ipc-toolkit/python/src/broad_phase/spatial_hash.cpp at aaca2d43ca8c4fc7da69ed46da7cec48010855aa · ipc-sim/ipc-toolkit · GitHub

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#include <common.hpp>

#include <ipc/broad_phase/spatial_hash.hpp>

namespace py = pybind11;
using namespace ipc;

void define_spatial_hash(py::module_& m)
{
    py::class_<SpatialHash, BroadPhase, std::shared_ptr<SpatialHash>>(
        m, "SpatialHash")
        .def(py::init())
        .def(
            py::init<
                Eigen::ConstRef<Eigen::MatrixXd>,
                Eigen::ConstRef<Eigen::MatrixXi>,
                Eigen::ConstRef<Eigen::MatrixXi>, double, double>(),
            py::arg("vertices"), py::arg("edges"), py::arg("faces"),
            py::arg("inflation_radius") = 0, py::arg("voxel_size") = -1)
        .def(
            py::init<
                Eigen::ConstRef<Eigen::MatrixXd>,
                Eigen::ConstRef<Eigen::MatrixXd>,
                Eigen::ConstRef<Eigen::MatrixXi>,
                Eigen::ConstRef<Eigen::MatrixXi>, double, double>(),
            py::arg("vertices_t0"), py::arg("vertices_t1"), py::arg("edges"),
            py::arg("faces"), py::arg("inflation_radius") = 0,
            py::arg("voxel_size") = -1)
        .def(
            "build",
            py::overload_cast<
                Eigen::ConstRef<Eigen::MatrixXd>,
                Eigen::ConstRef<Eigen::MatrixXi>,
                Eigen::ConstRef<Eigen::MatrixXi>, double, double>(
                &SpatialHash::build),
            py::arg("vertices"), py::arg("edges"), py::arg("faces"),
            py::arg("inflation_radius") = 0, py::arg("voxel_size") = -1)
        .def(
            "build",
            py::overload_cast<
                Eigen::ConstRef<Eigen::MatrixXd>,
                Eigen::ConstRef<Eigen::MatrixXd>,
                Eigen::ConstRef<Eigen::MatrixXi>,
                Eigen::ConstRef<Eigen::MatrixXi>, double, double>(
                &SpatialHash::build),
            py::arg("vertices_t0"), py::arg("vertices_t1"), py::arg("edges"),
            py::arg("faces"), py::arg("inflation_radius") = 0,
            py::arg("voxel_size") = -1)
        .def("clear", &SpatialHash::clear)
        .def(
            "is_vertex_index", &SpatialHash::is_vertex_index,
            "Check if primitive index refers to a vertex.", py::arg("idx"))
        .def(
            "is_edge_index", &SpatialHash::is_edge_index,
            "Check if primitive index refers to an edge.", py::arg("idx"))
        .def(
            "is_triangle_index", &SpatialHash::is_triangle_index,
            "Check if primitive index refers to a triangle.", py::arg("idx"))
        .def(
            "to_edge_index", &SpatialHash::to_edge_index,
            "Convert a primitive index to an edge index.", py::arg("idx"))
        .def(
            "to_triangle_index", &SpatialHash::to_triangle_index,
            "Convert a primitive index to a triangle index.", py::arg("idx"))
        .def_readwrite(
            "left_bottom_corner", &SpatialHash::left_bottom_corner,
            "The left bottom corner of the world bounding box.")
        .def_readwrite(
            "right_top_corner", &SpatialHash::right_top_corner,
            "The right top corner of the world bounding box.")
        .def_readwrite(
            "voxel_count", &SpatialHash::voxel_count,
            "The number of voxels in each dimension.")
        .def_readwrite(
            "one_div_voxelSize", &SpatialHash::one_div_voxelSize,
            "1.0 / voxel_size")
        .def_readwrite(
            "voxel_count_0x1", &SpatialHash::voxel_count_0x1,
            "The number of voxels in the first two dimensions.")
        .def_readwrite("edge_start_ind", &SpatialHash::edge_start_ind)
        .def_readwrite("tri_start_ind", &SpatialHash::tri_start_ind)
        .def_readwrite(
            "voxel_to_primitives", &SpatialHash::voxel_to_primitives,
            "Map from voxel index to the primitive indices it contains.")
        .def_readwrite(
            "point_to_voxels", &SpatialHash::point_to_voxels,
            "Map from point index to the voxel indices it occupies.")
        .def_readwrite(
            "edge_to_voxels", &SpatialHash::edge_to_voxels,
            "Map from edge index to the voxel indices it occupies.")
        .def_readwrite(
            "face_to_voxels", &SpatialHash::face_to_voxels,
            "Map from face index to the voxel indices it occupies.");
}