coal.cc

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//
// Software License Agreement (BSD License)
//
//  Copyright (c) 2019-2022 CNRS-LAAS INRIA
//  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.
//
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//  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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#include <eigenpy/eigenpy.hpp>
 
#include "coal.hh"
 
#include "coal/fwd.hh"
#include "coal/shape/geometric_shapes.h"
#include "coal/BVH/BVH_model.h"
 
#include "coal/mesh_loader/loader.h"
 
#include "coal/collision.h"
 
#ifdef COAL_HAS_DOXYGEN_AUTODOC
#include "doxygen_autodoc/coal/mesh_loader/loader.h"
#endif
 
#include "../doc/python/doxygen.hh"
#include "../doc/python/doxygen-boost.hh"
 
using namespace coal;
namespace dv = doxygen::visitor;
 
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wconversion"
BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(load_overloads, MeshLoader::load, 1, 2)
#pragma GCC diagnostic pop
 
void exposeMeshLoader() {
  using namespace boost::python;
 
  if (!eigenpy::register_symbolic_link_to_registered_type<MeshLoader>()) {
    class_<MeshLoader, shared_ptr<MeshLoader> >(
        "MeshLoader", doxygen::class_doc<MeshLoader>(),
        init<optional<NODE_TYPE> >(
            (arg("self"), arg("node_type")),
            doxygen::constructor_doc<MeshLoader, const NODE_TYPE&>()))
        .def("load", &MeshLoader::load,
             load_overloads((arg("self"), arg("filename"), arg("scale")),
                            doxygen::member_func_doc(&MeshLoader::load)))
        .def(dv::member_func("loadOctree", &MeshLoader::loadOctree));
  }
 
  if (!eigenpy::register_symbolic_link_to_registered_type<CachedMeshLoader>()) {
    class_<CachedMeshLoader, bases<MeshLoader>, shared_ptr<CachedMeshLoader> >(
        "CachedMeshLoader", doxygen::class_doc<MeshLoader>(),
        init<optional<NODE_TYPE> >(
            (arg("self"), arg("node_type")),
            doxygen::constructor_doc<CachedMeshLoader, const NODE_TYPE&>()));
  }
}
 
BOOST_PYTHON_MODULE(coal_pywrap) {
  namespace bp = boost::python;
 
  PyImport_ImportModule("warnings");
  eigenpy::enableEigenPy();
 
  exposeVersion();
  exposeMaths();
  exposeCollisionGeometries();
  exposeCollisionObject();
  exposeMeshLoader();
  exposeCollisionAPI();
  exposeContactPatchAPI();
  exposeDistanceAPI();
  exposeGJK();
#ifdef COAL_HAS_OCTOMAP
  exposeOctree();
#endif
  exposeBroadPhase();
}