collision_manager.py

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import hppfcl as fcl
import numpy as np
 
sphere = fcl.Sphere(0.5)
sphere_obj = fcl.CollisionObject(sphere)
 
M_sphere = fcl.Transform3f.Identity()
M_sphere.setTranslation(np.array([-0.6, 0.0, 0.0]))
sphere_obj.setTransform(M_sphere)
 
box = fcl.Box(np.array([0.5, 0.5, 0.5]))
box_obj = fcl.CollisionObject(box)
 
M_box = fcl.Transform3f.Identity()
M_box.setTranslation(np.array([-0.6, 0.0, 0.0]))
box_obj.setTransform(M_box)
 
collision_manager = fcl.DynamicAABBTreeCollisionManager()
collision_manager.registerObject(sphere_obj)
collision_manager.registerObject(box_obj)
 
assert collision_manager.size() == 2
 
collision_manager.setup()
 
# Perform collision detection
callback = fcl.CollisionCallBackDefault()
collision_manager.collide(sphere_obj, callback)
 
assert callback.data.result.numContacts() == 1