def collision_check(self, x, y):
t2 = fcl.Transform(np.array([x, y, 0]))
o2 = fcl.CollisionObject(self.g2, t2)
request = fcl.ContinuousCollisionRequest()
result = fcl.ContinuousCollisionResult()
ret = fcl.continuousCollide(self.o1, self.t1, o2, t2, request, result)
return ret == 0.0
def __init__(self, dx, dy, dz):
self.dx = dx
self.dy = dy
self.dz = dz
self.num_edges = 12
self.fcl_shape = fcl.Box(dx, dy, dz)
self.request = fcl.CollisionRequest()
self.result = fcl.CollisionResult()
self.c_req = fcl.ContinuousCollisionRequest()
self.c_res = fcl.ContinuousCollisionResult()
def __init__(self, radius, length, approx_faces=8):
self.r = radius
self.l = length
# the number of faces to use in the polyherdron approximation
self.nfac = approx_faces
self.num_edges = 3 * self.nfac
self.fcl_shape = fcl.Cylinder(radius, length)
self.request = fcl.CollisionRequest()
self.result = fcl.CollisionResult()
self.c_req = fcl.ContinuousCollisionRequest()
self.c_res = fcl.ContinuousCollisionResult()
def test_pairwise_continuous_collisions(self):
request = fcl.ContinuousCollisionRequest()
result = fcl.ContinuousCollisionResult()
box = fcl.CollisionObject(self.geometry['box'])
cone = fcl.CollisionObject(self.geometry['cone'],
fcl.Transform(np.array([0.0, 0.0, -2.0])))
ret = fcl.continuousCollide(box, fcl.Transform(), cone,
fcl.Transform(), request, result)
'''
dist = fcl.distance(
fcl.CollisionObject(box, fcl.Transform()),
fcl.CollisionObject(box, fcl.Transform(np.array([1.01, 0.0, 0.0]))), req,
res)
print_distance_result('Box', 'Box', res)
#=====================================================================
# Pairwise continuous collision checking
#=====================================================================
print('=' * 60)
print('Testing Pairwise Continuous Collision Checking')
print('=' * 60)
print()
req = fcl.ContinuousCollisionRequest()
res = fcl.ContinuousCollisionResult()
dist = fcl.continuousCollide(
fcl.CollisionObject(box, fcl.Transform()),
fcl.Transform(np.array([5.0, 0.0, 0.0])),
fcl.CollisionObject(cyl, fcl.Transform(np.array([5.0, 0.0, 0.0]))),
fcl.Transform(np.array([0.0, 0.0, 0.0])), req, res)
print_continuous_collision_result('Box', 'Cylinder', res)
#=====================================================================
# Managed collision checking
#=====================================================================
print('=' * 60)
print('Testing Managed Collision and Distance Checking')
print('=' * 60)