spatialgeometry.CollisionShape

class CollisionShape(collision: bool = True, **kwargs)

Bases: Shape

Base class for a Shape that also has associated collision geometry, so instances can be used for collision checking (via coal) as well as being rendered in the scene.

Parameters:

• pose – Local reference frame of the shape, defaults to the identity transform.

• color – Color as (r, g, b) or (r, g, b, a) in [0-1] (or [0-255], auto-normalised), or a matplotlib color name. Defaults to a mid-grey (0.3, 0.3, 0.3, 1.0).

• stype – Shape type identifier used by the renderer/wire protocol (e.g. "cuboid", "mesh") – set by each concrete subclass, not normally passed directly by a caller.

• base – Deprecated alias for pose.

closest_point(shape: CollisionShape, inf_dist: float = 1.0) → tuple[float | None, ndarray | None, ndarray | None]

Return the minimum euclidean distance between self and shape.

Parameters:

• shape – The shape (or CollisionShapeGroup) to compare distance to

• inf_dist – Only return a result when distance < inf_dist

Returns:

(d, p1, p2) — distance and closest points in world frame, or (None, None, None) when the shapes are farther than inf_dist. d is negative when the shapes are penetrating.

collided(shape: CollisionShape) → bool

Deprecated — use iscollided instead.

iscollided(shape: CollisionShape) → bool

Return True if self and shape have collided (distance ≤ 0).

Parameters:

shape – The shape (or CollisionShapeGroup) to check against