This package builds upon balabala, which has not been updated since xxx (as of October, 2020).
- Support FCL 0.6.0.
- Scalar type: float or double
- Mos of the interface provided by [] is supported. The only difference is import fcl
- No need for id(geom) if you want to extract objects that are in collision.
- Transform: In contrast to FCL 0.5.0, which implements its own custom Transform data strucutures, FCL 0.6.0 uses Eigen3's Eigen::Vector3, Eigen::Quaternion and Eigen::Transform. A set of C++ wrapper functions are implemented in order to set/get Eigen data strucutres.
- Template: FCL 0.6.0 allows user to choose between float and double by employing templates in almost all of its APIs. This package also allows user to switch between float & double for performance or precision. Note that float is used by default.
The transition from -
Since Cython was initially designed to bridge between Python and C, not C++. We have to use hacks and walkarounds to cope with C++, especially for features introduced after C++11. I plan to rewrite this package with pybind11.
BVHModel only support fcl::OBBRSS, we need to more bounding volumes.
working on: - fcl_defs.pxd
http://papers.nips.cc/paper/7948-end-to-end-differentiable-physics-for-learning-and-control.pdf