fcl.cc 2.85 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
36
//  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>

37
38
#include <eigenpy/registration.hpp>

Joseph Mirabel's avatar
Joseph Mirabel committed
39
40
41
42
43
44
45
46
47
48
49
50
#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 hpp::fcl;

51
52
BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(load_overloads,MeshLoader::load,1,2)

Joseph Mirabel's avatar
Joseph Mirabel committed
53
54
void exposeMeshLoader ()
{
55
56
  using namespace boost::python;
  
57
58
  if(!eigenpy::register_symbolic_link_to_registered_type<MeshLoader>())
  {
59
60
61
62
63
    class_ <MeshLoader> ("MeshLoader", no_init)
      .def(init< optional< NODE_TYPE> >(arg("node_type"),"Default constructor"))
      .def ("load",(BVHModelPtr_t(MeshLoader::*)(const std::string&,const Vec3f&))&MeshLoader::load,
            load_overloads(args("filename","scale"),
                           "Load a mesh given by its filename"))
64
65
      ;
  }
Joseph Mirabel's avatar
Joseph Mirabel committed
66

67
68
69
  if(!eigenpy::register_symbolic_link_to_registered_type<CachedMeshLoader>())
  {
    class_ <CachedMeshLoader, bases<MeshLoader> > ("CachedMeshLoader", init< optional< NODE_TYPE> >())
Joseph Mirabel's avatar
Joseph Mirabel committed
70
    ;
71
  }
Joseph Mirabel's avatar
Joseph Mirabel committed
72
73
74
75
}

BOOST_PYTHON_MODULE(hppfcl)
{
76
  exposeVersion();
Joseph Mirabel's avatar
Joseph Mirabel committed
77
78
79
80
81
82
  exposeMaths();
  exposeCollisionGeometries();
  exposeMeshLoader();
  exposeCollisionAPI();
  exposeDistanceAPI();
}