GCC Code Coverage Report

Directory: ./
File: python/collision-geometries.cc
Date: 2025-04-01 09:23:31
Exec Total Coverage
Lines: 390 459 85.0%
Branches: 384 826 46.5%
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 typedef std::vector<Triangle> Triangles;
84
85 struct BVHModelBaseWrapper {
86 typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 3, Eigen::RowMajor> RowMatrixX3;
87 typedef Eigen::Map<RowMatrixX3> MapRowMatrixX3;
88 typedef Eigen::Ref<RowMatrixX3> RefRowMatrixX3;
89
90 ✗ static Vec3s& vertex(BVHModelBase& bvh, unsigned int i) {
91 ✗ if (i >= bvh.num_vertices) throw std::out_of_range("index is out of range");
92 ✗ return (*(bvh.vertices))[i];
93 }
94
95 1 static RefRowMatrixX3 vertices(BVHModelBase& bvh) {
96
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 1 if (bvh.num_vertices > 0)
97 ✗ return MapRowMatrixX3(bvh.vertices->data()->data(), bvh.num_vertices, 3);
98 else
99
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 2 return MapRowMatrixX3(NULL, bvh.num_vertices, 3);
100 }
101
102 ✗ static Triangle tri_indices(const BVHModelBase& bvh, unsigned int i) {
103 ✗ if (i >= bvh.num_tris) throw std::out_of_range("index is out of range");
104 ✗ return (*bvh.tri_indices)[i];
105 }
106 };
107
108 template <typename BV>
109 20 void exposeBVHModel(const std::string& bvname) {
110 typedef BVHModel<BV> BVH;
111
112
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 20 const std::string type_name = "BVHModel" + bvname;
113
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 20 class_<BVH, bases<BVHModelBase>, shared_ptr<BVH>>(
114 type_name.c_str(), doxygen::class_doc<BVH>(), no_init)
115
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117
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 20 .DEF_CLASS_FUNC(BVH, getNumBVs)
118
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 20 .DEF_CLASS_FUNC(BVH, makeParentRelative)
119
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 20 .DEF_CLASS_FUNC(BVHModelBase, memUsage)
120 20 .def("clone", &BVH::clone, doxygen::member_func_doc(&BVH::clone),
121 ✗ return_value_policy<manage_new_object>())
122
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123
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 20 .def(SerializableVisitor<BVH>())
124 #if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
125
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 20 .def(eigenpy::IdVisitor<BVH>())
126 #endif
127 ;
128 20 }
129
130 template <typename BV>
131 20 void exposeHeightField(const std::string& bvname) {
132 typedef HeightField<BV> Geometry;
133 typedef typename Geometry::Base Base;
134 typedef typename Geometry::Node Node;
135
136
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 20 const std::string type_name = "HeightField" + bvname;
137
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 20 class_<Geometry, bases<Base>, shared_ptr<Geometry>>(
138 type_name.c_str(), doxygen::class_doc<Geometry>(), no_init)
139
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 20 .def(dv::init<HeightField<BV>>())
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141
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 20 .def(dv::init<HeightField<BV>, Scalar, Scalar, const MatrixXs&,
142 20 bp::optional<Scalar>>())
143
144
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 20 .DEF_CLASS_FUNC(Geometry, getMaxHeight)
148
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 20 .DEF_CLASS_FUNC(Geometry, getNodeType)
149
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 20 .DEF_CLASS_FUNC(Geometry, updateHeights)
150
151 40 .def("clone", &Geometry::clone,
152 20 doxygen::member_func_doc(&Geometry::clone),
153 ✗ return_value_policy<manage_new_object>())
154
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 20 .def("getXGrid", &Geometry::getXGrid,
155 20 doxygen::member_func_doc(&Geometry::getXGrid),
156 ✗ bp::return_value_policy<bp::copy_const_reference>())
157
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 20 .def("getYGrid", &Geometry::getYGrid,
158 20 doxygen::member_func_doc(&Geometry::getYGrid),
159 ✗ bp::return_value_policy<bp::copy_const_reference>())
160
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 20 .def("getHeights", &Geometry::getHeights,
161 20 doxygen::member_func_doc(&Geometry::getHeights),
162 ✗ bp::return_value_policy<bp::copy_const_reference>())
163
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 20 .def("getBV", (Node & (Geometry::*)(unsigned int)) & Geometry::getBV,
164
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 20 doxygen::member_func_doc((Node & (Geometry::*)(unsigned int)) &
165 Geometry::getBV),
166 ✗ bp::return_internal_reference<>())
167
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 20 .def_pickle(PickleObject<Geometry>())
168
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169 #if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
170
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 20 .def(eigenpy::IdVisitor<Geometry>())
171 #endif
172 ;
173 20 }
174
175 struct ConvexBaseWrapper {
176 typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 3, Eigen::RowMajor> RowMatrixX3;
177 typedef Eigen::Map<RowMatrixX3> MapRowMatrixX3;
178 typedef Eigen::Ref<RowMatrixX3> RefRowMatrixX3;
179 typedef Eigen::Map<VecXs> MapVecXs;
180 typedef Eigen::Ref<VecXs> RefVecXs;
181
182 ✗ static Vec3s& point(const ConvexBase& convex, unsigned int i) {
183 ✗ if (i >= convex.num_points)
184 ✗ throw std::out_of_range("index is out of range");
185 ✗ return (*(convex.points))[i];
186 }
187
188 ✗ static RefRowMatrixX3 points(const ConvexBase& convex) {
189 ✗ return MapRowMatrixX3((*(convex.points))[0].data(), convex.num_points, 3);
190 }
191
192 ✗ static Vec3s& normal(const ConvexBase& convex, unsigned int i) {
193 ✗ if (i >= convex.num_normals_and_offsets)
194 ✗ throw std::out_of_range("index is out of range");
195 ✗ return (*(convex.normals))[i];
196 }
197
198 ✗ static RefRowMatrixX3 normals(const ConvexBase& convex) {
199 ✗ return MapRowMatrixX3((*(convex.normals))[0].data(),
200 ✗ convex.num_normals_and_offsets, 3);
201 }
202
203 ✗ static Scalar offset(const ConvexBase& convex, unsigned int i) {
204 ✗ if (i >= convex.num_normals_and_offsets)
205 ✗ throw std::out_of_range("index is out of range");
206 ✗ return (*(convex.offsets))[i];
207 }
208
209 ✗ static RefVecXs offsets(const ConvexBase& convex) {
210 ✗ return MapVecXs(convex.offsets->data(), convex.num_normals_and_offsets, 1);
211 }
212
213 ✗ static list neighbors(const ConvexBase& convex, unsigned int i) {
214 ✗ if (i >= convex.num_points)
215 ✗ throw std::out_of_range("index is out of range");
216 ✗ list n;
217 ✗ const std::vector<ConvexBase::Neighbors>& neighbors_ = *(convex.neighbors);
218 ✗ for (unsigned char j = 0; j < neighbors_[i].count(); ++j)
219 ✗ n.append(neighbors_[i][j]);
220 ✗ return n;
221 }
222
223 1 static ConvexBase* convexHull(const Vec3ss& points, bool keepTri,
224 const char* qhullCommand) {
225 1 return ConvexBase::convexHull(points.data(), (unsigned int)points.size(),
226 ✗ keepTri, qhullCommand);
227 }
228 };
229
230 template <typename PolygonT>
231 struct ConvexWrapper {
232 typedef Convex<PolygonT> Convex_t;
233
234 ✗ static PolygonT polygons(const Convex_t& convex, unsigned int i) {
235 ✗ if (i >= convex.num_polygons)
236 ✗ throw std::out_of_range("index is out of range");
237 ✗ return (*convex.polygons)[i];
238 }
239
240 3 static shared_ptr<Convex_t> constructor(const Vec3ss& _points,
241 const Triangles& _tris) {
242
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 6 std::shared_ptr<std::vector<Vec3s>> points(
243
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 6 new std::vector<Vec3s>(_points.size()));
244 3 std::vector<Vec3s>& points_ = *points;
245
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 14 for (std::size_t i = 0; i < _points.size(); ++i) points_[i] = _points[i];
246
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 6 std::shared_ptr<std::vector<Triangle>> tris(
248
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249 3 std::vector<Triangle>& tris_ = *tris;
250
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 3 return shared_ptr<Convex_t>(new Convex_t(points,
252 6 (unsigned int)_points.size(), tris,
253
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 9 (unsigned int)_tris.size()));
254 3 }
255 };
256
257 template <typename T>
258 120 void defComputeMemoryFootprint() {
259 120 doxygen::def("computeMemoryFootprint", &computeMemoryFootprint<T>);
260 120 }
261
262 5 void exposeComputeMemoryFootprint() {
263 5 defComputeMemoryFootprint<Sphere>();
264 5 defComputeMemoryFootprint<Ellipsoid>();
265 5 defComputeMemoryFootprint<Cone>();
266 5 defComputeMemoryFootprint<Capsule>();
267 5 defComputeMemoryFootprint<Cylinder>();
268 5 defComputeMemoryFootprint<Box>();
269 5 defComputeMemoryFootprint<Plane>();
270 5 defComputeMemoryFootprint<Halfspace>();
271 5 defComputeMemoryFootprint<TriangleP>();
272
273 5 defComputeMemoryFootprint<BVHModel<OBB>>();
274 5 defComputeMemoryFootprint<BVHModel<RSS>>();
275 5 defComputeMemoryFootprint<BVHModel<OBBRSS>>();
276 5 }
277
278 5 void exposeShapes() {
279 5 class_<ShapeBase, bases<CollisionGeometry>, shared_ptr<ShapeBase>,
280 noncopyable>("ShapeBase", doxygen::class_doc<ShapeBase>(), no_init)
281 //.def ("getObjectType", &CollisionGeometry::getObjectType)
282
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283
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284
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285
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 10 &ShapeBase::getSweptSphereRadius));
286
287 5 class_<Box, bases<ShapeBase>, shared_ptr<Box>>(
288 "Box", doxygen::class_doc<ShapeBase>(), no_init)
289
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294
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295 ✗ return_value_policy<manage_new_object>())
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298 #if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
299
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300 #endif
301 ;
302
303 5 class_<Capsule, bases<ShapeBase>, shared_ptr<Capsule>>(
304 "Capsule", doxygen::class_doc<Capsule>(), no_init)
305
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309
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310
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311 ✗ return_value_policy<manage_new_object>())
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314 #if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
315
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316 #endif
317 ;
318
319 5 class_<Cone, bases<ShapeBase>, shared_ptr<Cone>>(
320 "Cone", doxygen::class_doc<Cone>(), no_init)
321
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325
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326
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327 ✗ return_value_policy<manage_new_object>())
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330 #if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
331
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332 #endif
333 ;
334
335 5 class_<ConvexBase, bases<ShapeBase>, shared_ptr<ConvexBase>, noncopyable>(
336 "ConvexBase", doxygen::class_doc<ConvexBase>(), no_init)
337
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338
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340
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 5 .def("point", &ConvexBaseWrapper::point, bp::args("self", "index"),
341 "Retrieve the point given by its index.",
342 5 bp::return_internal_reference<>())
343
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 5 .def("points", &ConvexBaseWrapper::point, bp::args("self", "index"),
344 "Retrieve the point given by its index.",
345
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 10 ::coal::python::deprecated_member<bp::return_internal_reference<>>())
346
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 5 .def("points", &ConvexBaseWrapper::points, bp::args("self"),
347 "Retrieve all the points.",
348 5 bp::with_custodian_and_ward_postcall<0, 1>())
349 // .add_property ("points",
350 // bp::make_function(&ConvexBaseWrapper::points,bp::with_custodian_and_ward_postcall<0,1>()),
351 // "Points of the convex.")
352
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 5 .def("normal", &ConvexBaseWrapper::normal, bp::args("self", "index"),
353 "Retrieve the normal given by its index.",
354 5 bp::return_internal_reference<>())
355
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 5 .def("normals", &ConvexBaseWrapper::normals, bp::args("self"),
356 "Retrieve all the normals.",
357 5 bp::with_custodian_and_ward_postcall<0, 1>())
358
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 10 .def("offset", &ConvexBaseWrapper::offset, bp::args("self", "index"),
359 "Retrieve the offset given by its index.")
360
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361 "Retrieve all the offsets.",
362 5 bp::with_custodian_and_ward_postcall<0, 1>())
363
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364
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365 // doxygen::member_func_doc(&ConvexBase::convexHull),
366 ✗ return_value_policy<manage_new_object>())
367
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368 5 .def("clone", &ConvexBase::clone,
369
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370 5 return_value_policy<manage_new_object>());
371
372 5 class_<Convex<Triangle>, bases<ConvexBase>, shared_ptr<Convex<Triangle>>,
373 noncopyable>("Convex", doxygen::class_doc<Convex<Triangle>>(), no_init)
374
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381 #if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
382
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383 #endif
384 ;
385
386 5 class_<Cylinder, bases<ShapeBase>, shared_ptr<Cylinder>>(
387 "Cylinder", doxygen::class_doc<Cylinder>(), no_init)
388
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392
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393 10 .def("clone", &Cylinder::clone,
394
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395 ✗ return_value_policy<manage_new_object>())
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398 #if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
399
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400 #endif
401 ;
402
403 5 class_<Halfspace, bases<ShapeBase>, shared_ptr<Halfspace>>(
404 "Halfspace", doxygen::class_doc<Halfspace>(), no_init)
405
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410
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411 10 .def("clone", &Halfspace::clone,
412
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413 ✗ return_value_policy<manage_new_object>())
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416 #if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
417
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418 #endif
419 ;
420
421 5 class_<Plane, bases<ShapeBase>, shared_ptr<Plane>>(
422 "Plane", doxygen::class_doc<Plane>(), no_init)
423
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429
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430 ✗ return_value_policy<manage_new_object>())
431
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432
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433 #if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
434
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435 #endif
436 ;
437
438 5 class_<Sphere, bases<ShapeBase>, shared_ptr<Sphere>>(
439 "Sphere", doxygen::class_doc<Sphere>(), no_init)
440
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441
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444
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445 ✗ return_value_policy<manage_new_object>())
446
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447
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448 #if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
449
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450 #endif
451 ;
452
453 5 class_<Ellipsoid, bases<ShapeBase>, shared_ptr<Ellipsoid>>(
454 "Ellipsoid", doxygen::class_doc<Ellipsoid>(), no_init)
455
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460 10 .def("clone", &Ellipsoid::clone,
461
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462 ✗ return_value_policy<manage_new_object>())
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464
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465 #if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
466
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467 #endif
468 ;
469
470 5 class_<TriangleP, bases<ShapeBase>, shared_ptr<TriangleP>>(
471 "TriangleP", doxygen::class_doc<TriangleP>(), no_init)
472
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476
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477
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478 10 .def("clone", &TriangleP::clone,
479
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480 ✗ return_value_policy<manage_new_object>())
481
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482
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483 #if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
484
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485 #endif
486 ;
487 5 }
488
489 ✗ boost::python::tuple AABB_distance_proxy(const AABB& self, const AABB& other) {
490 ✗ Vec3s P, Q;
491 ✗ Scalar distance = self.distance(other, &P, &Q);
492 ✗ return boost::python::make_tuple(distance, P, Q);
493 }
494
495 5 void exposeCollisionGeometries() {
496 10 enum_<BVHModelType>("BVHModelType")
497
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498
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499
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500
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501
502 10 enum_<BVHBuildState>("BVHBuildState")
503
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504
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505
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506
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510
511
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512 10 enum_<OBJECT_TYPE>("OBJECT_TYPE")
513
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514
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515
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516
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517
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518
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519 }
520
521
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522 10 enum_<NODE_TYPE>("NODE_TYPE")
523
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524
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525
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527
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528
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532
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540
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541
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542
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543
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544
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545
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546 }
547
548 5 class_<AABB>("AABB",
549 "A class describing the AABB collision structure, which is a "
550 "box in 3D space determined by two diagonal points",
551 no_init)
552
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553
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555 "Creating an AABB at position v with zero size."))
556
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557 "Creating an AABB with two endpoints a and b."))
558
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559
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560 "Creating an AABB centered as core and is of half-dimension delta."))
561
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562 "Creating an AABB contains three points."))
563
564 10 .def("contain", (bool(AABB::*)(const Vec3s&) const) & AABB::contain,
565
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566
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567
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568 "Check whether the AABB contains another AABB.")
569
570
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571
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572
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573
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574 "Check whether two AABB are overlaping and return the overloaping "
575 "part if true.")
576
577
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578
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579 // .def("distance",
580 // AABB_distance_proxy,
581 // bp::args("self","other"),
582 // "Distance between two AABBs.")
583
584
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585 "min_",
586
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587 ✗ +[](AABB& self) -> Vec3s& { return self.min_; },
588 ✗ bp::return_internal_reference<>()),
589
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590 ✗ +[](AABB& self, const Vec3s& min_) -> void { self.min_ = min_; }),
591 "The min point in the AABB.")
592
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593 "max_",
594
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595 ✗ +[](AABB& self) -> Vec3s& { return self.max_; },
596 ✗ bp::return_internal_reference<>()),
597
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598 ✗ +[](AABB& self, const Vec3s& max_) -> void { self.max_ = max_; }),
599 "The max point in the AABB.")
600
601
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 10 .def("size", &AABB::volume, bp::arg("self"), "Size of the AABB.")
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 10 .def("center", &AABB::center, bp::arg("self"), "Center of the AABB.")
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611
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 10 .def("volume", &AABB::volume, bp::arg("self"), "Volume of the AABB.")
614
615 10 .def("expand",
616 static_cast<AABB& (AABB::*)(const AABB&, Scalar)>(&AABB::expand),
617 // doxygen::member_func_doc(static_cast<AABB& (AABB::*)(const
618 // AABB &, Scalar)>(&AABB::expand)),
619 // doxygen::member_func_args(static_cast<AABB&
620 // (AABB::*)(const AABB &, Scalar)>(&AABB::expand)),
621 ✗ bp::return_internal_reference<>())
622
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 5 .def("expand", static_cast<AABB& (AABB::*)(const Scalar)>(&AABB::expand),
623 // doxygen::member_func_doc(static_cast<AABB& (AABB::*)(const
624 // Scalar)>(&AABB::expand)),
625 // doxygen::member_func_args(static_cast<AABB&
626 // (AABB::*)(const Scalar)>(&AABB::expand)),
627 ✗ bp::return_internal_reference<>())
628
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629 // doxygen::member_func_doc(static_cast<AABB& (AABB::*)(const
630 // Vec3s &)>(&AABB::expand)),
631 // doxygen::member_func_args(static_cast<AABB&
632 // (AABB::*)(const Vec3s &)>(&AABB::expand)),
633 ✗ bp::return_internal_reference<>())
634
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636 #if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
637
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 5 .def(eigenpy::IdVisitor<AABB>())
638 #endif
639 ;
640
641
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 5 def("translate", (AABB(*)(const AABB&, const Vec3s&))&translate,
642 10 bp::args("aabb", "t"), "Translate the center of AABB by t");
643
644
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 5 def("rotate", (AABB(*)(const AABB&, const Matrix3s&))&rotate,
645 10 bp::args("aabb", "R"), "Rotate the AABB object by R");
646
647 5 if (!eigenpy::register_symbolic_link_to_registered_type<
648
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 5 CollisionGeometry>()) {
649 10 class_<CollisionGeometry, CollisionGeometryPtr_t, noncopyable>(
650 "CollisionGeometry", no_init)
651
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653
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655
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657
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658 &CollisionGeometry::computeMomentofInertia)
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660
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661 &CollisionGeometry::computeMomentofInertiaRelatedToCOM)
662
663
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664 "AABB radius.")
665
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666 "AABB center in local coordinate.")
667
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 5 .def_readwrite("aabb_local", &CollisionGeometry::aabb_local,
668 "AABB in local coordinate, used for tight AABB when "
669 "only translation transform.")
670
671
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672 "Whether the object is completely occupied.")
673
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 10 .def("isFree", &CollisionGeometry::isFree, bp::arg("self"),
674 "Whether the object is completely free.")
675
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676 "Whether the object has some uncertainty.")
677
678
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 5 .def_readwrite("cost_density", &CollisionGeometry::cost_density,
679 "Collision cost for unit volume.")
680 10 .def_readwrite("threshold_occupied",
681
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 5 &CollisionGeometry::threshold_occupied,
682 "Threshold for occupied ( >= is occupied).")
683
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 5 .def_readwrite("threshold_free", &CollisionGeometry::threshold_free,
684 "Threshold for free (<= is free).")
685
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 5 .def(self == self)
687
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 5 .def(self != self);
688 }
689
690 5 exposeShapes();
691
692 5 class_<BVHModelBase, bases<CollisionGeometry>, BVHModelPtr_t, noncopyable>(
693 "BVHModelBase", no_init)
694
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 5 .def("vertex", &BVHModelBaseWrapper::vertex, bp::args("self", "index"),
695 "Retrieve the vertex given by its index.",
696 5 bp::return_internal_reference<>())
697
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698 "Retrieve the vertex given by its index.",
699
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700
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 5 .def("vertices", &BVHModelBaseWrapper::vertices, bp::args("self"),
701 "Retrieve all the vertices.",
702 5 bp::with_custodian_and_ward_postcall<0, 1>())
703 // .add_property ("vertices",
704 // bp::make_function(&BVHModelBaseWrapper::vertices,bp::with_custodian_and_ward_postcall<0,1>()),
705 // "Vertices of the BVH.")
706
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707
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 10 bp::args("self", "index"),
708 "Retrieve the triangle given by its index.")
709
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710
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711
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712
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714
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 5 .DEF_CLASS_FUNC(BVHModelBase, buildConvexRepresentation)
716
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 5 .DEF_CLASS_FUNC(BVHModelBase, buildConvexHull)
717
718 // Expose function to build a BVH
719
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 5 .def(dv::member_func("beginModel", &BVHModelBase::beginModel))
720
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724
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725
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 5 const Vec3ss&, const Triangles&)>("addSubModel",
726 &BVHModelBase::addSubModel))
727
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728 "addSubModel", &BVHModelBase::addSubModel))
729
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 5 .def(dv::member_func("endModel", &BVHModelBase::endModel))
730 // Expose function to replace a BVH
731
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 5 .def(dv::member_func("beginReplaceModel",
732
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 5 &BVHModelBase::beginReplaceModel))
733
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 5 exposeBVHModel<OBB>("OBB");
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 5 exposeBVHModel<OBBRSS>("OBBRSS");
740
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 5 exposeHeightField<OBBRSS>("OBBRSS");
741
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 5 exposeHeightField<AABB>("AABB");
742 5 exposeComputeMemoryFootprint();
743 5 }
744
745 5 void exposeCollisionObject() {
746 namespace bp = boost::python;
747
748
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 5 if (!eigenpy::register_symbolic_link_to_registered_type<CollisionObject>()) {
749 10 class_<CollisionObject, CollisionObjectPtr_t>("CollisionObject", no_init)
750
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751 5 bp::optional<bool>>())
752
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753 5 const Transform3s&, bp::optional<bool>>())
754
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 5 .def(dv::init<CollisionObject, const CollisionGeometryPtr_t&,
755 5 const Matrix3s&, const Vec3s&, bp::optional<bool>>())
756
757
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758
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759
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760
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 5 .def(dv::member_func("getAABB",
761
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 5 static_cast<AABB& (CollisionObject::*)()>(
762 &CollisionObject::getAABB),
763 ✗ bp::return_internal_reference<>()))
764
765
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 5 .DEF_CLASS_FUNC2(CollisionObject, getTranslation,
766 bp::return_value_policy<bp::copy_const_reference>())
767
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768
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 5 .DEF_CLASS_FUNC2(CollisionObject, getRotation,
769 bp::return_value_policy<bp::copy_const_reference>())
770
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771
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772 bp::return_value_policy<bp::copy_const_reference>())
773
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 5 .def(dv::member_func(
774 "setTransform",
775
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 5 static_cast<void (CollisionObject::*)(const Transform3s&)>(
776 &CollisionObject::setTransform)))
777
778
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779
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 5 .DEF_CLASS_FUNC(CollisionObject, setIdentityTransform)
780
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 5 .DEF_CLASS_FUNC2(CollisionObject, setCollisionGeometry,
781 (bp::with_custodian_and_ward_postcall<1, 2>()))
782
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 5 .def(dv::member_func(
784 "collisionGeometry",
785
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 5 static_cast<const CollisionGeometryPtr_t& (CollisionObject::*)()>(
786 &CollisionObject::collisionGeometry),
787 5 bp::return_value_policy<bp::copy_const_reference>()));
788 }
789 5 }
790