collision-geometries.cc 16.5 KB
Newer Older
Joseph Mirabel's avatar
Joseph Mirabel committed
1
2
3
//
// Software License Agreement (BSD License)
//
4
//  Copyright (c) 2019-2020 CNRS-LAAS INRIA
Joseph Mirabel's avatar
Joseph Mirabel committed
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
//  Author: Joseph Mirabel
//  All rights reserved.
//
//  Redistribution and use in source and binary forms, with or without
//  modification, are permitted provided that the following conditions
//  are met:
//
//   * Redistributions of source code must retain the above copyright
//     notice, this list of conditions and the following disclaimer.
//   * Redistributions in binary form must reproduce the above
//     copyright notice, this list of conditions and the following
//     disclaimer in the documentation and/or other materials provided
//     with the distribution.
//   * Neither the name of CNRS-LAAS. nor the names of its
//     contributors may be used to endorse or promote products derived
//     from this software without specific prior written permission.
//
//  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
//  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
//  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
//  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
//  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
//  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
//  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
//  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
//  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
//  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
//  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
//  POSSIBILITY OF SUCH DAMAGE.

#include <boost/python.hpp>

37
#include <eigenpy/registration.hpp>
38
#include <eigenpy/eigen-to-python.hpp>
39

Joseph Mirabel's avatar
Joseph Mirabel committed
40
41
42
43
44
45
46
#include "fcl.hh"

#include <hpp/fcl/fwd.hh>
#include <hpp/fcl/shape/geometric_shapes.h>
#include <hpp/fcl/shape/convex.h>
#include <hpp/fcl/BVH/BVH_model.h>

47
#ifdef HPP_FCL_HAS_DOXYGEN_AUTODOC
48
49
50
// FIXME for a reason I do not understand, doxygen fails to understand that
// BV_splitter is not defined in hpp/fcl/BVH/BVH_model.h
#include <hpp/fcl/internal/BV_splitter.h>
Joseph Mirabel's avatar
Joseph Mirabel committed
51
52
#include "doxygen_autodoc/hpp/fcl/BVH/BVH_model.h"
#include "doxygen_autodoc/hpp/fcl/shape/geometric_shapes.h"
53
#include "doxygen_autodoc/functions.h"
54
55
56
#endif

#include "../doc/python/doxygen.hh"
Joseph Mirabel's avatar
Joseph Mirabel committed
57
#include "../doc/python/doxygen-boost.hh"
Joseph Mirabel's avatar
Joseph Mirabel committed
58

59
60
61
62
63
64
65
#define DEF_RW_CLASS_ATTRIB(CLASS, ATTRIB)                                     \
  def_readwrite (#ATTRIB, &CLASS::ATTRIB,                                      \
      doxygen::class_attrib_doc<CLASS>(#ATTRIB))
#define DEF_RO_CLASS_ATTRIB(CLASS, ATTRIB)                                     \
  def_readonly (#ATTRIB, &CLASS::ATTRIB,                                       \
      doxygen::class_attrib_doc<CLASS>(#ATTRIB))
#define DEF_CLASS_FUNC(CLASS, ATTRIB)                                          \
Joseph Mirabel's avatar
Joseph Mirabel committed
66
  def (dv::member_func(#ATTRIB, &CLASS::ATTRIB))
67
68
69
#define DEF_CLASS_FUNC2(CLASS, ATTRIB,policy)                                  \
  def (#ATTRIB, &CLASS::ATTRIB, doxygen::member_func_doc(&CLASS::ATTRIB),policy)

Joseph Mirabel's avatar
Joseph Mirabel committed
70
71
using namespace boost::python;
using namespace hpp::fcl;
Joseph Mirabel's avatar
Joseph Mirabel committed
72
73
namespace dv = doxygen::visitor;

Joseph Mirabel's avatar
Joseph Mirabel committed
74
75
76
using boost::shared_ptr;
using boost::noncopyable;

77
78
79
typedef std::vector<Vec3f> Vec3fs;
typedef std::vector<Triangle> Triangles;

Joseph Mirabel's avatar
Joseph Mirabel committed
80
struct BVHModelBaseWrapper
Joseph Mirabel's avatar
Joseph Mirabel committed
81
{
Joseph Mirabel's avatar
Joseph Mirabel committed
82
  static Vec3f vertices (const BVHModelBase& bvh, int i)
Joseph Mirabel's avatar
Joseph Mirabel committed
83
84
85
86
87
  {
    if (i >= bvh.num_vertices) throw std::out_of_range("index is out of range");
    return bvh.vertices[i];
  }

Joseph Mirabel's avatar
Joseph Mirabel committed
88
  static Triangle tri_indices (const BVHModelBase& bvh, int i)
Joseph Mirabel's avatar
Joseph Mirabel committed
89
90
91
92
93
94
95
96
97
98
99
100
  {
    if (i >= bvh.num_tris) throw std::out_of_range("index is out of range");
    return bvh.tri_indices[i];
  }
};

template <typename BV>
void exposeBVHModel (const std::string& bvname)
{
  typedef BVHModel<BV> BVHModel_t;

  std::string type = "BVHModel" + bvname;
Joseph Mirabel's avatar
Joseph Mirabel committed
101
  class_ <BVHModel_t, bases<BVHModelBase>, shared_ptr<BVHModel_t> >
Joseph Mirabel's avatar
Joseph Mirabel committed
102
103
    (type.c_str(), doxygen::class_doc<BVHModel_t>(), no_init)
    .def (dv::init<BVHModel_t>())
104
    .def (dv::init<BVHModel_t, BVHModel_t>())
Joseph Mirabel's avatar
Joseph Mirabel committed
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
    ;
}

struct ConvexBaseWrapper
{
  static Vec3f points (const ConvexBase& convex, int i)
  {
    if (i >= convex.num_points) throw std::out_of_range("index is out of range");
    return convex.points[i];
  }

  static list neighbors (const ConvexBase& convex, int i)
  {
    if (i >= convex.num_points) throw std::out_of_range("index is out of range");
    list n;
    for (unsigned char j = 0; j < convex.neighbors[i].count(); ++j)
      n.append (convex.neighbors[i][j]);
    return n;
  }
Joseph Mirabel's avatar
Joseph Mirabel committed
124
125
126
127
128
129
130

  static ConvexBase* convexHull (const Vec3fs& points, bool keepTri,
      const char* qhullCommand)
  {
    return ConvexBase::convexHull (points.data(), (int)points.size(), keepTri,
        qhullCommand);
  }
Joseph Mirabel's avatar
Joseph Mirabel committed
131
132
133
134
135
136
137
138
139
140
141
142
};

template <typename PolygonT>
struct ConvexWrapper
{
  typedef Convex<PolygonT> Convex_t;

  static PolygonT polygons (const Convex_t& convex, int i)
  {
    if (i >= convex.num_polygons) throw std::out_of_range("index is out of range");
    return convex.polygons[i];
  }
143
144
145
146
147
148
149
150
151
152

  static shared_ptr<Convex_t> constructor (const Vec3fs& _points, const Triangles& _tris)
  {
    Vec3f* points = new Vec3f[_points.size()];
    for (std::size_t i = 0; i < _points.size(); ++i) points[i] = _points[i];
    Triangle* tris = new Triangle[_tris.size()];
    for (std::size_t i = 0; i < _tris.size(); ++i) tris[i] = _tris[i];
    return shared_ptr<Convex_t>(new Convex_t(true, points, (int)_points.size(),
          tris, (int)_tris.size()));
  }
Joseph Mirabel's avatar
Joseph Mirabel committed
153
154
155
156
157
};

void exposeShapes ()
{
  class_ <ShapeBase, bases<CollisionGeometry>, shared_ptr<ShapeBase>, noncopyable>
Joseph Mirabel's avatar
Joseph Mirabel committed
158
    ("ShapeBase", doxygen::class_doc<ShapeBase>(), no_init)
Joseph Mirabel's avatar
Joseph Mirabel committed
159
160
161
162
    //.def ("getObjectType", &CollisionGeometry::getObjectType)
    ;

  class_ <Box, bases<ShapeBase>, shared_ptr<Box> >
Joseph Mirabel's avatar
Joseph Mirabel committed
163
    ("Box", doxygen::class_doc<ShapeBase>(), no_init)
Justin Carpentier's avatar
Justin Carpentier committed
164
165
166
    .def (dv::init<Box>())
    .def (dv::init<Box, FCL_REAL,FCL_REAL,FCL_REAL>())
    .def (dv::init<Box, const Vec3f&>())
167
    .DEF_RW_CLASS_ATTRIB(Box,halfSide)
Joseph Mirabel's avatar
Joseph Mirabel committed
168
169
170
    ;

  class_ <Capsule, bases<ShapeBase>, shared_ptr<Capsule> >
Joseph Mirabel's avatar
Joseph Mirabel committed
171
    ("Capsule", doxygen::class_doc<Capsule>(), no_init)
Justin Carpentier's avatar
Justin Carpentier committed
172
    .def (dv::init<Capsule, FCL_REAL, FCL_REAL>())
173
174
    .DEF_RW_CLASS_ATTRIB (Capsule, radius)
    .DEF_RW_CLASS_ATTRIB (Capsule, halfLength)
Joseph Mirabel's avatar
Joseph Mirabel committed
175
176
177
    ;

  class_ <Cone, bases<ShapeBase>, shared_ptr<Cone> >
Joseph Mirabel's avatar
Joseph Mirabel committed
178
    ("Cone", doxygen::class_doc<Cone>(), no_init)
Justin Carpentier's avatar
Justin Carpentier committed
179
    .def (dv::init<Cone, FCL_REAL, FCL_REAL>())
180
181
    .DEF_RW_CLASS_ATTRIB (Cone, radius)
    .DEF_RW_CLASS_ATTRIB (Cone, halfLength)
Joseph Mirabel's avatar
Joseph Mirabel committed
182
183
184
    ;

  class_ <ConvexBase, bases<ShapeBase>, shared_ptr<ConvexBase >, noncopyable>
Joseph Mirabel's avatar
Joseph Mirabel committed
185
    ("ConvexBase", doxygen::class_doc<ConvexBase>(), no_init)
186
187
    .DEF_RO_CLASS_ATTRIB (ConvexBase, center)
    .DEF_RO_CLASS_ATTRIB (ConvexBase, num_points)
Joseph Mirabel's avatar
Joseph Mirabel committed
188
189
    .def ("points", &ConvexBaseWrapper::points)
    .def ("neighbors", &ConvexBaseWrapper::neighbors)
Joseph Mirabel's avatar
Joseph Mirabel committed
190
191
192
193
    .def ("convexHull", &ConvexBaseWrapper::convexHull,
        doxygen::member_func_doc(&ConvexBase::convexHull),
        return_value_policy<manage_new_object>())
    .staticmethod("convexHull")
Joseph Mirabel's avatar
Joseph Mirabel committed
194
195
196
    ;

  class_ <Convex<Triangle>, bases<ConvexBase>, shared_ptr<Convex<Triangle> >, noncopyable>
Joseph Mirabel's avatar
Joseph Mirabel committed
197
    ("Convex", doxygen::class_doc< Convex<Triangle> >(), no_init)
198
    .def("__init__", make_constructor(&ConvexWrapper<Triangle>::constructor))
199
    .DEF_RO_CLASS_ATTRIB (Convex<Triangle>, num_polygons)
Joseph Mirabel's avatar
Joseph Mirabel committed
200
201
202
203
    .def ("polygons", &ConvexWrapper<Triangle>::polygons)
    ;

  class_ <Cylinder, bases<ShapeBase>, shared_ptr<Cylinder> >
Joseph Mirabel's avatar
Joseph Mirabel committed
204
    ("Cylinder", doxygen::class_doc<Cylinder>(), no_init)
Justin Carpentier's avatar
Justin Carpentier committed
205
    .def (dv::init<Cylinder, FCL_REAL, FCL_REAL>())
206
207
    .DEF_RW_CLASS_ATTRIB (Cylinder, radius)
    .DEF_RW_CLASS_ATTRIB (Cylinder, halfLength)
Joseph Mirabel's avatar
Joseph Mirabel committed
208
209
210
    ;

  class_ <Halfspace, bases<ShapeBase>, shared_ptr<Halfspace> >
Joseph Mirabel's avatar
Joseph Mirabel committed
211
    ("Halfspace", doxygen::class_doc<Halfspace>(), no_init)
Justin Carpentier's avatar
Justin Carpentier committed
212
213
214
    .def (dv::init<Halfspace, const Vec3f&, FCL_REAL>())
    .def (dv::init<Halfspace, FCL_REAL,FCL_REAL,FCL_REAL,FCL_REAL>())
    .def (dv::init<Halfspace>())
215
216
    .DEF_RW_CLASS_ATTRIB (Halfspace, n)
    .DEF_RW_CLASS_ATTRIB (Halfspace, d)
Joseph Mirabel's avatar
Joseph Mirabel committed
217
218
219
    ;

  class_ <Plane, bases<ShapeBase>, shared_ptr<Plane> >
Joseph Mirabel's avatar
Joseph Mirabel committed
220
    ("Plane", doxygen::class_doc<Plane>(), no_init)
Justin Carpentier's avatar
Justin Carpentier committed
221
222
223
    .def (dv::init<Plane, const Vec3f&, FCL_REAL>())
    .def (dv::init<Plane, FCL_REAL,FCL_REAL,FCL_REAL,FCL_REAL>())
    .def (dv::init<Plane>())
224
225
    .DEF_RW_CLASS_ATTRIB (Plane, n)
    .DEF_RW_CLASS_ATTRIB (Plane, d)
Joseph Mirabel's avatar
Joseph Mirabel committed
226
227
228
    ;

  class_ <Sphere, bases<ShapeBase>, shared_ptr<Sphere> >
Joseph Mirabel's avatar
Joseph Mirabel committed
229
    ("Sphere", doxygen::class_doc<Sphere>(), no_init)
Justin Carpentier's avatar
Justin Carpentier committed
230
    .def (dv::init<Sphere, FCL_REAL>())
231
    .DEF_RW_CLASS_ATTRIB (Sphere, radius)
Joseph Mirabel's avatar
Joseph Mirabel committed
232
233
234
    ;

  class_ <TriangleP, bases<ShapeBase>, shared_ptr<TriangleP> >
Joseph Mirabel's avatar
Joseph Mirabel committed
235
    ("TriangleP", doxygen::class_doc<TriangleP>(), no_init)
Justin Carpentier's avatar
Justin Carpentier committed
236
    .def (dv::init<TriangleP, const Vec3f&, const Vec3f&, const Vec3f&>())
237
238
239
    .DEF_RW_CLASS_ATTRIB (TriangleP, a)
    .DEF_RW_CLASS_ATTRIB (TriangleP, b)
    .DEF_RW_CLASS_ATTRIB (TriangleP, c)
Joseph Mirabel's avatar
Joseph Mirabel committed
240
241
242
243
    ;

}

244
245
246
247
boost::python::tuple AABB_distance_proxy(const AABB & self, const AABB & other)
{
  Vec3f P,Q;
  FCL_REAL distance = self.distance(other,&P,&Q);
248
  return boost::python::make_tuple(distance,P,Q);
249
250
}

Joseph Mirabel's avatar
Joseph Mirabel committed
251
252
void exposeCollisionGeometries ()
{
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
  
  if(!eigenpy::register_symbolic_link_to_registered_type<OBJECT_TYPE>())
  {
    enum_<OBJECT_TYPE>("OBJECT_TYPE")
      .value ("OT_UNKNOWN", OT_UNKNOWN)
      .value ("OT_BVH"    , OT_BVH)
      .value ("OT_GEOM"   , OT_GEOM)
      .value ("OT_OCTREE" , OT_OCTREE)
      ;
  }
  
  if(!eigenpy::register_symbolic_link_to_registered_type<NODE_TYPE>())
  {
    enum_<NODE_TYPE>("NODE_TYPE")
      .value ("BV_UNKNOWN", BV_UNKNOWN)
      .value ("BV_AABB"  , BV_AABB)
      .value ("BV_OBB"   , BV_OBB)
      .value ("BV_RSS"   , BV_RSS)
      .value ("BV_kIOS"  , BV_kIOS)
      .value ("BV_OBBRSS", BV_OBBRSS)
      .value ("BV_KDOP16", BV_KDOP16)
      .value ("BV_KDOP18", BV_KDOP18)
      .value ("BV_KDOP24", BV_KDOP24)
      .value ("GEOM_BOX"      , GEOM_BOX)
      .value ("GEOM_SPHERE"   , GEOM_SPHERE)
      .value ("GEOM_CAPSULE"  , GEOM_CAPSULE)
      .value ("GEOM_CONE"     , GEOM_CONE)
      .value ("GEOM_CYLINDER" , GEOM_CYLINDER)
      .value ("GEOM_CONVEX"   , GEOM_CONVEX)
      .value ("GEOM_PLANE"    , GEOM_PLANE)
      .value ("GEOM_HALFSPACE", GEOM_HALFSPACE)
      .value ("GEOM_TRIANGLE" , GEOM_TRIANGLE)
      .value ("GEOM_OCTREE"   , GEOM_OCTREE)
      ;
  }
288
289
290
291
292
293
  
  namespace bp = boost::python;
  
  class_<AABB>("AABB",
               "A class describing the AABB collision structure, which is a box in 3D space determined by two diagonal points",
               no_init)
294
295
296
297
298
    .def(init<>(bp::arg("self"), "Default constructor"))
    .def(init<Vec3f>(bp::args("self","v"),"Creating an AABB at position v with zero size."))
    .def(init<Vec3f,Vec3f>(bp::args("self","a","b"),"Creating an AABB with two endpoints a and b."))
    .def(init<AABB,Vec3f>(bp::args("self","core","delta"),"Creating an AABB centered as core and is of half-dimension delta."))
    .def(init<Vec3f,Vec3f,Vec3f>(bp::args("self","a","b","c"),"Creating an AABB contains three points."))
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
  
    .def("contain",
         (bool (AABB::*)(const Vec3f &) const)&AABB::contain,
         bp::args("self","p"),
         "Check whether the AABB contains a point p.")
    .def("contain",
         (bool (AABB::*)(const AABB &) const)&AABB::contain,
         bp::args("self","other"),
         "Check whether the AABB contains another AABB.")
  
    .def("overlap",
         (bool (AABB::*)(const AABB &) const)&AABB::overlap,
         bp::args("self","other"),
         "Check whether two AABB are overlap.")
    .def("overlap",
         (bool (AABB::*)(const AABB&, AABB&) const)&AABB::overlap,
         bp::args("self","other","overlapping_part"),
         "Check whether two AABB are overlaping and return the overloaping part if true.")
  
    .def("distance",
         (FCL_REAL (AABB::*)(const AABB &) const)&AABB::distance,
         bp::args("self","other"),
         "Distance between two AABBs.")
//    .def("distance",
//         AABB_distance_proxy,
//         bp::args("self","other"),
//         "Distance between two AABBs.")
  
    .def(bp::self + bp::self)
    .def(bp::self += bp::self)
    .def(bp::self += Vec3f())
  
    .def("size",&AABB::volume,bp::arg("self"),"Size of the AABB.")
    .def("center",&AABB::center,bp::arg("self"),"Center of the AABB.")
    .def("width",&AABB::width,bp::arg("self"),"Width of the AABB.")
    .def("height",&AABB::height,bp::arg("self"),"Height of the AABB.")
    .def("depth",&AABB::depth,bp::arg("self"),"Depth of the AABB.")
    .def("volume",&AABB::volume,bp::arg("self"),"Volume of the AABB.")
  
    .def("expand",
         (AABB& (AABB::*)(const AABB &, FCL_REAL))&AABB::expand,
         bp::args("self","core","ratio"),
         "Expand the AABB by increase the thickness of the plate by a ratio.",
         bp::return_internal_reference<>())
    .def("expand",
         (AABB& (AABB::*)(const Vec3f &))&AABB::expand,
         bp::args("self","delta"),
         "Expand the half size of the AABB by delta, and keep the center unchanged.",
         bp::return_internal_reference<>());
  
  def("translate",
      (AABB (*)(const AABB&, const Vec3f&))&translate,
      bp::args("aabb","t"),
      "Translate the center of AABB by t");
  
  def("rotate",
      (AABB (*)(const AABB&, const Matrix3f&))&rotate,
      bp::args("aabb","R"),
      "Rotate the AABB object by R");
Joseph Mirabel's avatar
Joseph Mirabel committed
358

359
360
361
362
363
364
  if(!eigenpy::register_symbolic_link_to_registered_type<CollisionGeometry>())
  {
    class_ <CollisionGeometry, CollisionGeometryPtr_t, noncopyable>
      ("CollisionGeometry", no_init)
      .def ("getObjectType", &CollisionGeometry::getObjectType)
      .def ("getNodeType", &CollisionGeometry::getNodeType)
Joseph Mirabel's avatar
Joseph Mirabel committed
365

366
      .def ("computeLocalAABB", &CollisionGeometry::computeLocalAABB)
Joseph Mirabel's avatar
Joseph Mirabel committed
367

368
369
370
371
      .def ("computeCOM", &CollisionGeometry::computeCOM)
      .def ("computeMomentofInertia", &CollisionGeometry::computeMomentofInertia)
      .def ("computeVolume", &CollisionGeometry::computeVolume)
      .def ("computeMomentofInertiaRelatedToCOM", &CollisionGeometry::computeMomentofInertiaRelatedToCOM)
372

373
374
375
376
377
378
379
380
381
382
383
      .def_readwrite("aabb_radius",&CollisionGeometry::aabb_radius,"AABB radius.")
      .def_readwrite("aabb_center",&CollisionGeometry::aabb_center,"AABB center in local coordinate.")
      .def_readwrite("aabb_local",&CollisionGeometry::aabb_local,"AABB in local coordinate, used for tight AABB when only translation transform.")
    
      .def("isOccupied",&CollisionGeometry::isOccupied,bp::arg("self"),"Whether the object is completely occupied.")
      .def("isFree",&CollisionGeometry::isFree,bp::arg("self"),"Whether the object is completely free.")
      .def("isUncertain",&CollisionGeometry::isUncertain,bp::arg("self"),"Whether the object has some uncertainty.")

      .def_readwrite("cost_density",&CollisionGeometry::cost_density,"Collision cost for unit volume.")
      .def_readwrite("threshold_occupied",&CollisionGeometry::threshold_occupied,"Threshold for occupied ( >= is occupied).")
      .def_readwrite("threshold_free",&CollisionGeometry::threshold_free,"Threshold for free (<= is free).")
384
385
      ;
  }
Joseph Mirabel's avatar
Joseph Mirabel committed
386
387
388

  exposeShapes();

Joseph Mirabel's avatar
Joseph Mirabel committed
389
390
  class_ <BVHModelBase, bases<CollisionGeometry>, BVHModelPtr_t, noncopyable>
    ("BVHModelBase", no_init)
391
392
393
394
    .def ("vertices", &BVHModelBaseWrapper::vertices,
          bp::args("self","index"),"Retrieve the vertex given by its index.")
    .def ("tri_indices", &BVHModelBaseWrapper::tri_indices,
          bp::args("self","index"),"Retrieve the triangle given by its index.")
Joseph Mirabel's avatar
Joseph Mirabel committed
395
396
397
398
399
    .def_readonly ("num_vertices", &BVHModelBase::num_vertices)
    .def_readonly ("num_tris", &BVHModelBase::num_tris)

    .def_readonly ("convex", &BVHModelBase::convex)

400
401
    .DEF_CLASS_FUNC(BVHModelBase, buildConvexRepresentation)
    .DEF_CLASS_FUNC(BVHModelBase, buildConvexHull)
402
403
404
405
406
407
408
409
410
411
412
413
414
415

    // Expose function to build a BVH
    .def(dv::member_func("beginModel", &BVHModelBase::beginModel))
    .def(dv::member_func("addVertex", &BVHModelBase::addVertex))
    .def(dv::member_func("addTriangle", &BVHModelBase::addTriangle))
    .def(dv::member_func<int (BVHModelBase::*)(const Vec3fs&, const Triangles&)>("addSubModel", &BVHModelBase::addSubModel))
    .def(dv::member_func<int (BVHModelBase::*)(const Vec3fs&                  )>("addSubModel", &BVHModelBase::addSubModel))
    .def(dv::member_func("endModel", &BVHModelBase::endModel))
    // Expose function to replace a BVH
    .def(dv::member_func("beginReplaceModel", &BVHModelBase::beginReplaceModel))
    .def(dv::member_func("replaceVertex", &BVHModelBase::replaceVertex))
    .def(dv::member_func("replaceTriangle", &BVHModelBase::replaceTriangle))
    .def(dv::member_func("replaceSubModel", &BVHModelBase::replaceSubModel))
    .def(dv::member_func("endReplaceModel", &BVHModelBase::endReplaceModel))
Joseph Mirabel's avatar
Joseph Mirabel committed
416
    ;
Joseph Mirabel's avatar
Joseph Mirabel committed
417
418
419
  exposeBVHModel<OBB    >("OBB"    );
  exposeBVHModel<OBBRSS >("OBBRSS" );
}