l0j~dZddlZddlZddlZddlmZmZmZm Z ddlm Z ddl m Z ddlmZmZddlmZmZmZdd lmZdd lmZmZmZmZmZmZ dd lmZdd l m!Z"n2#e#$r*Z$ej%e$Zej%e$Z"YdZ$[$ndZ$[$wwxYwed Z&de j'dfde j'dfde j'dfgZ( dWdedeedeedeede f dZ) dXdddedeede fdZ* dYdddedeed e+d!e+d"eede fd#Z,d$ed%edefd&Z- dXd'ed(ededeede f d)Z. dZd*ee/d+ee/fd,Z0defd-Z1 dWd.eedeed/eefd0Z2de fd1Z3d[d4ed5efd6Z4 d\d5ed7eedeede fd8Z5 d]ded5ed7eedeefd9Z6 dZd5ededeedeede f d:Z7 d^d5edeedeed;eedeef d<Z8 d^d=ed>edeedeedeed;eef d?Z9d;efd@Z:d_dBefdCZ; d`dEedeedFeedGeedHeef dIZ< dadKedEeefdLZ= dZdMedNeedOeefdPZ> dbdRedSedTedUedeef dVZ?dS)czP creation.py -------------- Create meshes from primitives, or with operations. N) exceptionsgrouping trianglesutil)transformations)Trimesh)logtol) align_vectorsfaces_to_edgesplane_transform)get_json) ArrayLikeDictIntegerNDArrayNumberOptional)Polygon)loadsz creation.jsonearcut mapbox_earcutmanifold manifold3dtriangle linestringanglesections transformreturnc tj|tj}t|jdks|jddkrt d|tjdz}d}n$tj|tjdzd }|"t|tjdzz d z}|dz }tj d ||}tj tj |tj |f}t|}|ddd f} |dddf} tj tj|d|fd tj| t|d ztj| t|f} |rAt jr*tj| d|| | dd sJ| d| } |t'j| |} t|dz } tjd |dd||dzg} tj| |d}|tjtj|djd z }|t1j| |t jk}tjtj| |zt|dfjd }tj|| d}t jr;tj|d|jd df|z d sJ||zt| z}t9d| |d|}t jrXtj| d dgds!tj|d |dr|sJ|jsJ|jdksJ|S)a  Revolve a 2D line string around the 2D Y axis, with a result with the 2D Y axis pointing along the 3D Z axis. This function is intended to handle the complexity of indexing and is intended to be used to create all radially symmetric primitives, eventually including cylinders, annular cylinders, capsules, cones, and UV spheres. Note that if your linestring is closed, it needs to be counterclockwise if you would like face winding and normals facing outwards. Parameters ------------- linestring : (n, 2) float Lines in 2D which will be revolved angle : None or float Angle in radians to revolve curve by sections : None or int Number of sections result should have If not specified default is 32 per revolution transform : None or (4, 4) float Transform to apply to mesh after construction **kwargs : dict Passed to Trimesh constructor Returns -------------- revolved : Trimesh Mesh representing revolved result dtyperzlinestring must be 2D!N@Tg|=)atol rr%r*rg:0yE>r*)r%rr*r-verticesfaces)np asanyarrayfloat64lenshape ValueErrorpiriscloseintlinspace column_stackcossintilereshaper strictallclosetftransform_pointsarrayarangeTrareamergeravelr is_volume body_count)rrrr kwargsclosedthetapointsperradiusheightr/slicesquadsingleoffsetstackedr0meshs S/home/wildlama/miniconda3/envs/lam/lib/python3.11/site-packages/trimesh/creation.pyrevolver\)sLz<< ? ? A I I' R RFgfllnnf--55g>>G zR{7??B Q+CDDvMqQQQQQv X .E  z!sweep_polygon..is'@@@6 VX & &@@@r]r-cg|]}|zSr2r2)rrrX faces_slices r[ruz!sweep_polygon..ts R R Rf[6 ! R R Rr]z.triangulation added vertices: no logic to cap!processr.r2).r3r4r5ris_shaper8r7r6zeroslinalgnormr rJr`r r group_rowssortuniquerAr=onesunitize concatenatemeanvector_to_sphericalrHr>r?rBziprDrErCrGset differencerKNotImplementedErrormaxint64appendfliplrr rLrM)+r^rcrdrerfrN triangulationrO vertices_2Dfaces_2Dedges edges_uniquerinverseboundaryvector vector_meannormalrPphi cos_theta sin_thetacos_phisin_phicos_rollsin_rollrzr transformsnrscheck vertices_3Dstride boundary_nextr0 max_vertex unconsumedmappedcap_zerorZrwrts+ @@r[ sweep_polygonrs+V =RZ 0 0 0D =w ' '1/000 vRZ888 >q  <4: % % % %)&113JE36%=="&--yIvc{{BF3KKWGhH HSZZ E 73u::  D I ) +i(.B B y 7X#5 #A A i  AJ I !G +h.B B I !I$7($B B i  AJ h  Hx   AJ    ! &gj'* z)VZ00 ) )IAv'(96USSSTUVE;ua(( ( (( (.@@@@Z@@@qaa!e K [[Fv%M/ =BQB'qqq$$B$w)?!!!QRR%Q gg S R R R #d))a-0H0H60Q R R RE:':$ii!mv- !+:+.  b Z : [[++HNN,<,<== z??Q  %&VWW W&**,,*"(;;;3v;;//v(# RYx(())) X#d))a- 88999 ~"y N5q ) ) )E  ?Ku ? ? ? ?D z (29U##$$K(8(88888  "> ! !>  (g (> ! !>?a'''' Kr]abch|dddf|dddfz|dddf|dddfzz S)z< Numpy 2.0 depreciated cross products of 2D arrays. Nrrr2)rrs r[ _cross_2drsI QQQT7Qqqq!tW qAw111a40 00r]r/r0c :tj|tj}t|}tj|tj}t j|dstdt j|dstdtj|tj krtdttj ||dddd fj tj ||ddd dfj }t|d krPtj|tj|krtj|}t%|}tj|d }t)j|d }|||} tj| dd d} tj| tjd |d |gt| f} tjgdt| d f} | tjt| ddzz } | d} t j|} |dddddf|| g} | | dd |gz| g}t j|| \}}|Ot;j||}t;j|r&tj tj|}tCd||d|}tj"r |j#dksJ|S)a Extrude a 2D triangulation into a watertight mesh. Parameters ---------- vertices : (n, 2) float 2D vertices faces : (m, 3) int Triangle indexes of vertices height : float Distance to extrude triangulation transform : None or (4, 4) float Transform to apply to mesh after construction **kwargs : dict Passed to Trimesh constructor Returns --------- mesh : trimesh.Trimesh Mesh created from extrusion r#r)zVertices must be (n,2)r,zFaces must be (n,3)zHeight must be nonzero!N r%rrrhrj)r-rr%r%rrr+rmr*r1r.r2)$r3r4r5floatrrryr8absr rJrsubtractrHr6signrrr r~rr}r@rAr=rGstack_3Dcopy append_facesrDrE flips_windingascontiguousarrayr rBvolume)r/r0rTr rNsignsr edges_sortedrrverticalvertical_facesr faces_seq vertices_seqrZs r[rarasD8}XRZ888H 6]]F M%rx 0 0 0E =7 + +31222 = ( (0./// vf~~ !!2333  XeCRC!Gn./0"+xcrcSTSUSUgHX?Y2Z  E  5zzA~~"'%**,,//276??BB %   5 ! !E75q)))L&|1EEELl+,Hwx''00!44<I!1!1!3!3sAv6F!FQL' i@@OHe&x;;  I & & ;(5)9)9::E  pip install manifold3d > pip install triangle > pip install mapbox_earcut Parameters --------- polygon : Shapely.geometry.Polygon Polygon object to be triangulated. triangle_args : str or None Passed to triangle.triangulate i.e: 'p', 'pq30', 'pY'="don't insert vert" engine : None or str None or 'earcut' will use earcut, 'triangle' will use triangle Returns -------------- vertices : (n, 2) float Points in space faces : (n, 3) int Index of vertices that make up triangles Nc3$K|] \}}||V dSNr2)rrnameexistss r[ z&triangulate_polygon..3s+CC fFCtCCCCCCr]rr)triangulate_float64c3HK|]}tj|jVdSr)r3rFcoords)rris r[rz&triangulate_polygon..>s.FFq**FFFFFFr]c,g|]}t|Sr2)r6)rrvs r[ruz'triangulate_polygon..@s444a3q66444r]r,rrr*c3|K|]7}tj|jdd|jrdndddV8dS)Nr*r)r3rFris_ccw)rrrs r[rz&triangulate_polygon..Wsa  DEBHQX  99#822q9 :3B3 ?      r]r) triangulatepr/rztry running `pip install manifold3d`or `triangle`, `mapbox_earcut`, then explicitly pass: `triangulate_polygon(*args, engine="triangle")` to use the non-FSF-approved-license triangle enginez"No available triangulation engine!)next_enginesis_emptyrrr3rFexteriorrextend interiorscumsumvstackrAastyperrrrr_polygon_to_kwargsr warningr8) r^rrrNrr/ringsr0rrargresults r[r`r`sZ8~CCCCCTJJ'*2v  555555HW-4556FFG4EFFFFFF 448444559X&& % 0 0 WW   VBH   WW    :   HW%, - -.W.Ww7G7N2V!!TV.W X      IPIZ      &&u--9U## :  ((((((  M ))S-00j!6+#666K @ 9 : ::r]c|jstddfd}tjtjtj||jd}|jD]6} ||||z }#t $rtjdY3wxYwtj tj  j ddkrdddd fd }tj ddtdkr|d <|S) a Given a shapely polygon generate the data to pass to the triangle mesh generator Parameters --------- polygon : Shapely.geometry.Polygon Input geometry Returns -------- result : dict Has keys: vertices, segments, holes zinvalid shapely polygon passed!cBtjtj|||zdd}|dddd}tj||dd|ddgf}|S)z Given a start index and length, create a series of (n, 2) edges which create a closed traversal. Examples --------- start, length = 0, 3 returns: [(0,1), (1,2), (2,0)] r+r%r*rr)r)r3r@rGrAr)startlengthtileds r[ round_tripz&_polygon_to_kwargs..round_trips %88@@II1MM b!!!B$'//88 559R=%(1+">?@@ r]ctj|j}tjt j|d}||} ||t|t|}tj| jdt|S)Nr) r3rFrr~r unique_rowsrr6rrepresentative_point) rrrrcleanedtestfacetsholesrr/s r[ add_boundaryz(_polygon_to_kwargs..add_boundarys (/**-f55a899.    jjG 55666w RXd7799@AA!DEEE7||r]rzinvalid interior, continuingrr-Nr%)r/segmentsr)is_validr8 collectionsdequerr BaseExceptionr rr3rtolistr7rFr6) r^rrinteriorrrrrr/s @@@@r[rrss  <:;;;   2 ""H   F    E L)1 - -E%  \\(E22 2EE    K6 7 7 7 H y""H Yv   % % ' 'F~aAAAArrE?" 7 7F HUOOABB E 5zzA~~w Ms:B  B+*B+extentsboundsc tjtdddtj}tjtdddtj}tjtdddtj}|t||t dtj|tj }|jd krt d tj|d }||z}||d z }nl|Etj|tj }|jdkrt d|dz}||z}n%|dz}tj dtj }d|vri|d<|d d|dtd|||dd|}|| ||S)a Return a cuboid. Parameters ------------ extents : (3,) float Edge lengths transform: (4, 4) float Transformation matrix bounds : None or (2, 3) float Corners of AABB, overrides extents and transform. **kwargs: passed to Trimesh to create box Returns ------------ geometry : trimesh.Trimesh Mesh of a cuboid boxr/C)orderr$r0 face_normalsNz)`bounds` overrides `extents`/`transform`!r#r%r-z`bounds` must be (2, 3) float!rrh)r-zExtents must be (3,)!?)rnrnrnmetadata)r7rF)r/r0rrxr2) r3rF_datar5rr8r7ptpr4asarrayupdater apply_transform)rr rrNr/r0rrs r[rrs4xe Z02:NNNH HU5\'*#RX F F FE8E%L82:VVVL  G$7HII I& 333 <6 ! !=>> >&a(((GF1I  -rz::: =D 455 5CGC*_BJ???z :'BBCCC  \5  TZ  C  I&&& Jr]c tjtddtj}tjtddtj}t d|||ddd|S) a Create an icosahedron, one of the platonic solids which is has 20 faces. Parameters ------------ kwargs : dict Passed through to `Trimesh` constructor. Returns ------------- ico : trimesh.Trimesh Icosahederon centered at the origin. icosahedronr/r#r0rxFr/r0rxr2)r3rFrr5rr pop)rNr/r0s r[rrs}xm,Z8 KKKH HU=)'2"( C C CE   9e0L0L  PV  r]r-rn subdivisionsrSc dt|}t|}t}d|_t |D]}|}|j}tjtj |dzgd}|| dz }|xj|||z dzz c_|dkrt|j}tjtj |dzgd}|| dz }|xj|||z dzz c_d|vr4tj dtd|d|d <td|j|jd |d |d dd |S)a Create an isophere centered at the origin. Parameters ---------- subdivisions : int How many times to subdivide the mesh. Note that the number of faces will grow as function of 4 ** subdivisions, so you probably want to keep this under ~5 radius : float Desired radius of sphere kwargs : dict Passed through to `Trimesh` constructor. Returns --------- ico : trimesh.Trimesh Meshed sphere Fr%)rrrr+rcolorz`icosphere(color=...)` is deprecated and will be removed in June 2024: replace with Trimesh constructor kewyword argument `icosphere(face_colors=...)`)category stacklevel face_colorsspherer7rSrx)r/r0rrxr2)rr;r _validaterange subdivider/r3sqrtrqrAwarningswarnDeprecationWarningrr r0)rrSrNico_vectorsscalarunits r[ icospherer&s(6]]F|$$L --CCM < BBmmoo, III6677000 88AAAA q, III6677000 88AAAA &  ?(     !' 7 3 3}  i#v66 9e,,       r]countc |#tjddgtj}nHtj|tj}|tj|dz }|dxxdzcc<tjdtj|d }tjtj|tj| f|z}td ||d|d |d d |S)a Create a UV sphere (latitude + longitude) centered at the origin. Roughly one order of magnitude faster than an icosphere but slightly uglier. Parameters ---------- radius : float Radius of sphere count : (2,) int Number of latitude and longitude lines transform : None or (4, 4) float Transform to apply to mesh after construction kwargs : dict Passed thgrough Returns ---------- mesh : trimesh.Trimesh Mesh of UV sphere with specified parameters Nr(@r#r%rr1r)numr r)rrr rr2) r3rFrmodr<r9r=r?r>r\)rSrr rNrPrs r[ uv_spherer!as8 }"b222bh/// q!!! aA  KRUa 1 1 1E"&--"&--!@AAFJJ  q#v66       r]c |#tjddgtj}n tj|tj}|tj|dz }t t |}t t |}tjtj dz tjdz |d}tjtj |tj |f|z}t|dz}|d|dddfxx|dz zcc<||ddddfxx|dz z cc<t||d|d ||d  S) az Create a mesh of a capsule, or a cylinder with hemispheric ends. Parameters ---------- height : float Center to center distance of two spheres radius : float Radius of the cylinder and hemispheres count : (2,) int Number of sections on latitude and longitude transform : None or (4, 4) float Transform to apply to mesh after construction Returns ---------- capsule : trimesh.Trimesh Capsule geometry with: - cylinder axis is along Z - one hemisphere is centered at the origin - other hemisphere is centered along the Z axis at height Nr(rr#r%r&rrcapsuler7rTrS)rr r) r3rFrr rrr<r9r=r>r?r6r\)rTrSrr rPrhalfs r[r#r#sl6 }"b222bh/// RVE1  E v  F v  F K beck58 < s_ya 344s:H Ij1n % % - -g 6 6E HE 2 2 2D Kr]{Gz? origin_size origin_color axis_radius axis_lengthct|}|tjd}|gd}||dz }||dz}t|}||||j_tjdd|dz g}t||| | }gd |j_tjdd|dz g}tj tj d gd }t||| | | } gd | j_tjdd|dz g}tj tj dgd}t||| | | } gd| j_tj|| | |g} | S)a Return an XYZ axis marker as a Trimesh, which represents position and orientation. If you set the origin size the other parameters will be set relative to it. Parameters ---------- origin_size : float Radius of sphere that represents the origin transform : (4, 4) float Transformation matrix origin_color : (3,) float or int, uint8 or float Color of the origin axis_radius : float Radius of cylinder that represents x, y, z axis axis_length: float Length of cylinder that represents x, y, z axis Returns ------- marker : trimesh.Trimesh Mesh geometry of axis indicators Nrm)rErErEg@$@)rSrr%)rSrTr )rrrEi)rrr)rrErZ)rrr)rErr)rr3eyerrvisualr rDr5r-rqrotation_matrixradiansrr) r@r rArBrC axis_originr8z_axisr7y_axisx_axismarkers r[riris> $$KF1II +++ !C' !D( ;///K ***&2K"'A{Q(?@@K ;)-- :T:TF!, FM'A{Q(?@@K!"*S//999==H --))--k::F !, FM'A{Q(?@@K!"*R..)))<???Arz&*Q-883>???AAX aR!QK!aRaAY!Q C5F  f 5 5v>??GGPPHy(F+C+C+C$DEFFNNzZZH MM))H%%&&& Ms!"AAtrisoriginrc  |tjd}nt||}tj|d|d}tj||fd}d|ddd ddd f<tj|dtj| }tj gd gd gd gdgdgdgdgdg}tj gdtj |dj }tj|t|dfdt|df} tj|| |dk<| tjt| dzdzd} t%|| d} | S)a Return a mesh consisting of multiple watertight prisms below a list of triangles, truncated by a specified plane. Parameters ------------- triangles : (n, 3, 3) float Triangles in space origin : None or (3,) float Origin of truncation plane normal : None or (3,) float Unit normal vector of truncation plane Returns ----------- mesh : trimesh.Trimesh Triangular mesh Nrm)rcrr,)r* )r*r-r-rrr%)rs)r%rr)r-rm)rrrm)rr%rf)r%rr-)rmr-r)rfrmr)r-rfr%r4r*r-)r*rrFr)r3rHrrDrErAr=r{invrFrqrcrossrHr@r6rrGr ) rbrcrr transformedvsr/frif_seqr0rZs r[truncated_prismsrn4s.~F1II #6&AAA %dll7&;&;YGGOOPWXXK +{3 4 4 < r?rr\)rorprqrrr rNrrs r[ruruwsB +aRUNU C C CC s #\BF3KK%?@ qJz :<VV  )  OU  r])NNNr)NTTN)NN)r-rn)rnNN)rnrnNN)NNNN)r9)r?NNNN)rQN)r(r(N)@__doc__rrnumpyr3rrrrrrDbaser constantsr r geometryr r r resourcesrtypedrrrrrrshapely.geometryr shapely.wkbrload_wkbrEExceptionWrapperr has_modulerr\rbboolrrrastrr`rrrrr!r#r'r-r2r.r>rirarnrur2r]r[rs333333333333######DDDDDDDDDDFFFFFFFFFFFFFFFF.((((((-------...*j)!,,G*z*1--HHHHHH . !!t//0../,,- #"&%) HHH F HwH " H  HHHHXJN  &3;I3F H#'! WW W W Y W  W  W TN W WWWWt11W11111&* \\\ \ \ " \  \\\\@KO[;[;$SM[;:B3-[;[;[;[;|Y4YYYYz$(%)"&>> i > "> Y >>>>BW,88G88888x!%%).. . I . ".  ....d!%%) 22 2 2 I 2 " 2222p#'%) && & &w& " &  &&&&V $"&#'%) 00 0 V 0w0i 0  " 0000l $"&%)#' FF F F V Fw F  " F i FFFFR)DG*%)(,$($( SSS "S9%S&! S &! SSSSnJN99!96>v6F9999|#'"&@@ @ Y @ Y @@@@L! %) ///// /  " //////s AB " BB