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/*
* Copyright (c) 2011-2021, The DART development contributors
* All rights reserved.
*
* The list of contributors can be found at:
* https://github.com/dartsim/dart/blob/master/LICENSE
*
* This file is provided under the following "BSD-style" License:
* 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.
* 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 HOLDER 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 <dart/dart.hpp>
#include <pybind11/pybind11.h>
namespace py = pybind11;
namespace dart {
namespace python {
void FCLCollisionDetector(py::module& m)
{
auto fclCollisionDetector
= ::py::class_<
dart::collision::FCLCollisionDetector,
std::shared_ptr<dart::collision::FCLCollisionDetector>,
dart::collision::CollisionDetector>(m, "FCLCollisionDetector")
.def(::py::init(
+[]()
-> std::shared_ptr<dart::collision::FCLCollisionDetector> {
return dart::collision::FCLCollisionDetector::create();
}))
.def(
"cloneWithoutCollisionObjects",
+[](dart::collision::FCLCollisionDetector* self)
-> std::shared_ptr<dart::collision::CollisionDetector> {
return self->cloneWithoutCollisionObjects();
})
.def(
"getType",
+[](const dart::collision::FCLCollisionDetector* self)
-> const std::string& { return self->getType(); },
::py::return_value_policy::reference_internal)
.def(
"createCollisionGroup",
+[](dart::collision::FCLCollisionDetector* self)
-> std::shared_ptr<dart::collision::CollisionGroup> {
return self->createCollisionGroup();
})
.def(
"setPrimitiveShapeType",
+[](dart::collision::FCLCollisionDetector* self,
dart::collision::FCLCollisionDetector::PrimitiveShape
type) { self->setPrimitiveShapeType(type); },
::py::arg("type"))
.def(
"getPrimitiveShapeType",
+[](const dart::collision::FCLCollisionDetector* self)
-> dart::collision::FCLCollisionDetector::PrimitiveShape {
return self->getPrimitiveShapeType();
})
.def(
"setContactPointComputationMethod",
+[](dart::collision::FCLCollisionDetector* self,
dart::collision::FCLCollisionDetector::
ContactPointComputationMethod method) {
self->setContactPointComputationMethod(method);
},
::py::arg("method"))
.def(
"getContactPointComputationMethod",
+[](const dart::collision::FCLCollisionDetector* self)
-> dart::collision::FCLCollisionDetector::
ContactPointComputationMethod {
return self->getContactPointComputationMethod();
})
.def_static(
"getStaticType",
+[]() -> const std::string& {
return dart::collision::FCLCollisionDetector::getStaticType();
},
::py::return_value_policy::reference_internal);
::py::enum_<dart::collision::FCLCollisionDetector::PrimitiveShape>(
fclCollisionDetector, "PrimitiveShape")
.value(
"PRIMITIVE",
dart::collision::FCLCollisionDetector::PrimitiveShape::PRIMITIVE)
.value(
"MESH", dart::collision::FCLCollisionDetector::PrimitiveShape::MESH)
.export_values();
::py::enum_<
dart::collision::FCLCollisionDetector::ContactPointComputationMethod>(
fclCollisionDetector, "ContactPointComputationMethod")
.value(
"FCL",
dart::collision::FCLCollisionDetector::ContactPointComputationMethod::
FCL)
.value(
"DART",
dart::collision::FCLCollisionDetector::ContactPointComputationMethod::
DART)
.export_values();
}
} // namespace python
} // namespace dart
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