| Directory: | ./ |
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| File: | python/broadphase/broadphase.cc |
| Date: | 2025-04-01 09:23:31 |
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| Lines: | 41 | 41 | 100.0% |
| Branches: | 25 | 50 | 50.0% |
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| 1 | // | ||
| 2 | // Software License Agreement (BSD License) | ||
| 3 | // | ||
| 4 | // Copyright (c) 2022 INRIA | ||
| 5 | // Author: Justin Carpentier | ||
| 6 | // All rights reserved. | ||
| 7 | // | ||
| 8 | // Redistribution and use in source and binary forms, with or without | ||
| 9 | // modification, are permitted provided that the following conditions | ||
| 10 | // are met: | ||
| 11 | // | ||
| 12 | // * Redistributions of source code must retain the above copyright | ||
| 13 | // notice, this list of conditions and the following disclaimer. | ||
| 14 | // * Redistributions in binary form must reproduce the above | ||
| 15 | // copyright notice, this list of conditions and the following | ||
| 16 | // disclaimer in the documentation and/or other materials provided | ||
| 17 | // with the distribution. | ||
| 18 | // * Neither the name of CNRS-LAAS. nor the names of its | ||
| 19 | // contributors may be used to endorse or promote products derived | ||
| 20 | // from this software without specific prior written permission. | ||
| 21 | // | ||
| 22 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| 23 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| 24 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| 25 | // FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| 26 | // COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| 27 | // INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| 28 | // BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| 29 | // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| 30 | // CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| 31 | // LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| 32 | // ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| 33 | // POSSIBILITY OF SUCH DAMAGE. | ||
| 34 | |||
| 35 | #include "coal/fwd.hh" | ||
| 36 | #include "../coal.hh" | ||
| 37 | #include "../utils/std-pair.hh" | ||
| 38 | |||
| 39 | #include "coal/broadphase/broadphase_dynamic_AABB_tree.h" | ||
| 40 | #include "coal/broadphase/broadphase_dynamic_AABB_tree_array.h" | ||
| 41 | #include "coal/broadphase/broadphase_bruteforce.h" | ||
| 42 | #include "coal/broadphase/broadphase_SaP.h" | ||
| 43 | #include "coal/broadphase/broadphase_SSaP.h" | ||
| 44 | #include "coal/broadphase/broadphase_interval_tree.h" | ||
| 45 | #include "coal/broadphase/broadphase_spatialhash.h" | ||
| 46 | |||
| 47 | COAL_COMPILER_DIAGNOSTIC_PUSH | ||
| 48 | COAL_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS | ||
| 49 | #ifdef COAL_HAS_DOXYGEN_AUTODOC | ||
| 50 | #include "doxygen_autodoc/functions.h" | ||
| 51 | COAL_COMPILER_DIAGNOSTIC_POP | ||
| 52 | #include "doxygen_autodoc/coal/broadphase/default_broadphase_callbacks.h" | ||
| 53 | // #include "doxygen_autodoc/coal/broadphase/broadphase_dynamic_AABB_tree.h" | ||
| 54 | // #include | ||
| 55 | //"doxygen_autodoc/coal/broadphase/broadphase_dynamic_AABB_tree_array.h" | ||
| 56 | // #include "doxygen_autodoc/coal/broadphase/broadphase_bruteforce.h" | ||
| 57 | // #include "doxygen_autodoc/coal/broadphase/broadphase_SaP.h" | ||
| 58 | // #include "doxygen_autodoc/coal/broadphase/broadphase_SSaP.h" | ||
| 59 | // #include "doxygen_autodoc/coal/broadphase/broadphase_interval_tree.h" | ||
| 60 | // #include "doxygen_autodoc/coal/broadphase/broadphase_spatialhash.h" | ||
| 61 | #endif | ||
| 62 | |||
| 63 | #include "broadphase_callbacks.hh" | ||
| 64 | #include "broadphase_collision_manager.hh" | ||
| 65 | |||
| 66 | using namespace coal; | ||
| 67 | |||
| 68 | COAL_COMPILER_DIAGNOSTIC_PUSH | ||
| 69 | COAL_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS | ||
| 70 | 5 | void exposeBroadPhase() { | |
| 71 | 5 | CollisionCallBackBaseWrapper::expose(); | |
| 72 | 5 | DistanceCallBackBaseWrapper::expose(); | |
| 73 | |||
| 74 | // CollisionCallBackDefault | ||
| 75 | 5 | bp::class_<CollisionCallBackDefault, bp::bases<CollisionCallBackBase>>( | |
| 76 | "CollisionCallBackDefault", bp::no_init) | ||
| 77 |
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5 | .def(dv::init<CollisionCallBackDefault>()) |
| 78 |
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5 | .DEF_RW_CLASS_ATTRIB(CollisionCallBackDefault, data); |
| 79 | |||
| 80 | // DistanceCallBackDefault | ||
| 81 | 5 | bp::class_<DistanceCallBackDefault, bp::bases<DistanceCallBackBase>>( | |
| 82 | "DistanceCallBackDefault", bp::no_init) | ||
| 83 |
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5 | .def(dv::init<DistanceCallBackDefault>()) |
| 84 |
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5 | .DEF_RW_CLASS_ATTRIB(DistanceCallBackDefault, data); |
| 85 | |||
| 86 | // CollisionCallBackCollect | ||
| 87 | 5 | bp::class_<CollisionCallBackCollect, bp::bases<CollisionCallBackBase>>( | |
| 88 | "CollisionCallBackCollect", bp::no_init) | ||
| 89 |
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5 | .def(dv::init<CollisionCallBackCollect, const size_t>()) |
| 90 |
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5 | .DEF_CLASS_FUNC(CollisionCallBackCollect, numCollisionPairs) |
| 91 |
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5 | .DEF_CLASS_FUNC2(CollisionCallBackCollect, getCollisionPairs, |
| 92 | bp::return_value_policy<bp::copy_const_reference>()) | ||
| 93 |
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5 | .def(dv::member_func( |
| 94 |
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5 | "exist", (bool(CollisionCallBackCollect::*)( |
| 95 | const CollisionCallBackCollect::CollisionPair &) const) & | ||
| 96 | CollisionCallBackCollect::exist)) | ||
| 97 |
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5 | .def(dv::member_func("exist", |
| 98 |
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10 | (bool(CollisionCallBackCollect::*)( |
| 99 | CollisionObject *, CollisionObject *) const) & | ||
| 100 | CollisionCallBackCollect::exist)); | ||
| 101 | |||
| 102 | 5 | StdPairConverter<CollisionCallBackCollect::CollisionPair>::registration(); | |
| 103 | |||
| 104 | 5 | bp::class_<CollisionData>("CollisionData", bp::no_init) | |
| 105 |
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5 | .def(dv::init<CollisionData>()) |
| 106 |
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5 | .DEF_RW_CLASS_ATTRIB(CollisionData, request) |
| 107 |
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5 | .DEF_RW_CLASS_ATTRIB(CollisionData, result) |
| 108 |
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5 | .DEF_RW_CLASS_ATTRIB(CollisionData, done) |
| 109 |
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5 | .DEF_CLASS_FUNC(CollisionData, clear); |
| 110 | |||
| 111 | 5 | bp::class_<DistanceData>("DistanceData", bp::no_init) | |
| 112 |
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5 | .def(dv::init<DistanceData>()) |
| 113 |
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5 | .DEF_RW_CLASS_ATTRIB(DistanceData, request) |
| 114 |
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5 | .DEF_RW_CLASS_ATTRIB(DistanceData, result) |
| 115 |
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5 | .DEF_RW_CLASS_ATTRIB(DistanceData, done) |
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5 | .DEF_CLASS_FUNC(DistanceData, clear); |
| 117 | |||
| 118 | 5 | BroadPhaseCollisionManagerWrapper::expose(); | |
| 119 | |||
| 120 | BroadPhaseCollisionManagerWrapper::exposeDerived< | ||
| 121 | 5 | DynamicAABBTreeCollisionManager>(); | |
| 122 | BroadPhaseCollisionManagerWrapper::exposeDerived< | ||
| 123 | 5 | DynamicAABBTreeArrayCollisionManager>(); | |
| 124 | BroadPhaseCollisionManagerWrapper::exposeDerived< | ||
| 125 | 5 | IntervalTreeCollisionManager>(); | |
| 126 | 5 | BroadPhaseCollisionManagerWrapper::exposeDerived<SSaPCollisionManager>(); | |
| 127 | 5 | BroadPhaseCollisionManagerWrapper::exposeDerived<SaPCollisionManager>(); | |
| 128 | 5 | BroadPhaseCollisionManagerWrapper::exposeDerived<NaiveCollisionManager>(); | |
| 129 | |||
| 130 | // Specific case of SpatialHashingCollisionManager | ||
| 131 | { | ||
| 132 | typedef detail::SimpleHashTable<AABB, CollisionObject *, | ||
| 133 | detail::SpatialHash> | ||
| 134 | HashTable; | ||
| 135 | typedef SpatialHashingCollisionManager<HashTable> Derived; | ||
| 136 | 5 | bp::class_<Derived, bp::bases<BroadPhaseCollisionManager>>( | |
| 137 | "SpatialHashingCollisionManager", bp::no_init) | ||
| 138 |
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5 | .def(dv::init<Derived, Scalar, const Vec3s &, const Vec3s &, |
| 139 | 10 | bp::optional<unsigned int>>()); | |
| 140 | } | ||
| 141 | 5 | } | |
| 142 | COAL_COMPILER_DIAGNOSTIC_POP | ||
| 143 |