python: expose nearest_points in Contact and DistanceResult

Author: lmontaut

include/hpp/fcl/collision_data.h

@@ -39,6 +39,7 @@
 #define HPP_FCL_COLLISION_DATA_H
 
 #include <vector>
+#include <array>
 #include <set>
 #include <limits>
 
@@ -76,7 +77,7 @@ struct HPP_FCL_DLLAPI Contact {
 
   /// @brief nearest points associated to this contact.
   /// See \ref CollisionResult::nearest_points.
-  Vec3f nearest_points[2];
+  std::array<Vec3f, 2> nearest_points;
 
   /// @brief contact position, in world space
   Vec3f pos;
@@ -457,7 +458,7 @@ struct HPP_FCL_DLLAPI DistanceResult : QueryResult {
 
   /// @brief nearest points.
   /// See CollisionResult::nearest_points.
-  Vec3f nearest_points[2];
+  std::array<Vec3f, 2> nearest_points;
 
   /// Stores the normal, defined as the normalized separation vector:
   /// normal = (p2 - p1) / dist(o1, o2), where p1 = nearest_points[0]

include/hpp/fcl/serialization/collision_data.h

@@ -27,6 +27,7 @@ void load(Archive& ar, hpp::fcl::Contact& contact,
   ar >> make_nvp("b1", contact.b1);
   ar >> make_nvp("b2", contact.b2);
   ar >> make_nvp("normal", contact.normal);
+  ar >> make_nvp("nearest_points", contact.nearest_points);
   ar >> make_nvp("pos", contact.pos);
   ar >> make_nvp("penetration_depth", contact.penetration_depth);
   contact.o1 = NULL;
@@ -115,7 +116,7 @@ void save(Archive& ar, const hpp::fcl::DistanceResult& distance_result,
   ar& make_nvp("base", boost::serialization::base_object<hpp::fcl::QueryResult>(
                            distance_result));
   ar& make_nvp("min_distance", distance_result.min_distance);
-  ar& make_nvp("nearest_points", make_array(distance_result.nearest_points, 2));
+  ar& make_nvp("nearest_points", distance_result.nearest_points);
   ar& make_nvp("normal", distance_result.normal);
   ar& make_nvp("b1", distance_result.b1);
   ar& make_nvp("b2", distance_result.b2);
@@ -128,8 +129,7 @@ void load(Archive& ar, hpp::fcl::DistanceResult& distance_result,
       make_nvp("base", boost::serialization::base_object<hpp::fcl::QueryResult>(
                            distance_result));
   ar >> make_nvp("min_distance", distance_result.min_distance);
-  ar >>
-      make_nvp("nearest_points", make_array(distance_result.nearest_points, 2));
+  ar >> make_nvp("nearest_points", distance_result.nearest_points);
   ar >> make_nvp("normal", distance_result.normal);
   ar >> make_nvp("b1", distance_result.b1);
   ar >> make_nvp("b2", distance_result.b2);

python/collision.cc

@@ -168,6 +168,7 @@ void exposeCollisionAPI() {
         .DEF_RW_CLASS_ATTRIB(Contact, b1)
         .DEF_RW_CLASS_ATTRIB(Contact, b2)
         .DEF_RW_CLASS_ATTRIB(Contact, normal)
+        .DEF_RW_CLASS_ATTRIB(Contact, nearest_points)
         .DEF_RW_CLASS_ATTRIB(Contact, pos)
         .DEF_RW_CLASS_ATTRIB(Contact, penetration_depth)
         .def(self == self)

python/distance.cc

@@ -88,6 +88,7 @@ void exposeDistanceAPI() {
              doxygen::class_attrib_doc<DistanceResult>("nearest_points"))
         .def("getNearestPoint2", &DistanceRequestWrapper::getNearestPoint2,
              doxygen::class_attrib_doc<DistanceResult>("nearest_points"))
+        .DEF_RO_CLASS_ATTRIB(DistanceResult, nearest_points)
         .DEF_RO_CLASS_ATTRIB(DistanceResult, o1)
         .DEF_RO_CLASS_ATTRIB(DistanceResult, o2)
         .DEF_RW_CLASS_ATTRIB(DistanceResult, b1)