l0j! dZddlZddlmZmZmZmZmZddl m Z  ddededed eed eef d Z deded eefd Z d efdZ dd edededeefdZdZdd eed eefdZdS)z inertia.py ------------- Functions for dealing with inertia tensors. Results validated against known geometries and checked for internal consistency. N) ArrayLikeNDArrayNumberOptionalfloat64) multi_dotmassradiusheight transformreturnc|dz|dz}}tj||zdz ||zdz z||zdz ||zdz z||zdz g}|tjdz}|t||}|S)a_ Return the inertia tensor of a cylinder. Parameters ------------ mass : float Mass of cylinder radius : float Radius of cylinder height : float Height of cylinder transform : (4, 4) float Transformation of cylinder Returns ------------ inertia : (3, 3) float Inertia tensor  )nparrayeyetransform_inertia)r r r r h2r2diagonalinertias R/home/wildlama/miniconda3/envs/lam/lib/python3.11/site-packages/trimesh/inertia.pycylinder_inertiars,QY BxRi2 4"9/ 2Ri2 4"9/ 2 BY!O H"G#Iw77 NcBd|dzz|ztjdzS)z Return the inertia tensor of a sphere. Parameters ------------ mass : float Mass of sphere radius : float Radius of sphere Returns ------------ inertia : (3, 3) float Inertia tensor g?rr)rr)r r s rsphere_inertiar 7s% &!) $t +bfQii 77rrctj|tj}|jdkrt dtj|\}}|j}||fS)as Find the principal components and principal axis of inertia from the inertia tensor. Parameters ------------ inertia : (3, 3) float Inertia tensor Returns ------------ components : (3,) float Principal components of inertia vectors : (3, 3) float Row vectors pointing along the principal axes of inertia dtyperrzinertia tensor must be (3, 3)!)r asanyarrayrshape ValueErrorlinalgeighT)r componentsvectorss rprincipal_axisr-Jsd$mG2:666G}9::: )..11JiG w rFinertia_tensor parallel_axisc tj|tj}|jdkr|ddddf}n|jdkr|}nt dtj|tj}|jdkrt d|r|jdkr!tjdtj}n |dddf}tj|dd z|d d zz|d  |dz|d  |d zg|d  |dz|d d z|d d zz|d |d zg|d  |d z|d |d z|d d z|dd zzgg}|||zz}t|j||gSt|||jgS) am Transform an inertia tensor to a new frame. Note that in trimesh `mesh.moment_inertia` is *axis aligned* and at `mesh.center_mass`. So to transform to a new frame and get the moment of inertia at the center of mass the translation should be ignored and only rotation applied. If parallel axis is enabled it will compute the inertia about a new location. More details in the MIT OpenCourseWare PDF: ` MIT16_07F09_Lec26.pdf` Parameters ------------ transform : (3, 3) or (4, 4) float Transformation matrix inertia_tensor : (3, 3) float Inertia tensor. parallel_axis : bool Apply the parallel axis theorum or not. If the passed inertia tensor is at the center of mass and you want the new post-transform tensor also at the center of mass you DON'T want this enabled as you *only* want to apply the rotation. Use this to get moment of inertia at an arbitrary frame that isn't the center of mass. Returns ------------ transformed : (3, 3) float Inertia tensor in new frame. r")rrNrr$z#transform must be (3, 3) or (4, 4)!zinertia_tensor must be (3, 3)!rrr) rr%rr&r'zerosrr r*)r r.r/r rotationaMaligned_inertias rrrlsV irz:::I&  RaR!V$ F " ">???]>DDDNv%%9:::B ?f $ $"*---AA"1"a% A H1QqTQY&1! qteadlCA$1qtqy1Q4194qteadlCA$1!uqt|QqTQY1-BC   )4!83(*ox@AAA h ; < <z!scene_inertia..s 4 4 4!U1X 4 4 4rc g|]f\}}t|d|tjtj|gS)moment_inertia_frame)hasattrrVrdotr(inv)rQmatggeomsr s rrTz!scene_inertia..sn   QuQx!788 !H ) )"&s1C1CY*O*O P P   rr"r)rI)rSgeometrynodes_geometryrrrsum)scener nodesmomentsr\rSs ` @@r scene_inertiarcs" KE NE 5 4 4 4u3 4 4 4Eh        j G ;;A;  r)N)FN)__doc__numpyrtypedrrrrrutilr rr r-boolrrMrcrPrrris@@@@@@@@@@@@@@TX## # #*0#=Ei=P# W####L888GG4D8888&IJ ! L=L=L=L=L= 6  L=L=L=L=^FFFR  HY$7 77CS      r