From d5164794caf824b78d413b472e3e50c8c4e69d0c Mon Sep 17 00:00:00 2001
From: Justin Carpentier <justin.carpentier@inria.fr>
Date: Thu, 16 Sep 2021 15:35:13 +0200
Subject: [PATCH 1/2] python: enhance Convex exposition

---
 python/collision-geometries.cc | 27 +++++++++++++++++++++++----
 1 file changed, 23 insertions(+), 4 deletions(-)

diff --git a/python/collision-geometries.cc b/python/collision-geometries.cc
index e0ee90a00..54cac0bfa 100644
--- a/python/collision-geometries.cc
+++ b/python/collision-geometries.cc
@@ -71,6 +71,7 @@
 using namespace boost::python;
 using namespace hpp::fcl;
 namespace dv = doxygen::visitor;
+namespace bp = boost::python;
 
 using boost::noncopyable;
 
@@ -122,11 +123,20 @@ void exposeBVHModel (const std::string& bvname)
 
 struct ConvexBaseWrapper
 {
-  static Vec3f points (const ConvexBase& convex, int i)
+  typedef Eigen::Matrix<double,Eigen::Dynamic,3,Eigen::RowMajor> RowMatrixX3;
+  typedef Eigen::Map<RowMatrixX3> MapRowMatrixX3;
+  typedef Eigen::Ref<RowMatrixX3> RefRowMatrixX3;
+  
+  static Vec3f & point (const ConvexBase& convex, int i)
   {
     if (i >= convex.num_points) throw std::out_of_range("index is out of range");
     return convex.points[i];
   }
+  
+  static RefRowMatrixX3 points (const ConvexBase& convex)
+  {
+    return MapRowMatrixX3(convex.points[0].data(),convex.num_points,3);
+  }
 
   static list neighbors (const ConvexBase& convex, int i)
   {
@@ -232,7 +242,18 @@ void exposeShapes ()
     ("ConvexBase", doxygen::class_doc<ConvexBase>(), no_init)
     .DEF_RO_CLASS_ATTRIB (ConvexBase, center)
     .DEF_RO_CLASS_ATTRIB (ConvexBase, num_points)
-    .def ("points", &ConvexBaseWrapper::points)
+    .def ("point", &ConvexBaseWrapper::point,
+          bp::args("self","index"),"Retrieve the point given by its index.",
+          bp::return_internal_reference<>())
+    .def ("points", &ConvexBaseWrapper::point,
+          bp::args("self","index"),"Retrieve the point given by its index.",
+          ::hpp::fcl::python::deprecated_member< bp::return_internal_reference<> >())
+    .def ("points", &ConvexBaseWrapper::points,
+          bp::args("self"),"Retrieve all the points.",
+          bp::with_custodian_and_ward_postcall<0,1>())
+  //    .add_property ("points",
+  //                   bp::make_function(&ConvexBaseWrapper::points,bp::with_custodian_and_ward_postcall<0,1>()),
+  //                   "Points of the convex.")
     .def ("neighbors", &ConvexBaseWrapper::neighbors)
     .def ("convexHull", &ConvexBaseWrapper::convexHull,
         doxygen::member_func_doc(&ConvexBase::convexHull),
@@ -370,8 +391,6 @@ void exposeCollisionGeometries ()
       ;
   }
   
-  namespace bp = boost::python;
-  
   class_<AABB>("AABB",
                "A class describing the AABB collision structure, which is a box in 3D space determined by two diagonal points",
                no_init)

From 1c1557ea168ed43a658d7c4fb9f0670bdfbb4152 Mon Sep 17 00:00:00 2001
From: Justin Carpentier <justin.carpentier@inria.fr>
Date: Thu, 16 Sep 2021 19:52:44 +0200
Subject: [PATCH 2/2] python: fix import for pypy

---
 python/fcl.cc | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/python/fcl.cc b/python/fcl.cc
index cd43f341d..ccac1d106 100644
--- a/python/fcl.cc
+++ b/python/fcl.cc
@@ -89,7 +89,10 @@ void exposeMeshLoader ()
 
 BOOST_PYTHON_MODULE(hppfcl)
 {
-  boost::python::import("warnings");
+  namespace bp = boost::python;
+  
+  PyImport_ImportModule("warnings");
+  
   exposeVersion();
   exposeMaths();
   exposeCollisionGeometries();