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SimpleCADAPI-master/examples/17_static_collision_verifier.py

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+"""Example 17: static current-pose collision verification.
+
+Run from the repository root with:
+    uv run python examples/17_static_collision_verifier.py
+
+This example checks the current placements of two box components. The verifier
+uses internal cached meshes and python-fcl to report mesh contact penetration
+deeper than the configured tolerance. It does not solve constraints or detect
+complete containment cases.
+"""
+
+from __future__ import annotations
+
+import simplecadapi as scad
+
+
+def _box_part() -> scad.Part:
+    body = scad.make_box_rsolid(width=1.0, height=1.0, depth=1.0)
+    return scad.make_part_rpart(part_id="unit_box", body=body)
+
+
+def _assembly_with_offset(offset: tuple[float, float, float]) -> scad.Assembly:
+    part = _box_part()
+    assembly = scad.make_assembly_rassembly(assembly_id="static_collision_demo")
+    assembly = scad.add_component_rassembly(
+        assembly=assembly,
+        item=part,
+        component_id="box_a",
+        placement=scad.identity_placement_rplacement(),
+    )
+    assembly = scad.add_component_rassembly(
+        assembly=assembly,
+        item=part,
+        component_id="box_b",
+        placement=scad.make_placement_rplacement(origin=offset),
+    )
+    return assembly
+
+
+def _print_report(label: str, report: scad.verifier.CollisionReport) -> None:
+    print(label, f"completed={report.completed}", f"passed={report.passed}")
+    print(label, f"checked_pairs={report.checked_pair_count}", f"failures={report.failed_pair_count}")
+    for failure in report.failures:
+        print(
+            label,
+            "failure",
+            "/".join(failure.component_a),
+            "/".join(failure.component_b),
+            f"depth={failure.penetration_depth:.4f}",
+            f"allowed={failure.allowed_penetration:.4f}",
+        )
+    for warning in report.warnings:
+        print(label, "warning", warning.code, warning.message)
+
+
+def main() -> None:
+    config = scad.verifier.CollisionCheckConfig(max_allowed_penetration=0.01)
+
+    separated = _assembly_with_offset(offset=(2.0, 0.0, 0.0))
+    separated_report = scad.verifier.check_collision_rcollisionreport(
+        assembly=separated,
+        config=config,
+    )
+    _print_report("separated", separated_report)
+
+    overlapping = _assembly_with_offset(offset=(0.5, 0.0, 0.0))
+    overlapping_report = scad.verifier.check_collision_rcollisionreport(
+        assembly=overlapping,
+        config=config,
+    )
+    _print_report("overlapping", overlapping_report)
+
+
+if __name__ == "__main__":
+    main()