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python_component.hpp
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57 lines (48 loc) · 1.74 KB
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/*
* Copyright 2025 Hillbot Inc.
* Copyright 2020-2024 UCSD SU Lab
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at:
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#pragma once
#include "sapien/component.h"
#include <pybind11/eigen.h>
#include <pybind11/numpy.h>
#include <pybind11/operators.h>
#include <pybind11/pybind11.h>
#include <pybind11/stl.h>
namespace py = pybind11;
using namespace pybind11::literals;
using namespace sapien;
class PythonComponent;
class PythonComponent : public Component, public py::trampoline_self_life_support {
public:
PythonComponent() : mObjectId(gCurrentObjectId++) {}
void onAddToScene(Scene &scene) override {
PYBIND11_OVERRIDE_NAME(void, PythonComponent, "on_add_to_scene", onAddToSceneImpl, scene);
}
void onAddToSceneImpl(Scene &scene) {}
void onRemoveFromScene(Scene &scene) override {
PYBIND11_OVERRIDE_NAME(void, PythonComponent, "on_remove_from_scene", onRemoveFromSceneImpl,
scene);
}
void onRemoveFromSceneImpl(Scene &scene) {}
void onSetPose(Pose const &pose) override {
PYBIND11_OVERRIDE_NAME(void, Component, "on_set_pose", onSetPose, pose);
}
private:
// TODO: make thread safe?
static uint64_t gCurrentObjectId;
uint64_t mObjectId{0};
};
uint64_t PythonComponent::gCurrentObjectId = 0;