hpp-fcl 的碰撞检测流程python

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)

流程就是先导入碰撞模型，对模型进行数据类型转换，再对模型进行位姿确定，利用碰撞检测盒进行碰撞检测