l0j8tdZddlZddlZddlmZmZmZmZm Z m Z ddlm Z ddl mZddlmZmZddlmZmZmZmZejd Zd ej_Gd d eZGd dZGddeZGddeZGddeZGddeZ GddeZ!dS)z primitives.py ---------------- Subclasses of Trimesh objects that are parameterized as primitives. Useful because you can move boxes and spheres around and then use trimesh operations on them at any point. N)cachingcreationinertiasample trianglesutil)transformations)Trimesh)logtol) ArrayLikeIntegerNumberOptionalFc eZdZdZdZdZfdZdZedZ e j dZ edZ e j dZ ed Z e j d Z ed Z ejd Zd ZdZdZdZxZS) Primitivez Geometric Primitives which are a subclass of Trimesh. Mesh is generated lazily when vertices or faces are requested. Nct|jd|_d|j_dS)NFT)super__init___dataclear _validate_cacheforce_immutable)self __class__s U/home/wildlama/miniconda3/envs/lam/lib/python3.11/site-packages/trimesh/primitives.pyrzPrimitive.__init__$sH  '+ ###c2dt|jdS)Nz)type__name__rs r__repr__zPrimitive.__repr__0sNr+gUUUUUU??heightradiusextentsz!Couldn't produce rigid transform!)r< asanyarrayfloat64shaper3r allclose _IDENTITYrErFrPlinalgdetBoxCylinderCapsuleSphere isinstanceabshasattrrarbrc multi_dottf scale_matrixdotis_rigid)rmatrixprimcurrentscalekindsupdateds rapply_transformzPrimitive.apply_transformsvS CCC <6 ! !788 8 =D 1 1 K~.%%'' fRaR!Vn--)<h0 dE " " .s53;'7'7$'>'>tX&& % u$ tX&& % u$ tY'' & % BQBENNNe #NNNnfbocEk.J.JG%TUUGGfVW--G{7## B@AA A$+  r c td)Nz'Primitive doesn't define mesh creation!r2r%s rr.zPrimitive._create_meshsBCCCr )r$ __module__ __qualname____doc____copy__ __deepcopy__rr&propertyr(setterr7r:rFabcabstractmethodrIrPrZr}r. __classcell__rs@rrrs HL + + + + +===$$X$ \LL\L''X'_OO_O  X AAA ( (X ( $$$ 0.444lDDDDDDDr rcPeZdZdZddZedZfdZfdZdZxZ S) PrimitiveAttributesz: Hold the mutable data which defines a primitive. TcD|j|_||_||_|j|||_|D]:\}}||d}|tj|||j|<;|jsd|j_ dSdS)a5 Hold the attributes for a Primitive. Parameters ------------ parent : Primitive Parent object reference. defaults : dict The default values for this primitive type. kwargs : dict User-passed values, i.e. {'radius': 10.0} NF) r _defaults_parentrM_mutablerRgetr convert_likemutable)rparentdefaultsrSrkeydefaultvalues rrzPrimitiveAttributes.__init__s\ !  (### %NN,, D DLCJJsD))E "&"3E7"C"C 3} '!&DJ    ' 'r cddl}d|jjj||jddd}|S)Nra'Store the attributes of a {name} object. When these values are changed, the mesh geometry will automatically be updated to reflect the new values. Available properties and their default values are: {defaults} Example --------------- p = trimesh.primitives.{name}() p.primitive.radius = 10 r*)widthr)namer)pprintformatrrr$pformatr)rrdocs rrzPrimitiveAttributes.__doc__s]    &'0^^DN"^==adC     r c8|dr!t|S|dkr|jddddfS||jvr+t j|j||j|Std|d)N_centerrFr+z#primitive object has no attribute 'z' ) startswithr __getattr__rrr rAttributeError)rrrs rrzPrimitiveAttributes.__getattr__s >>#   K77&&s++ + H__:k*2A2q51 1 DN " "$TZ_dnS6IJJ JJ3JJJKKKr c|dr"t||S|dkrItj|tj}tjd}||dddf<||jd<dS||jvr@|j r*tj ||j||j|<dStdt|j}td|d ) Nrrr^rr+rFz;Primitive is configured as immutable! Cannot set attribute!zOnly default attributes z can be set!)rr __setattr__r<arrayreeyerrrr rr3listkeys)rrrrFrrs rrzPrimitiveAttributes.__setattr__%s >>#   L77&&sE22 2 H__HU"*555Eq I$Ibqb!e &/DJ{ # F DN " "} "&"3E4>#;N"O"O 3 Q++--..DJJJJKK Kr cttt|t|jz}|SN)sorteddirr#rrr)rrYs r__dir__zPrimitiveAttributes.__dir__9s;DJJ$t~/B/B/D/D*E*EEFF r )T) r$rrrrrrrrrrs@rrrs ' ' ' 'DX*LLLLLLLLLL(r rceZdZd fd ZejdZejdZejdZe d Z d Z d Z d Z xZS)rlr`N Tc tddtjddd}t ||||||d||_dS)a Create a Cylinder Primitive, a subclass of Trimesh. Parameters ------------- radius : float Radius of cylinder height : float Height of cylinder transform : (4, 4) float Homogeneous transformation matrix sections : int Number of facets in circle. mutable : bool Are extents and transform mutable after creation. $@r`rrrarbrFsectionsrrSrNrrr<rrrErrbrarFrrrrs rrzCylinder.__init__?sp" "cq WYZZ,   &$      r cXtj|jjdzz|jjz}|S)z The analytic volume of the cylinder primitive. Returns --------- volume : float Volume of the cylinder )r<pirErbrarvolumes rrzCylinder.volume_s)%$./22dn6KK r c|tj|j|jj|jj|jj}|S)z The analytic inertia tensor of the cylinder primitive. Returns ---------- tensor: (3, 3) float 3D inertia tensor )massrbrarF)rcylinder_inertiarrErbrarF)rtensors rmoment_inertiazCylinder.moment_inertials?)>(>(n.      r cXtj|jjgddd}|S)z The direction of the cylinder's axis. Returns -------- axis: (3,) float, vector along the cylinder axis rrrrNr+r<rurErFraxiss r directionzCylinder.directions,vdn. ==bqbA r c |jjdz }tj|jjtjdd| dgdd|dggjddddf}|S)z A line segment which if inflated by cylinder radius would represent the cylinder primitive. Returns ------------- segment : (2, 3) float Points representing a single line segment @rrNr+)rErar<rurF transposeT)rhalfpointss rsegmentzCylinder.segmentsn~$s* N $blQD5!4Dq!TSTo3V&W&W  AAArrE r cd|jjt|jjt|jjdS)a  Get a copy of the current Cylinder primitive as a JSON-serializable dict that matches the schema in `trimesh/resources/schema/cylinder.schema.json` Returns ---------- as_dict : dict Serializable data for this primitive. cylinder)rKrFrbra)rErFtolistfloatrbrar%s rrIzCylinder.to_dictsJ188::DN122DN122    r ct|}t|jj|dzz|jj|z|jj}|S)a Return a cylinder primitive which covers the source cylinder by distance: radius is inflated by distance height by twice the distance. Parameters ------------ distance : float Distance to inflate cylinder radius and height Returns ------------- buffered : Cylinder Cylinder primitive inflated by distance r)rarbrF)rrlrErarbrFrP)rdistancebuffereds rbufferzCylinder.buffers\ ??>(8a<7>(83n.3355    r ctjdtj|jj|jj|jj|jj}|j |j d<|j |j d<|j |j d<dS)Nz$creating mesh for Cylinder primitive)rbrarrFr7r(r:) r debugrrrErbrarrFr7rr(r:rmeshs rr.zCylinder._create_meshs} 8999 >(>(^,n.    #'- J#z G&*&7 N###r )r`r`NrT)r$rrrrcache_decoratorrrrrrrIrr.rrs@rrlrl>s      @     $    X$   $0 8 8 8 8 8 8 8r rlcdeZdZ d fd ZedZdZejd Z d Z xZ S) rmr`rNrTc tddtjddd}t ||||||d||_dS)a Create a Capsule Primitive, a subclass of Trimesh. Parameters ---------- radius : float Radius of cylinder height : float Height of cylinder transform : (4, 4) float Transformation matrix sections : int Number of facets in circle mutable : bool Are extents and transform mutable after creation. r`rrrrNrrs rrzCapsule.__init__sp& !SrvayyVXYY,   &$      r c|jjSrrDr%s rrFzCapsule.transform ~''r cd|jjt|jjt|jjdS)a Get a copy of the current Capsule primitive as a JSON-serializable dict that matches the schema in `trimesh/resources/schema/capsule.schema.json` Returns ---------- as_dict : dict Serializable data for this primitive. capsule)rKrFrarb)rErFrrrarbr%s rrIzCapsule.to_dictsJ188::DN122DN122    r cXtj|jjgddd}|S)z The direction of the capsule's axis. Returns -------- axis : (3,) float Vector along the cylinder axis rNr+rrs rrzCapsule.directions,vdn. ==bqbA r ctjdtj|jj|jj}||jj|j |j d<|j |j d<|j |j d<dS)Nz%creating mesh for `Capsule` primitive)rbrar7r(r:) r rrrrErbrar}rFr7rr(r:rs rr.zCapsule._create_meshs 9:::>(1F    T^5666"&- J#z G&*&7 N###r )r`rNrT) r$rrrrrFrIrrrr.rrs@rrmrmsLP       D((X(   $     8 8 8 8 8 8 8r rmc &eZdZ ddedeedeeded ef fd Ze d Z e j d Z d Z e dZ e dZejdZejdZejdZdZxZS)rnr`Nr+TrbrrF subdivisionsrc\tt|t|d}|4|t dt jd}||dddf<||d<n|||d<t|dt jddd|| |_dS) a Create a Sphere Primitive, a subclass of Trimesh. Parameters ---------- radius Radius of sphere center : None or (3,) float Center of sphere. transform : None or (4, 4) float Full homogeneous transform. Pass `center` OR `transform. subdivisions Number of subdivisions for icosphere. mutable Are extents and transform mutable after creation. )rbrNz3only one of `center` and `transform` may be passed!rr+rFr`)rbrFrr) rrrintr3r<rrrE) rrbrrFrr constructor translaters rrzSphere.__init__*s2 !&vL@Q@QRR   $ !VWWWq I%Ibqb!e '0K $ $  "'0K $-  #"&))QOO    r c|jjSrrErr%s rrz Sphere.centerYs ~$$r c||j_dSrr)rrs rrz Sphere.center]s %r ctd|jjt|jjdS)a Get a copy of the current Sphere primitive as a JSON-serializable dict that matches the schema in `trimesh/resources/schema/sphere.schema.json` Returns ---------- as_dict : dict Serializable data for this primitive. sphere)rKrFrb)rErFrrrbr%s rrIzSphere.to_dictas:188::DN122   r ctj|jj|jjz |jj|jjzg}|Sr)r<rrErrb)rboundss rrz Sphere.boundsrsE %(==%(==     r c|jSr) bounding_boxr%s rbounding_box_orientedzSphere.bounding_box_orienteds   r cDdtjz|jjdzz}|S)z Surface area of the current sphere primitive. Returns -------- area: float, surface area of the sphere Primitive @rr<rrErbrareas rrz Sphere.areas#RU{dn3Q67 r cJdtjz|jjdzzdz }|S)z Volume of the current sphere primitive. Returns -------- volume: float, volume of the sphere Primitive rr+g@rrs rrz Sphere.volumes(+!6!9:cA r cLtj|j|jjS)z The analytic inertia tensor of the sphere primitive. Returns ---------- tensor: (3, 3) float 3D inertia tensor. )rrb)rsphere_inertiarrErbr%s rrzSphere.moment_inertias!%4;t~?TUUUUr ctjdtj|jj|jj}|j|jjz|j d<|j |j d<|j |j d<dS)Nz"creating mesh for Sphere primitive)rrbr7r(r:) r rr icosphererErrbr7rrr(r:)rr?s rr.zSphere._create_meshsv 6777!4T^=R    #'-$.2G"G J#z G&*&7 N###r )r`NNr+T)r$rrrrrrboolrrrrrIrrrrrrrr.rrs@rrnrn)sz&*)- ! - - - #- I& -  -  - - - - - - ^%%X% ]&&]&   "  X !!X!          V V V 8 8 8 8 8 8 8r rnceZdZd fd ZdZedZdZd dZedZ e j d Z d Z d ZxZS)rkNTcttjdtjdd}|||t dtj|tj}|jdkrt dtj |d }tjd}|d |d z z|dddf<t||||d | |_ dS)a  Create a Box Primitive as a subclass of Trimesh Parameters ---------- extents : Optional[ndarray] (3,) float Length of each side of the 3D box. transform : Optional[ndarray] (4, 4) float Homogeneous transformation matrix for box center. bounds : Optional[ndarray] (2, 3) float Axis aligned bounding box, if passed extents and transform will be derived from this. mutable : bool Are extents and transform mutable after creation. rr+)rFrcNz188::~-4466   r c|jjSrrDr%s rrFz Box.transformrr c\tj|jj||jj}|S)a Return random samples from inside the volume of the box. Parameters ------------- count : int Number of samples to return Returns ---------- samples : (count, 3) float Points inside the volume )rccountrF)rvolume_rectangularrErcrF)rr sampless r sample_volumezBox.sample_volumes5+N*n.    r cJ||tdtj|jj |jjgdz}|t j||}n(|t j||}ntdtj ||jj }|S)a Return a 3D grid which is contained by the box. Samples are either 'step' distance apart, or there are 'count' samples per box side. Parameters ----------- count : int or (3,) int If specified samples are spaced with np.linspace step : float or (3,) float If specified samples are spaced with np.arange Returns ----------- grid : (n, 3) float Points inside the box Nz$only step OR count can be specified!g?)step)r z'either count or step must be specified!)rw) r3r<rrErcr grid_arange grid_linspacerstransform_pointsrF)rr rrgrid transformeds r sample_gridzBox.sample_grid s&  !1CDD DDN22DN4JKLLsR  #F666DD  %fE:::DDFGG G)$t~7OPPP r ctj|jjdr>t j|jjddddft jd SdS)zK Returns whether or not the current box is rotated at all. r_rr+F)r r-rErFr<rgrr%s r is_orientedzBox.is_oriented0sU =16 : : {4>#;AaC1H#ErvayyQQQ Q5r c\ttj|jj}|S)z Volume of the box Primitive. Returns -------- volume : float Volume of box. )rr<prodrErcrs rrz Box.volume:s%rwt~56677 r c.tjdtj|jj|jj}|jj |jj|j |jd<|j |jd<|j |jd<dS)Nzcreating mesh for Box primitiverr7r(r:) r rrrrErcrFrcacherMr7r(r:)rrs rr.zBox._create_meshGs 3444lN*dn6N      !1222"%, J"y G&)&6 N###r cPddlm}||jj|jjS)z Return a Path3D containing the outline of the box. Returns ----------- outline : trimesh.path.Path3D Outline of box primitive r) box_outliner) path.creationrrErcrF)rrs r as_outlinezBox.as_outlineRs@ /.....{N*dn6N    r )NNNT)NN)r$rrrrIrrFrrrrrrr.r rrs@rrkrks' ' ' ' ' ' R   "((X(*!!!!FX     7 7 7       r rkceZdZdfd ZejdZejdZejdZe dZ e d Z ejd Z d Z dd Zd ZdZxZS) ExtrusionNr`Tcddlm}t|ddgdt jddd}t|||||d||_dS) a Create an Extrusion primitive, which is a subclass of Trimesh. Parameters ---------- polygon : shapely.geometry.Polygon Polygon to extrude transform : (4, 4) float Transform to apply after extrusion height : float Height to extrude polygon by mutable : bool Are extents and transform mutable after creation. r)Pointr`r)polygonrFrarFr%rarN) shapely.geometryr$rrrr<rrrE)rr%rFrarr$rrs rrzExtrusion.__init__es" +***** uaV}}++C00   - !*w&QQ    r ct|jj|jjjz}||jjjdzz }|S)z The surface area of the primitive extrusion. Calculated from polygon and height to avoid mesh creation. Returns ---------- area: float Surface area of 3D extrusion r)rprErar%lengthrrs rrzExtrusion.areas?4>(4>+A+HHII &+a// r c\t|jjj|jjz}|S)z The volume of the Extrusion primitive. Calculated from polygon and height to avoid mesh creation. Returns ---------- volume : float Volume of 3D extrusion )rprEr%rrars rrzExtrusion.volumes(T^+04>3HHII r ctj|jjddddfddtj|jjg}|S)z Based on the extrudes transform what is the vector along which the polygon will be extruded. Returns --------- direction : (3,) float Unit direction vector Nr+)r<rurErFsignra)rrs rrzExtrusion.directionsNF N $RaR!V ,sCAV9W9W.X  r c.|jjdddfS)z Based on the extrude transform what is the origin of the plane it is extruded from. Returns ----------- origin : (3,) float Origin of extrusion plane Nr+rDr%s roriginzExtrusion.origins~'A..r c|jjSrrDr%s rrFzExtrusion.transformrr cddlm}||jjjj\}}tj|t|jj }tj tj|}|jj dz |d<tj|jj|}t#||d}|S)Nr)rrrF)rFrcr)roriented_bounds_2DrEr%exteriorcoordsr<appendrprariinvrsplanar_matrix_to_3DrurFrk)rr to_originrrc rotation_Zto_3Dobbs rrzExtrusion.bounding_box_orienteds  224>3I3R3YZZ 3)CT^%:!;!;<<Y]]2#9)#D#DEE >036 4t~/<<E7EBBB r ct|}tjd}||d<tj|jj|}||j_dS)z Alter the transform of the current extrusion to slide it along its extrude_direction vector Parameters ----------- distance : float Distance along self.extrude_direction to move rrN)rr<rrurErFrP)rr translation new_transforms rslidezExtrusion.slidesd??fQii $ Dt~7<<>> @P@P@R@RSS #0   r c xt|}||}|jj}|tj|dz|zz }t |d|jj|jj ||d|}| tj| |z|S)a Return a new Extrusion object which is expanded in profile and in height by a specified distance. Parameters -------------- distance : float Distance to buffer polygon distance_height : float Distance to buffer above and below extrusion kwargs : dict Passed to Extrusion constructor Returns ---------- buffered : primitives.Extrusion Extrusion object with new values Nrr&rL) rrErar<r-r#rFrPr%rr@)rrdistance_heightrSrars rrzExtrusion.buffers&??  "&O&"'&//C'/994:: n.3355N*11(;;      '/9:::r cd|jjj|jjt |jjdS)a" Get a copy of the current Extrusion primitive as a JSON-serializable dict that matches the schema in `trimesh/resources/schema/extrusion.schema.json` Returns ---------- as_dict : dict Serializable data for this primitive. extrusion)rKr%rFra)rEr%wktrFrrrar%s rrIzExtrusion.to_dictsE ~-1188::DN122    r c tjdtj|jj|jj|jj}tj r|j dkrtd|j |j d<|j|j d<dS)Nz%creating mesh for Extrusion primitive)r%rarFr,zmatrix inverted mesh!r7r()r rrextrude_polygonrEr%rarFr strictrr3r7rr(rs rr.zExtrusion._create_mesh*s 9:::'N*>(n.    : 6$+++455 5#'- J#z Gr )NNr`Tr)r$rrrrrrrrrr/rFrr@rrIr.rrs@rr"r"ds2! ! ! ! ! ! F "       / /X /((X( "111 ))))V   $*******r r")"rrnumpyr<r2rrrrrr r rsbaser constantsr r typedrrrrrrhflags writeablerrrlrmrnrkr"rLr rrOsG AAAAAAAAAAAAAAAA######777777777777 BF1II ! ADADADADADADADADH]]]]]]]]@U8U8U8U8U8yU8U8U8pP8P8P8P8P8iP8P8P8fM8M8M8M8M8YM8M8M8`h h h h h )h h h VU*U*U*U*U* U*U*U*U*U*r