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// |
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// Software License Agreement (BSD License) |
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// |
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// Copyright (c) 2022 INRIA |
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// Author: Justin Carpentier |
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// All rights reserved. |
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// |
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// Redistribution and use in source and binary forms, with or without |
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// modification, are permitted provided that the following conditions |
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// are met: |
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// |
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// * Redistributions of source code must retain the above copyright |
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// notice, this list of conditions and the following disclaimer. |
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// * Redistributions in binary form must reproduce the above |
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// copyright notice, this list of conditions and the following |
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// disclaimer in the documentation and/or other materials provided |
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// with the distribution. |
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// * Neither the name of CNRS-LAAS. nor the names of its |
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// contributors may be used to endorse or promote products derived |
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// from this software without specific prior written permission. |
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// |
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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// COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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// BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
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// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
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// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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// LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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// POSSIBILITY OF SUCH DAMAGE. |
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#include <hpp/fcl/fwd.hh> |
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#include "../fcl.hh" |
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#include "hpp/fcl/broadphase/broadphase_dynamic_AABB_tree.h" |
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#include "hpp/fcl/broadphase/broadphase_dynamic_AABB_tree_array.h" |
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#include "hpp/fcl/broadphase/broadphase_bruteforce.h" |
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#include "hpp/fcl/broadphase/broadphase_SaP.h" |
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#include "hpp/fcl/broadphase/broadphase_SSaP.h" |
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#include "hpp/fcl/broadphase/broadphase_interval_tree.h" |
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#include "hpp/fcl/broadphase/broadphase_spatialhash.h" |
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#ifdef HPP_FCL_HAS_DOXYGEN_AUTODOC |
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#include "doxygen_autodoc/functions.h" |
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#include "doxygen_autodoc/hpp/fcl/broadphase/default_broadphase_callbacks.h" |
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// #include "doxygen_autodoc/hpp/fcl/broadphase/broadphase_dynamic_AABB_tree.h" |
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// #include |
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//"doxygen_autodoc/hpp/fcl/broadphase/broadphase_dynamic_AABB_tree_array.h" |
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// #include "doxygen_autodoc/hpp/fcl/broadphase/broadphase_bruteforce.h" |
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// #include "doxygen_autodoc/hpp/fcl/broadphase/broadphase_SaP.h" |
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// #include "doxygen_autodoc/hpp/fcl/broadphase/broadphase_SSaP.h" |
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// #include "doxygen_autodoc/hpp/fcl/broadphase/broadphase_interval_tree.h" |
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// #include "doxygen_autodoc/hpp/fcl/broadphase/broadphase_spatialhash.h" |
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#endif |
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#include "broadphase_callbacks.hh" |
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#include "broadphase_collision_manager.hh" |
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using namespace hpp::fcl; |
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void exposeBroadPhase() { |
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CollisionCallBackBaseWrapper::expose(); |
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DistanceCallBackBaseWrapper::expose(); |
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// CollisionCallBackDefault |
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bp::class_<CollisionCallBackDefault, bp::bases<CollisionCallBackBase> >( |
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"CollisionCallBackDefault", bp::no_init) |
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✓✗ |
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.def(dv::init<CollisionCallBackDefault>()) |
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.DEF_RW_CLASS_ATTRIB(CollisionCallBackDefault, data); |
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// DistanceCallBackDefault |
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bp::class_<DistanceCallBackDefault, bp::bases<DistanceCallBackBase> >( |
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"DistanceCallBackDefault", bp::no_init) |
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.def(dv::init<DistanceCallBackDefault>()) |
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.DEF_RW_CLASS_ATTRIB(DistanceCallBackDefault, data); |
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// CollisionCallBackCollect |
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bp::class_<CollisionCallBackCollect, bp::bases<CollisionCallBackBase> >( |
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"CollisionCallBackCollect", bp::no_init) |
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.def(dv::init<CollisionCallBackCollect, const size_t>()) |
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.DEF_CLASS_FUNC(CollisionCallBackCollect, numCollisionPairs) |
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.DEF_CLASS_FUNC2(CollisionCallBackCollect, getCollisionPairs, |
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bp::return_value_policy<bp::copy_const_reference>()) |
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.DEF_CLASS_FUNC(CollisionCallBackCollect, exist); |
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bp::class_<CollisionData>("CollisionData", bp::no_init) |
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.def(dv::init<CollisionData>()) |
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.DEF_RW_CLASS_ATTRIB(CollisionData, request) |
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.DEF_RW_CLASS_ATTRIB(CollisionData, result) |
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.DEF_RW_CLASS_ATTRIB(CollisionData, done) |
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.DEF_CLASS_FUNC(CollisionData, clear); |
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bp::class_<DistanceData>("DistanceData", bp::no_init) |
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.def(dv::init<DistanceData>()) |
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.DEF_RW_CLASS_ATTRIB(DistanceData, request) |
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.DEF_RW_CLASS_ATTRIB(DistanceData, result) |
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.DEF_RW_CLASS_ATTRIB(DistanceData, done) |
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.DEF_CLASS_FUNC(DistanceData, clear); |
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BroadPhaseCollisionManagerWrapper::expose(); |
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BroadPhaseCollisionManagerWrapper::exposeDerived< |
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DynamicAABBTreeCollisionManager>(); |
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BroadPhaseCollisionManagerWrapper::exposeDerived< |
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DynamicAABBTreeArrayCollisionManager>(); |
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BroadPhaseCollisionManagerWrapper::exposeDerived< |
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IntervalTreeCollisionManager>(); |
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BroadPhaseCollisionManagerWrapper::exposeDerived<SSaPCollisionManager>(); |
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BroadPhaseCollisionManagerWrapper::exposeDerived<SaPCollisionManager>(); |
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BroadPhaseCollisionManagerWrapper::exposeDerived<NaiveCollisionManager>(); |
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// Specific case of SpatialHashingCollisionManager |
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{ |
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typedef detail::SimpleHashTable<AABB, CollisionObject *, |
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detail::SpatialHash> |
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HashTable; |
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typedef SpatialHashingCollisionManager<HashTable> Derived; |
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bp::class_<Derived, bp::bases<BroadPhaseCollisionManager> >( |
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"SpatialHashingCollisionManager", bp::no_init) |
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.def(dv::init<Derived, FCL_REAL, const Vec3f &, const Vec3f &, |
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✓✗ |
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bp::optional<unsigned int> >()); |
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} |
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} |