Add testing of Python bindings

[jcarpent]

To enforce coverage of this package, it would be nice to also test the Python bindings. Unfortunately I don’t have time to do it. @nim65s Would you be available to do this task?

[nim65s]

Yes, I can do it. But I can't give delays yet. Let's assign this to me, but if anyone want to do it faster, please tell it and go ahead :)

[jcarpent]

Thanks for quick answer.

[manuel-koch]

It would be nice if this testing code could serve as examples on how to use the python bindings.
The current documentation of the python stuff is rather poor.

[jcarpent]

@manuel-koch Could you help us in this task by adding some examples taken from your ongoing work?

[manuel-koch]

I'm currently searching for ways to use stuff like the following pseudo code together with numpy, pyrr and trimesh.

import hppfcl as fcl

fcl.Box()
fcl.Sphere()
fcl.Cylinder()

fcl.Transform3f()

fcl.BVHModelOBB()
fcl.BVHModelOBBRSS()

# for non-convex meshes
bvh = fcl.BVHModelOBB()
bvh.beginModel(....)
bvh.addSubModel(...)
bvh.endModel()

# for convex meshes
fcl.Convex(....)

manager = fcl.DynamicAABBTreeCollisionManager()
manager = fcl.BroadPhaseCollisionManager()

collision_object = fcl.CollisionObject(geometry, transform)
manager.registerObject(collision_object)

callback = fcl.CollisionCallBackDefault()
result = manager.collide(callback)

In the end I want to achieve something similar to how trimesh uses fcl to find collisions

• objects within a manager
• object vs objects in manager
• objects in two managers

see https://github.com/mikedh/trimesh/blob/main/trimesh/collision.py