python-nb : Start work on math module

Author: ManifoldFR

python-nb/CMakeLists.txt

@@ -2,7 +2,7 @@ find_package(Python REQUIRED COMPONENTS Interpreter Development)
 find_package(nanobind CONFIG REQUIRED)
 
 set(PYTHON_LIB_NAME_V2 coal_pywrap_v2)
-set(coal_pywrap_v2_SOURCES module.cc)
+set(coal_pywrap_v2_SOURCES math.cc module.cc)
 
 nanobind_add_module(${PYTHON_LIB_NAME_V2} NB_STATIC LTO NB_SUPPRESS_WARNINGS ${coal_pywrap_v2_SOURCES})
 target_link_libraries(

python-nb/fwd.h

@@ -0,0 +1,3 @@
+#include <nanobind/nanobind.h>
+
+namespace nb = nanobind;

python-nb/math.cc

@@ -0,0 +1,29 @@
+/// Copyright 2025 INRIA
+#include "coal/math/transform.h"
+
+#include "fwd.h"
+#include <nanobind/eigen/dense.h>
+#include <nanobind/operators.h>
+
+using namespace coal;
+
+void exposeMaths(nb::module_ &m) {
+  nb::module_::import_("nanoeigenpy");
+
+  nb::class_<Transform3s>(m, "Transform3s")
+      .def(nb::init<>())
+      .def("getQuatRotation", &Transform3s::getQuatRotation,
+           nb::rv_policy::automatic_reference)
+      .def("getTranslation", &Transform3s::getTranslation,
+           nb::rv_policy::automatic_reference)
+      .def("isIdentity", &Transform3s::isIdentity)
+      .def("setIdentity", &Transform3s::setIdentity)
+
+      .def("setRandom", &Transform3s::setRandom)
+      .def_static("Random", &Transform3s::Random)
+
+      .def(nb::self * nb::self)
+      .def(nb::self *= nb::self)
+      .def(nb::self == nb::self)
+      .def(nb::self != nb::self);
+}

python-nb/module.cc

@@ -1,8 +1,7 @@
 /// Copyright 2025 INRIA
-#include <nanobind/nanobind.h>
+#include "fwd.h"
 #include "coal/config.hh"
 
-namespace nb = nanobind;
 using namespace nb::literals;
 
 inline constexpr bool checkVersionAtLeast(int major, int minor, int patch) {
@@ -44,4 +43,19 @@ void exposeVersion(nb::module_ &m) {
         "by the input arguments.");
 }
 
-NB_MODULE(COAL_PYTHON_LIBNAME, m) { exposeVersion(m); }
+void exposeMaths(nb::module_ &m);
+
+void exposeCollisionGeometries(nb::module_ &m);
+
+void exposeGJK(nb::module_ &m);
+
+#ifdef COAL_HAS_OCTOMAP
+void exposeOctree(nb::module_ &m);
+#endif
+
+void exposeBroadPhase(nb::module_ &m);
+
+NB_MODULE(COAL_PYTHON_LIBNAME, m) {
+  exposeVersion(m);
+  exposeMaths(m);
+}