GCC Code Coverage Report

Directory: ./
File: python/collision-geometries.cc
Date: 2025-06-03 17:15:40
Exec Total Coverage
Lines: 402 469 85.7%
Functions: 27 51 52.9%
Branches: 426 924 46.1%
Line Branch Exec Source
1 //
2 // Software License Agreement (BSD License)
3 //
4 // Copyright (c) 2019-2024 CNRS-LAAS INRIA
5 // Author: Joseph Mirabel
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 <eigenpy/eigenpy.hpp>
36 #include <eigenpy/eigen-to-python.hpp>
37
38 #if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
39 #include <eigenpy/id.hpp>
40 #endif
41 #include "coal.hh"
42
43 #include "deprecation.hh"
44
45 #include "coal/fwd.hh"
46 #include "coal/shape/geometric_shapes.h"
47 #include "coal/shape/convex.h"
48 #include "coal/BVH/BVH_model.h"
49 #include "coal/hfield.h"
50
51 #include "coal/serialization/memory.h"
52 #include "coal/serialization/AABB.h"
53 #include "coal/serialization/BVH_model.h"
54 #include "coal/serialization/hfield.h"
55 #include "coal/serialization/geometric_shapes.h"
56 #include "coal/serialization/convex.h"
57
58 #include "pickle.hh"
59 #include "serializable.hh"
60
61 #ifdef COAL_HAS_DOXYGEN_AUTODOC
62 // FIXME for a reason I do not understand, doxygen fails to understand that
63 // BV_splitter is not defined in coal/BVH/BVH_model.h
64 #include "coal/internal/BV_splitter.h"
65 #include "coal/broadphase/detail/hierarchy_tree.h"
66
67 #include "doxygen_autodoc/coal/BVH/BVH_model.h"
68 #include "doxygen_autodoc/coal/BV/AABB.h"
69 #include "doxygen_autodoc/coal/hfield.h"
70 #include "doxygen_autodoc/coal/shape/geometric_shapes.h"
71 #include "doxygen_autodoc/functions.h"
72 #endif
73
74 using namespace boost::python;
75 using namespace coal;
76 using namespace coal::python;
77 namespace dv = doxygen::visitor;
78 namespace bp = boost::python;
79
80 using boost::noncopyable;
81
82 typedef std::vector<Vec3s> Vec3ss;
83
84 struct BVHModelBaseWrapper {
85 typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 3, Eigen::RowMajor> RowMatrixX3;
86 typedef Eigen::Map<RowMatrixX3> MapRowMatrixX3;
87 typedef Eigen::Ref<RowMatrixX3> RefRowMatrixX3;
88
89 ✗ static Vec3s& vertex(BVHModelBase& bvh, unsigned int i) {
90 ✗ if (i >= bvh.num_vertices) throw std::out_of_range("index is out of range");
91 ✗ return (*(bvh.vertices))[i];
92 }
93
94 1 static RefRowMatrixX3 vertices(BVHModelBase& bvh) {
95
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 1 if (bvh.num_vertices > 0)
96 ✗ return MapRowMatrixX3(bvh.vertices->data()->data(), bvh.num_vertices, 3);
97 else
98
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 1 return MapRowMatrixX3(NULL, bvh.num_vertices, 3);
99 }
100
101 ✗ static Triangle32 tri_indices(const BVHModelBase& bvh, unsigned int i) {
102 ✗ if (i >= bvh.num_tris) throw std::out_of_range("index is out of range");
103 ✗ return (*bvh.tri_indices)[i];
104 }
105 };
106
107 template <typename BV>
108 20 void exposeBVHModel(const std::string& bvname) {
109 typedef BVHModel<BV> BVH;
110
111
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 20 const std::string type_name = "BVHModel" + bvname;
112
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 20 class_<BVH, bases<BVHModelBase>, shared_ptr<BVH>>(
113 type_name.c_str(), doxygen::class_doc<BVH>(), no_init)
114
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 20 .def(dv::init<BVH>())
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 20 .def(dv::init<BVH, const BVH&>())
116
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 20 .DEF_CLASS_FUNC(BVH, getNumBVs)
117
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 20 .DEF_CLASS_FUNC(BVH, makeParentRelative)
118
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 20 .DEF_CLASS_FUNC(BVHModelBase, memUsage)
119 20 .def("clone", &BVH::clone, doxygen::member_func_doc(&BVH::clone),
120 ✗ return_value_policy<manage_new_object>())
121
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 20 .def_pickle(PickleObject<BVH>())
122
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 20 .def(SerializableVisitor<BVH>())
123 #if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
124
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 20 .def(eigenpy::IdVisitor<BVH>())
125 #endif
126 ;
127 20 }
128
129 template <typename BV>
130 20 void exposeHeightField(const std::string& bvname) {
131 typedef HeightField<BV> Geometry;
132 typedef typename Geometry::Base Base;
133 typedef typename Geometry::Node Node;
134
135
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 20 const std::string type_name = "HeightField" + bvname;
136
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 20 class_<Geometry, bases<Base>, shared_ptr<Geometry>>(
137 type_name.c_str(), doxygen::class_doc<Geometry>(), no_init)
138
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 20 .def(dv::init<HeightField<BV>>())
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 20 .def(dv::init<HeightField<BV>, const HeightField<BV>&>())
140
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 20 .def(dv::init<HeightField<BV>, Scalar, Scalar, const MatrixXs&,
141 20 bp::optional<Scalar>>())
142
143
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 20 .DEF_CLASS_FUNC(Geometry, getXDim)
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 20 .DEF_CLASS_FUNC(Geometry, getYDim)
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 20 .DEF_CLASS_FUNC(Geometry, getMinHeight)
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 20 .DEF_CLASS_FUNC(Geometry, getMaxHeight)
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 20 .DEF_CLASS_FUNC(Geometry, getNodeType)
148
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 20 .DEF_CLASS_FUNC(Geometry, updateHeights)
149
150 40 .def("clone", &Geometry::clone,
151 20 doxygen::member_func_doc(&Geometry::clone),
152 ✗ return_value_policy<manage_new_object>())
153
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 20 .def("getXGrid", &Geometry::getXGrid,
154 20 doxygen::member_func_doc(&Geometry::getXGrid),
155 ✗ bp::return_value_policy<bp::copy_const_reference>())
156
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 20 .def("getYGrid", &Geometry::getYGrid,
157 20 doxygen::member_func_doc(&Geometry::getYGrid),
158 ✗ bp::return_value_policy<bp::copy_const_reference>())
159
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 20 .def("getHeights", &Geometry::getHeights,
160 20 doxygen::member_func_doc(&Geometry::getHeights),
161 ✗ bp::return_value_policy<bp::copy_const_reference>())
162
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 20 .def("getBV", (Node & (Geometry::*)(unsigned int)) & Geometry::getBV,
163
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 20 doxygen::member_func_doc((Node & (Geometry::*)(unsigned int)) &
164 Geometry::getBV),
165 ✗ bp::return_internal_reference<>())
166
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 20 .def_pickle(PickleObject<Geometry>())
167
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 20 .def(SerializableVisitor<Geometry>())
168 #if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
169
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 20 .def(eigenpy::IdVisitor<Geometry>())
170 #endif
171 ;
172 20 }
173
174 template <typename IndexType>
175 struct ConvexBaseWrapper {
176 typedef ConvexBaseTpl<IndexType> ConvexBaseType;
177 typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 3, Eigen::RowMajor> RowMatrixX3;
178 typedef Eigen::Map<RowMatrixX3> MapRowMatrixX3;
179 typedef Eigen::Ref<RowMatrixX3> RefRowMatrixX3;
180 typedef Eigen::Map<VecXs> MapVecXs;
181 typedef Eigen::Ref<VecXs> RefVecXs;
182
183 ✗ static Vec3s& point(const ConvexBaseType& convex, unsigned int i) {
184 ✗ if (i >= convex.num_points)
185 ✗ throw std::out_of_range("index is out of range");
186 ✗ return (*(convex.points))[i];
187 }
188
189 ✗ static RefRowMatrixX3 points(const ConvexBaseType& convex) {
190 ✗ return MapRowMatrixX3((*(convex.points))[0].data(), convex.num_points, 3);
191 }
192
193 ✗ static Vec3s& normal(const ConvexBaseType& convex, unsigned int i) {
194 ✗ if (i >= convex.num_normals_and_offsets)
195 ✗ throw std::out_of_range("index is out of range");
196 ✗ return (*(convex.normals))[i];
197 }
198
199 ✗ static RefRowMatrixX3 normals(const ConvexBaseType& convex) {
200 ✗ return MapRowMatrixX3((*(convex.normals))[0].data(),
201 ✗ convex.num_normals_and_offsets, 3);
202 }
203
204 ✗ static Scalar offset(const ConvexBaseType& convex, unsigned int i) {
205 ✗ if (i >= convex.num_normals_and_offsets)
206 ✗ throw std::out_of_range("index is out of range");
207 ✗ return (*(convex.offsets))[i];
208 }
209
210 ✗ static RefVecXs offsets(const ConvexBaseType& convex) {
211 ✗ return MapVecXs(convex.offsets->data(), convex.num_normals_and_offsets, 1);
212 }
213
214 ✗ static list neighbors(const ConvexBaseType& convex, unsigned int i) {
215 ✗ if (i >= convex.num_points)
216 ✗ throw std::out_of_range("index is out of range");
217 ✗ list n;
218 const std::vector<typename ConvexBaseType::Neighbors>& neighbors_ =
219 ✗ *(convex.neighbors);
220 ✗ for (unsigned char j = 0; j < neighbors_[i].count; ++j) {
221 ✗ n.append(convex.neighbor(IndexType(i), j));
222 }
223 ✗ return n;
224 ✗ }
225
226 2 static ConvexBaseType* convexHull(const Vec3ss& points, bool keepTri,
227 const char* qhullCommand) {
228 2 return ConvexBaseType::convexHull(
229 2 points.data(), (unsigned int)points.size(), keepTri, qhullCommand);
230 }
231 };
232
233 template <typename PolygonT>
234 struct ConvexWrapper {
235 typedef ConvexTpl<PolygonT> Convex_t;
236 typedef typename PolygonT::IndexType IndexType;
237 typedef TriangleTpl<IndexType> TriangleType;
238
239 ✗ static PolygonT polygons(const Convex_t& convex, unsigned int i) {
240 ✗ if (i >= convex.num_polygons)
241 ✗ throw std::out_of_range("index is out of range");
242 ✗ return (*convex.polygons)[i];
243 }
244
245 3 static shared_ptr<Convex_t> constructor(
246 const Vec3ss& _points, const std::vector<TriangleType>& _tris) {
247
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 3 std::shared_ptr<std::vector<Vec3s>> points(
248
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 6 new std::vector<Vec3s>(_points.size()));
249 3 std::vector<Vec3s>& points_ = *points;
250
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 14 for (std::size_t i = 0; i < _points.size(); ++i) points_[i] = _points[i];
251
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253
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 6 new std::vector<TriangleType>(_tris.size()));
254 3 std::vector<TriangleType>& tris_ = *tris;
255
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 12 for (std::size_t i = 0; i < _tris.size(); ++i) tris_[i] = _tris[i];
256
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 12 return shared_ptr<Convex_t>(new Convex_t(points,
257 3 (unsigned int)_points.size(), tris,
258
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 9 (unsigned int)_tris.size()));
259 3 }
260 };
261
262 template <typename T>
263 120 void defComputeMemoryFootprint() {
264 120 doxygen::def("computeMemoryFootprint", &computeMemoryFootprint<T>);
265 120 }
266
267 5 void exposeComputeMemoryFootprint() {
268 5 defComputeMemoryFootprint<Sphere>();
269 5 defComputeMemoryFootprint<Ellipsoid>();
270 5 defComputeMemoryFootprint<Cone>();
271 5 defComputeMemoryFootprint<Capsule>();
272 5 defComputeMemoryFootprint<Cylinder>();
273 5 defComputeMemoryFootprint<Box>();
274 5 defComputeMemoryFootprint<Plane>();
275 5 defComputeMemoryFootprint<Halfspace>();
276 5 defComputeMemoryFootprint<TriangleP>();
277
278 5 defComputeMemoryFootprint<BVHModel<OBB>>();
279 5 defComputeMemoryFootprint<BVHModel<RSS>>();
280 5 defComputeMemoryFootprint<BVHModel<OBBRSS>>();
281 5 }
282
283 template <typename IndexType>
284 20 void exposeConvexBase(const std::string& classname) {
285 typedef ConvexBaseTpl<IndexType> ConvexBaseType;
286 typedef ConvexBaseWrapper<IndexType> ConvexBaseTypeWrapper;
287
288
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 20 class_<ConvexBaseType, bases<ShapeBase>, shared_ptr<ConvexBaseType>,
289 noncopyable>(classname.c_str(), doxygen::class_doc<ConvexBaseType>(),
290 no_init)
291
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 20 .DEF_RO_CLASS_ATTRIB(ConvexBaseType, center)
292
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 20 .DEF_RO_CLASS_ATTRIB(ConvexBaseType, num_normals_and_offsets)
294
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 20 .def("point", &ConvexBaseTypeWrapper::point, bp::args("self", "index"),
295 "Retrieve the point given by its index.",
296 20 bp::return_internal_reference<>())
297
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298 "Retrieve the point given by its index.",
299
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 60 ::coal::python::deprecated_member<bp::return_internal_reference<>>())
300
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 20 .def("points", &ConvexBaseTypeWrapper::points, bp::args("self"),
301 "Retrieve all the points.",
302 20 bp::with_custodian_and_ward_postcall<0, 1>())
303
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 20 .def("normal", &ConvexBaseTypeWrapper::normal, bp::args("self", "index"),
304 "Retrieve the normal given by its index.",
305 20 bp::return_internal_reference<>())
306
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 20 .def("normals", &ConvexBaseTypeWrapper::normals, bp::args("self"),
307 "Retrieve all the normals.",
308 20 bp::with_custodian_and_ward_postcall<0, 1>())
309
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 40 .def("offset", &ConvexBaseTypeWrapper::offset, bp::args("self", "index"),
310 "Retrieve the offset given by its index.")
311
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 20 .def("offsets", &ConvexBaseTypeWrapper::offsets, bp::args("self"),
312 "Retrieve all the offsets.",
313 20 bp::with_custodian_and_ward_postcall<0, 1>())
314
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 20 .def("neighbors", &ConvexBaseTypeWrapper::neighbors)
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 20 .def("convexHull", &ConvexBaseTypeWrapper::convexHull,
316 ✗ return_value_policy<manage_new_object>())
317
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 20 .staticmethod("convexHull")
318 20 .def("clone", &ConvexBaseType::clone,
319
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 20 doxygen::member_func_doc(&ConvexBaseType::clone),
320 20 return_value_policy<manage_new_object>());
321 20 }
322
323 template <typename PolygonT>
324 20 void exposeConvex(const std::string& classname) {
325 typedef ConvexTpl<PolygonT> ConvexType;
326 typedef ConvexBaseTpl<typename PolygonT::IndexType> ConvexBaseType;
327 typedef ConvexWrapper<PolygonT> ConvexWrapperType;
328
329
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 20 class_<ConvexType, bases<ConvexBaseType>, shared_ptr<ConvexType>,
330 noncopyable>(classname.c_str(), doxygen::class_doc<ConvexType>(),
331 no_init)
332
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 40 .def("__init__",
333 make_constructor(&ConvexWrapper<Triangle32>::constructor))
334
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 20 .DEF_RO_CLASS_ATTRIB(ConvexType, num_polygons)
337
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 20 .def("polygons", &ConvexWrapperType::polygons)
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 20 .def_pickle(PickleObject<ConvexType>())
339
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 20 .def(SerializableVisitor<ConvexType>())
340 #if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
341
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 20 .def(eigenpy::IdVisitor<ConvexType>())
342 #endif
343 ;
344 20 }
345
346 5 void exposeShapes() {
347
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 5 class_<ShapeBase, bases<CollisionGeometry>, shared_ptr<ShapeBase>,
348 noncopyable>("ShapeBase", doxygen::class_doc<ShapeBase>(), no_init)
349 //.def ("getObjectType", &CollisionGeometry::getObjectType)
350
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 5 .def(dv::member_func("setSweptSphereRadius",
351
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 5 &ShapeBase::setSweptSphereRadius))
352
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 5 .def(dv::member_func("getSweptSphereRadius",
353
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 10 &ShapeBase::getSweptSphereRadius));
354
355
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 5 class_<Box, bases<ShapeBase>, shared_ptr<Box>>(
356 "Box", doxygen::class_doc<ShapeBase>(), no_init)
357
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358
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366 #if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
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368 #endif
369 ;
370
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372 "Capsule", doxygen::class_doc<Capsule>(), no_init)
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382 #if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
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384 #endif
385 ;
386
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388 "Cone", doxygen::class_doc<Cone>(), no_init)
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400 #endif
401 ;
402
403
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408
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410 "Cylinder", doxygen::class_doc<Cylinder>(), no_init)
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416 10 .def("clone", &Cylinder::clone,
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418 ✗ return_value_policy<manage_new_object>())
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421 #if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
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423 #endif
424 ;
425
426
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427 "Halfspace", doxygen::class_doc<Halfspace>(), no_init)
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434 10 .def("clone", &Halfspace::clone,
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436 ✗ return_value_policy<manage_new_object>())
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439 #if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
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441 #endif
442 ;
443
444
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445 "Plane", doxygen::class_doc<Plane>(), no_init)
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453 ✗ return_value_policy<manage_new_object>())
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456 #if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
457
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458 #endif
459 ;
460
461
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462 "Sphere", doxygen::class_doc<Sphere>(), no_init)
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468 ✗ return_value_policy<manage_new_object>())
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471 #if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
472
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473 #endif
474 ;
475
476
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477 "Ellipsoid", doxygen::class_doc<Ellipsoid>(), no_init)
478
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483 10 .def("clone", &Ellipsoid::clone,
484
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485 ✗ return_value_policy<manage_new_object>())
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488 #if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
489
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490 #endif
491 ;
492
493
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494 "TriangleP", doxygen::class_doc<TriangleP>(), no_init)
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501 10 .def("clone", &TriangleP::clone,
502
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503 ✗ return_value_policy<manage_new_object>())
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506 #if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
507
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508 #endif
509 ;
510 5 }
511
512 ✗ boost::python::tuple AABB_distance_proxy(const AABB& self, const AABB& other) {
513 ✗ Vec3s P, Q;
514 ✗ Scalar distance = self.distance(other, &P, &Q);
515 ✗ return boost::python::make_tuple(distance, P, Q);
516 }
517
518 5 void exposeCollisionGeometries() {
519
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524
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533
534
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538
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542 }
543
544
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545
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563
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567
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568
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569 }
570
571
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572 "A class describing the AABB collision structure, which is a "
573 "box in 3D space determined by two diagonal points",
574 no_init)
575
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578 "Creating an AABB at position v with zero size."))
579
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580 "Creating an AABB with two endpoints a and b."))
581
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582
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 10 bp::args("self", "core", "delta"),
583 "Creating an AABB centered as core and is of half-dimension delta."))
584
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 10 .def(init<Vec3s, Vec3s, Vec3s>(bp::args("self", "a", "b", "c"),
585 "Creating an AABB contains three points."))
586
587 10 .def("contain", (bool (AABB::*)(const Vec3s&) const) & AABB::contain,
588
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590
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 10 bp::args("self", "other"),
591 "Check whether the AABB contains another AABB.")
592
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594
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 10 bp::args("self", "other"), "Check whether two AABB are overlap.")
595
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596 (bool (AABB::*)(const AABB&, AABB&) const) & AABB::overlap,
597
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 10 bp::args("self", "other", "overlapping_part"),
598 "Check whether two AABB are overlaping and return the overloaping "
599 "part if true.")
600
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602
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 10 bp::args("self", "other"), "Distance between two AABBs.")
603 // .def("distance",
604 // AABB_distance_proxy,
605 // bp::args("self","other"),
606 // "Distance between two AABBs.")
607
608
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609 "min_",
610
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 5 bp::make_function(
611 ✗ +[](AABB& self) -> Vec3s& { return self.min_; },
612 ✗ bp::return_internal_reference<>()),
613
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 10 bp::make_function(
614 5 +[](AABB& self, const Vec3s& min_) -> void { self.min_ = min_; }),
615 "The min point in the AABB.")
616
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617 "max_",
618
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619 ✗ +[](AABB& self) -> Vec3s& { return self.max_; },
620 ✗ bp::return_internal_reference<>()),
621
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 10 bp::make_function(
622 5 +[](AABB& self, const Vec3s& max_) -> void { self.max_ = max_; }),
623 "The max point in the AABB.")
624
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631
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 10 .def("size", &AABB::volume, bp::arg("self"), "Size of the AABB.")
633
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636
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637
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 10 .def("volume", &AABB::volume, bp::arg("self"), "Volume of the AABB.")
638
639 10 .def("expand",
640 static_cast<AABB& (AABB::*)(const AABB&, Scalar)>(&AABB::expand),
641 // doxygen::member_func_doc(static_cast<AABB& (AABB::*)(const
642 // AABB &, Scalar)>(&AABB::expand)),
643 // doxygen::member_func_args(static_cast<AABB&
644 // (AABB::*)(const AABB &, Scalar)>(&AABB::expand)),
645 ✗ bp::return_internal_reference<>())
646
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 5 .def("expand", static_cast<AABB& (AABB::*)(const Scalar)>(&AABB::expand),
647 // doxygen::member_func_doc(static_cast<AABB& (AABB::*)(const
648 // Scalar)>(&AABB::expand)),
649 // doxygen::member_func_args(static_cast<AABB&
650 // (AABB::*)(const Scalar)>(&AABB::expand)),
651 ✗ bp::return_internal_reference<>())
652
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653 // doxygen::member_func_doc(static_cast<AABB& (AABB::*)(const
654 // Vec3s &)>(&AABB::expand)),
655 // doxygen::member_func_args(static_cast<AABB&
656 // (AABB::*)(const Vec3s &)>(&AABB::expand)),
657 ✗ bp::return_internal_reference<>())
658
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 5 .def(SerializableVisitor<AABB>())
660 #if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
661
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 5 .def(eigenpy::IdVisitor<AABB>())
662 #endif
663 ;
664
665
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 5 def("translate", (AABB (*)(const AABB&, const Vec3s&))&translate,
666
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 10 bp::args("aabb", "t"), "Translate the center of AABB by t");
667
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 5 def("rotate", (AABB (*)(const AABB&, const Matrix3s&))&rotate,
669
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 10 bp::args("aabb", "R"), "Rotate the AABB object by R");
670
671 5 if (!eigenpy::register_symbolic_link_to_registered_type<
672
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 5 CollisionGeometry>()) {
673
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 10 class_<CollisionGeometry, CollisionGeometryPtr_t, noncopyable>(
674 "CollisionGeometry", no_init)
675
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676
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677
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679
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681
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682 &CollisionGeometry::computeMomentofInertia)
683
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684
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685 &CollisionGeometry::computeMomentofInertiaRelatedToCOM)
686
687
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 5 .def_readwrite("aabb_radius", &CollisionGeometry::aabb_radius,
688 "AABB radius.")
689
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690 "AABB center in local coordinate.")
691
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 5 .def_readwrite("aabb_local", &CollisionGeometry::aabb_local,
692 "AABB in local coordinate, used for tight AABB when "
693 "only translation transform.")
694
695
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696 "Whether the object is completely occupied.")
697
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698 "Whether the object is completely free.")
699
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700 "Whether the object has some uncertainty.")
701
702
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 5 .def_readwrite("cost_density", &CollisionGeometry::cost_density,
703 "Collision cost for unit volume.")
704 10 .def_readwrite("threshold_occupied",
705
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 5 &CollisionGeometry::threshold_occupied,
706 "Threshold for occupied ( >= is occupied).")
707
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 5 .def_readwrite("threshold_free", &CollisionGeometry::threshold_free,
708 "Threshold for free (<= is free).")
709
710
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 5 .def(self == self)
711
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 5 .def(self != self);
712 }
713
714 5 exposeShapes();
715
716
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 10 class_<BVHModelBase, bases<CollisionGeometry>, BVHModelPtr_t, noncopyable>(
717 "BVHModelBase", no_init)
718
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 5 .def("vertex", &BVHModelBaseWrapper::vertex, bp::args("self", "index"),
719 "Retrieve the vertex given by its index.",
720 5 bp::return_internal_reference<>())
721
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722 "Retrieve the vertex given by its index.",
723
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 15 ::coal::python::deprecated_member<bp::return_internal_reference<>>())
724
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 5 .def("vertices", &BVHModelBaseWrapper::vertices, bp::args("self"),
725 "Retrieve all the vertices.",
726 5 bp::with_custodian_and_ward_postcall<0, 1>())
727 // .add_property ("vertices",
728 // bp::make_function(&BVHModelBaseWrapper::vertices,bp::with_custodian_and_ward_postcall<0,1>()),
729 // "Vertices of the BVH.")
730
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731
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 10 bp::args("self", "index"),
732 "Retrieve the triangle given by its index.")
733
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736
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738
739
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740
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 5 .DEF_CLASS_FUNC(BVHModelBase, buildConvexHull)
741
742 // Expose function to build a BVH
743
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744
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745
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746
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747
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748
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749
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 5 const Vec3ss&, const std::vector<Triangle32>&)>(
750 "addSubModel", &BVHModelBase::addSubModel))
751
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752 "addSubModel", &BVHModelBase::addSubModel))
753
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 5 .def(dv::member_func("endModel", &BVHModelBase::endModel))
754 // Expose function to replace a BVH
755
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 5 .def(dv::member_func("beginReplaceModel",
756
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 5 &BVHModelBase::beginReplaceModel))
757
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758
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760
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762
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 10 exposeBVHModel<OBB>("OBB");
763
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 10 exposeBVHModel<OBBRSS>("OBBRSS");
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 10 exposeHeightField<OBBRSS>("OBBRSS");
765
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 5 exposeHeightField<AABB>("AABB");
766 5 exposeComputeMemoryFootprint();
767 5 }
768
769 5 void exposeCollisionObject() {
770 namespace bp = boost::python;
771
772
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 5 if (!eigenpy::register_symbolic_link_to_registered_type<CollisionObject>()) {
773
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 10 class_<CollisionObject, CollisionObjectPtr_t>("CollisionObject", no_init)
774
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 5 .def(dv::init<CollisionObject, const CollisionGeometryPtr_t&,
775 5 bp::optional<bool>>())
776
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777 5 const Transform3s&, bp::optional<bool>>())
778
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 5 .def(dv::init<CollisionObject, const CollisionGeometryPtr_t&,
779 5 const Matrix3s&, const Vec3s&, bp::optional<bool>>())
780
781
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782
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783
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785
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 5 static_cast<AABB& (CollisionObject::*)()>(
786 &CollisionObject::getAABB),
787 ✗ bp::return_internal_reference<>()))
788
789
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 5 .DEF_CLASS_FUNC2(CollisionObject, getTranslation,
790 bp::return_value_policy<bp::copy_const_reference>())
791
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792
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 5 .DEF_CLASS_FUNC2(CollisionObject, getRotation,
793 bp::return_value_policy<bp::copy_const_reference>())
794
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795
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796 bp::return_value_policy<bp::copy_const_reference>())
797
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798 "setTransform",
799
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 5 static_cast<void (CollisionObject::*)(const Transform3s&)>(
800 &CollisionObject::setTransform)))
801
802
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803
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804
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 5 .DEF_CLASS_FUNC2(CollisionObject, setCollisionGeometry,
805 (bp::with_custodian_and_ward_postcall<1, 2>()))
806
807
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 5 .def(dv::member_func(
808 "collisionGeometry",
809
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 5 static_cast<const CollisionGeometryPtr_t& (CollisionObject::*)()>(
810 &CollisionObject::collisionGeometry),
811 5 bp::return_value_policy<bp::copy_const_reference>()));
812 }
813 5 }
814