// // 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) { exposeVersion(); exposeMaths(); exposeCollisionGeometries(); exposeMeshLoader(); exposeCollisionAPI(); exposeDistanceAPI(); }