Utils¶

ipctk.compute_minimum_distance(mesh: ipctk.CollisionMesh, V: numpy.ndarray[numpy.float64[m, n]], constraint_set: ipctk.Constraints) → float¶

Computes the minimum distance between any non-adjacent elements.

Parameters:¶

mesh: ipctk.CollisionMesh¶

The collision mesh.

V: numpy.ndarray[numpy.float64[m, n]]¶

Vertices of the collision mesh.

Returns:¶

The minimum distance between any non-adjacent elements.

ipctk.has_intersections(mesh: ipctk.CollisionMesh, V: numpy.ndarray[numpy.float64[m, n]], method: ipctk.BroadPhaseMethod = <BroadPhaseMethod.HASH_GRID: 1>) → bool¶

Determine if the mesh has self intersections.

Parameters:¶

mesh

The collision mesh.

V

Vertices of the collision mesh.

method

The broad-phase method to use.

Returns:¶

A boolean for if the mesh has intersections.

Logger¶

class ipctk.LoggerLevel¶

Members:

trace

debug

info

warn

error

critical

off

ipctk.set_logger_level(level: ipctk.LoggerLevel) → None¶

Set log level

Multi-Threading¶

ipctk.get_num_threads() → int¶

get maximum number of threads to use

ipctk.set_num_threads(nthreads: int) → None¶

set maximum number of threads to use