broadphase-manager-base.hpp

//
// Copyright (c) 2022 INRIA
//

#ifndef __pinocchio_python_collision_broadphase_manager_base_hpp__
#define __pinocchio_python_collision_broadphase_manager_base_hpp__

#include "pinocchio/collision/broadphase-manager-base.hpp"

#include <eigenpy/eigen-to-python.hpp>

namespace pinocchio
{
 namespace python
 {
 namespace bp = boost::python;

 template<typename Derived>
 struct BroadPhaseManagerBasePythonVisitor
 : public bp::def_visitor<BroadPhaseManagerBasePythonVisitor<Derived>>
 {
 typedef Derived Self;

 typedef typename Derived::GeometryModel GeometryModel;
 typedef typename Derived::Model Model;

 static Model & getModel(const Self & self)
 {
 return const_cast<Model &>(self.getModel());
 }

 static GeometryModel & getGeometryModel(const Self & self)
 {
 return const_cast<GeometryModel &>(self.getGeometryModel());
 }

 /* --- Exposing C++ API to python through the handler ----------------- */
 template<class PyClass>
 void visit(PyClass & cl) const
 {

 cl.def(
 "getModel", getModel, bp::arg("self"), "Returns the related model.",
 bp::return_internal_reference<>())
 .def(
 "getGeometryModel", getGeometryModel, bp::arg("self"),
 "Returns the related geometry model.", bp::return_internal_reference<>())
 .def(
 "getGeometryData", (GeometryData & (Self::*)()) & Self::getGeometryData,
 bp::arg("self"), "Returns the related geometry data.",
 bp::return_internal_reference<>())

 .def(
 "check", (bool(Self::*)() const) & Self::check, bp::arg("self"),
 "Check whether the base broad phase manager is aligned with the current "
 "collision_objects.")
 .def(
 "check", (bool(Self::*)(CollisionCallBackBase *) const) & Self::check,
 bp::args("self", "callback"), "Check whether the callback is inline with *this.")

 .def(
 "update", (void(Self::*)(const bool)) & Self::update,
 (bp::arg("self"), bp::arg("compute_local_aabb") = false),
 "Update the manager from the current geometry positions and update the underlying "
 "FCL broad phase manager.")
 .def(
 "update", (void(Self::*)(GeometryData * geom_data_new)) & Self::update,
 (bp::arg("self"), bp::arg("geom_data_new")),
 "Update the manager with a new geometry data.", bp::with_custodian_and_ward<1, 2>())

 .def(
 "collide",
 (bool(Self::*)(CollisionObject &, CollisionCallBackBase *) const) & Self::collide,
 bp::args("self", "collision_object", "callback"),
 "Performs collision test between one object and all the objects belonging to the "
 "manager.")
 .def(
 "collide", (bool(Self::*)(CollisionCallBackBase *) const) & Self::collide,
 bp::args("self", "callback"),
 "Performs collision test for the objects belonging to the manager.")
 .def(
 "collide", (bool(Self::*)(Self &, CollisionCallBackBase *) const) & Self::collide,
 bp::args("self", "other_manager", "callback"),
 "Performs collision test with objects belonging to another manager.");
 }
 };

 } // namespace python
} // namespace pinocchio

#endif // ifndef __pinocchio_python_collision_broadphase_manager_base_hpp__