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Description:

gimpact 1.0.1

GImpact-Python
An unofficial python extension for the GImpact collision library. This extension integrates directly with GImpact's C++ API using Cython.
Features

Create trimesh object from numpy array
Mesh decimation using Sven Forstmann's C++ mesh simplification code
Axis Aligned Bounding Box (AABB)
AABB set for box prunning
Collision of triangle mesh with the following

triangle mesh
sphere
capsule
plane
ray

Supports "first contact" or "all contacts" modes

Build Wheel
pip install -q build
python -m build

Installation
Build requires numpy and cython (tested on Linux and Windows).
pip install gimpact

Example Usage
AABB
import gimpact

aabb1 = gimpact.AABB(-1, 1, -1, 1, -1, 1)
aabb2 = gimpact.AABB(-1, 1, -1, 1, 1.5, 2)

print(aabb1.intersects(aabb2))
print(aabb1.intersection(aabb2))

aabb1.merge(aabb2)
print(aabb1)

Box Prunning
import gimpact

aabb_set = gimpact.AABBSet(10)
print(len(aabb_set))
print(aabb_set.global_bounds)
for aabb in aabb_set:
aabb.bounds = (0., 0., 0., 0., 0., 0.)

for aabb in aabb_set:
print(aabb)

print(aabb_set.global_bounds)
pairs = aabb_set.find_intersections(aabb_set)
print(pairs)

del aabb_set
print(aabb.bounds)

Collision
import gimpact
import numpy as np

contacts = gimpact.trimesh_trimesh_collision(trimesh1, trimesh2)
contacts = gimpact.trimesh_sphere_collision(trimesh1, [0., 0., 0.], 1, True)
contacts = gimpact.trimesh_capsule_collision(trimesh1, np.array([0., 0., 0.]), np.array([1., 0., 0.]), 1, True)
contacts = gimpact.trimesh_plane_collision(trimesh1, [0., 0., 1., 0.], True)