collision.cc 7.11 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
//  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>
36
#include <boost/python/suite/indexing/vector_indexing_suite.hpp>
Joseph Mirabel's avatar
Joseph Mirabel committed
37

38
#include <eigenpy/eigenpy.hpp>
39

Joseph Mirabel's avatar
Joseph Mirabel committed
40
41
42
#include <hpp/fcl/fwd.hh>
#include <hpp/fcl/collision.h>

Joseph Mirabel's avatar
Joseph Mirabel committed
43
44
#include "fcl.hh"

45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
#ifdef HPP_FCL_HAS_DOXYGEN_AUTODOC
#include "doxygen_autodoc/functions.h"
#include "doxygen_autodoc/hpp/fcl/collision_data.h"
#endif

#include "../doc/python/doxygen.hh"
#include "../doc/python/doxygen-boost.hh"

#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
60
  def (dv::member_func(#ATTRIB, &CLASS::ATTRIB))
61
62
63
#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
64
65
66
using namespace boost::python;
using namespace hpp::fcl;

Joseph Mirabel's avatar
Joseph Mirabel committed
67
68
namespace dv = doxygen::visitor;

Joseph Mirabel's avatar
Joseph Mirabel committed
69
70
void exposeCollisionAPI ()
{
71
72
73
74
75
76
77
78
  if(!eigenpy::register_symbolic_link_to_registered_type<CollisionRequestFlag>())
  {
    enum_ <CollisionRequestFlag> ("CollisionRequestFlag")
      .value ("CONTACT", CONTACT)
      .value ("DISTANCE_LOWER_BOUND", DISTANCE_LOWER_BOUND)
      .value ("NO_REQUEST", NO_REQUEST)
      ;
  }
Joseph Mirabel's avatar
Joseph Mirabel committed
79

80
81
82
83
84
85
86
87
88
89
90
  if(!eigenpy::register_symbolic_link_to_registered_type<QueryRequest>())
  {
    class_ <QueryRequest> ("QueryRequest",
        doxygen::class_doc<QueryRequest>(), no_init)
      .DEF_RW_CLASS_ATTRIB (QueryRequest, enable_cached_gjk_guess    )
      .DEF_RW_CLASS_ATTRIB (QueryRequest, cached_gjk_guess           )
      .DEF_RW_CLASS_ATTRIB (QueryRequest, cached_support_func_guess  )
      .DEF_CLASS_FUNC (QueryRequest, updateGuess)
      ;
  }

91
92
  if(!eigenpy::register_symbolic_link_to_registered_type<CollisionRequest>())
  {
93
    class_ <CollisionRequest, bases<QueryRequest> > ("CollisionRequest",
Joseph Mirabel's avatar
Joseph Mirabel committed
94
        doxygen::class_doc<CollisionRequest>(), no_init)
Justin Carpentier's avatar
Justin Carpentier committed
95
96
      .def (dv::init<CollisionRequest>())
      .def (dv::init<CollisionRequest, const CollisionRequestFlag, size_t>())
97
98
99
100
101
      .DEF_RW_CLASS_ATTRIB (CollisionRequest, num_max_contacts           )
      .DEF_RW_CLASS_ATTRIB (CollisionRequest, enable_contact             )
      .DEF_RW_CLASS_ATTRIB (CollisionRequest, enable_distance_lower_bound)
      .DEF_RW_CLASS_ATTRIB (CollisionRequest, security_margin            )
      .DEF_RW_CLASS_ATTRIB (CollisionRequest, break_distance             )
102
103
      ;
  }
Joseph Mirabel's avatar
Joseph Mirabel committed
104

105
106
107
108
109
110
111
  if(!eigenpy::register_symbolic_link_to_registered_type< std::vector<CollisionRequest> >())
  {
    class_< std::vector<CollisionRequest> >("StdVec_CollisionRequest")
      .def(vector_indexing_suite< std::vector<CollisionRequest> >())
      ;
  }

112
113
  if(!eigenpy::register_symbolic_link_to_registered_type<Contact>())
  {
114
    class_ <Contact> ("Contact",
115
        doxygen::class_doc<Contact>(), init<>(arg("self"),"Default constructor"))
116
117
      //.def(init<CollisionGeometryPtr_t, CollisionGeometryPtr_t, int, int>())
      //.def(init<CollisionGeometryPtr_t, CollisionGeometryPtr_t, int, int, Vec3f, Vec3f, FCL_REAL>())
118
119
120
121
      .DEF_RO_CLASS_ATTRIB (Contact, o1)
      .DEF_RO_CLASS_ATTRIB (Contact, o2)
      .DEF_RW_CLASS_ATTRIB (Contact, b1)
      .DEF_RW_CLASS_ATTRIB (Contact, b2)
122
123
      .DEF_RW_CLASS_ATTRIB (Contact, normal)
      .DEF_RW_CLASS_ATTRIB (Contact, pos)
124
      .DEF_RW_CLASS_ATTRIB (Contact, penetration_depth)
125
126
127
128
      .def (self == self)
      .def (self != self)
      ;
  }
Joseph Mirabel's avatar
Joseph Mirabel committed
129

130
131
132
133
134
135
  if(!eigenpy::register_symbolic_link_to_registered_type< std::vector<Contact> >())
  {
    class_< std::vector<Contact> >("StdVec_Contact")
      .def(vector_indexing_suite< std::vector<Contact> >())
      ;
  }
136

137
138
139
140
141
142
143
144
145
  if(!eigenpy::register_symbolic_link_to_registered_type<QueryResult>())
  {
    class_ <QueryResult> ("QueryResult",
        doxygen::class_doc<QueryResult>(), no_init)
      .DEF_RW_CLASS_ATTRIB (QueryResult, cached_gjk_guess         )
      .DEF_RW_CLASS_ATTRIB (QueryResult, cached_support_func_guess)
      ;
  }

146
  if(!eigenpy::register_symbolic_link_to_registered_type< CollisionResult >())
147
  {
148
    class_ <CollisionResult, bases<QueryResult> > ("CollisionResult",
Joseph Mirabel's avatar
Joseph Mirabel committed
149
        doxygen::class_doc<CollisionResult>(), no_init)
Justin Carpentier's avatar
Justin Carpentier committed
150
      .def (dv::init<CollisionResult>())
151
152
      .DEF_CLASS_FUNC (CollisionResult, isCollision)
      .DEF_CLASS_FUNC (CollisionResult, numContacts)
Joseph Mirabel's avatar
Joseph Mirabel committed
153
      .DEF_CLASS_FUNC (CollisionResult, addContact)
154
155
156
157
158
      .DEF_CLASS_FUNC (CollisionResult, clear)
      .DEF_CLASS_FUNC2 (CollisionResult, getContact , return_value_policy<copy_const_reference>())
      .DEF_CLASS_FUNC2 (CollisionResult, getContacts, return_internal_reference<>())

      .DEF_RW_CLASS_ATTRIB(CollisionResult, distance_lower_bound)
159
160
      ;
  }
Joseph Mirabel's avatar
Joseph Mirabel committed
161

162
163
  if(!eigenpy::register_symbolic_link_to_registered_type< std::vector<CollisionResult> >())
  {
164
    class_< std::vector<CollisionResult> >("StdVec_CollisionResult")
165
166
167
      .def(vector_indexing_suite< std::vector<CollisionResult> >())
      ;
  }
168

169
  doxygen::def ("collide", static_cast< std::size_t (*)(const CollisionObject*, const CollisionObject*,
Joseph Mirabel's avatar
Joseph Mirabel committed
170
        const CollisionRequest&, CollisionResult&) > (&collide));
171
  doxygen::def ("collide", static_cast< std::size_t (*)(
Joseph Mirabel's avatar
Joseph Mirabel committed
172
173
        const CollisionGeometry*, const Transform3f&,
        const CollisionGeometry*, const Transform3f&,
174
        CollisionRequest&, CollisionResult&) > (&collide));
Joseph Mirabel's avatar
Joseph Mirabel committed
175
}