l0jodZddlZddlmZmZmZddlmZddlm Z ddl m Z ddl m Z  dd Zd Zdd Z ddZ ddZ ddZdS)zT intersections.py ------------------ Primarily mesh-plane intersections (slicing). N)geometrygroupingutil)transformations) triangles)tol)points_to_barycentricFcvd}fd}d}fd} tjtjtjtjjdks jdkrt d|jn-tj|tj}j|||} ntjjz } tj tjtj d | tj k<d | tj k<|} | ||f} tjfd t| | D} |r@tjd | D}|jjd ksJ|| |fS| ||fS| S)aH Find a the intersections between a mesh and a plane, returning a set of line segments on that plane. Parameters --------- mesh : Trimesh object Source mesh to slice plane_normal : (3,) float Normal vector of plane to intersect with mesh plane_origin : (3,) float Point on plane to intersect with mesh return_faces : bool If True return face index each line is from local_faces : None or (m,) int Limit section to just these faces. cached_dots : (n, 3) float If an external function has stored dot products pass them here to avoid recomputing. Returns ---------- lines : (m, 2, 3) float List of 3D line segments in space. face_index : (m,) int Index of mesh.faces for each line Only returned if return_faces was True ctj|d}tjt|tjdz}t dD]}||dd|fd|z zz }tjdt }d|d <||}d |dd<d|d <||}d |dd<d|d d g<||}|||fS)a Figure out which faces correspond to which intersection case from the signs of the dot product of each vertex. Does this by bitbang each row of signs into an 8 bit integer. code : signs : intersects 0 : [-1 -1 -1] : No 2 : [-1 -1 0] : No 4 : [-1 -1 1] : Yes; 2 on one side, 1 on the other 6 : [-1 0 0] : Yes; one edge fully on plane 8 : [-1 0 1] : Yes; one vertex on plane 2 on different sides 12 : [-1 1 1] : Yes; 2 on one side, 1 on the other 14 : [0 0 0] : No (on plane fully) 16 : [0 0 1] : Yes; one edge fully on plane 20 : [0 1 1] : No 28 : [1 1 1] : No Parameters ---------- signs: (n,3) int, all values are -1,0, or 1 Each row contains the dot product of all three vertices in a face with respect to the plane Returns --------- basic : (n,) bool Which faces are in the basic intersection case one_vertex : (n,) bool Which faces are in the one vertex case one_edge : (n,) bool Which faces are in the one edge case raxisdtypeNTF )npsortzeroslenint8rangebool)signs signs_sortedcodedikeyone_edge one_vertexbasics X/home/wildlama/miniconda3/envs/lam/lib/python3.11/site-packages/trimesh/intersections.pytriangle_casesz"mesh_plane..triangle_cases6sFwu1--- \**"':::R?q 1 1A \!!!Q$'1q50 0EEhr&&&Bu:AAAAZ AAAQG E j(**c ||dk}||dkd}t ||jd\}}tj||||fd}|S)NrF line_segmentsr,r-r)reshape plane_linesTr column_stack) rfacesvertices vertex_plane edge_thrupoint_intersectvalidlines plane_normal plane_origins r'handle_on_vertexz$mesh_plane..handle_on_vertextsUaZ( %1*%--g66 !, ,(=U" " " ,u*=!> PQQYY    r)cT||dkd}||}|S)Nrr+)r1)rr5r6edgespointss r'handle_on_edgez"mesh_plane..handle_on_edges,eqj!))'22% r)c tj|ddg}tj|||tj|dd|||tj|ddfd}t ||jd\}}|sJ|d S) Nr,r)uniquer r-r+Fr.r0) runique_value_in_rowrr4rollr1r2r3all) rr5r6unique_elementr@ intersectionsr:r<r=s r' handle_basicz mesh_plane..handle_basics!5eRGLLLn%bgnaa8889n%bgnaa8889     ''    + ,(9    u yy{{{$$Z000r)rrz%Plane origin and normal must be (3,)!Nr,rcRg|]#\}}|||j$S)r6).0chr5meshrs r' zmesh_plane..s5OOO$!Q58U1Xt} - -OOOr)cBg|]}tj|dS)r)rnonzero)rNrOs r'rRzmesh_plane..s%;;;2:a==+;;;r)r")r asanyarrayfloat64shape ValueErrorr5int64dotr6rrrr mergevstackziphstackrkind)rQr<r= return_faces local_faces cached_dotsr(r>rBrJdotscaseshandlersr;indexr5rs``` @@r' mesh_planergsJ<+<+<+|       111111(=RZ@@@L=RZ@@@LT!!\%74%?%?@AAA mKrx@@@  ;' vdml2LAA HS''rw 7 7 7E!E$#) E$  %LE N5 ! !E.?H IOOOOOO#eX:N:NOOO  E) ;;U;;;<<{3&&&&  %< k%((( Lr)ctj|}tj|tj}tj|tj}tj||j|z j}tj ||}tj |}tj d}g}g}g} |D]} ||| zz} || z } t|| |d| \} }| |d<tj||}tj |}||tj| d|}|dddd fd }| |||tj|tj}| ||fS) a A utility function for slicing a mesh by multiple parallel planes which caches the dot product operation. Parameters ------------- mesh : trimesh.Trimesh Geometry to be sliced by planes plane_origin : (3,) float Point on a plane plane_normal : (3,) float Normal vector of plane heights : (m,) float Offset distances from plane to slice at: at `height=0` it will be exactly on the passed plane. Returns -------------- lines : (m,) sequence of (n, 2, 2) float Lines in space for m planes to_3D : (m, 4, 4) float Transform to move each section back to 3D face_index : (m,) sequence of (n,) int Indexes of mesh.faces for each segment roriginnormalrT)rQr=r<r`rb)r-rr,rNr-)r,r-r-)runitizerrUrVrZr6r3rplane_transformlinalginveyergappendtftransform_pointsr1array)rQr=r<heights vertex_dotsbase_transform translation transforms face_indexsegmentsheight new_originnew_dotsr;rfto_3Dto_2Dlines_2Ds r'mesh_multiplaners6< --L=RZ@@@LmG2:666G& (D'GHHK-\,WWWNY]]>22N&))KJJH ! !!\F%:; '!#%    u# D~{33 e$$%   &u}}W'='=uEEAAArrE?**:66!!!%    *BJ777J Z ++r)TcLtj|}tj|d}tj|d|dz }tjtj|d}tj|||dz j}tj||j}tj|tj k}|rtj|tj ||dz }tj |tj |k} tj tj|tj ktj|tj k} tj || }tj || }tj||||} |d|} | tj| d||zz} | |fS)au Calculate plane-line intersections Parameters --------- plane_origin : (3,) float Point on plane plane_normal : (3,) float Plane normal vector endpoints : (2, n, 3) float Points defining lines to be tested line_segments : bool If True, only returns intersections as valid if vertices from endpoints are on different sides of the plane. Returns --------- intersections : (m, 3) float Cartesian intersection points valid : (n, 3) bool Indicate whether a valid intersection exists for each input line segment rrrr,r)rrUr1rrmrZr3absr zero transposesign logical_or logical_anddivide) r=r< endpointsr/line_dirtbr:testdifferent_sidesrTd intersections r'r2r2%s2 i((I=..66q99L|IaL9Q<788H< l ; ; C CA F FGGL |lYq\9<==A |XZ((A F1II E/vlBL ! 1L$M$MNN'!** 5-q CH 4bfTllSX6MNNuo66ug.. !E(AeH%%AQ<&L"*Q"8"88E?"JJL  r)ctj|tj}tj|tj}tj|tj}tj|tj}||z }tj||}tj||}tj|dk} tj|| || } || | dz} | || z } | | g} |r| | |r| || S)a Given one line per plane find the intersection points. Parameters ----------- plane_origins : (n,3) float Point on each plane plane_normals : (n,3) float Normal vector of each plane line_origins : (n,3) float Point at origin of each line line_directions : (n,3) float Direction vector of each line return_distance : bool Return distance from origin to point also return_denom : bool Return denominator, so you can check for small values Returns ---------- on_plane : (n,3) float Points on specified planes valid : (n,) bool Did plane intersect line or not distance : (n,) float [OPTIONAL] Distance from point denom : (n,) float [OPTIONAL] Denominator rgh㈵>r) rrUrVr diagonal_dotrrr1rr) plane_origins plane_normals line_originsline_directionsreturn_distance return_denomorigin_vectorsprojection_oriprojection_dirr:distanceon_planeresults r' planes_linesrXs+NM-rzBBBMM-rzBBBM=RZ@@@LmO2:FFFO#\1N&~}EEN& FFN F> " "T )Ey.u0EFFHu%(8(8(A(AAH U##H F  h& n%%% Mr)c t|dkr|||fS|du}|||}||}ntj||z |}tjt|tj} d| |t j k<d| |t jk<| |} | dtj} tj| dtj} tj | dktj| dk} | | k} | dk}| rKtj |||\}}tj||}|| |<|||<|dk| |<|| }||}|| }|tj | | dk}|tj | | dk}| tj | | dk}| tj | | dk}t|t|zdkrt|dkretjd tj tjd tj|r tjd tj ndf}|Stj|dt|d \}}||}|d }|r||nd}|||fS|}tj|dd|z } ||z |}!tj| |}"d|"|"dk<tj|!|"}#tjd|#| |z}$|}%tjd }&tjd }'|$| dk| ddddf}(t|(})|)dkrtj|dkd}*|tjt/|)t/|)fdtj|*dzdz|*dzdzfdf}+tj|+tjt|%t|%d|)zz|)dd},|(tjt/|)t/|)fdtj|*dzdzj|*jfdddfd|)zd}&tj|%|&d}%t7j|,}-tj||-d}|$| dk| ddddf}.t|.}/|/dkrOtj|dkd}0|t/|/|0f|/d}1tj|1tjt|%t|%d|/zz|/dd}2|.tjt/|/t/|/fdtj|0j|0dzdzjfdddfd|/zd}'tj|%|'d}%tj||2d}tj|dt|%d \}}|%|}|d }d}|rt;tj||dd|&}3t;tj||dd|'}4tj|3|4g}5tj||||g}6tjdtj|6dd|5}7tj||7g|}|||fS)aS Slice a mesh (given as a set of faces and vertices) with a plane, returning a new mesh (again as a set of faces and vertices) that is the portion of the original mesh to the positive normal side of the plane. Parameters --------- vertices : (n, 3) float Vertices of source mesh to slice faces : (n, 3) int Faces of source mesh to slice plane_normal : (3,) float Normal vector of plane to intersect with mesh plane_origin : (3,) float Point on plane to intersect with mesh uv : (n, 2) float, optional UV coordinates of source mesh to slice face_index : ((m,) int) Indexes of faces to slice. When no mask is provided, the default is to slice all faces. cached_dots : (n, 3) float If an external function has stored dot products pass them here to avoid recomputing Returns ---------- new_vertices : (n, 3) float Vertices of sliced mesh new_faces : (n, 3) int Faces of sliced mesh new_uv : (n, 2) int or None UV coordinates of sliced mesh rNrrr,)rrr-g)rr)rr-T) minlengthreturn_inverserlr g-q=z ij,ijk->ijkrz ijk,ij->ik) rrrZrrr r[sumrranytmnormalsrVrYrunique_bincountr1rFreinsumwherestackrrraranger3rtriangulate_quadsr repeat concatenate)8r6r5r<r=uvr{rbhave_uvrcr signs_sum signs_asumonedgeinsidercheckr: dot_check new_facesr cut_trianglescut_faces_quad cut_faces_tricut_signs_quad cut_signs_triemptyrDinverse final_vert final_facefinal_uvornumdenomdist int_points new_verticesnew_quad_verticesnew_tri_verticesquad_int_points num_quads quad_int_indsquad_int_vertsnew_quad_facesnew_tri_faces_from_quadstri_int_pointsnum_tris tri_int_inds tri_int_verts new_tri_facesquad_barycentricstri_barycentricsall_barycentricscut_uvnew_uvs8 r'slice_faces_planersHV 8}}""nGj! vh-|<< HS]]"' 2 2 2E E$#)  E$  %LE  q 00I"""99J ^J!ORVI->->!-C D DF :+ %F QH||~~ +z(5?";<< uF5,//  x"$s?xf I If%M2>&)a-@@AN".a@@AM2>&)a-@@AN".a@@AM >S///144 y>>Q  rz222rx0006=Grz22224E L#2   b ! !S]]4    f% __W-- !(22f::d:x// A 2A"A !   . .C F1l # #EE%3, 9S% D=$22Q6JL((x''!)a-!8!!!QQQ!>?OO$$I1}}1!455a8 ' HeI&&i(8(89 B B B H}q(A- 0AQ/FGa P P P R    Ic,''\):):Q])J K K S S1      , HeI&&i(8(89 B B B H )Q.1=?C! L L L AA   '!i- # # y/@qIII #+#=n#M#M Ii)AJJJ  a 8!!!QQQ >?N>""H!||x  344Q7 %eHoo|&CDLLXWXYY   Ic,''\):):Q\)I J J R R!      * HeHoouX7a @ @ @ Hln q(8A'=&@A J J J AA   '!h, " " y/?aHHH IiQ??? ."\):):4OFG f%J))JH 81 Ih~. : : :+<>N*OPPN!3R 5F GHH<611)E)E)EGWXX>2v,//7 z8 ++r)c r |dSddlm}ddlm}ddlm} ddlm} ddlm } tj |tj }tj |tj }|j d kstj|d o/|j d kptj|d o|j |j k} | st!d |j} |j}t)|jd o5tj |jjt-|jdfko| }|r|jjnd}d|vrd|d<t/|d |d D]\}}t3| |||||\} }}|r|rt5dt7j| \}}| |} ||}||ddddf|ddddfkd}t=j|| }tj !|}tEj#| |}t=j$|}|%dtj&|dddfdk}|||d}||dddf|dddfk}t7j'|d}t-|dkr|| }|g}| (|||ddddfD]}| ||\}}tEj#tj)||} |*| \}!}"|!+dkrtj,-d|"|}#|#ddddf|#ddddfkd|#dddf|#dddfkz}$|.|#|$tj/|}|r)| ||jj0nd}%|d| ||%d|S)a Slice a mesh with a plane returning a new mesh that is the portion of the original mesh to the positive normal side of the plane. Parameters --------- mesh : Trimesh object Source mesh to slice plane_normal : (3,) float Normal vector of plane to intersect with mesh plane_origin : (3,) float Point on plane to intersect with mesh cap : bool If True, cap the result with a triangulated polygon face_index : ((m,) int) Indexes of mesh.faces to slice. When no mask is provided, the default is to slice all faces. cached_dots : (n, 3) float If an external function has stored dot products pass them here to avoid recomputing engine : None or str Triangulation engine passed to `triangulate_polygon` kwargs : dict Passed to the newly created sliced mesh Returns ---------- new_mesh : Trimesh object Sliced mesh Nr)cKDTreer)Trimesh)triangulate_polygon)polygons)TextureVisualsrrKrlz)plane origins and normals must be (n, 3)!rr-processF)r6r5rr<r=r{z)face_index and cap can't be used togetherr rig:0yE>) require_countr)enginez%triangulate may have inserted vertex!)rmaterial)r6r5visualrM)1 scipy.spatialrbasercreationrpathrrrrrUrVrWris_shaperXr6copyr5hasattrrrr]r1rNotImplementedErrorr unique_rowsrGrrnrorprsrtfaces_to_edgesrr group_rowsedges_to_polygonsstack_3Dquerymaxlogdebugrrr\r)&rQr<r=r{caprkwargsrrrrrshape_okr6r5has_uvrrjrkrDrfrr vertices_2Dr@r unique_edgetreepvnfnvn3rvidnfnf_okrs& r'slice_mesh_planer sBR |t&%%%%%------&&&&&&=RZ@@@L=RZ@@@L  t # Kt}\7'K'K 5  4 ' O4=w+O+O 5  ,"4 4 FDEEE}!!##H JOO  E  T""Zrx '?'?C DVDVXYCZ'Z' #) 2     dB!yW%%|';';G'D'D:%:%0!    % - % W)*UVVV'28<>K+A..E JJAJ   vk!!!Q$/0047H(5/--1-556E%1+qqq!t45E"-e1EEEK6{{Q78$$DCE//k0BKPQPQPQSUTUSUPUDVWW ( (,,Qv>>>B)$-*;*;UCC $ 3 #<<>>D((HNN#JKKKWAAAqrrEbBQBi/44!4<<111a4BqqqRStH@TU RY''''Ie$$EHNW"t{';'@'@'B'BCCCCSW 7 KHE& K KF K KKr))FNN)T)FF)NNN)NFN)__doc__numpyrrrrrrsrr constantsr r rgrr2rrr rMr)r'rsI&&&&&&&&&&######,,,,,, zzzzzT,T,T,n0000p @@@@P v,v,v,v,z  PLPLPLPLPLPLr)