| Directory: | ./ |
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| File: | python/broadphase/broadphase_collision_manager.hh |
| Date: | 2025-05-02 10:16:21 |
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| Lines: | 43 | 48 | 89.6% |
| Branches: | 38 | 76 | 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 INRIA 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 | #ifndef COAL_PYTHON_BROADPHASE_BROADPHASE_COLLISION_MANAGER_HH | ||
| 36 | #define COAL_PYTHON_BROADPHASE_BROADPHASE_COLLISION_MANAGER_HH | ||
| 37 | |||
| 38 | #include <eigenpy/eigenpy.hpp> | ||
| 39 | |||
| 40 | #include "coal/fwd.hh" | ||
| 41 | #include "coal/broadphase/broadphase_collision_manager.h" | ||
| 42 | #include "coal/broadphase/default_broadphase_callbacks.h" | ||
| 43 | |||
| 44 | #include "../coal.hh" | ||
| 45 | |||
| 46 | #ifdef COAL_HAS_DOXYGEN_AUTODOC | ||
| 47 | #include "doxygen_autodoc/functions.h" | ||
| 48 | #include "doxygen_autodoc/coal/broadphase/broadphase_collision_manager.h" | ||
| 49 | #endif | ||
| 50 | |||
| 51 | #include <boost/algorithm/string/replace.hpp> | ||
| 52 | #include <boost/type_index.hpp> | ||
| 53 | |||
| 54 | namespace coal { | ||
| 55 | |||
| 56 | struct BroadPhaseCollisionManagerWrapper | ||
| 57 | : BroadPhaseCollisionManager, | ||
| 58 | bp::wrapper<BroadPhaseCollisionManager> { | ||
| 59 | typedef BroadPhaseCollisionManager Base; | ||
| 60 | |||
| 61 | void registerObjects(const std::vector<CollisionObject *> &other_objs) { | ||
| 62 | this->get_override("registerObjects")(other_objs); | ||
| 63 | } | ||
| 64 | void registerObject(CollisionObject *obj) { | ||
| 65 | this->get_override("registerObjects")(obj); | ||
| 66 | } | ||
| 67 | void unregisterObject(CollisionObject *obj) { | ||
| 68 | this->get_override("unregisterObject")(obj); | ||
| 69 | } | ||
| 70 | |||
| 71 | void update(const std::vector<CollisionObject *> &other_objs) { | ||
| 72 | this->get_override("update")(other_objs); | ||
| 73 | } | ||
| 74 | void update(CollisionObject *obj) { this->get_override("update")(obj); } | ||
| 75 | void update() { this->get_override("update")(); } | ||
| 76 | |||
| 77 | void setup() { this->get_override("setup")(); } | ||
| 78 | void clear() { this->get_override("clear")(); } | ||
| 79 | |||
| 80 | std::vector<CollisionObject *> getObjects() const { | ||
| 81 | #pragma GCC diagnostic push | ||
| 82 | #pragma GCC diagnostic ignored "-Wconversion" | ||
| 83 | return this->get_override("getObjects")(); | ||
| 84 | #pragma GCC diagnostic pop | ||
| 85 | } | ||
| 86 | |||
| 87 | void collide(CollisionCallBackBase *callback) const { | ||
| 88 | this->get_override("collide")(callback); | ||
| 89 | } | ||
| 90 | void collide(CollisionObject *obj, CollisionCallBackBase *callback) const { | ||
| 91 | this->get_override("collide")(obj, callback); | ||
| 92 | } | ||
| 93 | void collide(BroadPhaseCollisionManager *other_manager, | ||
| 94 | CollisionCallBackBase *callback) const { | ||
| 95 | this->get_override("collide")(other_manager, callback); | ||
| 96 | } | ||
| 97 | |||
| 98 | void distance(DistanceCallBackBase *callback) const { | ||
| 99 | this->get_override("distance")(callback); | ||
| 100 | } | ||
| 101 | void distance(CollisionObject *obj, DistanceCallBackBase *callback) const { | ||
| 102 | this->get_override("collide")(obj, callback); | ||
| 103 | } | ||
| 104 | void distance(BroadPhaseCollisionManager *other_manager, | ||
| 105 | DistanceCallBackBase *callback) const { | ||
| 106 | this->get_override("collide")(other_manager, callback); | ||
| 107 | } | ||
| 108 | |||
| 109 | bool empty() const { | ||
| 110 | #pragma GCC diagnostic push | ||
| 111 | #pragma GCC diagnostic ignored "-Wconversion" | ||
| 112 | return this->get_override("empty")(); | ||
| 113 | #pragma GCC diagnostic pop | ||
| 114 | } | ||
| 115 | size_t size() const { | ||
| 116 | #pragma GCC diagnostic push | ||
| 117 | #pragma GCC diagnostic ignored "-Wconversion" | ||
| 118 | return this->get_override("size")(); | ||
| 119 | #pragma GCC diagnostic pop | ||
| 120 | } | ||
| 121 | |||
| 122 | 5 | static void expose() { | |
| 123 | 5 | bp::class_<BroadPhaseCollisionManagerWrapper, boost::noncopyable>( | |
| 124 | "BroadPhaseCollisionManager", bp::no_init) | ||
| 125 |
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5 | .def("registerObjects", bp::pure_virtual(&Base::registerObjects), |
| 126 |
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5 | doxygen::member_func_doc(&Base::registerObjects), |
| 127 | ✗ | bp::with_custodian_and_ward_postcall<1, 2>()) | |
| 128 |
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5 | .def("registerObject", bp::pure_virtual(&Base::registerObject), |
| 129 |
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5 | doxygen::member_func_doc(&Base::registerObject), |
| 130 | ✗ | bp::with_custodian_and_ward_postcall<1, 2>()) | |
| 131 |
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5 | .def("unregisterObject", bp::pure_virtual(&Base::unregisterObject), |
| 132 |
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5 | doxygen::member_func_doc(&Base::unregisterObject)) |
| 133 | |||
| 134 |
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5 | .def("update", bp::pure_virtual((void (Base::*)())&Base::update), |
| 135 |
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5 | doxygen::member_func_doc((void (Base::*)())(&Base::update))) |
| 136 |
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5 | .def("update", |
| 137 | bp::pure_virtual((void (Base::*)( | ||
| 138 | const std::vector<CollisionObject *> &))&Base::update), | ||
| 139 |
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5 | doxygen::member_func_doc((void (Base::*)( |
| 140 | const std::vector<CollisionObject *> &))(&Base::update)), | ||
| 141 | ✗ | bp::with_custodian_and_ward_postcall<1, 2>()) | |
| 142 |
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5 | .def("update", |
| 143 | bp::pure_virtual( | ||
| 144 | (void (Base::*)(CollisionObject *obj))&Base::update), | ||
| 145 |
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5 | doxygen::member_func_doc( |
| 146 | (void (Base::*)(CollisionObject *obj))(&Base::update)), | ||
| 147 | ✗ | bp::with_custodian_and_ward_postcall<1, 2>()) | |
| 148 | |||
| 149 |
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5 | .def("setup", bp::pure_virtual(&Base::setup), |
| 150 |
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5 | doxygen::member_func_doc(&Base::setup)) |
| 151 |
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5 | .def("clear", bp::pure_virtual(&Base::clear), |
| 152 |
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5 | doxygen::member_func_doc(&Base::clear)) |
| 153 |
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5 | .def("empty", bp::pure_virtual(&Base::empty), |
| 154 |
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5 | doxygen::member_func_doc(&Base::empty)) |
| 155 |
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5 | .def("size", bp::pure_virtual(&Base::size), |
| 156 |
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5 | doxygen::member_func_doc(&Base::size)) |
| 157 | |||
| 158 |
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5 | .def("getObjects", |
| 159 | bp::pure_virtual( | ||
| 160 | (std::vector<CollisionObject *> (Base::*)() const) & | ||
| 161 | Base::getObjects), | ||
| 162 |
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5 | doxygen::member_func_doc( |
| 163 | (std::vector<CollisionObject *> (Base::*)() const) & | ||
| 164 | Base::getObjects), | ||
| 165 | ✗ | bp::with_custodian_and_ward_postcall<0, 1>()) | |
| 166 | |||
| 167 |
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5 | .def("collide", |
| 168 | bp::pure_virtual((void (Base::*)(CollisionCallBackBase *) const) & | ||
| 169 | Base::collide), | ||
| 170 |
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5 | doxygen::member_func_doc( |
| 171 | (void (Base::*)(CollisionCallBackBase *) const) & | ||
| 172 | Base::collide)) | ||
| 173 |
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5 | .def("collide", |
| 174 | bp::pure_virtual((void (Base::*)(CollisionObject *, | ||
| 175 | CollisionCallBackBase *) const) & | ||
| 176 | Base::collide), | ||
| 177 |
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5 | doxygen::member_func_doc( |
| 178 | (void (Base::*)(CollisionObject *, CollisionCallBackBase *) | ||
| 179 | const) & | ||
| 180 | Base::collide)) | ||
| 181 |
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5 | .def("collide", |
| 182 | bp::pure_virtual((void (Base::*)(BroadPhaseCollisionManager *, | ||
| 183 | CollisionCallBackBase *) const) & | ||
| 184 | Base::collide), | ||
| 185 |
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5 | doxygen::member_func_doc( |
| 186 | (void (Base::*)(BroadPhaseCollisionManager *, | ||
| 187 | CollisionCallBackBase *) const) & | ||
| 188 | Base::collide)) | ||
| 189 | |||
| 190 |
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5 | .def("distance", |
| 191 | bp::pure_virtual((void (Base::*)(DistanceCallBackBase *) const) & | ||
| 192 | Base::distance), | ||
| 193 |
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5 | doxygen::member_func_doc( |
| 194 | (void (Base::*)(DistanceCallBackBase *) const) & | ||
| 195 | Base::distance)) | ||
| 196 |
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5 | .def("distance", |
| 197 | bp::pure_virtual((void (Base::*)(CollisionObject *, | ||
| 198 | DistanceCallBackBase *) const) & | ||
| 199 | Base::distance), | ||
| 200 |
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5 | doxygen::member_func_doc( |
| 201 | (void (Base::*)(CollisionObject *, DistanceCallBackBase *) | ||
| 202 | const) & | ||
| 203 | Base::distance)) | ||
| 204 |
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5 | .def("distance", |
| 205 | bp::pure_virtual((void (Base::*)(BroadPhaseCollisionManager *, | ||
| 206 | DistanceCallBackBase *) const) & | ||
| 207 | Base::distance), | ||
| 208 |
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10 | doxygen::member_func_doc( |
| 209 | (void (Base::*)(BroadPhaseCollisionManager *, | ||
| 210 | DistanceCallBackBase *) const) & | ||
| 211 | Base::distance)); | ||
| 212 | 5 | } | |
| 213 | |||
| 214 | template <typename Derived> | ||
| 215 | 60 | static void exposeDerived() { | |
| 216 |
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60 | std::string class_name = boost::typeindex::type_id<Derived>().pretty_name(); |
| 217 |
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60 | boost::algorithm::replace_all(class_name, "coal::", ""); |
| 218 | #if defined(WIN32) | ||
| 219 | boost::algorithm::replace_all(class_name, "class ", ""); | ||
| 220 | #endif | ||
| 221 | |||
| 222 |
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60 | bp::class_<Derived, bp::bases<BroadPhaseCollisionManager> >( |
| 223 | class_name.c_str(), bp::no_init) | ||
| 224 |
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60 | .def(dv::init<Derived>()); |
| 225 | 60 | } | |
| 226 | |||
| 227 | }; // BroadPhaseCollisionManagerWrapper | ||
| 228 | |||
| 229 | } // namespace coal | ||
| 230 | |||
| 231 | #endif // ifndef COAL_PYTHON_BROADPHASE_BROADPHASE_COLLISION_MANAGER_HH | ||
| 232 |