Add more Python bindings for collision and dynamics

examples/deprecated_examples/glut_human_joint_limits/CMakeLists.txt

@@ -34,11 +34,10 @@ set(required_libraries
 )
 
 if(DART_IN_SOURCE_BUILD)
-    dart_build_example_in_source(${example_name}
-      LINK_LIBRARIES ${required_libraries}
-      COMPILE_FEATURES cxx_std_14
-    )
-  endif()
+  dart_build_example_in_source(${example_name}
+    LINK_LIBRARIES ${required_libraries}
+    COMPILE_FEATURES cxx_std_14
+  )
   return()
 endif()
 

python/dartpy/collision/CollisionFilter.cpp

@@ -129,7 +129,18 @@ void CollisionFilter(py::module& m)
           +[](dart::collision::BodyNodeCollisionFilter* self) {
             self->removeAllBodyNodePairsFromBlackList();
           },
-          "Remove all the BodyNode pairs from the blacklist.");
+          "Remove all the BodyNode pairs from the blacklist.")
+      .def(
+          "ignoresCollision",
+          +[](const dart::collision::BodyNodeCollisionFilter* self,
+              const dart::collision::CollisionObject* object1,
+              const dart::collision::CollisionObject* object2) -> bool {
+            return self->ignoresCollision(object1, object2);
+          },
+          ::py::arg("object1"),
+          ::py::arg("object2"),
+          "Returns true if the given two CollisionObjects should be checked by "
+          "the collision detector, false otherwise.");
 }
 
 } // namespace python

python/dartpy/collision/CollisionGroup.cpp

@@ -180,48 +180,17 @@ void CollisionGroup(py::module& m)
           +[](const dart::collision::CollisionGroup* self) -> std::size_t {
             return self->getNumShapeFrames();
           })
-      .def(
-          "collide",
-          +[](dart::collision::CollisionGroup* self) -> bool {
-            return self->collide();
-          },
-          "Performs collision check within this CollisionGroup")
-      .def(
-          "collide",
-          +[](dart::collision::CollisionGroup* self,
-              const dart::collision::CollisionOption& option) -> bool {
-            return self->collide(option);
-          },
-          ::py::arg("option"),
-          "Performs collision check within this CollisionGroup")
       .def(
           "collide",
           +[](dart::collision::CollisionGroup* self,
               const dart::collision::CollisionOption& option,
               dart::collision::CollisionResult* result) -> bool {
             return self->collide(option, result);
           },
-          ::py::arg("option"),
-          ::py::arg("result"),
+          ::py::arg("option")
+          = dart::collision::CollisionOption(false, 1u, nullptr),
+          ::py::arg("result") = nullptr,
           "Performs collision check within this CollisionGroup")
-      .def(
-          "collide",
-          +[](dart::collision::CollisionGroup* self,
-              dart::collision::CollisionGroup* otherGroup) -> bool {
-            return self->collide(otherGroup);
-          },
-          ::py::arg("otherGroup"),
-          "Perform collision check against other CollisionGroup")
-      .def(
-          "collide",
-          +[](dart::collision::CollisionGroup* self,
-              dart::collision::CollisionGroup* otherGroup,
-              const dart::collision::CollisionOption& option) -> bool {
-            return self->collide(otherGroup, option);
-          },
-          ::py::arg("otherGroup"),
-          ::py::arg("option"),
-          "Perform collision check against other CollisionGroup")
       .def(
           "collide",
           +[](dart::collision::CollisionGroup* self,
@@ -231,30 +200,20 @@ void CollisionGroup(py::module& m)
             return self->collide(otherGroup, option, result);
           },
           ::py::arg("otherGroup"),
-          ::py::arg("option"),
-          ::py::arg("result"),
+          ::py::arg("option")
+          = dart::collision::CollisionOption(false, 1u, nullptr),
+          ::py::arg("result") = nullptr,
           "Perform collision check against other CollisionGroup")
-      .def(
-          "distance",
-          +[](dart::collision::CollisionGroup* self) -> double {
-            return self->distance();
-          })
-      .def(
-          "distance",
-          +[](dart::collision::CollisionGroup* self,
-              const dart::collision::DistanceOption& option) -> double {
-            return self->distance(option);
-          },
-          ::py::arg("option"))
       .def(
           "distance",
           +[](dart::collision::CollisionGroup* self,
               const dart::collision::DistanceOption& option,
               dart::collision::DistanceResult* result) -> double {
             return self->distance(option, result);
           },
-          ::py::arg("option"),
-          ::py::arg("result"))
+          ::py::arg("option")
+          = dart::collision::DistanceOption(false, 0.0, nullptr),
+          ::py::arg("result") = nullptr)
       .def(
           "raycast",
           +[](dart::collision::CollisionGroup* self,

python/dartpy/collision/module.cpp

@@ -41,6 +41,7 @@ namespace python {
 void Contact(py::module& sm);
 
 void CollisionFilter(py::module& sm);
+void CollisionObject(py::module& sm);
 void CollisionOption(py::module& sm);
 void CollisionResult(py::module& sm);
 
@@ -58,8 +59,6 @@ void CollisionGroup(py::module& sm);
 void FCLCollisionGroup(py::module& sm);
 void DARTCollisionGroup(py::module& sm);
 
-void CollisionObject(py::module& sm);
-
 #if HAVE_BULLET
 void BulletCollisionDetector(py::module& sm);
 void BulletCollisionGroup(py::module& sm);
@@ -77,6 +76,7 @@ void dart_collision(py::module& m)
   Contact(sm);
 
   CollisionFilter(sm);
+  CollisionObject(sm);
   CollisionOption(sm);
   CollisionResult(sm);
 
@@ -94,8 +94,6 @@ void dart_collision(py::module& m)
   FCLCollisionGroup(sm);
   DARTCollisionGroup(sm);
 
-  CollisionObject(sm);
-
 #if HAVE_BULLET
   BulletCollisionDetector(sm);
   BulletCollisionGroup(sm);

python/dartpy/dynamics/Node.cpp

@@ -32,6 +32,7 @@
 
 #include <dart/dart.hpp>
 #include <pybind11/pybind11.h>
+#include <pybind11/stl.h>
 #include "eigen_geometry_pybind.h"
 #include "eigen_pybind.h"
 #include "pointers.hpp"
@@ -96,6 +97,11 @@ void Node(py::module& m)
               -> dart::dynamics::ConstBodyNodePtr {
             return self->getBodyNodePtr();
           })
+      .def(
+          "getBodyNode",
+          +[](dart::dynamics::Node* self) -> dart::dynamics::BodyNode* {
+            return self->getBodyNodePtr().get();
+          })
       .def(
           "isRemoved",
           +[](const dart::dynamics::Node* self) -> bool {

python/dartpy/dynamics/ShapeNode.cpp

@@ -47,6 +47,7 @@ void ShapeNode(py::module& m)
       dart::dynamics::ShapeNode,
       dart::dynamics::JacobianNode,
       dart::dynamics::ShapeFrame,
+      dart::dynamics::Node,
       std::shared_ptr<dart::dynamics::ShapeNode>>(m, "ShapeNode")
       .def(
           "setProperties",