(feat): adds python bindings for AABB type

wpumacay · Oct 12, 2023 · 99f61d5 · 99f61d5
1 parent c270d21
commit 99f61d5
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Showing 3 changed files with 42 additions and 6 deletions.
diff --git a/python/math3d/__init__.py b/python/math3d/__init__.py
@@ -1,5 +1,8 @@
 # Helper functions used for numpy convertions
-from math3d_bindings import (  # type: ignore; math3d -> numpy; numpy -> math3d
+# fmt: off
+from math3d_bindings import (
+    AABB_d,
+    AABB_f,
     Euler_d,
     Euler_f,
     Line_d,
@@ -50,6 +53,8 @@
     vec4_to_nparray_f64,
 )
 
+# fmt: on
+
 __all__ = [
     # math3d types
     "Vector2f",
@@ -72,6 +77,13 @@
     "eConvention",
     "Pose3d_f",
     "Pose3d_d",
+    # utilities
+    "Line_f",
+    "Line_d",
+    "Plane_f",
+    "Plane_d",
+    "AABB_f",
+    "AABB_d",
     # math3d -> numpy conversions
     "vec2_to_nparray_f32",
     "vec2_to_nparray_f64",
@@ -98,9 +110,4 @@
     "nparray_to_mat3_f64",
     "nparray_to_mat4_f32",
     "nparray_to_mat4_f64",
-    # utilities
-    "Line_f",
-    "Line_d",
-    "Plane_f",
-    "Plane_d",
 ]
diff --git a/python/math3d/bindings/bindings_py.cpp b/python/math3d/bindings/bindings_py.cpp
@@ -45,6 +45,8 @@ PYBIND11_MODULE(math3d_bindings, m) {
     ::math::bindings_utils_line<::math::float64_t>(m, "Line_d");
     ::math::bindings_utils_plane<::math::float32_t>(m, "Plane_f");
     ::math::bindings_utils_plane<::math::float64_t>(m, "Plane_d");
+    ::math::bindings_utils_aabb<::math::float32_t>(m, "AABB_f");
+    ::math::bindings_utils_aabb<::math::float64_t>(m, "AABB_d");
 
     ::math::bindings_conversions_functions(m);
 }
diff --git a/python/math3d/bindings/utils/geometry_helpers_py.hpp b/python/math3d/bindings/utils/geometry_helpers_py.hpp
@@ -5,6 +5,7 @@
 
 #include <pybind11/pybind11.h>
 #include <pybind11/numpy.h>
+#include <pybind11/stl.h>
 
 #include <math/utils/geometry_helpers.hpp>
 
@@ -96,4 +97,30 @@ auto bindings_utils_plane(py::module& m, const char* class_name) -> void {
         });
 }
 
+template <typename T>
+using SFINAE_AABB_BINDINGS = typename std::enable_if<IsScalar<T>::value>::type*;
+
+template <typename T>
+// NOLINTNEXTLINE
+auto bindings_utils_aabb(py::module& m, const char* class_name) -> void {
+    using AABB = ::math::AABB<T>;
+    using Vec3 = ::math::Vector3<T>;
+    py::class_<AABB>(m, class_name)
+        .def(py::init<>())
+        .def(py::init<Vec3, Vec3>())
+        .def(py::init([](const py::array_t<T>& np_min,
+                         const py::array_t<T>& np_max) -> AABB {
+            return AABB(::math::nparray_to_vec3<T>(np_min),
+                        ::math::nparray_to_vec3<T>(np_max));
+        }))
+        .def_readwrite("min", &AABB::p_min)
+        .def_readwrite("max", &AABB::p_max)
+        .def("computeCenter", &AABB::computeCenter)
+        .def("computeCorners", &AABB::computeCorners)
+        .def("intersects", &AABB::intersects)
+        .def("__repr__", [](const AABB& self) -> py::str {
+            return py::str(self.toString());
+        });
+}
+
 }  // namespace math