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[docs] ContactPointData #1372

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Merged
aclegg3 merged 1 commit into from
Jul 6, 2021
+49 −19
Merged

[docs] ContactPointData #1372

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2 changes: 2 additions & 0 deletions habitat_sim/physics.py
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,7 @@
ArticulatedObjectManager,
CollisionGroupHelper,
CollisionGroups,
ContactPointData,
JointMotorSettings,
JointMotorType,
JointType,
Expand Down Expand Up @@ -42,4 +43,5 @@
"JointMotorType",
"RigidConstraintType",
"RigidConstraintSettings",
"ContactPointData",
]
66 changes: 47 additions & 19 deletions src/esp/bindings/PhysicsBindings.cpp
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Expand Up @@ -26,14 +26,25 @@ void initPhysicsBindings(py::module& m) {
// ==== struct object VelocityControl ====
py::class_<VelocityControl, VelocityControl::ptr>(m, "VelocityControl")
.def(py::init(&VelocityControl::create<>))
.def_readwrite("linear_velocity", &VelocityControl::linVel)
.def_readwrite("angular_velocity", &VelocityControl::angVel)
.def_readwrite("controlling_lin_vel", &VelocityControl::controllingLinVel)
.def_readwrite("lin_vel_is_local", &VelocityControl::linVelIsLocal)
.def_readwrite("controlling_ang_vel", &VelocityControl::controllingAngVel)
.def_readwrite("ang_vel_is_local", &VelocityControl::angVelIsLocal)
.def("integrate_transform", &VelocityControl::integrateTransform, "dt"_a,
"rigid_state"_a);
.def_readwrite("linear_velocity", &VelocityControl::linVel,
R"(The linear velocity in meters/second.)")
.def_readwrite(
"angular_velocity", &VelocityControl::angVel,
R"(The angular velocity (Omega) in units of radians per second.)")
.def_readwrite("controlling_lin_vel", &VelocityControl::controllingLinVel,
R"(Whether or not linear velocity is integrated.)")
.def_readwrite(
"lin_vel_is_local", &VelocityControl::linVelIsLocal,
R"(Whether the linear velocity is considered to be in object local space or global space.)")
.def_readwrite("controlling_ang_vel", &VelocityControl::controllingAngVel,
R"(Whether or not angular velocity is integrated.)")
.def_readwrite(
"ang_vel_is_local", &VelocityControl::angVelIsLocal,
R"(Whether the angular velocity is considered to be in object local space or global space.)")
.def(
"integrate_transform", &VelocityControl::integrateTransform, "dt"_a,
"rigid_state"_a,
R"(Integrate the velocity (with explicit Euler) over a discrete timestep (dt) starting at a given state and using configured parameters. Returns the new state after integration.)");

// ==== enum articulated JointType ====
py::enum_<JointType>(m, "JointType")
Expand Down Expand Up @@ -139,16 +150,31 @@ void initPhysicsBindings(py::module& m) {
// ==== struct object ContactPointData ====
py::class_<ContactPointData, ContactPointData::ptr>(m, "ContactPointData")
.def(py::init(&ContactPointData::create<>))
.def_readwrite("object_id_a", &ContactPointData::objectIdA)
.def_readwrite("object_id_b", &ContactPointData::objectIdB)
.def_readwrite("link_id_a", &ContactPointData::linkIndexA)
.def_readwrite("link_id_b", &ContactPointData::linkIndexB)
.def_readwrite("position_on_a_in_ws", &ContactPointData::positionOnAInWS)
.def_readwrite("position_on_b_in_ws", &ContactPointData::positionOnBInWS)
.def_readwrite("contact_normal_on_b_in_ws",
&ContactPointData::contactNormalOnBInWS)
.def_readwrite("contact_distance", &ContactPointData::contactDistance)
.def_readwrite("normal_force", &ContactPointData::normalForce)
.def_readwrite(
"object_id_a", &ContactPointData::objectIdA,
R"(The Habitat object id of the first object in this collision pair.)")
.def_readwrite(
"object_id_b", &ContactPointData::objectIdB,
R"(The Habitat object id of the second object in this collision pair.)")
.def_readwrite(
"link_id_a", &ContactPointData::linkIndexA,
R"(The Habitat link id of the first object in this collision pair if an articulated link. -1 can indicate base link.)")
.def_readwrite(
"link_id_b", &ContactPointData::linkIndexB,
R"(The Habitat link id of the second object in this collision pair if an articulated link. -1 can indicate base link.)")
.def_readwrite(
"position_on_a_in_ws", &ContactPointData::positionOnAInWS,
R"(The global position of the contact point on the first object.)")
.def_readwrite(
"position_on_b_in_ws", &ContactPointData::positionOnBInWS,
R"(The global position of the contact point on the second object.)")
.def_readwrite(
"contact_normal_on_b_in_ws", &ContactPointData::contactNormalOnBInWS,
R"(The contact normal relative to the second object in world space.)")
.def_readwrite("contact_distance", &ContactPointData::contactDistance,
R"(The penetration depth of the contact point.)")
.def_readwrite("normal_force", &ContactPointData::normalForce,
R"(The normal force produced by the contact point.)")
.def_readwrite("linear_friction_force1",
&ContactPointData::linearFrictionForce1)
.def_readwrite("linear_friction_force2",
Expand All @@ -157,7 +183,9 @@ void initPhysicsBindings(py::module& m) {
&ContactPointData::linearFrictionDirection1)
.def_readwrite("linear_friction_direction2",
&ContactPointData::linearFrictionDirection2)
.def_readwrite("is_active", &ContactPointData::isActive);
.def_readwrite(
"is_active", &ContactPointData::isActive,
R"(Whether or not the contact is between active objects. Deactivated objects may produce contact points but no reaction.)");

// ==== enum object CollisionGroup ====
py::enum_<CollisionGroup> collisionGroups{m, "CollisionGroups",
Expand Down