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//
// Software License Agreement (BSD License)
//
// Copyright (c) 2019 CNRS-LAAS
// 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>
#include "fcl.hh"
#include <hpp/fcl/fwd.hh>
#include <hpp/fcl/shape/geometric_shapes.h>
#include <hpp/fcl/BVH/BVH_model.h>
#include <hpp/fcl/mesh_loader/loader.h>
#include <hpp/fcl/collision.h>
using namespace boost::python;
using namespace hpp::fcl;
using boost::shared_ptr;
using boost::noncopyable;
void exposeMeshLoader ()
{
class_ <MeshLoader> ("MeshLoader", init< optional< NODE_TYPE> >())
.def ("load", static_cast <BVHModelPtr_t (MeshLoader::*) (const std::string&, const Vec3f&)> (&MeshLoader::load))
;
class_ <CachedMeshLoader, bases<MeshLoader> > ("CachedMeshLoader", init< optional< NODE_TYPE> >())
;
}
BOOST_PYTHON_MODULE(hppfcl)
{
exposeMaths();
exposeCollisionGeometries();
exposeMeshLoader();
exposeCollisionAPI();
exposeDistanceAPI();
}