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Author: zfergus

python-api/candidates.html

@@ -2976,7 +2976,7 @@ <h2 id="id1">Candidates<a class="headerlink" href="#id1" title="Permalink to thi
 
 <dl class="py method objdesc">
 <dt class="sig sig-object highlight sig-wrap py" id="ipctk.Candidates.compute_cfl_stepsize">
-<span class="sig-name descname"><span class="pre">compute_cfl_stepsize</span></span><span class="sig-paren">(</span><span class="sig-param-decl"><em class="sig-param"><span class="pre">self:</span> <span class="pre">ipctk.Candidates,</span> <span class="pre">mesh:</span> <span class="pre">ipc::CollisionMesh,</span> <span class="pre">vertices_t0:</span> <span class="pre">numpy.ndarray[numpy.float64[m,</span> <span class="pre">n]],</span> <span class="pre">vertices_t1:</span> <span class="pre">numpy.ndarray[numpy.float64[m,</span> <span class="pre">n]],</span> <span class="pre">dhat:</span> <span class="pre">float,</span> <span class="pre">broad_phase_method:</span> <span class="pre">ipctk.BroadPhaseMethod</span> <span class="pre">=</span> <span class="pre">&lt;BroadPhaseMethod.HASH_GRID:</span> <span class="pre">1&gt;,</span> <span class="pre">min_distance:</span> <span class="pre">float</span> <span class="pre">=</span> <span class="pre">0.0,</span> <span class="pre">narrow_phase_ccd:</span> <span class="pre">ipctk.NarrowPhaseCCD</span> <span class="pre">=</span> <span class="pre">&lt;ipctk.TightInclusionCCD</span> <span class="pre">object</span> <span class="pre">at</span> <span class="pre">0x7f68b79d57f0&gt;</span></em></span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="desctype"><span class="pre">float</span></span></span></span><a class="headerlink" href="#ipctk.Candidates.compute_cfl_stepsize" title="Permalink to this definition">¶</a></dt>
+<span class="sig-name descname"><span class="pre">compute_cfl_stepsize</span></span><span class="sig-paren">(</span><span class="sig-param-decl"><em class="sig-param"><span class="pre">self:</span> <span class="pre">ipctk.Candidates,</span> <span class="pre">mesh:</span> <span class="pre">ipc::CollisionMesh,</span> <span class="pre">vertices_t0:</span> <span class="pre">numpy.ndarray[numpy.float64[m,</span> <span class="pre">n]],</span> <span class="pre">vertices_t1:</span> <span class="pre">numpy.ndarray[numpy.float64[m,</span> <span class="pre">n]],</span> <span class="pre">dhat:</span> <span class="pre">float,</span> <span class="pre">broad_phase_method:</span> <span class="pre">ipctk.BroadPhaseMethod</span> <span class="pre">=</span> <span class="pre">&lt;BroadPhaseMethod.HASH_GRID:</span> <span class="pre">1&gt;,</span> <span class="pre">min_distance:</span> <span class="pre">float</span> <span class="pre">=</span> <span class="pre">0.0,</span> <span class="pre">narrow_phase_ccd:</span> <span class="pre">ipctk.NarrowPhaseCCD</span> <span class="pre">=</span> <span class="pre">&lt;ipctk.TightInclusionCCD</span> <span class="pre">object</span> <span class="pre">at</span> <span class="pre">0x7f2905dd97f0&gt;</span></em></span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="desctype"><span class="pre">float</span></span></span></span><a class="headerlink" href="#ipctk.Candidates.compute_cfl_stepsize" title="Permalink to this definition">¶</a></dt>
 <dd><p>Computes a CFL-inspired CCD maximum step step size.</p>
 <dl class="field-list simple">
 <dt class="field-odd" id="ipctk.Candidates.compute_cfl_stepsize-parameters">Parameters<span class="colon">:</span><a class="headerlink" href="#ipctk.Candidates.compute_cfl_stepsize-parameters" title="Permalink to this headline">¶</a></dt>
@@ -3000,7 +3000,7 @@ <h2 id="id1">Candidates<a class="headerlink" href="#id1" title="Permalink to thi
 
 <dl class="py method objdesc">
 <dt class="sig sig-object highlight sig-wrap py" id="ipctk.Candidates.compute_collision_free_stepsize">
-<span class="sig-name descname"><span class="pre">compute_collision_free_stepsize</span></span><span class="sig-paren">(</span><span class="sig-param-decl"><em class="sig-param"><span class="pre">self:</span> <span class="pre">ipctk.Candidates,</span> <span class="pre">mesh:</span> <span class="pre">ipc::CollisionMesh,</span> <span class="pre">vertices_t0:</span> <span class="pre">numpy.ndarray[numpy.float64[m,</span> <span class="pre">n]],</span> <span class="pre">vertices_t1:</span> <span class="pre">numpy.ndarray[numpy.float64[m,</span> <span class="pre">n]],</span> <span class="pre">min_distance:</span> <span class="pre">float</span> <span class="pre">=</span> <span class="pre">0.0,</span> <span class="pre">narrow_phase_ccd:</span> <span class="pre">ipctk.NarrowPhaseCCD</span> <span class="pre">=</span> <span class="pre">&lt;ipctk.TightInclusionCCD</span> <span class="pre">object</span> <span class="pre">at</span> <span class="pre">0x7f68b6bbbf70&gt;</span></em></span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="desctype"><span class="pre">float</span></span></span></span><a class="headerlink" href="#ipctk.Candidates.compute_collision_free_stepsize" title="Permalink to this definition">¶</a></dt>
+<span class="sig-name descname"><span class="pre">compute_collision_free_stepsize</span></span><span class="sig-paren">(</span><span class="sig-param-decl"><em class="sig-param"><span class="pre">self:</span> <span class="pre">ipctk.Candidates,</span> <span class="pre">mesh:</span> <span class="pre">ipc::CollisionMesh,</span> <span class="pre">vertices_t0:</span> <span class="pre">numpy.ndarray[numpy.float64[m,</span> <span class="pre">n]],</span> <span class="pre">vertices_t1:</span> <span class="pre">numpy.ndarray[numpy.float64[m,</span> <span class="pre">n]],</span> <span class="pre">min_distance:</span> <span class="pre">float</span> <span class="pre">=</span> <span class="pre">0.0,</span> <span class="pre">narrow_phase_ccd:</span> <span class="pre">ipctk.NarrowPhaseCCD</span> <span class="pre">=</span> <span class="pre">&lt;ipctk.TightInclusionCCD</span> <span class="pre">object</span> <span class="pre">at</span> <span class="pre">0x7f29047bd930&gt;</span></em></span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="desctype"><span class="pre">float</span></span></span></span><a class="headerlink" href="#ipctk.Candidates.compute_collision_free_stepsize" title="Permalink to this definition">¶</a></dt>
 <dd><p>Computes a maximal step size that is collision free using the set of collision candidates.</p>
 <div class="note admonition">
 <p class="admonition-title">Note</p>
@@ -3067,7 +3067,7 @@ <h2 id="id1">Candidates<a class="headerlink" href="#id1" title="Permalink to thi
 
 <dl class="py method objdesc">
 <dt class="sig sig-object highlight sig-wrap py" id="ipctk.Candidates.is_step_collision_free">
-<span class="sig-name descname"><span class="pre">is_step_collision_free</span></span><span class="sig-paren">(</span><span class="sig-param-decl"><em class="sig-param"><span class="pre">self:</span> <span class="pre">ipctk.Candidates,</span> <span class="pre">mesh:</span> <span class="pre">ipc::CollisionMesh,</span> <span class="pre">vertices_t0:</span> <span class="pre">numpy.ndarray[numpy.float64[m,</span> <span class="pre">n]],</span> <span class="pre">vertices_t1:</span> <span class="pre">numpy.ndarray[numpy.float64[m,</span> <span class="pre">n]],</span> <span class="pre">min_distance:</span> <span class="pre">float</span> <span class="pre">=</span> <span class="pre">0.0,</span> <span class="pre">narrow_phase_ccd:</span> <span class="pre">ipctk.NarrowPhaseCCD</span> <span class="pre">=</span> <span class="pre">&lt;ipctk.TightInclusionCCD</span> <span class="pre">object</span> <span class="pre">at</span> <span class="pre">0x7f68b6bbbdf0&gt;</span></em></span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="desctype"><span class="pre">bool</span></span></span></span><a class="headerlink" href="#ipctk.Candidates.is_step_collision_free" title="Permalink to this definition">¶</a></dt>
+<span class="sig-name descname"><span class="pre">is_step_collision_free</span></span><span class="sig-paren">(</span><span class="sig-param-decl"><em class="sig-param"><span class="pre">self:</span> <span class="pre">ipctk.Candidates,</span> <span class="pre">mesh:</span> <span class="pre">ipc::CollisionMesh,</span> <span class="pre">vertices_t0:</span> <span class="pre">numpy.ndarray[numpy.float64[m,</span> <span class="pre">n]],</span> <span class="pre">vertices_t1:</span> <span class="pre">numpy.ndarray[numpy.float64[m,</span> <span class="pre">n]],</span> <span class="pre">min_distance:</span> <span class="pre">float</span> <span class="pre">=</span> <span class="pre">0.0,</span> <span class="pre">narrow_phase_ccd:</span> <span class="pre">ipctk.NarrowPhaseCCD</span> <span class="pre">=</span> <span class="pre">&lt;ipctk.TightInclusionCCD</span> <span class="pre">object</span> <span class="pre">at</span> <span class="pre">0x7f29047c59b0&gt;</span></em></span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="desctype"><span class="pre">bool</span></span></span></span><a class="headerlink" href="#ipctk.Candidates.is_step_collision_free" title="Permalink to this definition">¶</a></dt>
 <dd><p>Determine if the step is collision free from the set of candidates.</p>
 <div class="note admonition">
 <p class="admonition-title">Note</p>
@@ -3154,7 +3154,7 @@ <h2 id="continuous-collision-candidate">Continuous Collision Candidate<a class="
 
 <dl class="py method objdesc">
 <dt class="sig sig-object highlight sig-wrap py" id="ipctk.ContinuousCollisionCandidate.ccd">
-<span class="sig-name descname"><span class="pre">ccd</span></span><span class="sig-paren">(</span><span class="sig-param-decl"><em class="sig-param"><span class="pre">self:</span> <span class="pre">ipctk.ContinuousCollisionCandidate,</span> <span class="pre">vertices_t0:</span> <span class="pre">numpy.ndarray[numpy.float64[m,</span> <span class="pre">1]],</span> <span class="pre">vertices_t1:</span> <span class="pre">numpy.ndarray[numpy.float64[m,</span> <span class="pre">1]],</span> <span class="pre">min_distance:</span> <span class="pre">float</span> <span class="pre">=</span> <span class="pre">0.0,</span> <span class="pre">tmax:</span> <span class="pre">float</span> <span class="pre">=</span> <span class="pre">1.0,</span> <span class="pre">narrow_phase_ccd:</span> <span class="pre">ipctk.NarrowPhaseCCD</span> <span class="pre">=</span> <span class="pre">&lt;ipctk.TightInclusionCCD</span> <span class="pre">object</span> <span class="pre">at</span> <span class="pre">0x7f68b6bc0cb0&gt;</span></em></span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="desctype"><span class="pre">tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">bool</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></span></span></span><a class="headerlink" href="#ipctk.ContinuousCollisionCandidate.ccd" title="Permalink to this definition">¶</a></dt>
+<span class="sig-name descname"><span class="pre">ccd</span></span><span class="sig-paren">(</span><span class="sig-param-decl"><em class="sig-param"><span class="pre">self:</span> <span class="pre">ipctk.ContinuousCollisionCandidate,</span> <span class="pre">vertices_t0:</span> <span class="pre">numpy.ndarray[numpy.float64[m,</span> <span class="pre">1]],</span> <span class="pre">vertices_t1:</span> <span class="pre">numpy.ndarray[numpy.float64[m,</span> <span class="pre">1]],</span> <span class="pre">min_distance:</span> <span class="pre">float</span> <span class="pre">=</span> <span class="pre">0.0,</span> <span class="pre">tmax:</span> <span class="pre">float</span> <span class="pre">=</span> <span class="pre">1.0,</span> <span class="pre">narrow_phase_ccd:</span> <span class="pre">ipctk.NarrowPhaseCCD</span> <span class="pre">=</span> <span class="pre">&lt;ipctk.TightInclusionCCD</span> <span class="pre">object</span> <span class="pre">at</span> <span class="pre">0x7f290474a8b0&gt;</span></em></span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="desctype"><span class="pre">tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">bool</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></span></span></span><a class="headerlink" href="#ipctk.ContinuousCollisionCandidate.ccd" title="Permalink to this definition">¶</a></dt>
 <dd><p>Perform narrow-phase CCD on the candidate.</p>
 <dl class="field-list simple">
 <dt class="field-odd" id="ipctk.ContinuousCollisionCandidate.ccd-parameters">Parameters<span class="colon">:</span><a class="headerlink" href="#ipctk.ContinuousCollisionCandidate.ccd-parameters" title="Permalink to this headline">¶</a></dt>

python-api/ccd.html

@@ -2900,7 +2900,7 @@
 <h1 id="continuous-collision-detection">Continuous Collision Detection<a class="headerlink" href="#continuous-collision-detection" title="Permalink to this heading">¶</a></h1>
 <dl class="py function objdesc">
 <dt class="sig sig-object highlight sig-wrap py" id="ipctk.is_step_collision_free">
-<span class="sig-prename descclassname"><span class="pre">ipctk.</span></span><span class="sig-name descname"><span class="pre">is_step_collision_free</span></span><span class="sig-paren">(</span><span class="sig-param-decl"><em class="sig-param"><span class="pre">mesh:</span> <span class="pre">ipctk.CollisionMesh,</span> <span class="pre">vertices_t0:</span> <span class="pre">numpy.ndarray[numpy.float64[m,</span> <span class="pre">n]],</span> <span class="pre">vertices_t1:</span> <span class="pre">numpy.ndarray[numpy.float64[m,</span> <span class="pre">n]],</span> <span class="pre">min_distance:</span> <span class="pre">float</span> <span class="pre">=</span> <span class="pre">0.0,</span> <span class="pre">broad_phase_method:</span> <span class="pre">ipctk.BroadPhaseMethod</span> <span class="pre">=</span> <span class="pre">&lt;BroadPhaseMethod.HASH_GRID:</span> <span class="pre">1&gt;,</span> <span class="pre">narrow_phase_ccd:</span> <span class="pre">ipctk.NarrowPhaseCCD</span> <span class="pre">=</span> <span class="pre">&lt;ipctk.TightInclusionCCD</span> <span class="pre">object</span> <span class="pre">at</span> <span class="pre">0x7f689d92dd70&gt;</span></em></span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="desctype"><span class="pre">bool</span></span></span></span><a class="headerlink" href="#ipctk.is_step_collision_free" title="Permalink to this definition">¶</a></dt>
+<span class="sig-prename descclassname"><span class="pre">ipctk.</span></span><span class="sig-name descname"><span class="pre">is_step_collision_free</span></span><span class="sig-paren">(</span><span class="sig-param-decl"><em class="sig-param"><span class="pre">mesh:</span> <span class="pre">ipctk.CollisionMesh,</span> <span class="pre">vertices_t0:</span> <span class="pre">numpy.ndarray[numpy.float64[m,</span> <span class="pre">n]],</span> <span class="pre">vertices_t1:</span> <span class="pre">numpy.ndarray[numpy.float64[m,</span> <span class="pre">n]],</span> <span class="pre">min_distance:</span> <span class="pre">float</span> <span class="pre">=</span> <span class="pre">0.0,</span> <span class="pre">broad_phase_method:</span> <span class="pre">ipctk.BroadPhaseMethod</span> <span class="pre">=</span> <span class="pre">&lt;BroadPhaseMethod.HASH_GRID:</span> <span class="pre">1&gt;,</span> <span class="pre">narrow_phase_ccd:</span> <span class="pre">ipctk.NarrowPhaseCCD</span> <span class="pre">=</span> <span class="pre">&lt;ipctk.TightInclusionCCD</span> <span class="pre">object</span> <span class="pre">at</span> <span class="pre">0x7f29047e1170&gt;</span></em></span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="desctype"><span class="pre">bool</span></span></span></span><a class="headerlink" href="#ipctk.is_step_collision_free" title="Permalink to this definition">¶</a></dt>
 <dd><p>Determine if the step is collision free.</p>
 <div class="note admonition">
 <p class="admonition-title">Note</p>
@@ -2931,7 +2931,7 @@ <h1 id="continuous-collision-detection">Continuous Collision Detection<a class="
 
 <dl class="py function objdesc">
 <dt class="sig sig-object highlight sig-wrap py" id="ipctk.compute_collision_free_stepsize">
-<span class="sig-prename descclassname"><span class="pre">ipctk.</span></span><span class="sig-name descname"><span class="pre">compute_collision_free_stepsize</span></span><span class="sig-paren">(</span><span class="sig-param-decl"><em class="sig-param"><span class="pre">mesh:</span> <span class="pre">ipctk.CollisionMesh,</span> <span class="pre">vertices_t0:</span> <span class="pre">numpy.ndarray[numpy.float64[m,</span> <span class="pre">n]],</span> <span class="pre">vertices_t1:</span> <span class="pre">numpy.ndarray[numpy.float64[m,</span> <span class="pre">n]],</span> <span class="pre">min_distance:</span> <span class="pre">float</span> <span class="pre">=</span> <span class="pre">0.0,</span> <span class="pre">broad_phase_method:</span> <span class="pre">ipctk.BroadPhaseMethod</span> <span class="pre">=</span> <span class="pre">&lt;BroadPhaseMethod.HASH_GRID:</span> <span class="pre">1&gt;,</span> <span class="pre">narrow_phase_ccd:</span> <span class="pre">ipctk.NarrowPhaseCCD</span> <span class="pre">=</span> <span class="pre">&lt;ipctk.TightInclusionCCD</span> <span class="pre">object</span> <span class="pre">at</span> <span class="pre">0x7f689d92df30&gt;</span></em></span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="desctype"><span class="pre">float</span></span></span></span><a class="headerlink" href="#ipctk.compute_collision_free_stepsize" title="Permalink to this definition">¶</a></dt>
+<span class="sig-prename descclassname"><span class="pre">ipctk.</span></span><span class="sig-name descname"><span class="pre">compute_collision_free_stepsize</span></span><span class="sig-paren">(</span><span class="sig-param-decl"><em class="sig-param"><span class="pre">mesh:</span> <span class="pre">ipctk.CollisionMesh,</span> <span class="pre">vertices_t0:</span> <span class="pre">numpy.ndarray[numpy.float64[m,</span> <span class="pre">n]],</span> <span class="pre">vertices_t1:</span> <span class="pre">numpy.ndarray[numpy.float64[m,</span> <span class="pre">n]],</span> <span class="pre">min_distance:</span> <span class="pre">float</span> <span class="pre">=</span> <span class="pre">0.0,</span> <span class="pre">broad_phase_method:</span> <span class="pre">ipctk.BroadPhaseMethod</span> <span class="pre">=</span> <span class="pre">&lt;BroadPhaseMethod.HASH_GRID:</span> <span class="pre">1&gt;,</span> <span class="pre">narrow_phase_ccd:</span> <span class="pre">ipctk.NarrowPhaseCCD</span> <span class="pre">=</span> <span class="pre">&lt;ipctk.TightInclusionCCD</span> <span class="pre">object</span> <span class="pre">at</span> <span class="pre">0x7f28ec546630&gt;</span></em></span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="desctype"><span class="pre">float</span></span></span></span><a class="headerlink" href="#ipctk.compute_collision_free_stepsize" title="Permalink to this definition">¶</a></dt>
 <dd><p>Computes a maximal step size that is collision free.</p>
 <div class="note admonition">
 <p class="admonition-title">Note</p>