distance3d.self_collision.detect_any

distance3d.self_collision.detect_any(bvh)

Detect self collisions of a robot represented by a BVH.

This function aborts on first detected self collision.

Parameters:

bvhBoundingVolumeHierarchy

Bounding volume hierarchy that contains colliders of a robot. Note that the attribute bvh.self_collision_whitelists_ has to be filled. Otherwise a collection of a collider with itself or direct neighbors will be considered a self collision!

Returns:

has_self_collisionbool

Whether there is any self collision or not.