def ray_collision(ray):
# TODO: be careful to disable gravity and set static masses for everything
step_simulation() # Needed for some reason
start, end = ray
result, = p.rayTest(start, end, physicsClientId=CLIENT)
# TODO: assign hit_position to be the end?
return RayResult(*result)
def contact_collision():
"""run simulation for one step and check if there is a collision
Returns
-------
bool
True if there is a collision, False otherwise
"""
step_simulation()
return len(p.getContactPoints(physicsClientId=CLIENT)) != 0
def batch_ray_collision(rays, threads=1):
assert 1 <= threads <= p.MAX_RAY_INTERSECTION_BATCH_SIZE
if not rays:
return []
step_simulation() # Needed for some reason
ray_starts = [start for start, _ in rays]
ray_ends = [end for _, end in rays]
return [RayResult(*tup) for tup in p.rayTestBatch(
ray_starts, ray_ends,
numThreads=threads,
#parentObjectUniqueId=
#parentLinkIndex=
physicsClientId=CLIENT)]
def contact_collision():
step_simulation()
return len(p.getContactPoints(physicsClientId=CLIENT)) != 0