l0j܎dZddlZddlZddlZddlmZmZmZddlm Z m Z m Z m Z m Z mZmZmZmZmZmZmZmZmZmZmZmZmZmZmZmZmZddlm Z m!Z!m"Z"m#Z#ddl$m%Z%m&Z&ddl'm(Z(dd l)m*Z*dd l+m,Z,dd l-m.Z.dd lm/Z/dd l0m1Z1m2Z2m3Z3m4Z4m5Z5m6Z6m7Z7m8Z8m9Z9m:Z:m;Z;ddlZ>m?Z? ddl@mAZAddlBmCZCn(#eD$r ZEe(eEZCe(eEZAYdZE[EndZE[EwwxYw ddlFmGZGn#eD$rZEe(eEZGYdZE[EndZE[EwwxYw ddlHmIZIn#eD$rZEe(eEZIYdZE[EndZE[EwwxYw ddlJmKZKmLZLn(#eD$r ZEe(eEZKe(eEZLYdZE[EndZE[EwwxYwGdde,ZMdS)z github.com/mikedh/trimesh ---------------------------- Library for importing, exporting and doing simple operations on triangular meshes. N)float64int64ndarray)boolean comparisonconvex curvature decompositiongeometrygraphgroupinginertia intersections permutateposes proximityray registrationremeshrepairsampletransformations trianglesunitsutil)Cache DataStore TrackedArraycache_decorator)logtol)ExceptionWrapper export_mesh) Geometry3DScene)MassProperties) Any ArrayLikeDictFloatingIntegerListNDArrayNumberOptionalSequenceUnion) ColorVisualsTextureVisuals create_visual) coo_matrix)cKDTree)Graph)Index)Path2DPath3Dc$eZdZ ddeedeedeedeedeed eed eeeefd eeeefd eeeefd ededeedeededeeee fdee e e fddf"dZ ddedeedeeddfdZedefdZejdeddfdZedefdZejdeeddfdZedefdZedeefdZejdeeddfdZedefd Zejdeefd!Zedeefd"Zejdeddfd#Zedeefd$Zedeeefd%Zedeeefd&Zedeefd'Z edeefd(Z!e!jdeddfd)Z!ede"fd*Z#e#jde$ddfd+Z#edefd,Z%edefd-Z&edeefd.Z'd/edeefd0Z(edeefd1Z)edeefd2Z*edeefd3Z+edeefd4Z,edeeefd5Z-edeeefd6Z.edeefd7Z/ede0fd8Z1edeefd9Z2edeefd:Z3edeefd;Z4edeefd<Z5edeefd=Z6edeefd>Z7edeefd?Z8edeefd@Z9ede:fdAZ;edefdBZedeefdDZ?ede=fdEZ@edeeAjBfdFZCddGedHeddfdIZD ddeedeedJeeEdKeeEdLeeEddf dMZF ddNedOeeddfdPZGdNeddfdQZHddRZIdeeAjBfdSZJddTZKddUZLdeMdfdVZNedeefdWZOedeefdXZPedeefdYZQede:fdZZRedeefd[ZSedeefd\ZTedeeAjBfd]ZUedeefd^ZVedeefd_ZWedeefd`ZXedefdaZYedeZfdbZ[edeMeMefdcZ\edefddZ]edefdeZ^edefdfZ_edefdgZ`edefdhZaede:fdiZbecjdfdje"ddfdkZeecjdfdje"deeAjBfdlZfedeMeefdmZgedeefdnZhedeefdoZiedeefdpZjedeMeefdqZkedeeAjBfdrZlddseeddfdtZmdefduZndve eoeffdwZp ddzeeed{e"d|e=d}e"fd~ZqddeeddfdZrddZsddZtdZuedZvedZwewjdZwdededeexfdZydedededeMeezfdZ{ ddZ|ddZ}eddZ~ dde=dedeeefdZddZddZdeddfdZddZ ddeedeeEdeeEddfdZddeeedexfdZdezfdZedefdZedeefdZedefdZddZdefdZdZdeede deMdffdZedeefdZedefdZ ddeefdZdeee eeMeMe"eMeMe=fffdZdeMdfdZ ddvddeededdfdZ ddvddeededdfdZ ddvddeededdfdZdedeeAjBfdZedeefdZedefdZedeefdZedeefdZede0fdZddededdfdZddZddZdefdZdd„ZdS)TrimeshNTFverticesfaces face_normalsvertex_normals face_colors vertex_colorsface_attributesvertex_attributesmetadataprocessvalidate merge_tex merge_norm use_embree initial_cachevisualreturnc t|_t|jjd|_||j|||_||_|t||||_ n||_ |||_ |||_ tj r'|r%tj||_ n$tj||_ t#j||_t'j||_i|_t/| t0r|j| n| t3d| i|_i|_||j|||j|| s| r|| | | dSdS)a A Trimesh object contains a triangular 3D mesh. Parameters ------------ vertices : (n, 3) float Array of vertex locations faces : (m, 3) or (m, 4) int Array of triangular or quad faces (triangulated on load) face_normals : (m, 3) float Array of normal vectors corresponding to faces vertex_normals : (n, 3) float Array of normal vectors for vertices metadata : dict Any metadata about the mesh process : bool if True, Nan and Inf values will be removed immediately and vertices will be merged validate : bool If True, degenerate and duplicate faces will be removed immediately, and some functions will alter the mesh to ensure consistent results. use_embree : bool If True try to use pyembree raytracer. If pyembree is not available it will automatically fall back to a much slower rtree/numpy implementation initial_cache : dict A way to pass things to the cache in case expensive things were calculated before creating the mesh object. visual : ColorVisuals or TextureVisuals Assigned to self.visual T) id_functionforce_immutableN)rDrEmeshz'metadata should be a dict or None, got )rJrKrL)r_datar__hash___cacheupdater@rAr7rOrBrCr has_embree ray_pyembreeRayMeshIntersector ray_triangler PermutatorrProximityQuerynearestrH isinstancedict ValueErrorrFrGrI)selfr@rArBrCrDrErFrGrHrIrJrKrLrMrNrOkwargss O/home/wildlama/miniconda3/envs/lam/lib/python3.11/site-packages/trimesh/base.py__init__zTrimesh.__init__Tsx[[  (;TRRR  $ K  } - - - !   >''}4DKK!DK  # ,D   %"0D  > Aj A'::4@@DHH '::4@@DH#-d33!/55  h % % U M  * * * *  !SxSSTT T "!#  &  ' ' 8 8 8  (  " ) )*; < < <  Xh X LL(iJL W W W W W X Xc|jr|S|j5|rR||z}||||||||jddhdddn #1swxYwYd|j d<|S)a Do processing to make a mesh useful. Does this by: 1) removing NaN and Inf values 2) merging duplicate vertices If validate: 3) Remove triangles which have one edge of their 2D oriented bounding box shorter than tol.merge 4) remove duplicated triangles 5) Attempt to ensure triangles are consistently wound and normals face outwards. Parameters ------------ validate : bool Remove degenerate and duplicate faces. Returns ------------ self: trimesh.Trimesh Current mesh )rKrLrBrCexcludeNT processed) is_emptyrW unique_facesnondegenerate_faces update_faces fix_normalsremove_infinite_valuesmerge_verticesclearrH)rcrJrKrLmasks rerIzTrimesh.processs4> = K[ J J #((**T-E-E-G-GG!!$'''  """  ' ' ) ) )   )  K K K K  ~7G&H  I I I J J J J J J J J J J J J J J J"&* k" sBB::B>B>c|jjS)z Is the current mesh allowed to be altered in-place? Returns ------------- mutable If data is allowed to be set for the mesh. rUmutablercs rerwzTrimesh.mutablesz!!rgvaluec||j_dS)z Set the mutability of the current mesh. Parameters ---------- value Change whether the current mesh is allowed to be altered in-place. Nrvrcrys rerwzTrimesh.mutables# rgc|jdS)a The faces of the mesh. This is regarded as core information which cannot be regenerated from cache and as such is stored in `self._data` which tracks the array for changes and clears cached values of the mesh altered. Returns ---------- faces : (n, 3) int64 References for `self.vertices` for triangles. rArUrxs rerAz Trimesh.faces+sz'""rgvaluesc.|tjdt}ntj|t}t |jdkr9|jddkr(t jdtj |}||j d <dS) z Set the vertex indexes that make up triangular faces. Parameters -------------- values : (n, 3) int64 Indexes of self.vertices Nrshapedtyperrrztriangulating facesrA) npzerosr asanyarraylenrr!infor triangulate_quadsrUrcr~s rerAz Trimesh.faces<s >XF%888FF]6777F v|   ! !fl1o&:&: H* + + +/77F$ 7rgc\tjt|j|jS)z A sparse matrix representation of the faces. Returns ---------- sparse : scipy.sparse.coo_matrix Has properties: dtype : bool shape : (len(self.vertices), len(self.faces)) )columnsindices)r index_sparserr@rArxs re faces_sparsezTrimesh.faces_sparseSs&$S-?-?TTTTrgc<|jd}d|jvr|jjd}nd}|t|dkr.t jgt dSt j|t j|kr|Stj |j |j \}}| r ||jd<|St j t|j dft }|||<||jd<|S) a> Return the unit normal vector for each face. If a face is degenerate and a normal can't be generated a zero magnitude unit vector will be returned for that face. Returns ----------- normals : (len(self.faces), 3) float64 Normal vectors of each face rBrANrrr)rcrossesr)rWrUdatarrarrayrreshaperrnormalstriangles_crossallr)rccachedrArvalidpaddeds rerBzTrimesh.face_normalsas^, dj JOG,EEE =CJJ!OO8Bg...66v>> > 8F  rx . .M #*nd.B    99;; *1DK 'N3t~..2'BBBu '- N# rgc|dStj|dt}t|dks|j|jjkrt jddStj|}tj |st jddS|tj krt jddStj |jtj|jdd\}}tjt|d f}|||<tj||ddst jd dS||jd <dS) z Assign values to face normals. Parameters ------------- values : (len(self.faces), 3) float Unit face normals. If None will clear existing normals. NCorderrrz'face_normals incorrect shape, ignoring!z#face_normals contain NaN, ignoring!z face_normals all zero, ignoring!rz.face_normals didn't match triangles, ignoring!rB)rrrrrrAr!debugptpisfiniter"mergerrr@viewrrallcloserW)rcr~rcheckrcompares rerBzTrimesh.face_normalssV > FvS@@@ v;;!  v|tz/??? I? @ @ @ FfVnn{3  I; < < < F ?? I8 9 9 9 F!(););BJ)G)G SVTVSV)XYY u(CJJ?++{7F3B3K00  IF G G G F'- N###rgc|jdS)a The vertices of the mesh. This is regarded as core information which cannot be generated from cache and as such is stored in self._data which tracks the array for changes and clears cached values of the mesh if this is altered. Returns ---------- vertices : (n, 3) float Points in cartesian space referenced by self.faces r@r}rxs rer@zTrimesh.verticess z*%%rgc|tjdt}tj|dt|jd<dS)z Assign vertex values to the mesh. Parameters -------------- values : (n, 3) float Points in space Nrrrrr@)rrrrrUrs rer@zTrimesh.verticess@ >XF':::F!#vS!P!P!P :rgct|jdsJtjt |j|j|j|jS)a The vertex normals of the mesh. If the normals were loaded we check to make sure we have the same number of vertex normals and vertices before returning them. If there are no vertex normals defined or a shape mismatch we calculate the vertex normals from the mean normals of the faces the vertex is used in. Returns ---------- vertex_normals : (n, 3) float Represents the surface normal at each vertex. Where n == len(self.vertices) dot) vertex_countrArB face_angles) hasattrrr weighted_vertex_normalsrr@rArBrrxs rerCzTrimesh.vertex_normalssU"t(%00000/T]++**(     rgc|stj|dt}|j|jjkrDtj|t jkrtj d||j d<dSdSdS)z Assign values to vertex normals. Parameters ------------- values : (len(self.vertices), 3) float Unit normal vectors for each vertex Nrrzvertex_normals are all zero!rC) rrrrr@rr"rr!rrWrs rerCzTrimesh.vertex_normalssy  ]6GDDDF|t}2226&>>CI--I<===06 ,---  22rgcltjt|j|j|j}|S)a A representation of the face indices that correspond to each vertex. Returns ---------- vertex_faces : (n,m) int Each row contains the face indices that correspond to the given vertex, padded with -1 up to the max number of faces corresponding to any one vertex Where n == len(self.vertices), m == max number of faces for a single vertex )rrAr)r vertex_face_indicesrr@rAr)rc vertex_facess rerzTrimesh.vertex_faces s; 3T]++**   rgc|j|j}t|dkrdStj|d|dgS)z The axis aligned bounds of the faces of the mesh. Returns ----------- bounds : (2, 3) float or None Bounding box with [min, max] coordinates If mesh is empty will return None rNaxis)r@referenced_verticesrrrminmax)rcin_meshs reboundszTrimesh.boundssZ- 89 w<<1  4x!,,gkkqk.A.ABCCCrgcN|jdStj|jd}|S)a The length, width, and height of the axis aligned bounding box of the mesh. Returns ----------- extents : (3, ) float or None Array containing axis aligned [length, width, height] If mesh is empty returns None Nrr)rrr)rcextentss rerzTrimesh.extents/s, ; 4&1---rgc tj|j|jd}n+#t$r|jd}YnwxYw|S)aT The point in space which is the average of the triangle centroids weighted by the area of each triangle. This will be valid even for non-watertight meshes, unlike self.center_mass Returns ---------- centroid : (3, ) float The average vertex weighted by face area r)weightsrr)raveragetriangles_center area_faces BaseExceptionmean)rccentroids rerzTrimesh.centroidBsd" :z$"7WXYYYHH : : :,11q199HHH :s!$%A  A c|jjS)z The point in space which is the center of mass/volume. Returns ----------- center_mass : (3, ) float Volumetric center of mass of the mesh. )mass_properties center_massrxs rerzTrimesh.center_massZs#//rgctj|t}|jdkrt d||jd<|jddS)z Override the point in space which is the center of mass and volume. Parameters ----------- center_mass : (3, ) float Volumetric center of mass of the mesh. r)rzshape must be (3,) float!rrN)rrrrrbrUrWdeleter{s rerzTrimesh.center_massfs]g... ;$  899 9$) =! ,-----rgc4t|jjS)z The density of the mesh used in inertia calculations. Returns ----------- density The density of the primitive. )floatrdensityrxs rerzTrimesh.densityvsT)1222rgcht||jd<|jddS)z Set the density of the primitive. Parameters ------------- density Specify the density of the primitive to be used in inertia calculations. rrN)rrUrWrr{s rerzTrimesh.densitys3!&e  9 ,-----rgc|jjS)z Volume of the current mesh calculated using a surface integral. If the current mesh isn't watertight this is garbage. Returns --------- volume : float Volume of the current mesh )rvolumerxs rerzTrimesh.volumes#**rgc|jjS)z Mass of the current mesh, based on specified density and volume. If the current mesh isn't watertight this is garbage. Returns --------- mass : float Mass of the current mesh )rmassrxs rerz Trimesh.masss#((rgc|jjS)a Return the moment of inertia matrix of the current mesh. If mesh isn't watertight this is garbage. The returned moment of inertia is *axis aligned* at the mesh's center of mass `mesh.center_mass`. If you want the moment at any other frame including the origin call: `mesh.moment_inertia_frame` Returns --------- inertia : (3, 3) float Moment of inertia of the current mesh at the center of mass and aligned with the cartesian axis. )rrrxs remoment_inertiazTrimesh.moment_inertias #++rg transformc|j}tjd}|d |dddf<tj|dtj|||ddS) a Get the moment of inertia of this mesh with respect to an arbitrary frame, versus with respect to the center of mass as returned by `mesh.moment_inertia`. For example if `transform` is an identity matrix `np.eye(4)` this will give the moment at the origin. Uses the parallel axis theorum to move the center mass tensor to this arbitrary frame. Parameters ------------ transform : (4, 4) float Homogeneous transformation matrix. Returns ------------- inertia : (3, 3) Moment of inertia in the requested frame. rNrrrT)inertia_tensorrr parallel_axis)rreyertransform_inertiar)rcrpropsoffsets remoment_inertia_framezTrimesh.moment_inertia_framesq.$}--rr1u ( +fVY//v     rgcRtj|j\}}||jd<|S)z Return the principal components of inertia Ordering corresponds to mesh.principal_inertia_vectors Returns ---------- components : (3, ) float Principal components of inertia principal_inertia_vectors)rprincipal_axisrrW)rc componentsvectorss reprincipal_inertia_componentsz$Trimesh.principal_inertia_componentss/&4T5HII G3: /0rgc*|j}|jdS)a* Return the principal axis of inertia as unit vectors. The order corresponds to `mesh.principal_inertia_components`. Returns ---------- vectors : (3, 3) float Three vectors pointing along the principal axis of inertia directions r)rrWrc_s rerz!Trimesh.principal_inertia_vectorss  -{677rgc^tj|jddddd}|j|}tj|tj|f}tjd}||ddddf<tj||j }|dddfxx|j zcc<|S)a A transform which moves the current mesh so the principal inertia vectors are on the X,Y, and Z axis, and the centroid is at the origin. Returns ---------- transform : (4, 4) float Homogeneous transformation matrix rNrr)matrixpoint) rargsortrrvstackcrossrrtransform_aroundr)rcrrrs reprincipal_inertia_transformz#Trimesh.principal_inertia_transforms 4<==abbA$$B$G07)Wbh&89::F1II # "1"bqb&#4DM    "1"a%DM)rgc^tj|\}}}||jd<||jd<|S)z Check whether a mesh has rotational symmetry around an axis (radial) or point (spherical). Returns ----------- symmetry : None, 'radial', 'spherical' What kind of symmetry does the mesh have. symmetry_axissymmetry_section)rradial_symmetryrW)rcsymmetryrsections rerzTrimesh.symmetrys9#*"9$"?"?$'+ O$*1 &'rgc.|jdS|jdS)z If a mesh has rotational symmetry, return the axis. Returns ------------ axis : (3, ) float Axis around which a 2D profile was revolved to create this mesh. NrrrWrxs rerzTrimesh.symmetry_axis.s = 4{?++rgc.|jdS|jdS)z If a mesh has rotational symmetry return the two vectors which make up a section coordinate frame. Returns ---------- section : (2, 3) float Vectors to take a section along Nrrrxs rerzTrimesh.symmetry_section<s = 4{-..rgc`|jtj|jS)z Actual triangles of the mesh (points, not indexes) Returns --------- triangles : (n, 3, 3) float Points of triangle vertices )r@rrrrArxs rerzTrimesh.trianglesKs#}!!"*--dj99rgc4tj|jS)z An R-tree containing each face of the mesh. Returns ---------- tree : rtree.index Each triangle in self.faces has a rectangular cell )r bounds_treerxs retriangles_treezTrimesh.triangles_treeZs$T^444rgc8|jdS)z The center of each triangle (barycentric [1/3, 1/3, 1/3]) Returns --------- triangles_center : (len(self.faces), 3) float Center of each triangular face rr)rrrxs rerzTrimesh.triangles_centerfs~"""***rgc8tj|j}|S)z The cross product of two edges of each triangle. Returns --------- crosses : (n, 3) float Cross product of each triangle )rr)rcrs rerzTrimesh.triangles_crossrs/$.11rgctj|jtjd\}}||jd<|S)z Edges of the mesh (derived from faces). Returns --------- edges : (n, 2) int List of vertex indices making up edges T) return_index edges_face)r faces_to_edgesrArrrrW)rcedgesindexs rerz Trimesh.edgessG . JOOBJ ' 'd   u%* L! rgc*|j}|jdS)z Which face does each edge belong to. Returns --------- edges_face : (n, ) int Index of self.faces r)rrWrs rerzTrimesh.edges_faces J{<((rgctj|j\}}|j|}||jd<||jd<|S)z The unique edges of the mesh. Returns ---------- edges_unique : (n, 2) int Vertex indices for unique edges edges_unique_idxedges_unique_inverse)r unique_rows edges_sortedrW)rcuniqueinverse edges_uniques rerzTrimesh.edges_uniquesJ#.t/@AA(0 +1 &'.5 *+rgcttj|j|jj}t j|}|S)z How long is each unique edge. Returns ---------- length : (len(self.edges_unique), ) float Length of each unique edge )rsubtractr@rTrrow_norm)rcvectorlengths reedges_unique_lengthzTrimesh.edges_unique_lengths1dmD,=,?@Av&& rgc*|j}|jdS)aY Return the inverse required to reproduce self.edges_sorted from self.edges_unique. Useful for referencing edge properties: mesh.edges_unique[mesh.edges_unique_inverse] == m.edges_sorted Returns ---------- inverse : (len(self.edges), ) int Indexes of self.edges_unique r )rrWrs rer zTrimesh.edges_unique_inverses  {122rgc<tj|jd}|S)z Edges sorted along axis 1 Returns ---------- edges_sorted : (n, 2) Same as self.edges but sorted along axis 1 rr)rsortr)rcrs rerzTrimesh.edges_sorteds wtz222 rgc*t|jS)z A KDTree for mapping edges back to edge index. Returns ------------ tree : scipy.spatial.cKDTree Tree when queried with edges will return their index in mesh.edges_sorted )r9rrxs reedges_sorted_treezTrimesh.edges_sorted_treest()))rgc`tj|jt|j}|S)z Edges in sparse bool COO graph format where connected vertices are True. Returns ---------- sparse: (len(self.vertices), len(self.vertices)) bool Sparse graph in COO format )count)r edges_to_coorrr@)rcsparses re edges_sparsezTrimesh.edges_sparses*#DJc$-6H6HIII rgcntj|jdd\}}||jd<|S)a8 How many connected groups of vertices exist in this mesh. Note that this number may differ from result in mesh.split, which is calculated from FACE rather than vertex adjacency. Returns ----------- count : int Number of connected vertex groups FT)directed return_labelsvertices_component_label)r csgraphconnected_componentsr"rW)rcrlabelss re body_countzTrimesh.body_countsB ::  T;  v39 ./ rgcT|j}|jdd}|S)a For each face return which indexes in mesh.unique_edges constructs that face. Returns --------- faces_unique_edges : (len(self.faces), 3) int Indexes of self.edges_unique that construct self.faces Examples --------- In [0]: mesh.faces[:2] Out[0]: TrackedArray([[ 1, 6946, 24224], [ 6946, 1727, 24225]]) In [1]: mesh.edges_unique[mesh.faces_unique_edges[:2]] Out[1]: array([[[ 1, 6946], [ 6946, 24224], [ 1, 24224]], [[ 1727, 6946], [ 1727, 24225], [ 6946, 24225]]]) r rr)rrWr)rcrresults refaces_unique_edgeszTrimesh.faces_unique_edgess,:  34< >q AB rgctjdtd||dS)ze DERECATED MARCH 2024 REPLACE WITH: `mesh.update_faces(mesh.unique_faces())` z`remove_duplicate_faces` is deprecated and will be removed in March 2024: replace with `mesh.update_faces(mesh.unique_faces())`rcategory stacklevelN)warningswarnDeprecationWarningrormrxs reremove_duplicate_faceszTrimesh.remove_duplicate_facessS   F(      $++--.....rgcL||jddzdS)zo Translate the mesh so that all vertex vertices are positive. Alters `self.vertices`. rN)apply_translationrrxs rerezerozTrimesh.rezero!s) t{1~455555rgc &tj|fi|S)a Returns a list of Trimesh objects, based on face connectivity. Splits into individual components, sometimes referred to as 'bodies' Parameters ------------ only_watertight : bool Only return watertight meshes and discard remainder adjacency : None or (n, 2) int Override face adjacency with custom values Returns --------- meshes : (n, ) trimesh.Trimesh Separate bodies from original mesh )r splitrcrds rer]z Trimesh.split)s"{4**6***rgcLtj|d\}}||jd<|S)aV Find faces that share an edge i.e. 'adjacent' faces. Returns ---------- adjacency : (n, 2) int Pairs of faces which share an edge Examples --------- In [1]: mesh = trimesh.load('models/featuretype.STL') In [2]: mesh.face_adjacency Out[2]: array([[ 0, 1], [ 2, 3], [ 0, 3], ..., [1112, 949], [3467, 3475], [1113, 3475]]) In [3]: mesh.faces[mesh.face_adjacency[0]] Out[3]: TrackedArray([[ 1, 0, 408], [1239, 0, 1]], dtype=int64) In [4]: import networkx as nx In [5]: graph = nx.from_edgelist(mesh.face_adjacency) In [6]: groups = nx.connected_components(graph) T)rT return_edgesface_adjacency_edges)r face_adjacencyrW)rc adjacencyrs rerbzTrimesh.face_adjacency<s2H!/TMMM 5.3 *+rgc*tj|S)z Find faces that share a vertex i.e. 'neighbors' faces. Returns ---------- neighborhood : (n, 2) int Pairs of faces which share a vertex )r face_neighborhoodrxs rerezTrimesh.face_neighborhoodds&t,,,rgc*|j}|jdS)z Returns the edges that are shared by the adjacent faces. Returns -------- edges : (n, 2) int Vertex indices which correspond to face_adjacency ra)rbrWrs rerazTrimesh.face_adjacency_edgesps  {122rgc*t|jS)z A KDTree for mapping edges back face adjacency index. Returns ------------ tree : scipy.spatial.cKDTree Tree when queried with SORTED edges will return their index in mesh.face_adjacency )r9rarxs reface_adjacency_edges_treez!Trimesh.face_adjacency_edges_tree~st0111rgcR|j|j}tj|}|S)z Return the angle between adjacent faces Returns -------- adjacency_angle : (n, ) float Angle between adjacent faces Each value corresponds with self.face_adjacency )rBrbr vector_angle)rcpairsangless reface_adjacency_angleszTrimesh.face_adjacency_angless)!$"56&u-- rgc.tj|}|S)a The projection of the non-shared vertex of a triangle onto its adjacent face Returns ---------- projections : (len(self.face_adjacency), ) float Dot product of vertex onto plane of adjacent triangle. )r adjacency_projections)rc projectionss reface_adjacency_projectionsz"Trimesh.face_adjacency_projectionss2488 rgc,|jtjkS)a Return faces which are adjacent and locally convex. What this means is that given faces A and B, the one vertex in B that is not shared with A, projected onto the plane of A has a projection that is zero or negative. Returns ---------- are_convex : (len(self.face_adjacency), ) bool Face pairs that are locally convex )rqr"rrxs reface_adjacency_convexzTrimesh.face_adjacency_convexs.::rgc*tj|S)z Return the vertex index of the two vertices not in the shared edge between two adjacent faces Returns ----------- vid_unshared : (len(mesh.face_adjacency), 2) int Indexes of mesh.vertices )r face_adjacency_unsharedrxs reruzTrimesh.face_adjacency_unshareds,T222rgcFtj|\}|jd<|S)z The approximate radius of a cylinder that fits inside adjacent faces. Returns ------------ radii : (len(self.face_adjacency), ) float Approximate radius formed by triangle pair rTface_adjacency_span)r face_adjacency_radiusrW)rcradiis reryzTrimesh.face_adjacency_radiuss*5:4OUY4Z4Z4Z1t{01 rgc*|j}|jdS)a; The approximate perpendicular projection of the non-shared vertices in a pair of adjacent faces onto the shared edge of the two faces. Returns ------------ span : (len(self.face_adjacency), ) float Approximate span between the non-shared vertices rx)ryrWrs rerxzTrimesh.face_adjacency_spans  &{011rgctjtj|j|jjd}|j|zdzS)z The integral mean curvature, or the surface integral of the mean curvature. Returns --------- area : float Integral mean curvature of mesh rrg?) rlinalgnormrr@rarrmr1)rc edges_lengths reintegral_mean_curvaturezTrimesh.integral_mean_curvaturesXy~~ Kt'@'BC D1&  *\9>>@@3FFrgc,tj|S)aQ Returns a networkx graph representing the vertices and their connections in the mesh. Returns --------- graph: networkx.Graph Graph representing vertices and edges between them where vertices are nodes and edges are edges Examples ---------- This is useful for getting nearby vertices for a given vertex, potentially for some simple smoothing techniques. mesh = trimesh.primitives.Box() graph = mesh.vertex_adjacency_graph graph.neighbors(0) > [1, 2, 3, 4] rw)r vertex_adjacency_graphrxs rerzTrimesh.vertex_adjacency_graphs.+6666rgc\tj|jt|jS)aX The vertex neighbors of each vertex of the mesh, determined from the cached vertex_adjacency_graph, if already existent. Returns ---------- vertex_neighbors : (len(self.vertices), ) int Represents immediate neighbors of each vertex along the edge of a triangle Examples ---------- This is useful for getting nearby vertices for a given vertex, potentially for some simple smoothing techniques. >>> mesh = trimesh.primitives.Box() >>> mesh.vertex_neighbors[0] [1, 2, 3, 4] )r max_index)r neighborsrrr@rxs revertex_neighborszTrimesh.vertex_neighbors s&*T%6#dmBTBTUUUUrgc<|jrdS|j}|jdS)a$ Does the mesh have consistent winding or not. A mesh with consistent winding has each shared edge going in an opposite direction from the other in the pair. Returns -------- consistent : bool Is winding is consistent or not Fis_winding_consistent)rl is_watertightrWrs rerzTrimesh.is_winding_consistent#s) = 5  {233rgcr|jrdStj|j|j\}}||jd<|S)z Check if a mesh is watertight by making sure every edge is included in two faces. Returns ---------- is_watertight : bool Is mesh watertight or not F)rrr)rlr rrrrW)rc watertightwindings rerzTrimesh.is_watertight5sN = 5#1*4+<    G07 +,rgct|jo<|jo5tj|jo |jdk}|S)aW Check if a mesh has all the properties required to represent a valid volume, rather than just a surface. These properties include being watertight, having consistent winding and outward facing normals. Returns --------- valid : bool Does the mesh represent a volume )r4rrrrrrr)rcrs re is_volumezTrimesh.is_volumeHs]   "* " D,--1133 " c!     rgc4|jS)z Does the current mesh have data defined. Returns -------- empty : bool If True, no data is set on the current mesh )rUrlrxs rerlzTrimesh.is_empty^sz""$$$rgcZ|jrdSttj|}|S)z Check if a mesh is convex or not. Returns ---------- is_convex: bool Is mesh convex or not F)rlr4r is_convex)rcrs rerzTrimesh.is_convexjs1 = 5)$//00 rgcdt|jtjS)z Return a scipy.spatial.cKDTree of the vertices of the mesh. Not cached as this lead to observed memory issues and segfaults. Returns --------- tree : scipy.spatial.cKDTree Contains mesh.vertices )r9r@rrrrxs rekdtreezTrimesh.kdtreezs$t}))"*55666rgheightctjdtd|||dS)zy DERECATED MARCH 2024 REPLACE WITH: `self.update_faces(self.nondegenerate_faces(height=height))` z`remove_degenerate_faces` is deprecated and will be removed in March 2024 replace with `self.update_faces(self.nondegenerate_faces(height=height))`rrQ)rN)rTrUrVrornrcrs reremove_degenerate_faceszTrimesh.remove_degenerate_facessX   M(      $22&2AABBBBBrgcDtj|j|j|S)a Identify degenerate faces (faces without 3 unique vertex indices) in the current mesh. Usage example for removing them: `mesh.update_faces(mesh.nondegenerate_faces())` If a height is specified, it will identify any face with a 2D oriented bounding box with one edge shorter than that height. If not specified, it will identify any face with a zero normal. Parameters ------------ height : float If specified identifies faces with an oriented bounding box shorter than this on one side. Returns ------------- nondegenerate : (len(self.faces), ) bool Mask that can be used to remove faces )areasr)r nondegeneraterrs rernzTrimesh.nondegenerate_facess)0& N$/&    rgc.tj|}|S)z Return a list of face indices for coplanar adjacent faces. Returns --------- facets : (n, ) sequence of (m, ) int Groups of indexes of self.faces )r facets)rcrs rerzTrimesh.facetssd## rgcn|jtjfd|jDt}|S)z Return an array containing the area of each facet. Returns --------- area : (len(self.facets), ) float Total area of each facet (group of faces) c:g|]}t|S)r1.0rArs re z'Trimesh.facets_area..s%BBB#jm,,BBBrgr)rrrrr)rcrrs @re facets_areazTrimesh.facets_areas>_ BBBBdkBBB'RRR rgc*t|jdkrtjgS|jtjfd|jD}|j|}|j|jdddf|}||jd<|S)z Return the normal of each facet Returns --------- normals: (len(self.facets), 3) float A unit normal vector for each facet rcPg|]"}||#Sr)argmaxrs rerz)Trimesh.facets_normal..s.III!JqM00223IIIrgN facets_origin) rrrrrrBr@rArW)rcrroriginsrs @re facets_normalzTrimesh.facets_normals t{  q 8B<< _ IIIIT[IIIJJ#E*- 111a4 0 78'. O$rgc*|j}|jdS)z Return a point on the facet plane. Returns ------------ origins : (len(self.facets), 3) float A point on each facet plane r)rrWrs rerzTrimesh.facets_origins  {?++rgcz|jdfd|jD}d|D}|S)z Return the edges which represent the boundary of each facet Returns --------- edges_boundary : sequence of (n, 2) int Indices of self.vertices )rcFg|]}|dS))rr)r)rrArs rerz+Trimesh.facets_boundary..s+FFFQuQx''00FFFrgcFg|]}|tj|dS)r) require_count)r group_rows)rrAs rerz+Trimesh.facets_boundary..s-ZZZ!H/CCCDZZZrg)rrr)rc edges_facetedges_boundaryrs @refacets_boundaryzTrimesh.facets_boundarysO!))'22FFFF$+FFF ZZkZZZrgc@t|jdkrtjgtS|j}|j}|jj tj  }tj t|jt}ttt|||D]H\}}}tj|||z j}|t"jk||<I|S)z Find which facets of the mesh are on the convex hull. Returns --------- on_hull : (len(mesh.facets), ) bool is A facet on the meshes convex hull or not rr)rrrrr4rr convex_hullr@rrcopyrziprangerrr"rr) rcrrr on_hullrAnormaloriginrs refacets_on_hullzTrimesh.facets_on_hull s t{  q 8Bd+++ +$$!*// ;;@@BB(3t{++4888!$U3w<<%8%8'7!K!K 1 1 Avv&&6/!455C /..00GAJJrg multibodycL| |jdk}tj||dS)a Find and fix problems with self.face_normals and self.faces winding direction. For face normals ensure that vectors are consistently pointed outwards, and that self.faces is wound in the correct direction for all connected components. Parameters ------------- multibody : None or bool Fix normals across multiple bodies if None automatically pick from body_count Nr)r)r*rrp)rcrs rerpzTrimesh.fix_normals*s2  !+I49555555rgc*tj|S)z Fill single triangle and single quad holes in the current mesh. Returns ---------- watertight : bool Is the mesh watertight after the function completes )r fill_holesrxs rerzTrimesh.fill_holes=s &&&rgotherc 8tjd||d|\}}||fS)a Align a mesh with another mesh or a PointCloud using the principal axes of inertia as a starting point which is refined by iterative closest point. Parameters ------------ other : trimesh.Trimesh or (n, 3) float Mesh or points in space samples : int Number of samples from mesh surface to align icp_first : int How many ICP iterations for the 9 possible combinations of icp_final : int How many ICP itertations for the closest candidate from the wider search Returns ----------- mesh_to_other : (4, 4) float Transform to align mesh to the other object cost : float Average square distance per point )rTrr)r mesh_other)rcrrd mesh_to_othercosts reregisterzTrimesh.registerHs24+5W4uWWPVWW td""rgrrrsigma n_samples thresholdc4tj|||||S)a Computes stable orientations of a mesh and their quasi-static probabilities. This method samples the location of the center of mass from a multivariate gaussian (mean at com, cov equal to identity times sigma) over n_samples. For each sample, it computes the stable resting poses of the mesh on a a planar workspace and evaluates the probabilities of landing in each pose if the object is dropped onto the table randomly. This method returns the 4x4 homogeneous transform matrices that place the shape against the planar surface with the z-axis pointing upwards and a list of the probabilities for each pose. The transforms and probabilities that are returned are sorted, with the most probable pose first. Parameters ------------ center_mass : (3, ) float The object center of mass (if None, this method assumes uniform density and watertightness and computes a center of mass explicitly) sigma : float The covariance for the multivariate gaussian used to sample center of mass locations n_samples : int The number of samples of the center of mass location threshold : float The probability value at which to threshold returned stable poses Returns ------- transforms : (n, 4, 4) float The homogeneous matrices that transform the object to rest in a stable pose, with the new z-axis pointing upwards from the table and the object just touching the table. probs : (n, ) float A probability ranging from 0.0 to 1.0 for each pose )rTrrrr)rcompute_stable_poses)rcrrrrs rerzTrimesh.compute_stable_poseses.`)#     rg face_indexc(d}t|jdrtj|jjt |jdfkrtjtj |j|jjf|j ||j \}}}|j }|ddddf|ddddfc}|_n+tj|j|j ||j \}}}t||||d}|S)a Subdivide a mesh with each subdivided face replaced with four smaller faces. Will return a copy of current mesh with subdivided faces. Parameters ------------ face_index : (m, ) int or None If None all faces of mesh will be subdivided If (m, ) int array of indices: only specified faces will be subdivided. Note that in this case the mesh will generally no longer be manifold, as the additional vertex on the midpoint will not be used by the adjacent faces to the faces specified, and an additional postprocessing step will be required to make resulting mesh watertight Nuvr)r@rArrGrF)r@rArOrGrI)rrOrrrrr@r subdividehstackrArGrr?)rcrrOr@rAattrr-s rerzTrimesh.subdivides9" 4; % % "(4;>*B*B    G + + %+$4DM4;>#BCCj%"&"8 %%% !HeT[%%''F#+111bqb5/8AAAqrrE? Hfii%+$4j%"&"8 %%% !HeT"     rg cJd}t|jdrtj|jjt |jdfkrtjtj |j|jjf|j |||}|r|\}}}n|\}}|j }|ddddf|ddddfc}|_n1tj|j|j |||}|r|\}}}n|\}}t|||d} |r| |fS| S)a Subdivide a mesh until every edge is shorter than a specified length. Will return a triangle soup, not a nicely structured mesh. Parameters ------------ max_edge : float Maximum length of any edge in the result max_iter : int The maximum number of times to run subdivision return_index : bool If True, return index of original face for new faces Nrr)r@rAmax_edgemax_iterrrFr@rArOrI) rrOrrrrr@rsubdivide_to_sizerrArr?) rcrrrrOvertices_facesr@rA final_indexr-s rerzTrimesh.subdivide_to_sizesr" 4; % %% 1"(4;>*B*B    G + + $5DM4;>#BCCj!!) N 1/=,%"0%[%%''F#+111bqb5/8AAAqrrE? Hfii$5j!!) N 1/=,%"0%(%PUVVV  ';& & rgcrtj|j|j|\}}t ||d}|S)a Subdivide a mesh by dividing each triangle into four triangles and approximating their smoothed surface using loop subdivision. Loop subdivision often looks better on triangular meshes than catmul-clark, which operates primarily on quads. Parameters ------------ iterations : int Number of iterations to run subdivision. multibody : bool If True will try to subdivide for each submesh )r@rA iterationsF)r@rArI)rsubdivide_loopr@rAr?)rcr new_vertices new_facesr-s rerzTrimesh.subdivide_loopsF #)"7]$*# # #  i,iOOO rgc Htjdtd|jS)z\ DEPRECATED: use `mesh.smooth_shaded` or `trimesh.graph.smooth_shade(mesh)` z`mesh.smoothed()` is deprecated and will be removed in March 2024: use `mesh.smooth_shaded` or `trimesh.graph.smooth_shade(mesh)`rrQ)rTrUrV smooth_shadedr^s resmoothedzTrimesh.smoothed,s4   O'     !!rgc|j|jj}dt|jdt|}||vr||St j|}|||<|S)a Smooth shading in OpenGL relies on which vertices are shared, this function will disconnect regions above an angle threshold and return a non-watertight version which will look better in an OpenGL rendering context. If you would like to use non-default arguments see `graph.smooth_shade`. Returns --------- smooth_shaded : trimesh.Trimesh Non watertight version of current mesh. smooth_shaded_r)rO _verify_hashrWhashr smooth_shade)rccacherJsmooths rerzTrimesh.smooth_shaded9sz"   """ "?tDK00??4::?? %<<: #D))c  rgc4t|dr|jSdS)z Get the stored visuals for the current mesh. Returns ------------- visual : ColorVisuals or TextureVisuals Contains visual information about the mesh _visualN)rrrxs rerOzTrimesh.visualWs# 4 # # < trgc"||_||_dS)a  When setting a visual object, always make sure that `visual.mesh` points back to the source mesh. Parameters -------------- visual : ColorVisuals or TextureVisuals Contains visual information about the mesh N)rTrr{s rerOzTrimesh.visuales  rg plane_normal plane_originc ddlm}tjd|||dd|\}}t |dkrdS||}||jd<|S) a Returns a 3D cross section of the current mesh and a plane defined by origin and normal. Parameters ------------ plane_normal : (3,) float Normal vector of section plane. plane_origin : (3, ) float Point on the cross section plane. Returns --------- intersections Curve of intersection or None if it was not hit by plane. r load_pathT)rTrr return_facesrNrr) exchange.loadrr mesh_planerrH)rcrrrdrlinesrpaths rerzTrimesh.sectionss( -,,,,,*4 %%      z u::??4y'1 l# rgheightsc$ddlm}tj||||\}}}dgt |z}t t t ||||D]-\} } } } t | dkr|| | | d|| <.|S)ai Return multiple parallel cross sections of the current mesh in 2D. Parameters ------------ plane_origin : (3, ) float Point on the cross section plane plane_normal : (3) float Normal vector of section plane heights : (n, ) float Each section is offset by height along the plane normal. Returns --------- paths : (n, ) Path2D or None 2D cross sections at specified heights. path.metadata['to_3D'] contains transform to return 2D section back into 3D space. rr)rTrrrNr)to_3Dr)rH)rrrmesh_multiplanerrr) rcrrrrr transformsrApathsrAfsegmentsrs resection_multiplanezTrimesh.section_multiplanes8 -,,,,,$1#@%% $ $ $  z5U#!$U3u::%6%6uj!Q!Q W W Aq(A8}}q  $9X!ST8U8UVVVa rgc 6tjd||||||d|}|S)a Slice the mesh with a plane, returning a new mesh that is the portion of the original mesh to the positive normal side of the plane plane_origin : (3,) float Point on plane to intersect with mesh plane_normal : (3,) float Normal vector of plane to intersect with mesh cap : bool If True, cap the result with a triangulated polygon face_index : ((m,) int) Indexes of mesh.faces to slice. When no mask is provided, the default is to slice all faces. cached_dots : (n, 3) float If an external function has stored dot products pass them here to avoid recomputing Returns --------- new_mesh: trimesh.Trimesh or None Subset of current mesh that intersects the half plane to the positive normal side of the plane )rTrrcapr cached_dotsr)rslice_mesh_plane)rcrrrrrrdnew_meshs re slice_planezTrimesh.slice_planesDD!1 %%!#     rgc$ddl}||j|j\}}}t |j||t ||d}t jr-tj |j j |sJtj |j|sJtj |j|j|sJ| d}tj dt|Dt }tj ||sJtj d t|Dt } tj | |j|sJ|S) a) Returns a Trimesh object equivalent to the current mesh where the vertices have been assigned uv texture coordinates. Vertices may be split into as many as necessary by the unwrapping algorithm, depending on how many uv maps they appear in. Requires `pip install xatlas` Parameters ------------ image : None or PIL.Image Image to assign to the material Returns -------- unwrapped : trimesh.Trimesh Mesh with unwrapped uv coordinates rN)rimageFrobj) file_typecpg|]3}|d|dd4S)zvt rN startswithr]rLs rerz"Trimesh.unwrap.." s9VVV1!,,uBUBUV122VVVrgrcpg|]3}|d|dd4S)zv rNr r s rerz"Trimesh.unwrap..' s9UUU1!,,tBTBTU122UUUrg)xatlas parametrizer@rAr?r6r"strictrrrOrexportrstr splitlinesr) rcrrvmaprArr-ruv_reconv_recons reunwrapzTrimesh.unwraps&   ,,T]DJGGeR]4(!Ru555     : =;v}/44 4 44;v|U33 3 33;v d0CDD D DD]]U]33FxVVv(>(>VVVH;x,, , ,,hUUv(>(>UUUG;w d(;<< < << rgc*tj|S)z Returns a Trimesh object representing the convex hull of the current mesh. Returns -------- convex : trimesh.Trimesh Mesh of convex hull of current mesh )r rrxs rerzTrimesh.convex_hull. s!$'''rgrr face_weightcFtj|||\}}|r||fS|S)a Return random samples distributed across the surface of the mesh Parameters ------------ count : int Number of points to sample return_index : bool If True will also return the index of which face each sample was taken from. face_weight : None or len(mesh.faces) float Weight faces by a factor other than face area. If None will be the same as face_weight=mesh.area Returns --------- samples : (count, 3) float Points on surface of mesh face_index : (count, ) int Index of self.faces )rTrr)rsample_surface)rcrrrsamplesrs rerzTrimesh.sample; s?8 .U      "E> !rgcNtjt|jt}d||j<tjt|jt }tj|||<| ||dS)ze Remove all vertices in the current mesh which are not referenced by a face. rT)rtrN) rrrr@r4rArrDr1rF)rcr5rs reremove_unreferenced_verticesz$Trimesh.remove_unreferenced_vertices^ s Xc$-00=== !% 4:(3t}--U;;; i (8(899  *g>>>>>rgc,tjt|jdztd}||jd||_|jdgdS)z Removes all face references so that every face contains three unique vertex indices and no faces are adjacent. rrr,rrBriN) rrDrrArrrFrWrs)rcrAs reunmerge_verticeszTrimesh.unmerge_verticesk s  #dj//A-U;;;CCGLL TZ//33444  >"233333rgrctj|dt}|jdkrt dt j|tjddr|Stj |j |}t j|dd dd ftjd d  }d |j vr.|j d g}tj ||d |_ |rDd|j vr;t jtj |j|d|j jd<|rDd|j vr;t jtj |j|d|j jd<|rXtj|rDt'jdtjtj|j|_||_ |j hd|j |S)a_ Transform mesh by a homogeneous transformation matrix. Does the bookkeeping to avoid recomputing things so this function should be used rather than directly modifying self.vertices if possible. Parameters ------------ matrix : (4, 4) float Homogeneous transformation matrix rr)rrz%Transformation matrix must be (4, 4)!rg:0yE>)rNrgư>)atolrrrBF)r translaterCztransform flips winding>rr*rrr"rr2rBrbrCr r.r raruri)rrrrrbrrrrtransform_pointsr@rUrrWunitizerBrrC flips_windingr!rascontiguousarrayfliplrrArsid_set)rcrr has_rotationrs reapply_transformzTrimesh.apply_transform{ s1vS@@@ <6 ! !DEE E]626!99d 3 3 K'7 fUUU  =BQBNNNN  DJ & &:m45K.?   D   Ndk9904 0%f11DK n -  , ;;26,0'%33DK . /  EO9&AA E I/ 0 0 0-bi .C.CDDDJ%      (  rgrc 0ddlm}|jd|||d|S)a Return a VoxelGrid object representing the current mesh discretized into voxels at the specified pitch Parameters ------------ pitch : float The edge length of a single voxel method: implementation key. See `trimesh.voxel.creation.voxelizers` **kwargs: additional kwargs passed to the specified implementation. Returns ---------- voxelized : VoxelGrid object Representing the current mesh r)creation)rTpitchmethodr)voxelr/voxelize)rcr0r1rdr/s re voxelizedzTrimesh.voxelized s8" $##### x Qd%QQ&QQQrgpercent face_count aggressioncddlm}|||d}|d|jtj|jtjdd|D\}}t||S)a A thin wrapper around `pip install fast-simplification`. Parameters ----------- percent A number between 0.0 and 1.0 for how much face_count Target number of faces desired in the resulting mesh. agression An integer between `0` and `10`, the scale being roughly `0` is "slow and good" and `10` being "fast and bad." Returns --------- simple : trimesh.Trimesh Simplified version of mesh. r)simplify) target_counttarget_reductionagg)pointsrci|] \}}||| SNr)rkvs re z7Trimesh.simplify_quadric_decimation.. s@@@1!-q!---rg)r@rAr) fast_simplificationr9r@rrrrArGr?)rcr5r6r7r9rdr@rAs resimplify_quadric_decimationz#Trimesh.simplify_quadric_decimation s0 100000 ' '  #( =%%bj11joobj11  A@ @@@  % 6666rgface_idsc 6ddlm}tdi|||fi|S)a Given a list of face indexes find the outline of those faces and return it as a Path3D. The outline is defined here as every edge which is only included by a single triangle. Note that this implies a non-watertight mesh as the outline of a watertight mesh is an empty path. Parameters ------------ face_ids : (n, ) int Indices to compute the outline of. If None, outline of full mesh will be computed. **kwargs: passed to Path3D constructor Returns ---------- path : Path3D Curve in 3D of the outline r) faces_to_pathr)path.exchange.miscrGr=)rcrErdrGs reoutlinezTrimesh.outline s>. 655555@@ dH????@@@rgc jddlm}ddlm}ddlm}|d||d|}| |S||S)a Project a mesh onto a plane and then extract the polygon that outlines the mesh projection on that plane. Parameters ---------- mesh : trimesh.Trimesh Source geometry check : bool If True make sure is flat normal : (3,) float Normal to extract flat pattern along origin : None or (3,) float Origin of plane to project mesh onto pad : float Proportion to pad polygons by before unioning and then de-padding result by to avoid zero-width gaps. tol_dot : float Tolerance for discarding on-edge triangles. max_regions : int Raise an exception if the mesh has more than this number of disconnected regions to fail quickly before unioning. Returns ---------- projected : trimesh.path.Path2D Outline of source mesh rr)r<) projected)rTrNr)rrrr< path.polygonsrK)rcrrdrr<rK projections rerKzTrimesh.projected5 sw< -,,,,,      ,,,,,,YBDBB6BB  688Oy$$$rgc8|j}|S)z Summed area of all triangles in the current mesh. Returns --------- area : float Surface area of mesh )rr1)rcareas rerOz Trimesh.area\ s""$$ rgc6tj|jS)z The area of each face in the mesh. Returns --------- area_faces : (n, ) float Area of each face )r)rrOrrxs rerzTrimesh.area_facesi s~d&:;;;;rgc|jjdd}|jjdd}tj|j|j||dS)an Returns the mass properties of the current mesh. Assumes uniform density, and result is probably garbage if mesh isn't watertight. Returns ---------- properties : dict With keys: 'volume' : in global units^3 'mass' : From specified density 'density' : Included again for convenience (same as kwarg density) 'inertia' : Taken at the center of mass and aligned with global coordinate system 'center_mass' : Center of mass location, in global coordinate system rNrF)rrrr skip_inertia)rUrgetrrr)rcrrs rerzTrimesh.mass_propertiesu sd(*/%%i66jo))->> (n(#     rgcV|j5d|jvr|jddz|_d|jvr|jddz|_tjtj|j|_dddn #1swxYwY|jddgdS)a Invert the mesh in-place by reversing the winding of every face and negating normals without dumping the cache. Alters `self.faces` by reversing columns, and negating `self.face_normals` and `self.vertex_normals`. rBrYrCNri)rWrBrCrr)r*rArsrxs reinvertzTrimesh.invert s[ E E,,$(K$?$$F!4;..&*k2B&Cd&J#-bi .C.CDDDJ  E E E E E E E E E E E E E E E >3C"DEEEEEsA-BBBc t|fi|S)z Returns a Scene object containing the current mesh. Returns --------- scene : trimesh.scene.scene.Scene Contains just the current mesh r'r^s rescenez Trimesh.scene sT$$V$$$rgc D|}|jdi|S)aH Render the mesh in an opengl window. Requires pyglet. Parameters ------------ smooth : bool Run smooth shading on mesh or not, large meshes will be slow Returns ----------- scene : trimesh.scene.Scene Scene with current mesh in it r)rWshow)rcrdrWs rerYz Trimesh.show s) uz##F###rgfaces_sequencec *tjd||d|S)a Return a subset of the mesh. Parameters ------------ faces_sequence : sequence (m, ) int Face indices of mesh only_watertight : bool Only return submeshes which are watertight append : bool Return a single mesh which has the faces appended. if this flag is set, only_watertight is ignored Returns --------- submesh : Trimesh or (n,) Trimesh Single mesh if `append` or list of submeshes )rTrZr)rsubmesh)rcrZrds rer\zTrimesh.submesh s!*|OnOOOOOrgc*tj|S)z Return a float vector which is unique to the mesh and is robust to rotation and translation. Returns ----------- identifier : (7,) float Identifying properties of the current mesh )ridentifier_simplerxs re identifierzTrimesh.identifier s+D111rgc4tj|jS)z A hash of the rotation invariant identifier vector. Returns --------- hashed : str Hex string of the SHA256 hash from the identifier vector at hand-tuned sigfigs. )ridentifier_hashr_rxs rerazTrimesh.identifier_hash s)$/:::rgr c "td|||d|S)a Export the current mesh to a file object. If file_obj is a filename, file will be written there. Supported formats are stl, off, ply, collada, json, dict, glb, dict64, msgpack. Parameters ------------ file_obj : open writeable file object str, file name where to save the mesh None, return the export blob file_type : str Which file type to export as, if `file_name` is passed this is not required. )rTfile_objr rr$)rcrcr rds rerzTrimesh.export s",Wx9WWPVWWWrgcjd|j|jdS)ae Return a dictionary representation of the current mesh with keys that can be used as the kwargs for the Trimesh constructor and matches the schema in: `trimesh/resources/schema/primitive/trimesh.schema.json` Returns ---------- result : dict Matches schema and Trimesh constructor. trimesh)rCr@rA)r@tolistrArxs reto_dictzTrimesh.to_dict s8 ,,..Z&&((   rgc :dtj|fi|DS)a Compute an approximate convex decomposition of a mesh using `pip install pyVHACD`. Returns ------- meshes List of convex meshes that approximate the original **kwargs : VHACD keyword arguments c&g|]}tdi|S)r)r?)rrds rerz0Trimesh.convex_decomposition..( s6      f     rg)r convex_decompositionr^s rerjzTrimesh.convex_decomposition s6  'z&Trimesh.eval_cached..E s(..AQ......rg eval_cached_)rextendtuplerWeval)rcrrhashablerJr-s re eval_cachedzTrimesh.eval_cached- s.OO$........4T%//2244 $+  ;s# #i! C rgc0tj||}|S)a# Concatenate the mesh with another mesh. Parameters ------------ other : trimesh.Trimesh object Mesh to be concatenated with self Returns ---------- concat : trimesh.Trimesh Mesh object of combined result )r concatenate)rcrconcats re__add__zTrimesh.__add__P s!$.. rg)NNNNNNNNNTFNNTNN)FNN)F)NNNNNr?)rPN)Nrrr)rF)rPr?)FN)r)NNN)NN)NT)FT)rr?rPr?)__name__ __module__ __qualname__r2r+r,rr*r4rr4r5r6rfrIpropertyrwsetterrrAr r8rr0rrBr@rCrrrrrrrrr1rrrrrrrrrrrr;rrrrrrrr rr9rr"r0r*r.r2rbool_rr:r.rrrFrorqrmrWr[r/r]rbrerarhrmrqrsruryrxrr:rrrrrrlrrr"rrrnrrrrrrrprr&rrrrrrrrOr=rr<rrrrrr r"r-r4r-rDrIrKrOrr)rrUr(rWrYr3r\r_rarrgrjrprsrurxrr{r}rrrrrrrrrgrer?r?Ss)-%),0.2+/-1:><@-1$(%)6:@D#FXFX9%FX "FXy) FX !+ FX i( FX *FX"$sI~"67FX$Di$89FX4S>*FXFXFXD>FXTNFXFX  S'\ 23!FX"|^;<=#FX& 'FXFXFXFXT$(%) 555D>5TN 5  5555n " " " "X " ^ #T #d # # #^ ##|###X#  \%HY/%D%%%\%, Uj U U U_ U1gg.111X1f%-8I#6%-4%-%-%-%-N&,&&&X&"_ Qx 2 Q Q Q_ Q  0   _ 07Y747777"gen_$D!12DDD_D$''"23_$''*_. 0WW- 0 0 0X 0 . .t . . . . 3 3 3 3X 3 ^ .V . . . .^ . + + + +X + )g ) ) )X ), 0,,,X,"$ i$ GG_$ 877+; 8 8 8X 8WW-=_0 (3-   _  ,x(89 , , ,X , /(77+;"< / / /X / :77+ : : :_ : 5 5 5 5_ 5 +''"2 + + +_ + !1   _  wu~   _  )GEN ) ) )_ )gen_" WW%5   _ 3gen333_3  gen   _  *7 * * *_ * j   _ C_$GEN_B  c    _   WRX%6   _   S  )    "%)%)+/)-'+ $ $ D>$ TN$  ( $ g& $ G$ $  $ $ $ $ R(,BBB)$B  BBBBH2525t25252525h...." gbh/     / / / /6666+i++++&%%%%_%N -75> - - -_ - 3gen 3 3 3_ 3 27 2 2 2_ 2ww'7_  GG,<   _  ;wrx'8 ; ; ;_ ; 3 3 3 3_ 3 ww'7   _  2WW%5 2 2 2_ 2 G G G G_ G7777_70V$tE{"3VVV_V,4t444_4"t_$4_* %$ % % %X % 4   _  7 7 7 7_ 77:i C Ce CD C C C C36)  % @Q    8 WU^,   _ WW-_$ww/_2 ,ww/ , , ,_ ,gen!5_  1_@66Xd^6t6666& 'D ' ' ' '#eJ$78####>37 6 6 gg./6 6  6  6 6 6 6 p55HY$7595555n????B. " " "X:  X  ]  ] )%)5>) & ))))V++ + + hv  ++++b  ,,,,\3333j ( ( (_ (#26 !!!!gg./ !!!!F ? ? ? ?4444 [i[I[[[[zRRRR.'+(,(, +7+7(#+7W%+7W% +7  +7+7+7+7ZAA 8AfAAAA6%%V%%%%%%%%N g   _  0000$ 0WW- 0 0 0_ 0 J   _  0_" wu~   _  U   _ (++$++PY++++Z....----!S!!!!Frgr?)N__doc__rrTnumpyrrrrrrr r r r r rrrrrrrrrrrrrrrcachingrrrr constantsr!r" exceptionsr#exchange.exportr%parentr&rWr(r)typedr*r+r,r-r.r/r0r1r2r3r4rOr5r6r7 scipy.sparser8 scipy.spatialr9rEnetworkxr: rtree.indexr;rr<r=r?rrgrers; ))))))))))0EDDDDDDDDDDD((((((((((((%%%%%%                          @?????????%''''''%%%%%%%%%%q!!G!!!$$JJJJJJ%     Q  EEEEEE  !!!!!!!    Q  EEEEEE !$$$$$$$$$!!!  a F  a FFFFFF! L0L0L0L0L0jL0L0L0L0L0s` B--C2C  CCC7" C22C7;DD DD D))E.E  E