l0jQhddlZddlmZmZmZmZmZmZddl m Z m Z  ddl m Z ddlmZn8#e$r0ZddlmZejeZejeZ YdZ[ndZ[wwxYw ddlmZn #e$reZYnwxYwejejd z Zd ej_dd ZddZddZdZdZdZdS)N)convexgeometrygroupingnspheretransformationsutil)lognow)optimize) ConvexHull) exceptions) QhullError)thetaFQbBct||}|j|j}|j|j}|dddf|dddfz }t jt j|dzddg}|dk}||||dz }t j|dd gz}t j||j } t j||j } t j | d | d | d | d f} t j | d d d } t j| d } | }| |}| |dd |d zz }t j||ddd}t#j||}|d|dkr%t jt&|}|ddd}||fS)a Find an oriented bounding box for an array of 2D points. Details on qhull options: http://www.qhull.org/html/qh-quick.htm#options Parameters ---------- points : (n,2) float Points in 2D. Returns ---------- transform : (3,3) float Homogeneous 2D transformation matrix to move the input points so that the axis aligned bounding box is CENTERED AT THE ORIGIN. rectangle : (2,) float Size of extents once input points are transformed by transform ) qhull_optionsNrrr绽|=r?axis)rrrrr?r)r points simplicesverticesnpsqrtdotreshapefliplrT column_stackminmaxdiffprodargminarctan2r planar_matrix_flip)rrr hull_edges hull_points edge_vectors edge_norm edge_nonzero perp_vectorsxyboundsextentsareaarea_min rectangleoffsetr transforms Q/home/wildlama/miniconda3/envs/lam/lib/python3.11/site-packages/trimesh/bounds.pyoriented_bounds_2Dr@s$2m < < .oriented_bounds_coplanars1$gf1---  ;.9===FF1bIort44 6"&111a4))L8 9 9 8677 7q bqb"1"f  "k222bqb!e $6i2A26F#G#G j)J,,IoA,OOQVWW '!!rA convex_hullrrrGF)repairzPoints are not (n,3) or (n,2)!z9Oriented bounds must be passed a mesh or a set of points!r N)digitsrc4g|]}tj|jS)rspherical_matrixr&).0ss r? z#oriented_bounds..s3     ,a 0 2   rA)rrrg|۽rGrrrrrrrrHrrFz,oriented_bounds checked %d vectors in %0.4fs)3hasattrr^r is_sequencer! asanyarrayis_shaper@rrOrr viewndarrayface_adjacencyr&face_adjacency_edges face_normalsvector_to_sphericalvector_hemispherer unique_rowsspherical_to_vectorr align_vectorsr infzipr#rM bitwise_xorr"r$r%r)r(ptpr'oneslenrQrrRtransform_pointsargsortrPiscloserJdetr debug)+obj angle_digitsorderednormalr\r]hullrr hull_adj hull_edge hull_normalsspherical_coordsspherical_uniquematricesnormalsticmin_2D min_volumeto_2Dsideedges projected edge_vertr2r3r4r5r6r7r:volume vert_onesheight rotation_2Dbox min_extents rotation_Zr[ transformed box_centerorderflips+ ` r?oriented_boundsrjs>$"$"$"$"$"L 0 3 & & Z?DD  c " " Z]3''F}VW-- C)&111vw// C)&??? !ABBBXYY Y  0 0 0 3 # # \&&rz22FF  c " " ]3''FF ''///// 0}H"$H)I$L~ 3D4J<4X4XYY$/0@VVVWXY  %&67   *+;( %%C FJWh//++  vlF++f4xxzz  ".$x.9:F5!RaR=(*5572A2> aaa!e$U+  Aqqq)IaaaAAAg,>> GBF<?QF;;<<  5( #L1Il4K4S4S 5 5  y..$<  F<111a!8!4!6 7 7 F<111a!8!4!6 7 7AA.155a5==155a5==3PQVVXXyA/// J  JF273x==+A+A BCCEIvy))+AAArrE2I VIaaadO $ $F))AAArrE*:;;K)C((KKA 4[AAJz6**I"28YGGKa((26+A+F+F+F+LLJ"{Ibqb!e)##%%vayyq %((RaR!V z")--RaR!V 55s;; <6$rr2A2v, ;;D!RaRLF4++ !%( Irs r?volume_from_anglesz,minimum_cylinder..volume_from_angleses0* 0)I&II#4T%HHH  !!!Q$((  ' 7 !!!RaR%8H I I Ivv   6MMM 619-  - )Yqqq!t_-@-@-B-Bfsl-STTI e$$o&H&S&SIff, , s#A,,BBsymmetryradial)originrNrrg@rrr)rrr>r_z%Input must be reducable to 3D points!principal_inertia_vectorsc&g|] }|Srcrc)reirs r?rgz$minimum_cylinder..s%???!**1--???rASLSQP)tolmethodr8z)Performed search in %f and minimize in %fr6T)r)r>rr)F)&rhr is_watertight center_massr^rplane_transform symmetry_axisrr|r r!ryrr)r#sumrJrrr1r rkrO grid_linspacervstackrqrr arrayr,rQr minimizer rr*)r sample_count angle_tolrron_planersliderresultsamplesrvolumesbeststepr8rr>rrs @@r?minimum_cylinderrGs$<%%%%%%RsJCLH$<$<   1_FF_0F(s?PQQQ"3CL%HHA'' 2 FSLHQQQTN$6$6$8$88 9  ue$$111bqb5/Q&+++337799S@"f29==QVCWCWXX   c " "D =w ' 'B@AAA 1a&25"%.!9<HHGs/00 ) d.s/LMM N   55'Ch????w???@@G 7>>## $DJJsuu ru9| #DAw~tAw~.a4a40P QFDi   AJJsuuI9IBGCLLIIII!3 21S6t L L LIvv$& I IF MrAc tj|tj}|jdkrt dtj|d}tjd}|d|dddf<||fS) aU Convert an axis aligned bounding box to extents and transform. Parameters ------------ bounds : (2, 3) float Axis aligned bounds in space Returns ------------ extents : (3,) float Extents of the bounding box transform : (4, 4) float Homogeneous transform moving extents to bounds dtyperrGzbounds must be (2, 3)rrrFNrG)r!rjfloat64shaperOryrPrI)r8r9r>s r? to_extentsrs"]6 4 4 4F |v0111fV!$$$Gq I{{{**Ibqb!e I rActj|tj}tj|drtj|ddgf}n$tj|dst dtjd\}}}}}}tj||||||||||||||||||||||||g d}| d|}|S) a Given a pair of axis aligned bounds, return all 8 corners of the bounding box. Parameters ---------- bounds : (2,3) or (2,2) float Axis aligned bounds Returns ---------- corners : (8,3) float Corner vertices of the cube r)rrrrzbounds must be (2,2) or (2,3)!rr_r) r!rjrr rkr'rOarangerr$) r8minxminyminzmaxxmaxymaxz corner_indexcornerss r?rrs ]6 4 4 4F }VV$$;&1a&!122 ]66 * *;9:::)+1&D$dD$8                        1 6gg7:nnR  .G NrActj|tj}tj|tj}t|dkrt dt j|d|jdfst dtj||dk d||dk d}|S) aD Do an axis aligned bounding box check on a list of points. Parameters ----------- bounds : (2, dimension) float Axis aligned bounding box points : (n, dimension) float Points in space Returns ----------- points_inside : (n,) bool True if points are inside the AABB rrzbounds must be (2,dimension)!rrzbounds shape must match points!rr) r!rjrr{rOr rkr logical_andall)r8r points_insides r?containsr's"]6 4 4 4F ]6 4 4 4F 6{{a8999 ="fl1o!6 7 7<:;;;N &)   a ((6F1I+=*B*B*B*J*JM rA)r)rTNrB)rr) numpyr!rrrrrr constantsr r scipyr scipy.spatialr BaseExceptionErExceptionWrapperrr.rr/flags writeabler@rrrrrrcrAr?rsHHHHHHHHHHHHHHHH .(((((((...,,Q//J*z*1--HHHHHH .(((((((JJJ &%BEAI666 L L L L ^Z"Z"Z"Z"zHHHHV8666rs& +A &AA $A++A54A5