Add attribute to indicate if a mesh is a convex hull?

[de-vri-es]

@airballking

Wouldn’t the elegant approach be to extend any collision checker that supports such optimized checks with a checking function that evaluates whether a given mesh is convex? Like that, the checker could decide whether or not to run the algorithms optimized for convex meshes upon loading of the meshes.

That would be expensive to check. It only has to be done while loading the URDF of course, so that might not be a huge problem.

However, isn’t the issue tracker a better place discuss this? This thread here has to risk of splitting the discussion between there and here.