From f4c58321b4959003cd52b4c9d6a8ab33c7e0d826 Mon Sep 17 00:00:00 2001 From: mitiguy Date: Wed, 2 Oct 2024 19:02:17 -0700 Subject: [PATCH] Improve documentation. --- multibody/tree/geometry_spatial_inertia.h | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/multibody/tree/geometry_spatial_inertia.h b/multibody/tree/geometry_spatial_inertia.h index dc70a9aae75f..e2cf1c52cd81 100644 --- a/multibody/tree/geometry_spatial_inertia.h +++ b/multibody/tree/geometry_spatial_inertia.h @@ -46,7 +46,8 @@ SpatialInertia 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} */