[bindings/python] expose MeshData, don't know how I'll use it

Author: ManifoldFR

bindings/python/CMakeLists.txt

@@ -5,7 +5,12 @@ endif(GENERATE_PYTHON_STUBS)
 
 find_package(eigenpy 3.2.0 REQUIRED)
 
-set(pycandlewick_SOURCES src/expose-renderer.cpp src/module.cpp)
+set(
+  pycandlewick_SOURCES
+  src/expose-mesh-data.cpp
+  src/expose-renderer.cpp
+  src/module.cpp
+)
 
 set(PYLIB_INSTALL_DIR ${PYTHON_SITELIB}/${PROJECT_NAME})
 

bindings/python/src/expose-mesh-data.cpp

@@ -0,0 +1,22 @@
+#include "fwd.hpp"
+#include "candlewick/utils/MeshData.h"
+
+using namespace candlewick;
+
+void exposeMeshData() {
+
+  bp::class_<MeshLayout>("MeshLayout", bp::no_init);
+
+  bp::class_<MeshData, boost::noncopyable>("MeshData", bp::no_init)
+      .def_readonly("layout", &MeshData::layout)
+      .add_property("numVertices", &MeshData::numVertices,
+                    "Number of vertices.")
+      .add_property("vertexSize", &MeshData::vertexSize)
+      .add_property("vertexBytes", &MeshData::vertexBytes,
+                    "Number of bytes in the vertex data.")
+      .add_property("numIndices", &MeshData::numIndices, "Number of indices.")
+      .add_property("isIndexed", &MeshData::isIndexed,
+                    "Whether the mesh is indexed.")
+
+      ;
+}

bindings/python/src/expose-visualizer.cpp

@@ -10,34 +10,32 @@
 
 using namespace candlewick::multibody;
 
+#define DEF_PROP_PROXY(name)                                                   \
+  add_property(#name, bp::make_function(                                       \
+                          +[](Visualizer &v) -> auto & { return v.name(); },   \
+                          bp::return_internal_reference<>()))
+
 void exposeVisualizer() {
   eigenpy::OptionalConverter<ConstVectorRef, std::optional>::registration();
   bp::class_<Visualizer::Config>("VisualizerConfig", bp::init<>())
       .def_readwrite("width", &Visualizer::Config::width)
       .def_readwrite("height", &Visualizer::Config::height);
 
-  auto cl =
-      bp::class_<Visualizer, boost::noncopyable>("Visualizer", bp::no_init)
-          .def(bp::init<Visualizer::Config, const pin::Model &,
-                        const pin::GeometryModel &>(
-              ("self"_a, "config", "model", "geomModel")))
-          .def(pinocchio::python::VisualizerPythonVisitor<Visualizer>{})
-          .def_readonly("renderer", &Visualizer::renderer)
-          .add_property("shouldExit", &Visualizer::shouldExit);
-
+  bp::class_<Visualizer, boost::noncopyable>("Visualizer", bp::no_init)
+      .def(bp::init<Visualizer::Config, const pin::Model &,
+                    const pin::GeometryModel &>(
+          ("self"_a, "config", "model", "geomModel")))
+      .def(pinocchio::python::VisualizerPythonVisitor<Visualizer>{})
+      .def_readonly("renderer", &Visualizer::renderer)
 // fix for Pinocchio 3.5.0
 #if PINOCCHIO_VERSION_AT_MOST(3, 5, 0)
-#define DEF_PROP_PROXY(name)                                                   \
-  add_property(#name, bp::make_function(                                       \
-                          +[](Visualizer &v) -> auto & { return v.name(); },   \
-                          bp::return_internal_reference<>()))
-  cl //
       .DEF_PROP_PROXY(model)
       .DEF_PROP_PROXY(visualModel)
       .DEF_PROP_PROXY(collisionModel)
       .DEF_PROP_PROXY(data)
       .DEF_PROP_PROXY(visualData)
-      .DEF_PROP_PROXY(collisionData);
-#undef DEF_PROP_PROXY
+      .DEF_PROP_PROXY(collisionData)
 #endif
+      .add_property("shouldExit", &Visualizer::shouldExit);
 }
+#undef DEF_PROP_PROXY

bindings/python/src/module.cpp

@@ -6,10 +6,11 @@
 
 using namespace candlewick;
 
+void exposeMeshData();
+void exposeRenderer();
 #ifdef CANDLEWICK_PYTHON_PINOCCHIO_SUPPORT
 void exposeVisualizer();
 #endif
-void exposeRenderer();
 
 BOOST_PYTHON_MODULE(pycandlewick) {
   bp::import("eigenpy");
@@ -26,6 +27,7 @@ BOOST_PYTHON_MODULE(pycandlewick) {
   // Register SDL_Quit() as a function to call when interpreter exits.
   Py_AtExit(SDL_Quit);
 
+  exposeMeshData();
   exposeRenderer();
 #ifdef CANDLEWICK_PYTHON_PINOCCHIO_SUPPORT
   {