rule based on vertex winding).
 
- If these requirements are not met, an exception *may* be thrown or the returned
+ In the rare situation that we can detect when these requirements are not met,
+ an exception is thrown and no value is returned. Otherwise, the returned
  SpatialInertia is meaningless.
  @throws std::exception if the volume of `mesh` is negative or nearly zero.
  @pydrake_mkdoc_identifier{mesh} */