Exposed some vector functions to the python api

CHANGELOG.md

@@ -1,3 +1,8 @@
+## Latest
+
+  * Added API functions to 3D vectors: `squared_length`, `length`, `make_unit_vector`, `dot`, `dot_2d`, `distance`, `distance_2d`, `distance_squared`, `distance_squared_2d`, `get_vector_angle`
+  * Added API functions to 2D vectors: `squared_length`, `length`, `make_unit_vector`
+
 ## CARLA 0.9.12
 
   * Changed the resolution of the cached map in Traffic Manager from 0.1 to 5 meters

Docs/python_api.md

@@ -2390,6 +2390,15 @@ Y-axis value.
     - **Parameters:**
         - `x` (_float_)  
         - `y` (_float_)  
+- <a name="carla.Vector2D.squared_length"></a>**<font color="#7fb800">squared_length</font>**(<font color="#00a6ed">**self**</font>)
+Computes the squared length of the vector.
+    - **Return:** _float_
+- <a name="carla.Vector2D.length"></a>**<font color="#7fb800">length</font>**(<font color="#00a6ed">**self**</font>)
+Computes the length of the vector.
+    - **Return:** _float_
+- <a name="carla.Vector2D.make_unit_vector"></a>**<font color="#7fb800">make_unit_vector</font>**(<font color="#00a6ed">**self**</font>)
+Returns a vector with the same direction and unitary length.
+    - **Return:** _[carla.Vector2D](#carla.Vector2D)_
 
 ##### Dunder methods
 - <a name="carla.Vector2D.__add__"></a>**<font color="#7fb800">\__add__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**=[carla.Vector2D](#carla.Vector2D)</font>)  
@@ -2425,6 +2434,50 @@ Z-axis value.
         - `x` (_float_)  
         - `y` (_float_)  
         - `z` (_float_)  
+- <a name="carla.Vector3D.length"></a>**<font color="#7fb800">length</font>**(<font color="#00a6ed">**self**</font>)
+Computes the length of the vector.
+    - **Return:** _float_
+- <a name="carla.Vector3D.squared_length"></a>**<font color="#7fb800">squared_length</font>**(<font color="#00a6ed">**self**</font>)
+Computes the squared length of the vector.
+    - **Return:** _float_
+- <a name="carla.Vector3D.make_unit_vector"></a>**<font color="#7fb800">make_unit_vector</font>**(<font color="#00a6ed">**self**</font>)
+Returns a vector with the same direction and unitary length.
+    - **Return:** _[carla.Vector3D](#carla.Vector3D)_
+- <a name="carla.Vector3D.dot"></a>**<font color="#7fb800">dot</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**vector**</font>)
+Computes the dot product between two vectors.
+    - **Parameters:**
+        - `vector` (_[carla.Vector3D](#carla.Vector3D)_)
+    - **Return:** _float_
+- <a name="carla.Vector3D.distance"></a>**<font color="#7fb800">distance</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**vector**</font>)
+Computes the distance between two vectors.
+    - **Parameters:**
+        - `vector` (_[carla.Vector3D](#carla.Vector3D)_)
+    - **Return:** _float_
+- <a name="carla.Vector3D.distance_squared"></a>**<font color="#7fb800">distance_squared</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**vector**</font>)
+Computes the squared distance between two vectors.
+    - **Parameters:**
+        - `vector` (_[carla.Vector3D](#carla.Vector3D)_)
+    - **Return:** _float_
+- <a name="carla.Vector3D.dot_2d"></a>**<font color="#7fb800">dot_2d</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**vector**</font>)
+Computes the 2-dimensional dot product between two vectors.
+    - **Parameters:**
+        - `vector` (_[carla.Vector3D](#carla.Vector3D)_)
+    - **Return:** _float_
+- <a name="carla.Vector3D.distance_2d"></a>**<font color="#7fb800">distance_2d</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**vector**</font>)
+Computes the 2-dimensional distance between two vectors.
+    - **Parameters:**
+        - `vector` (_[carla.Vector3D](#carla.Vector3D)_)
+    - **Return:** _float_
+- <a name="carla.Vector3D.distance_squared_2d"></a>**<font color="#7fb800">distance_squared_2d</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**vector**</font>)
+Computes the 2-dimensional squared distance between two vectors.
+    - **Parameters:**
+        - `vector` (_[carla.Vector3D](#carla.Vector3D)_)
+    - **Return:** _float_
+- <a name="carla.Vector3D.get_vector_angle"></a>**<font color="#7fb800">get_vector_angle</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**vector**</font>)
+Computes the angle between two vectors.
+    - **Parameters:**
+        - `vector` (_[carla.Vector3D](#carla.Vector3D)_)
+    - **Return:** _float_
 
 ##### Dunder methods
 - <a name="carla.Vector3D.__abs__"></a>**<font color="#7fb800">\__abs__</font>**(<font color="#00a6ed">**self**</font>)  
@@ -4149,4 +4202,4 @@ for (let i = 0; i < buttons.length; i++) {
 buttons[i].addEventListener("click",function(){ButtonAction(buttons[i].id);},true);
 }
 window.onresize = WindowResize;
-</script>
+</script>

PythonAPI/carla/source/libcarla/Geom.cpp

@@ -103,6 +103,34 @@ static auto GetInverseTransformMatrix(const carla::geom::Transform &self) {
   return BuildMatrix(self.GetInverseMatrix());
 }
 
+static auto Dot(const carla::geom::Vector3D &self, const carla::geom::Vector3D &other) {
+  return carla::geom::Math::Dot(self, other);
+}
+
+static auto Distance(const carla::geom::Vector3D &self, const carla::geom::Vector3D &other) {
+  return carla::geom::Math::Distance(self, other);
+}
+
+static auto DistanceSquared(const carla::geom::Vector3D &self, const carla::geom::Vector3D &other) {
+  return carla::geom::Math::DistanceSquared(self, other);
+}
+
+static auto Dot2D(const carla::geom::Vector3D &self, const carla::geom::Vector3D &other) {
+  return carla::geom::Math::Dot2D(self, other);
+}
+
+static auto Distance2D(const carla::geom::Vector3D &self, const carla::geom::Vector3D &other) {
+  return carla::geom::Math::Distance2D(self, other);
+}
+
+static auto DistanceSquared2D(const carla::geom::Vector3D &self, const carla::geom::Vector3D &other) {
+  return carla::geom::Math::DistanceSquared2D(self, other);
+}
+
+static auto GetVectorAngle(const carla::geom::Vector3D &self, const carla::geom::Vector3D &other) {
+  return carla::geom::Math::GetVectorAngle(self, other);
+}
+
 void export_geom() {
   using namespace boost::python;
   namespace cg = carla::geom;
@@ -115,6 +143,9 @@ void export_geom() {
     .def(init<float, float>((arg("x")=0.0f, arg("y")=0.0f)))
     .def_readwrite("x", &cg::Vector2D::x)
     .def_readwrite("y", &cg::Vector2D::y)
+    .def("squared_length", &cg::Vector2D::SquaredLength)
+    .def("length", &cg::Vector2D::Length)
+    .def("make_unit_vector", &cg::Vector2D::MakeUnitVector)
     .def("__eq__", &cg::Vector2D::operator==)
     .def("__ne__", &cg::Vector2D::operator!=)
     .def(self += self)
@@ -139,6 +170,16 @@ void export_geom() {
     .def_readwrite("x", &cg::Vector3D::x)
     .def_readwrite("y", &cg::Vector3D::y)
     .def_readwrite("z", &cg::Vector3D::z)
+    .def("length", &cg::Vector3D::Length)
+    .def("squared_length", &cg::Vector3D::SquaredLength)
+    .def("make_unit_vector", &cg::Vector3D::MakeUnitVector)
+    .def("dot", &Dot, (arg("vector")))
+    .def("dot_2d", &Dot2D, (arg("vector")))
+    .def("distance", &Distance, (arg("vector")))
+    .def("distance_2d", &Distance2D, (arg("vector")))
+    .def("distance_squared", &DistanceSquared, (arg("vector")))
+    .def("distance_squared_2d", &DistanceSquared2D, (arg("vector")))
+    .def("get_vector_angle", &GetVectorAngle, (arg("vector")))
     .def("__eq__", &cg::Vector3D::operator==)
     .def("__ne__", &cg::Vector3D::operator!=)
     .def("__abs__", &cg::Vector3D::Abs)