GCC Code Coverage Report

Directory: ./
File: python/collision-geometries.cc
Date: 2025-05-02 10:16:21
Exec Total Coverage
Lines: 400 468 85.5%
Branches: 400 858 46.6%
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
1/2
✗ Branch 0 not taken.
✓ Branch 1 taken 1 times.
 1 if (bvh.num_vertices > 0)
96 ✗ return MapRowMatrixX3(bvh.vertices->data()->data(), bvh.num_vertices, 3);
97 else
98
2/4
✓ Branch 2 taken 1 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
 2 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
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 20 const std::string type_name = "BVHModel" + bvname;
112
2/4
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 10 times.
✗ Branch 6 not taken.
 20 class_<BVH, bases<BVHModelBase>, shared_ptr<BVH>>(
113 type_name.c_str(), doxygen::class_doc<BVH>(), no_init)
114
1/2
✓ Branch 2 taken 10 times.
✗ Branch 3 not taken.
 20 .def(dv::init<BVH>())
115
1/2
✓ Branch 2 taken 10 times.
✗ Branch 3 not taken.
 20 .def(dv::init<BVH, const BVH&>())
116
2/4
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 10 times.
✗ Branch 5 not taken.
 20 .DEF_CLASS_FUNC(BVH, getNumBVs)
117
2/4
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 10 times.
✗ Branch 5 not taken.
 20 .DEF_CLASS_FUNC(BVH, makeParentRelative)
118
2/4
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 10 times.
✗ Branch 5 not taken.
 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
2/4
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 10 times.
✗ Branch 5 not taken.
 20 .def_pickle(PickleObject<BVH>())
122
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 20 .def(SerializableVisitor<BVH>())
123 #if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
124
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 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
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 20 const std::string type_name = "HeightField" + bvname;
136
2/4
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 10 times.
✗ Branch 6 not taken.
 20 class_<Geometry, bases<Base>, shared_ptr<Geometry>>(
137 type_name.c_str(), doxygen::class_doc<Geometry>(), no_init)
138
1/2
✓ Branch 2 taken 10 times.
✗ Branch 3 not taken.
 20 .def(dv::init<HeightField<BV>>())
139
1/2
✓ Branch 2 taken 10 times.
✗ Branch 3 not taken.
 20 .def(dv::init<HeightField<BV>, const HeightField<BV>&>())
140
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 20 .def(dv::init<HeightField<BV>, Scalar, Scalar, const MatrixXs&,
141 20 bp::optional<Scalar>>())
142
143
2/4
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 10 times.
✗ Branch 5 not taken.
 20 .DEF_CLASS_FUNC(Geometry, getXDim)
144
2/4
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 10 times.
✗ Branch 5 not taken.
 20 .DEF_CLASS_FUNC(Geometry, getYDim)
145
2/4
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 10 times.
✗ Branch 5 not taken.
 20 .DEF_CLASS_FUNC(Geometry, getMinHeight)
146
2/4
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 10 times.
✗ Branch 5 not taken.
 20 .DEF_CLASS_FUNC(Geometry, getMaxHeight)
147
2/4
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 10 times.
✗ Branch 5 not taken.
 20 .DEF_CLASS_FUNC(Geometry, getNodeType)
148
2/4
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 10 times.
✗ Branch 5 not taken.
 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
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 20 .def("getXGrid", &Geometry::getXGrid,
154 20 doxygen::member_func_doc(&Geometry::getXGrid),
155 ✗ bp::return_value_policy<bp::copy_const_reference>())
156
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 20 .def("getYGrid", &Geometry::getYGrid,
157 20 doxygen::member_func_doc(&Geometry::getYGrid),
158 ✗ bp::return_value_policy<bp::copy_const_reference>())
159
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 20 .def("getHeights", &Geometry::getHeights,
160 20 doxygen::member_func_doc(&Geometry::getHeights),
161 ✗ bp::return_value_policy<bp::copy_const_reference>())
162
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 20 .def("getBV", (Node & (Geometry::*)(unsigned int)) & Geometry::getBV,
163
1/2
✓ Branch 2 taken 10 times.
✗ Branch 3 not taken.
 20 doxygen::member_func_doc((Node & (Geometry::*)(unsigned int)) &
164 Geometry::getBV),
165 ✗ bp::return_internal_reference<>())
166
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 20 .def_pickle(PickleObject<Geometry>())
167
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 20 .def(SerializableVisitor<Geometry>())
168 #if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
169
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 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
1/2
✓ Branch 2 taken 3 times.
✗ Branch 3 not taken.
 6 std::shared_ptr<std::vector<Vec3s>> points(
248
2/4
✓ Branch 2 taken 3 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 3 times.
✗ Branch 6 not taken.
 6 new std::vector<Vec3s>(_points.size()));
249 3 std::vector<Vec3s>& points_ = *points;
250
3/4
✓ Branch 3 taken 11 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 11 times.
✓ Branch 7 taken 3 times.
 14 for (std::size_t i = 0; i < _points.size(); ++i) points_[i] = _points[i];
251
252
1/2
✓ Branch 2 taken 3 times.
✗ Branch 3 not taken.
 6 std::shared_ptr<std::vector<TriangleType>> tris(
253
2/4
✓ Branch 2 taken 3 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 3 times.
✗ Branch 6 not taken.
 6 new std::vector<TriangleType>(_tris.size()));
254 3 std::vector<TriangleType>& tris_ = *tris;
255
3/4
✓ Branch 3 taken 9 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 9 times.
✓ Branch 7 taken 3 times.
 12 for (std::size_t i = 0; i < _tris.size(); ++i) tris_[i] = _tris[i];
256
1/2
✓ Branch 1 taken 3 times.
✗ Branch 2 not taken.
 3 return shared_ptr<Convex_t>(new Convex_t(points,
257 6 (unsigned int)_points.size(), tris,
258
2/4
✓ Branch 5 taken 3 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 3 times.
✗ Branch 9 not taken.
 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 20 class_<ConvexBaseType, bases<ShapeBase>, shared_ptr<ConvexBaseType>,
289 noncopyable>(classname.c_str(), doxygen::class_doc<ConvexBaseType>(),
290 no_init)
291
2/4
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 10 times.
✗ Branch 5 not taken.
 20 .DEF_RO_CLASS_ATTRIB(ConvexBaseType, center)
292
2/4
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 10 times.
✗ Branch 5 not taken.
 20 .DEF_RO_CLASS_ATTRIB(ConvexBaseType, num_points)
293
2/4
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 10 times.
✗ Branch 5 not taken.
 20 .DEF_RO_CLASS_ATTRIB(ConvexBaseType, num_normals_and_offsets)
294
2/4
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 10 times.
✗ Branch 5 not taken.
 20 .def("point", &ConvexBaseTypeWrapper::point, bp::args("self", "index"),
295 "Retrieve the point given by its index.",
296 20 bp::return_internal_reference<>())
297
2/4
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 10 times.
✗ Branch 5 not taken.
 20 .def("points", &ConvexBaseTypeWrapper::point, bp::args("self", "index"),
298 "Retrieve the point given by its index.",
299
2/4
✓ Branch 2 taken 10 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 10 times.
✗ Branch 6 not taken.
 40 ::coal::python::deprecated_member<bp::return_internal_reference<>>())
300
2/4
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 10 times.
✗ Branch 5 not taken.
 20 .def("points", &ConvexBaseTypeWrapper::points, bp::args("self"),
301 "Retrieve all the points.",
302 20 bp::with_custodian_and_ward_postcall<0, 1>())
303
2/4
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 10 times.
✗ Branch 5 not taken.
 20 .def("normal", &ConvexBaseTypeWrapper::normal, bp::args("self", "index"),
304 "Retrieve the normal given by its index.",
305 20 bp::return_internal_reference<>())
306
2/4
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 10 times.
✗ Branch 5 not taken.
 20 .def("normals", &ConvexBaseTypeWrapper::normals, bp::args("self"),
307 "Retrieve all the normals.",
308 20 bp::with_custodian_and_ward_postcall<0, 1>())
309
2/4
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 10 times.
✗ Branch 5 not taken.
 40 .def("offset", &ConvexBaseTypeWrapper::offset, bp::args("self", "index"),
310 "Retrieve the offset given by its index.")
311
2/4
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 10 times.
✗ Branch 5 not taken.
 20 .def("offsets", &ConvexBaseTypeWrapper::offsets, bp::args("self"),
312 "Retrieve all the offsets.",
313 20 bp::with_custodian_and_ward_postcall<0, 1>())
314
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 20 .def("neighbors", &ConvexBaseTypeWrapper::neighbors)
315
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 20 .def("convexHull", &ConvexBaseTypeWrapper::convexHull,
316 ✗ return_value_policy<manage_new_object>())
317
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 20 .staticmethod("convexHull")
318 20 .def("clone", &ConvexBaseType::clone,
319
1/2
✓ Branch 2 taken 10 times.
✗ Branch 3 not taken.
 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 20 class_<ConvexType, bases<ConvexBaseType>, shared_ptr<ConvexType>,
330 noncopyable>(classname.c_str(), doxygen::class_doc<ConvexType>(),
331 no_init)
332
2/4
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 10 times.
✗ Branch 5 not taken.
 40 .def("__init__",
333 make_constructor(&ConvexWrapper<Triangle32>::constructor))
334
1/2
✓ Branch 2 taken 10 times.
✗ Branch 3 not taken.
 20 .def(dv::init<ConvexType>())
335
1/2
✓ Branch 2 taken 10 times.
✗ Branch 3 not taken.
 20 .def(dv::init<ConvexType, const ConvexType&>())
336
2/4
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 10 times.
✗ Branch 5 not taken.
 20 .DEF_RO_CLASS_ATTRIB(ConvexType, num_polygons)
337
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 20 .def("polygons", &ConvexWrapperType::polygons)
338
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 20 .def_pickle(PickleObject<ConvexType>())
339
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 20 .def(SerializableVisitor<ConvexType>())
340 #if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
341
1/2
✓ Branch 1 taken 10 times.
✗ Branch 2 not taken.
 20 .def(eigenpy::IdVisitor<ConvexType>())
342 #endif
343 ;
344 20 }
345
346 5 void exposeShapes() {
347 5 class_<ShapeBase, bases<CollisionGeometry>, shared_ptr<ShapeBase>,
348 noncopyable>("ShapeBase", doxygen::class_doc<ShapeBase>(), no_init)
349 //.def ("getObjectType", &CollisionGeometry::getObjectType)
350
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def(dv::member_func("setSweptSphereRadius",
351
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 &ShapeBase::setSweptSphereRadius))
352
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def(dv::member_func("getSweptSphereRadius",
353
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 10 &ShapeBase::getSweptSphereRadius));
354
355 5 class_<Box, bases<ShapeBase>, shared_ptr<Box>>(
356 "Box", doxygen::class_doc<ShapeBase>(), no_init)
357
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .def(dv::init<Box>())
358
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .def(dv::init<Box, const Box&>())
359
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .def(dv::init<Box, Scalar, Scalar, Scalar>())
360
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .def(dv::init<Box, const Vec3s&>())
361
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .DEF_RW_CLASS_ATTRIB(Box, halfSide)
362
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .def("clone", &Box::clone, doxygen::member_func_doc(&Box::clone),
363 ✗ return_value_policy<manage_new_object>())
364
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def_pickle(PickleObject<Box>())
365
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def(SerializableVisitor<Box>())
366 #if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
367
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def(eigenpy::IdVisitor<Box>())
368 #endif
369 ;
370
371 5 class_<Capsule, bases<ShapeBase>, shared_ptr<Capsule>>(
372 "Capsule", doxygen::class_doc<Capsule>(), no_init)
373
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .def(dv::init<Capsule>())
374
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .def(dv::init<Capsule, Scalar, Scalar>())
375
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .def(dv::init<Capsule, const Capsule&>())
376
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .DEF_RW_CLASS_ATTRIB(Capsule, radius)
377
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .DEF_RW_CLASS_ATTRIB(Capsule, halfLength)
378
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .def("clone", &Capsule::clone, doxygen::member_func_doc(&Capsule::clone),
379 ✗ return_value_policy<manage_new_object>())
380
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def_pickle(PickleObject<Capsule>())
381
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def(SerializableVisitor<Capsule>())
382 #if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
383
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def(eigenpy::IdVisitor<Capsule>())
384 #endif
385 ;
386
387 5 class_<Cone, bases<ShapeBase>, shared_ptr<Cone>>(
388 "Cone", doxygen::class_doc<Cone>(), no_init)
389
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .def(dv::init<Cone>())
390
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .def(dv::init<Cone, Scalar, Scalar>())
391
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .def(dv::init<Cone, const Cone&>())
392
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .DEF_RW_CLASS_ATTRIB(Cone, radius)
393
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .DEF_RW_CLASS_ATTRIB(Cone, halfLength)
394
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .def("clone", &Cone::clone, doxygen::member_func_doc(&Cone::clone),
395 ✗ return_value_policy<manage_new_object>())
396
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def_pickle(PickleObject<Cone>())
397
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def(SerializableVisitor<Cone>())
398 #if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
399
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def(eigenpy::IdVisitor<Cone>())
400 #endif
401 ;
402
403
2/4
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 5 times.
✗ Branch 6 not taken.
 5 exposeConvexBase<Triangle16::IndexType>("ConvexBase16");
404
2/4
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 5 times.
✗ Branch 6 not taken.
 5 exposeConvexBase<Triangle32::IndexType>("ConvexBase32");
405
2/4
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 5 times.
✗ Branch 6 not taken.
 5 exposeConvex<Triangle16>("Convex16");
406
2/4
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 5 times.
✗ Branch 6 not taken.
 5 exposeConvex<Triangle32>("Convex32");
407
4/8
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 5 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 5 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 5 times.
✗ Branch 12 not taken.
 5 bp::scope().attr("Convex") = bp::scope().attr("Convex32");
408
409 5 class_<Cylinder, bases<ShapeBase>, shared_ptr<Cylinder>>(
410 "Cylinder", doxygen::class_doc<Cylinder>(), no_init)
411
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .def(dv::init<Cylinder>())
412
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .def(dv::init<Cylinder, Scalar, Scalar>())
413
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .def(dv::init<Cylinder, const Cylinder&>())
414
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .DEF_RW_CLASS_ATTRIB(Cylinder, radius)
415
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .DEF_RW_CLASS_ATTRIB(Cylinder, halfLength)
416 10 .def("clone", &Cylinder::clone,
417
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 doxygen::member_func_doc(&Cylinder::clone),
418 ✗ return_value_policy<manage_new_object>())
419
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def_pickle(PickleObject<Cylinder>())
420
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def(SerializableVisitor<Cylinder>())
421 #if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
422
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def(eigenpy::IdVisitor<Cylinder>())
423 #endif
424 ;
425
426 5 class_<Halfspace, bases<ShapeBase>, shared_ptr<Halfspace>>(
427 "Halfspace", doxygen::class_doc<Halfspace>(), no_init)
428
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .def(dv::init<Halfspace, const Vec3s&, Scalar>())
429
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .def(dv::init<Halfspace, const Halfspace&>())
430
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .def(dv::init<Halfspace, Scalar, Scalar, Scalar, Scalar>())
431
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .def(dv::init<Halfspace>())
432
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .DEF_RW_CLASS_ATTRIB(Halfspace, n)
433
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .DEF_RW_CLASS_ATTRIB(Halfspace, d)
434 10 .def("clone", &Halfspace::clone,
435
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 doxygen::member_func_doc(&Halfspace::clone),
436 ✗ return_value_policy<manage_new_object>())
437
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def_pickle(PickleObject<Halfspace>())
438
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def(SerializableVisitor<Halfspace>())
439 #if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
440
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def(eigenpy::IdVisitor<Halfspace>())
441 #endif
442 ;
443
444 5 class_<Plane, bases<ShapeBase>, shared_ptr<Plane>>(
445 "Plane", doxygen::class_doc<Plane>(), no_init)
446
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .def(dv::init<Plane, const Vec3s&, Scalar>())
447
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .def(dv::init<Plane, const Plane&>())
448
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .def(dv::init<Plane, Scalar, Scalar, Scalar, Scalar>())
449
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .def(dv::init<Plane>())
450
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .DEF_RW_CLASS_ATTRIB(Plane, n)
451
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .DEF_RW_CLASS_ATTRIB(Plane, d)
452
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .def("clone", &Plane::clone, doxygen::member_func_doc(&Plane::clone),
453 ✗ return_value_policy<manage_new_object>())
454
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def_pickle(PickleObject<Plane>())
455
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def(SerializableVisitor<Plane>())
456 #if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
457
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def(eigenpy::IdVisitor<Plane>())
458 #endif
459 ;
460
461 5 class_<Sphere, bases<ShapeBase>, shared_ptr<Sphere>>(
462 "Sphere", doxygen::class_doc<Sphere>(), no_init)
463
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .def(dv::init<Sphere>())
464
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .def(dv::init<Sphere, const Sphere&>())
465
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .def(dv::init<Sphere, Scalar>())
466
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .DEF_RW_CLASS_ATTRIB(Sphere, radius)
467
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .def("clone", &Sphere::clone, doxygen::member_func_doc(&Sphere::clone),
468 ✗ return_value_policy<manage_new_object>())
469
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def_pickle(PickleObject<Sphere>())
470
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def(SerializableVisitor<Sphere>())
471 #if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
472
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def(eigenpy::IdVisitor<Sphere>())
473 #endif
474 ;
475
476 5 class_<Ellipsoid, bases<ShapeBase>, shared_ptr<Ellipsoid>>(
477 "Ellipsoid", doxygen::class_doc<Ellipsoid>(), no_init)
478
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .def(dv::init<Ellipsoid>())
479
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .def(dv::init<Ellipsoid, Scalar, Scalar, Scalar>())
480
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .def(dv::init<Ellipsoid, Vec3s>())
481
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .def(dv::init<Ellipsoid, const Ellipsoid&>())
482
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .DEF_RW_CLASS_ATTRIB(Ellipsoid, radii)
483 10 .def("clone", &Ellipsoid::clone,
484
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 doxygen::member_func_doc(&Ellipsoid::clone),
485 ✗ return_value_policy<manage_new_object>())
486
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def_pickle(PickleObject<Ellipsoid>())
487
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def(SerializableVisitor<Ellipsoid>())
488 #if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
489
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def(eigenpy::IdVisitor<Ellipsoid>())
490 #endif
491 ;
492
493 5 class_<TriangleP, bases<ShapeBase>, shared_ptr<TriangleP>>(
494 "TriangleP", doxygen::class_doc<TriangleP>(), no_init)
495
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .def(dv::init<TriangleP>())
496
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .def(dv::init<TriangleP, const Vec3s&, const Vec3s&, const Vec3s&>())
497
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .def(dv::init<TriangleP, const TriangleP&>())
498
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .DEF_RW_CLASS_ATTRIB(TriangleP, a)
499
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .DEF_RW_CLASS_ATTRIB(TriangleP, b)
500
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .DEF_RW_CLASS_ATTRIB(TriangleP, c)
501 10 .def("clone", &TriangleP::clone,
502
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 doxygen::member_func_doc(&TriangleP::clone),
503 ✗ return_value_policy<manage_new_object>())
504
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def_pickle(PickleObject<TriangleP>())
505
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def(SerializableVisitor<TriangleP>())
506 #if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
507
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def(eigenpy::IdVisitor<TriangleP>())
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 10 enum_<BVHModelType>("BVHModelType")
520
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .value("BVH_MODEL_UNKNOWN", BVH_MODEL_UNKNOWN)
521
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .value("BVH_MODEL_TRIANGLES", BVH_MODEL_TRIANGLES)
522
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .value("BVH_MODEL_POINTCLOUD", BVH_MODEL_POINTCLOUD)
523
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .export_values();
524
525 10 enum_<BVHBuildState>("BVHBuildState")
526
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .value("BVH_BUILD_STATE_EMPTY", BVH_BUILD_STATE_EMPTY)
527
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .value("BVH_BUILD_STATE_BEGUN", BVH_BUILD_STATE_BEGUN)
528
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .value("BVH_BUILD_STATE_PROCESSED", BVH_BUILD_STATE_PROCESSED)
529
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .value("BVH_BUILD_STATE_UPDATE_BEGUN", BVH_BUILD_STATE_UPDATE_BEGUN)
530
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .value("BVH_BUILD_STATE_UPDATED", BVH_BUILD_STATE_UPDATED)
531
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .value("BVH_BUILD_STATE_REPLACE_BEGUN", BVH_BUILD_STATE_REPLACE_BEGUN)
532
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .export_values();
533
534
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 if (!eigenpy::register_symbolic_link_to_registered_type<OBJECT_TYPE>()) {
535 10 enum_<OBJECT_TYPE>("OBJECT_TYPE")
536
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .value("OT_UNKNOWN", OT_UNKNOWN)
537
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .value("OT_BVH", OT_BVH)
538
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .value("OT_GEOM", OT_GEOM)
539
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .value("OT_OCTREE", OT_OCTREE)
540
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .value("OT_HFIELD", OT_HFIELD)
541
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .export_values();
542 }
543
544
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 if (!eigenpy::register_symbolic_link_to_registered_type<NODE_TYPE>()) {
545 10 enum_<NODE_TYPE>("NODE_TYPE")
546
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .value("BV_UNKNOWN", BV_UNKNOWN)
547
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .value("BV_AABB", BV_AABB)
548
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .value("BV_OBB", BV_OBB)
549
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .value("BV_RSS", BV_RSS)
550
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .value("BV_kIOS", BV_kIOS)
551
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .value("BV_OBBRSS", BV_OBBRSS)
552
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .value("BV_KDOP16", BV_KDOP16)
553
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .value("BV_KDOP18", BV_KDOP18)
554
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .value("BV_KDOP24", BV_KDOP24)
555
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .value("GEOM_BOX", GEOM_BOX)
556
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .value("GEOM_SPHERE", GEOM_SPHERE)
557
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .value("GEOM_ELLIPSOID", GEOM_ELLIPSOID)
558
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .value("GEOM_CAPSULE", GEOM_CAPSULE)
559
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .value("GEOM_CONE", GEOM_CONE)
560
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .value("GEOM_CYLINDER", GEOM_CYLINDER)
561
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .value("GEOM_CONVEX", GEOM_CONVEX)
562
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .value("GEOM_PLANE", GEOM_PLANE)
563
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .value("GEOM_HALFSPACE", GEOM_HALFSPACE)
564
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .value("GEOM_TRIANGLE", GEOM_TRIANGLE)
565
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .value("GEOM_OCTREE", GEOM_OCTREE)
566
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .value("HF_AABB", HF_AABB)
567
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .value("HF_OBBRSS", HF_OBBRSS)
568
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .export_values();
569 }
570
571 5 class_<AABB>("AABB",
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
3/6
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 5 times.
✗ Branch 8 not taken.
 10 .def(init<>(bp::arg("self"), "Default constructor"))
576
3/6
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 5 times.
✗ Branch 8 not taken.
 10 .def(init<AABB>(bp::args("self", "other"), "Copy constructor"))
577
3/6
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 5 times.
✗ Branch 8 not taken.
 10 .def(init<Vec3s>(bp::args("self", "v"),
578 "Creating an AABB at position v with zero size."))
579
3/6
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 5 times.
✗ Branch 8 not taken.
 10 .def(init<Vec3s, Vec3s>(bp::args("self", "a", "b"),
580 "Creating an AABB with two endpoints a and b."))
581
2/4
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
 5 .def(init<AABB, Vec3s>(
582
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 10 bp::args("self", "core", "delta"),
583 "Creating an AABB centered as core and is of half-dimension delta."))
584
3/6
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 5 times.
✗ Branch 8 not taken.
 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
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 10 bp::args("self", "p"), "Check whether the AABB contains a point p.")
589
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def("contain", (bool (AABB::*)(const AABB&) const) & AABB::contain,
590
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 10 bp::args("self", "other"),
591 "Check whether the AABB contains another AABB.")
592
593
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def("overlap", (bool (AABB::*)(const AABB&) const) & AABB::overlap,
594
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 10 bp::args("self", "other"), "Check whether two AABB are overlap.")
595
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def("overlap",
596 (bool (AABB::*)(const AABB&, AABB&) const) & AABB::overlap,
597
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 10 bp::args("self", "other", "overlapping_part"),
598 "Check whether two AABB are overlaping and return the overloaping "
599 "part if true.")
600
601
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def("distance", (Scalar (AABB::*)(const AABB&) const) & AABB::distance,
602
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 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
2/4
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
 10 .add_property(
609 "min_",
610
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 bp::make_function(
611 ✗ +[](AABB& self) -> Vec3s& { return self.min_; },
612 ✗ bp::return_internal_reference<>()),
613
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 10 bp::make_function(
614 ✗ +[](AABB& self, const Vec3s& min_) -> void { self.min_ = min_; }),
615 "The min point in the AABB.")
616
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .add_property(
617 "max_",
618
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 bp::make_function(
619 ✗ +[](AABB& self) -> Vec3s& { return self.max_; },
620 ✗ bp::return_internal_reference<>()),
621
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 10 bp::make_function(
622 ✗ +[](AABB& self, const Vec3s& max_) -> void { self.max_ = max_; }),
623 "The max point in the AABB.")
624
625
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .def(bp::self == bp::self)
626
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .def(bp::self != bp::self)
627
628
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .def(bp::self + bp::self)
629
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .def(bp::self += bp::self)
630
2/4
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 5 times.
✗ Branch 6 not taken.
 5 .def(bp::self += Vec3s())
631
632
2/4
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
 10 .def("size", &AABB::volume, bp::arg("self"), "Size of the AABB.")
633
2/4
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
 10 .def("center", &AABB::center, bp::arg("self"), "Center of the AABB.")
634
2/4
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
 10 .def("width", &AABB::width, bp::arg("self"), "Width of the AABB.")
635
2/4
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
 10 .def("height", &AABB::height, bp::arg("self"), "Height of the AABB.")
636
2/4
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
 10 .def("depth", &AABB::depth, bp::arg("self"), "Depth of the AABB.")
637
2/4
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
 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
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 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
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def("expand", static_cast<AABB& (AABB::*)(const Vec3s&)>(&AABB::expand),
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
2/4
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
 5 .def_pickle(PickleObject<AABB>())
659
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def(SerializableVisitor<AABB>())
660 #if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
661
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def(eigenpy::IdVisitor<AABB>())
662 #endif
663 ;
664
665
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 def("translate", (AABB (*)(const AABB&, const Vec3s&))&translate,
666 10 bp::args("aabb", "t"), "Translate the center of AABB by t");
667
668
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 def("rotate", (AABB (*)(const AABB&, const Matrix3s&))&rotate,
669 10 bp::args("aabb", "R"), "Rotate the AABB object by R");
670
671 5 if (!eigenpy::register_symbolic_link_to_registered_type<
672
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 CollisionGeometry>()) {
673 10 class_<CollisionGeometry, CollisionGeometryPtr_t, noncopyable>(
674 "CollisionGeometry", no_init)
675
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def("getObjectType", &CollisionGeometry::getObjectType)
676
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def("getNodeType", &CollisionGeometry::getNodeType)
677
678
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def("computeLocalAABB", &CollisionGeometry::computeLocalAABB)
679
680
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def("computeCOM", &CollisionGeometry::computeCOM)
681
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def("computeMomentofInertia",
682 &CollisionGeometry::computeMomentofInertia)
683
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def("computeVolume", &CollisionGeometry::computeVolume)
684
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def("computeMomentofInertiaRelatedToCOM",
685 &CollisionGeometry::computeMomentofInertiaRelatedToCOM)
686
687
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def_readwrite("aabb_radius", &CollisionGeometry::aabb_radius,
688 "AABB radius.")
689
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def_readwrite("aabb_center", &CollisionGeometry::aabb_center,
690 "AABB center in local coordinate.")
691
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def_readwrite("aabb_local", &CollisionGeometry::aabb_local,
692 "AABB in local coordinate, used for tight AABB when "
693 "only translation transform.")
694
695
2/4
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
 10 .def("isOccupied", &CollisionGeometry::isOccupied, bp::arg("self"),
696 "Whether the object is completely occupied.")
697
2/4
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
 10 .def("isFree", &CollisionGeometry::isFree, bp::arg("self"),
698 "Whether the object is completely free.")
699
2/4
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
 10 .def("isUncertain", &CollisionGeometry::isUncertain, bp::arg("self"),
700 "Whether the object has some uncertainty.")
701
702
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def_readwrite("cost_density", &CollisionGeometry::cost_density,
703 "Collision cost for unit volume.")
704 10 .def_readwrite("threshold_occupied",
705
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 &CollisionGeometry::threshold_occupied,
706 "Threshold for occupied ( >= is occupied).")
707
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def_readwrite("threshold_free", &CollisionGeometry::threshold_free,
708 "Threshold for free (<= is free).")
709
710
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .def(self == self)
711
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .def(self != self);
712 }
713
714 5 exposeShapes();
715
716 5 class_<BVHModelBase, bases<CollisionGeometry>, BVHModelPtr_t, noncopyable>(
717 "BVHModelBase", no_init)
718
2/4
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
 5 .def("vertex", &BVHModelBaseWrapper::vertex, bp::args("self", "index"),
719 "Retrieve the vertex given by its index.",
720 5 bp::return_internal_reference<>())
721
2/4
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
 5 .def("vertices", &BVHModelBaseWrapper::vertex, bp::args("self", "index"),
722 "Retrieve the vertex given by its index.",
723
2/4
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 5 times.
✗ Branch 6 not taken.
 10 ::coal::python::deprecated_member<bp::return_internal_reference<>>())
724
2/4
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
 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
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def("tri_indices", &BVHModelBaseWrapper::tri_indices,
731
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 10 bp::args("self", "index"),
732 "Retrieve the triangle given by its index.")
733
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def_readonly("num_vertices", &BVHModelBase::num_vertices)
734
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def_readonly("num_tris", &BVHModelBase::num_tris)
735
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def_readonly("build_state", &BVHModelBase::build_state)
736
737
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def_readonly("convex", &BVHModelBase::convex)
738
739
2/4
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
 5 .DEF_CLASS_FUNC(BVHModelBase, buildConvexRepresentation)
740
2/4
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
 5 .DEF_CLASS_FUNC(BVHModelBase, buildConvexHull)
741
742 // Expose function to build a BVH
743
2/4
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
 5 .def(dv::member_func("beginModel", &BVHModelBase::beginModel))
744
2/4
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
 5 .def(dv::member_func("addVertex", &BVHModelBase::addVertex))
745
2/4
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
 5 .def(dv::member_func("addVertices", &BVHModelBase::addVertices))
746
2/4
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
 5 .def(dv::member_func("addTriangle", &BVHModelBase::addTriangle))
747
2/4
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
 5 .def(dv::member_func("addTriangles", &BVHModelBase::addTriangles))
748
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def(dv::member_func<int (BVHModelBase::*)(
749
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 const Vec3ss&, const std::vector<Triangle32>&)>(
750 "addSubModel", &BVHModelBase::addSubModel))
751
2/4
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
 5 .def(dv::member_func<int (BVHModelBase::*)(const Vec3ss&)>(
752 "addSubModel", &BVHModelBase::addSubModel))
753
2/4
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
 5 .def(dv::member_func("endModel", &BVHModelBase::endModel))
754 // Expose function to replace a BVH
755
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def(dv::member_func("beginReplaceModel",
756
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 &BVHModelBase::beginReplaceModel))
757
2/4
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
 5 .def(dv::member_func("replaceVertex", &BVHModelBase::replaceVertex))
758
2/4
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
 5 .def(dv::member_func("replaceTriangle", &BVHModelBase::replaceTriangle))
759
2/4
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
 5 .def(dv::member_func("replaceSubModel", &BVHModelBase::replaceSubModel))
760
2/4
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
 5 .def(dv::member_func("endReplaceModel", &BVHModelBase::endReplaceModel))
761
2/4
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
 5 .def(dv::member_func("getModelType", &BVHModelBase::getModelType));
762
2/4
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 5 times.
✗ Branch 6 not taken.
 5 exposeBVHModel<OBB>("OBB");
763
2/4
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 5 times.
✗ Branch 6 not taken.
 5 exposeBVHModel<OBBRSS>("OBBRSS");
764
2/4
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 5 times.
✗ Branch 6 not taken.
 5 exposeHeightField<OBBRSS>("OBBRSS");
765
2/4
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 5 times.
✗ Branch 6 not taken.
 5 exposeHeightField<AABB>("AABB");
766 5 exposeComputeMemoryFootprint();
767 5 }
768
769 5 void exposeCollisionObject() {
770 namespace bp = boost::python;
771
772
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 if (!eigenpy::register_symbolic_link_to_registered_type<CollisionObject>()) {
773 10 class_<CollisionObject, CollisionObjectPtr_t>("CollisionObject", no_init)
774
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def(dv::init<CollisionObject, const CollisionGeometryPtr_t&,
775 5 bp::optional<bool>>())
776
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def(dv::init<CollisionObject, const CollisionGeometryPtr_t&,
777 5 const Transform3s&, bp::optional<bool>>())
778
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def(dv::init<CollisionObject, const CollisionGeometryPtr_t&,
779 5 const Matrix3s&, const Vec3s&, bp::optional<bool>>())
780
781
2/4
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
 5 .DEF_CLASS_FUNC(CollisionObject, getObjectType)
782
2/4
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
 5 .DEF_CLASS_FUNC(CollisionObject, getNodeType)
783
2/4
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
 5 .DEF_CLASS_FUNC(CollisionObject, computeAABB)
784
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def(dv::member_func("getAABB",
785
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 static_cast<AABB& (CollisionObject::*)()>(
786 &CollisionObject::getAABB),
787 ✗ bp::return_internal_reference<>()))
788
789
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .DEF_CLASS_FUNC2(CollisionObject, getTranslation,
790 bp::return_value_policy<bp::copy_const_reference>())
791
2/4
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
 5 .DEF_CLASS_FUNC(CollisionObject, setTranslation)
792
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .DEF_CLASS_FUNC2(CollisionObject, getRotation,
793 bp::return_value_policy<bp::copy_const_reference>())
794
2/4
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
 5 .DEF_CLASS_FUNC(CollisionObject, setRotation)
795
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .DEF_CLASS_FUNC2(CollisionObject, getTransform,
796 bp::return_value_policy<bp::copy_const_reference>())
797
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def(dv::member_func(
798 "setTransform",
799
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 static_cast<void (CollisionObject::*)(const Transform3s&)>(
800 &CollisionObject::setTransform)))
801
802
2/4
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
 5 .DEF_CLASS_FUNC(CollisionObject, isIdentityTransform)
803
2/4
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 5 times.
✗ Branch 5 not taken.
 5 .DEF_CLASS_FUNC(CollisionObject, setIdentityTransform)
804
1/2
✓ Branch 2 taken 5 times.
✗ Branch 3 not taken.
 5 .DEF_CLASS_FUNC2(CollisionObject, setCollisionGeometry,
805 (bp::with_custodian_and_ward_postcall<1, 2>()))
806
807
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 .def(dv::member_func(
808 "collisionGeometry",
809
1/2
✓ Branch 1 taken 5 times.
✗ Branch 2 not taken.
 5 static_cast<const CollisionGeometryPtr_t& (CollisionObject::*)()>(
810 &CollisionObject::collisionGeometry),
811 5 bp::return_value_policy<bp::copy_const_reference>()));
812 }
813 5 }
814