contact_patch.cc

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//
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//  Copyright (c) 2024 INRIA
//  Author: Louis Montaut
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#include <eigenpy/eigenpy.hpp>
 
#include "coal/fwd.hh"
#include "coal/contact_patch.h"
#include "coal/serialization/collision_data.h"
 
#include "coal.hh"
#include "deprecation.hh"
#include "serializable.hh"
 
#ifdef COAL_HAS_DOXYGEN_AUTODOC
#include "doxygen_autodoc/functions.h"
#include "doxygen_autodoc/coal/collision_data.h"
#endif
 
#include "../doc/python/doxygen.hh"
#include "../doc/python/doxygen-boost.hh"
 
using namespace boost::python;
using namespace coal;
using namespace coal::python;
 
namespace dv = doxygen::visitor;
 
void exposeContactPatchAPI() {
  if (!eigenpy::register_symbolic_link_to_registered_type<
          ContactPatch::PatchDirection>()) {
    enum_<ContactPatch::PatchDirection>("ContactPatchDirection")
        .value("DEFAULT", ContactPatch::PatchDirection::DEFAULT)
        .value("INVERTED", ContactPatch::PatchDirection::INVERTED)
        .export_values();
  }
 
  if (!eigenpy::register_symbolic_link_to_registered_type<ContactPatch>()) {
    class_<ContactPatch>(
        "ContactPatch", doxygen::class_doc<ContactPatch>(),
        init<optional<size_t>>((arg("self"), arg("preallocated_size")),
                               "ContactPatch constructor."))
        .DEF_RW_CLASS_ATTRIB(ContactPatch, tf)
        .DEF_RW_CLASS_ATTRIB(ContactPatch, direction)
        .DEF_RW_CLASS_ATTRIB(ContactPatch, penetration_depth)
        .DEF_CLASS_FUNC(ContactPatch, size)
        .DEF_CLASS_FUNC(ContactPatch, getNormal)
        .DEF_CLASS_FUNC(ContactPatch, addPoint)
        .DEF_CLASS_FUNC(ContactPatch, getPoint)
        .DEF_CLASS_FUNC(ContactPatch, getPointShape1)
        .DEF_CLASS_FUNC(ContactPatch, getPointShape2)
        .DEF_CLASS_FUNC(ContactPatch, clear)
        .DEF_CLASS_FUNC(ContactPatch, isSame);
  }
 
  if (!eigenpy::register_symbolic_link_to_registered_type<
          std::vector<ContactPatch>>()) {
    class_<std::vector<ContactPatch>>("StdVec_ContactPatch")
        .def(vector_indexing_suite<std::vector<ContactPatch>>());
  }
 
  if (!eigenpy::register_symbolic_link_to_registered_type<
          ContactPatchRequest>()) {
    class_<ContactPatchRequest>(
        "ContactPatchRequest", doxygen::class_doc<ContactPatchRequest>(),
        init<optional<size_t, size_t, CoalScalar>>(
            (arg("self"), arg("max_num_patch"),
             arg("num_samples_curved_shapes"), arg("patch_tolerance")),
            "ContactPatchRequest constructor."))
        .def(dv::init<ContactPatchRequest, const CollisionRequest&,
                      bp::optional<size_t, CoalScalar>>())
        .DEF_RW_CLASS_ATTRIB(ContactPatchRequest, max_num_patch)
        .DEF_CLASS_FUNC(ContactPatchRequest, getNumSamplesCurvedShapes)
        .DEF_CLASS_FUNC(ContactPatchRequest, setNumSamplesCurvedShapes)
        .DEF_CLASS_FUNC(ContactPatchRequest, getPatchTolerance)
        .DEF_CLASS_FUNC(ContactPatchRequest, setPatchTolerance);
  }
 
  if (!eigenpy::register_symbolic_link_to_registered_type<
          std::vector<ContactPatchRequest>>()) {
    class_<std::vector<ContactPatchRequest>>("StdVec_ContactPatchRequest")
        .def(vector_indexing_suite<std::vector<ContactPatchRequest>>());
  }
 
  if (!eigenpy::register_symbolic_link_to_registered_type<
          ContactPatchResult>()) {
    class_<ContactPatchResult>("ContactPatchResult",
                               doxygen::class_doc<ContactPatchResult>(),
                               init<>(arg("self"), "Default constructor."))
        .def(dv::init<ContactPatchResult, ContactPatchRequest>())
        .DEF_CLASS_FUNC(ContactPatchResult, numContactPatches)
        .DEF_CLASS_FUNC(ContactPatchResult, getUnusedContactPatch)
        .DEF_CLASS_FUNC2(ContactPatchResult, getContactPatch,
                         return_value_policy<copy_const_reference>())
        .DEF_CLASS_FUNC(ContactPatchResult, clear)
        .DEF_CLASS_FUNC(ContactPatchResult, set)
        .DEF_CLASS_FUNC(ContactPatchResult, check);
  }
 
  if (!eigenpy::register_symbolic_link_to_registered_type<
          std::vector<ContactPatchResult>>()) {
    class_<std::vector<ContactPatchResult>>("StdVec_ContactPatchResult")
        .def(vector_indexing_suite<std::vector<ContactPatchResult>>());
  }
 
  doxygen::def(
      "computeContactPatch",
      static_cast<void (*)(const CollisionObject*, const CollisionObject*,
                           const CollisionResult&, const ContactPatchRequest&,
                           ContactPatchResult&)>(&computeContactPatch));
  doxygen::def(
      "computeContactPatch",
      static_cast<void (*)(const CollisionGeometry*, const Transform3s&,
                           const CollisionGeometry*, const Transform3s&,
                           const CollisionResult&, const ContactPatchRequest&,
                           ContactPatchResult&)>(&computeContactPatch));
 
  if (!eigenpy::register_symbolic_link_to_registered_type<
          ComputeContactPatch>()) {
    class_<ComputeContactPatch>("ComputeContactPatch",
                                doxygen::class_doc<ComputeContactPatch>(),
                                no_init)
        .def(dv::init<ComputeContactPatch, const CollisionGeometry*,
                      const CollisionGeometry*>())
        .def("__call__",
             static_cast<void (ComputeContactPatch::*)(
                 const Transform3s&, const Transform3s&, const CollisionResult&,
                 const ContactPatchRequest&, ContactPatchResult&) const>(
                 &ComputeContactPatch::operator()));
  }
}