[dartpy] Add raycast option and result (#1343)

CHANGELOG.md

@@ -2,9 +2,9 @@
 
 ### [DART 6.10.0 (20XX-XX-XX)](https://github.com/dartsim/dart/milestone/58?closed=1)
 
-*
+* dartpy
 
-  *
+  * Added raycast option and result: [#1343](https://github.com/dartsim/dart/pull/1343)
 
 ### [DART 6.9.1 (2019-XX-XX)](https://github.com/dartsim/dart/milestone/59?closed=1)
 

python/dartpy/collision/BulletCollisionDetector.cpp

@@ -66,8 +66,8 @@ void BulletCollisionDetector(py::module& m)
       .def(
           "createCollisionGroup",
           +[](dart::collision::BulletCollisionDetector* self)
-              -> std::unique_ptr<dart::collision::CollisionGroup> {
-            return self->createCollisionGroup();
+              -> std::shared_ptr<dart::collision::CollisionGroup> {
+            return self->createCollisionGroupAsSharedPtr();
           })
       .def_static(
           "getStaticType",

python/dartpy/collision/CollisionGroup.cpp

@@ -31,6 +31,7 @@
  */
 
 #include <dart/dart.hpp>
+#include <pybind11/eigen.h>
 #include <pybind11/pybind11.h>
 
 namespace py = pybind11;

python/dartpy/collision/Contact.cpp

@@ -31,6 +31,7 @@
  */
 
 #include <dart/dart.hpp>
+#include <pybind11/eigen.h>
 #include <pybind11/pybind11.h>
 
 namespace py = pybind11;

python/dartpy/collision/DARTCollisionDetector.cpp

@@ -62,8 +62,8 @@ void DARTCollisionDetector(py::module& m)
       .def(
           "createCollisionGroup",
           +[](dart::collision::DARTCollisionDetector* self)
-              -> std::unique_ptr<dart::collision::CollisionGroup> {
-            return self->createCollisionGroup();
+              -> std::shared_ptr<dart::collision::CollisionGroup> {
+            return self->createCollisionGroupAsSharedPtr();
           })
       .def_static(
           "getStaticType",

python/dartpy/collision/DistanceOption.cpp

@@ -0,0 +1,69 @@
+/*
+ * Copyright (c) 2011-2019, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/master/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   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.
+ *   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 HOLDER 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 <dart/dart.hpp>
+#include <pybind11/pybind11.h>
+
+namespace py = pybind11;
+
+namespace dart {
+namespace python {
+
+void DistanceOption(py::module& m)
+{
+  ::pybind11::class_<dart::collision::DistanceOption>(m, "DistanceOption")
+      .def(::pybind11::init<>())
+      .def(::pybind11::init<bool>(), ::pybind11::arg("enableNearestPoints"))
+      .def(
+          ::pybind11::init<bool, double>(),
+          ::pybind11::arg("enableNearestPoints"),
+          ::pybind11::arg("distanceLowerBound"))
+      .def(
+          ::pybind11::init<
+              bool,
+              double,
+              const std::shared_ptr<dart::collision::DistanceFilter>&>(),
+          ::pybind11::arg("enableNearestPoints"),
+          ::pybind11::arg("distanceLowerBound"),
+          ::pybind11::arg("distanceFilter"))
+      .def_readwrite(
+          "enableNearestPoints",
+          &dart::collision::DistanceOption::enableNearestPoints)
+      .def_readwrite(
+          "distanceLowerBound",
+          &dart::collision::DistanceOption::distanceLowerBound)
+      .def_readwrite(
+          "distanceFilter", &dart::collision::DistanceOption::distanceFilter);
+}
+
+} // namespace python
+} // namespace dart

python/dartpy/collision/DistanceResult.cpp

@@ -0,0 +1,74 @@
+/*
+ * Copyright (c) 2011-2019, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/master/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   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.
+ *   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 HOLDER 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 <dart/dart.hpp>
+#include <pybind11/pybind11.h>
+
+namespace py = pybind11;
+
+namespace dart {
+namespace python {
+
+void DistanceResult(py::module& m)
+{
+  ::pybind11::class_<dart::collision::DistanceResult>(m, "DistanceResult")
+      .def(::pybind11::init<>())
+      .def(
+          "clear",
+          +[](dart::collision::DistanceResult* self) { self->clear(); })
+      .def(
+          "found",
+          +[](const dart::collision::DistanceResult* self) -> bool {
+            return self->found();
+          })
+      .def(
+          "isMinDistanceClamped",
+          +[](const dart::collision::DistanceResult* self) -> bool {
+            return self->isMinDistanceClamped();
+          })
+      .def_readwrite(
+          "minDistance", &dart::collision::DistanceResult::minDistance)
+      .def_readwrite(
+          "unclampedMinDistance",
+          &dart::collision::DistanceResult::unclampedMinDistance)
+      .def_readwrite(
+          "shapeFrame1", &dart::collision::DistanceResult::shapeFrame1)
+      .def_readwrite(
+          "shapeFrame2", &dart::collision::DistanceResult::shapeFrame2)
+      .def_readwrite(
+          "nearestPoint1", &dart::collision::DistanceResult::nearestPoint1)
+      .def_readwrite(
+          "nearestPoint2", &dart::collision::DistanceResult::nearestPoint2);
+}
+
+} // namespace python
+} // namespace dart

python/dartpy/collision/OdeCollisionDetector.cpp

@@ -66,8 +66,8 @@ void OdeCollisionDetector(py::module& m)
       .def(
           "createCollisionGroup",
           +[](dart::collision::OdeCollisionDetector* self)
-              -> std::unique_ptr<dart::collision::CollisionGroup> {
-            return self->createCollisionGroup();
+              -> std::shared_ptr<dart::collision::CollisionGroup> {
+            return self->createCollisionGroupAsSharedPtr();
           })
       .def_static(
           "getStaticType",

python/dartpy/collision/RaycastOption.cpp

@@ -0,0 +1,57 @@
+/*
+ * Copyright (c) 2011-2019, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/master/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   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.
+ *   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 HOLDER 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 <dart/dart.hpp>
+#include <pybind11/pybind11.h>
+
+namespace py = pybind11;
+
+namespace dart {
+namespace python {
+
+void RaycastOption(py::module& m)
+{
+  ::pybind11::class_<dart::collision::RaycastOption>(m, "RaycastOption")
+      .def(::pybind11::init<>())
+      .def(::pybind11::init<bool>(), ::pybind11::arg("enableAllHits"))
+      .def(
+          ::pybind11::init<bool, bool>(),
+          ::pybind11::arg("enableAllHits"),
+          ::pybind11::arg("sortByClosest"))
+      .def_readwrite(
+          "mEnableAllHits", &dart::collision::RaycastOption::mEnableAllHits)
+      .def_readwrite(
+          "mSortByClosest", &dart::collision::RaycastOption::mSortByClosest);
+}
+
+} // namespace python
+} // namespace dart

python/dartpy/collision/RaycastResult.cpp

@@ -0,0 +1,67 @@
+/*
+ * Copyright (c) 2011-2019, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/master/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   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.
+ *   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 HOLDER 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 <dart/dart.hpp>
+#include <pybind11/eigen.h>
+#include <pybind11/pybind11.h>
+#include <pybind11/stl.h>
+
+namespace py = pybind11;
+
+namespace dart {
+namespace python {
+
+void RaycastResult(py::module& m)
+{
+  ::pybind11::class_<dart::collision::RayHit>(m, "RayHit")
+      .def(::pybind11::init<>())
+      .def_readwrite(
+          "mCollisionObject", &dart::collision::RayHit::mCollisionObject)
+      .def_readwrite("mNormal", &dart::collision::RayHit::mNormal)
+      .def_readwrite("mPoint", &dart::collision::RayHit::mPoint)
+      .def_readwrite("mFraction", &dart::collision::RayHit::mFraction);
+
+  ::pybind11::class_<dart::collision::RaycastResult>(m, "RaycastResult")
+      .def(::pybind11::init<>())
+      .def(
+          "clear", +[](dart::collision::RaycastResult* self) { self->clear(); })
+      .def(
+          "hasHit",
+          +[](const dart::collision::RaycastResult* self) -> bool {
+            return self->hasHit();
+          })
+      .def_readwrite("mHasHit", &dart::collision::RaycastResult::mHasHit)
+      .def_readwrite("mRayHits", &dart::collision::RaycastResult::mRayHits);
+}
+
+} // namespace python
+} // namespace dart

python/dartpy/collision/module.cpp

@@ -43,6 +43,12 @@ void Contact(py::module& sm);
 void CollisionOption(py::module& sm);
 void CollisionResult(py::module& sm);
 
+void DistanceOption(py::module& sm);
+void DistanceResult(py::module& sm);
+
+void RaycastOption(py::module& sm);
+void RaycastResult(py::module& sm);
+
 void CollisionDetector(py::module& sm);
 void FCLCollisionDetector(py::module& sm);
 void DARTCollisionDetector(py::module& sm);
@@ -70,6 +76,12 @@ void dart_collision(py::module& m)
   CollisionOption(sm);
   CollisionResult(sm);
 
+  DistanceOption(sm);
+  DistanceResult(sm);
+
+  RaycastOption(sm);
+  RaycastResult(sm);
+
   CollisionDetector(sm);
   FCLCollisionDetector(sm);
   DARTCollisionDetector(sm);