l0jJ dZddlZddlmZddlmZmZddlm Z ddl m Z ddl m Z  dd lmZn##e$rZdd lmZeeZYdZ[ndZ[wwxYwd Zd Zd Z dZGddZGddZdZ ddZddZdS)z< proximity.py --------------- Query mesh- point proximity. N)util)log_timetol) group_min) closest_point)points_to_barycentric)cKDTree)ExceptionWrapperctj|tj}tj|dst d|jt|j|j }| |d d}|tj z }tj||z ||zf}fd|D}|S)an For each point find nearby faces relatively quickly. The closest point on the mesh to the queried point is guaranteed to be on one of the faces listed. Does this by finding the nearest vertex on the mesh to each point, and then returns all the faces that intersect the axis aligned bounding box centered at the queried point and extending to the nearest vertex. Parameters ---------- mesh : trimesh.Trimesh Mesh to query. points : (n, 3) float Points in space Returns ----------- candidates : (points,) int Sequence of indexes for mesh.faces dtypepoints must be (n,3)!r)rrcTg|]$}t|%S)list intersection).0brtrees T/home/wildlama/miniconda3/envs/lam/lib/python3.11/site-packages/trimesh/proximity.py z nearby_faces..@s/>>>!$u))!,,-->>>)np asanyarrayfloat64ris_shape ValueErrortriangles_treer verticesreferenced_verticesqueryreshapermerge column_stack)meshpointskdtreedistance_vertexbounds candidatesrs @r nearby_facesr/s.]6 4 4 4F = ) )20111  E T]4#;< = =Fll6**1-55g>>Osy O_f68PQ R RF?>>>v>>>J rc|jtjtj|tj}t jdstdt j|dstdtj |dtf}tj fd|D}dt||D}tj d |D}tj d t||D}tj d t||Dd z}|||fS) a] Given a mesh and a list of points find the closest point on any triangle. Does this by constructing a very large intermediate array and comparing every point to every triangle. Parameters ---------- mesh : Trimesh Takes mesh to have same interfaces as `closest_point` points : (m, 3) float Points in space Returns ---------- closest : (m, 3) float Closest point on triangles for each point distance : (m,) float Distances between point and triangle triangle_id : (m,) int Index of triangle containing closest point r )rrrztriangles shape incorrectrzpoints must be (n,3)rcVg|]%}t|d&S)r)_correspondingr&)ri triangless rrz'closest_point_naive..is/MMM1 199W#5#5 6 6MMMrcLg|]!\}}||z dzd"S)raxis)sum)rr3qs rrz'closest_point_naive..ms5RRRAAEa<$$!$,,RRRrc6g|]}|Sr)argmin)rr3s rrz'closest_point_naive..os ;;;1AHHJJ;;;rc$g|] \}}||Srrrr3gs rrz'closest_point_naive..rs GGGA!GGGrc$g|] \}}||Srrr>s rrz'closest_point_naive..ss GGG$!Q1GGGr?) r4viewrndarrayrrrr r!tilelenarrayzip) r)r* points_tiled on_triangle distance_2 triangle_idclosestdistancer4s @rclosest_point_naiverNEs`2##BJ//I ]6 4 4 4F =J / /64555 = ) )1/00076As9~~#677L(MMMM MMMK SR[&9Q9QRRRJ(;; ;;;<.s@OOORR1RZZ\\"1"%%1a&OOOrrrr7r6rA)rrrrr r!r/r4rBrC concatenatermaprErepeataranger2cumsum diagonal_dot array_splitint32r&ptprr'allabs bitwise_and face_normalsr9argmax)r)r*r.r4all_candidatesnum_candidates tile_idxs query_point query_tri query_close query_group query_vectorquery_distanceqdsidxs two_points two_diststwo_candidates result_close result_tidresult_distancecheck_distancecheck_magnitudec_masknormalsvectorsdotsc_idxss rrrxs*]6 4 4 4F = ) )20111dF++J##BJ//I^J//N#c:..//N ")CKK00.AAIAAA&K.)I!K88K)N++CRC0K,L&|\BBN . 5 5C 8OO3OOO P PDHHH ##B***HHHT"Jt$I#D)NtAAAqDz*L1%J1oOVIA...:NfRVI..:CCCO^NO < irr7gr6g?)rrrrrr'anywherer_Teinsumr r4signraycontains_pointsastypeint) r)r*rLrMrKnonzeroru projection barycentric ontriangler~insides rsigned_distancers*]6 4 4 4F&34%@%@"GX{"G ;;==hw"G ,Gw G  i F7Ogg6F$FPWHXYY Z  ({77K(LjYYK  "{Q]'B CHHaHPPJ 7  GJ' ( 7:& '*Z*@ @    D WZ !!!TD[0!!!X % %fWj[-A&B C CF MM#   "c )D Wj[ !"""d*""" OrceZdZdZdZdZdS)NearestQueryResultzN Stores the nearest points and attributes for nearest points queries. chd|_d|_d|_d|_d|_d|_d|_dSN)nearest distancesrutriangle_indicesbarycentric_coordinatesinterpolated_normalsvertex_indicesselfs r__init__zNearestQueryResult.__init__%s=  $'+$$(!"rc&|jdup|jduSr)rurrs r has_normalszNearestQueryResult.has_normals.s|4'P4+DD+PPrN)__name__ __module__ __qualname____doc__rrrrrrr sA###QQQQQrrc:eZdZdZdZedZdZdZdS)ProximityQueryz1 Proximity queries for the current mesh. c||_dSr)_mesh)rr)s rrzProximityQuery.__init__7s  rc.t|j|S)a Given list of points, for each point find the closest point on any triangle of the mesh. Parameters ---------- points : (m,3) float, points in space Returns ---------- closest : (m, 3) float Closest point on triangles for each point distance : (m,) float Distance to surface triangle_id : (m,) int Index of closest triangle for each point. )r)r*)rrrr*s r on_surfacezProximityQuery.on_surface:s&$*V<<<4!12 3 3D 29RVSAQ=R=R+S+STUUI T9 % %%rTư>dctj|tj}tj|dst d|ttj|tj}tj|dst dt |t |krt dn!|jt||d}|r| }t|||}|dz}tj t |t}tj tj |d D]} tj|j|| z || } | t"jkrtj|| <d || <b|j| } tj| || z | || z dtj| || z || zz || <||tj|d d zz} tjtjtjg| tj |<tj|jd |jd z } || z}d }|d kr||kr|d z }|j| |\}}}tj|tj| |||z d z t"jk}d |tj |d |<||||z }||}tj d||dtj d|||zz ||<||||||d d zz| |<|||z |k}d |tj |d |<|d kr||k| |fS)aH Find the center and radius of the sphere which is tangent to the mesh at the given point and at least one more point with no non-tangential intersections with the mesh. Masatomo Inui, Nobuyuki Umezu & Ryohei Shimane (2016) Shrinking sphere: A parallel algorithm for computing the thickness of 3D objects, Computer-Aided Design and Applications, 13:2, 199-207, DOI: 10.1080/16864360.2015.1084186 Parameters ---------- points : (n, 3) float Points in space. inwards : bool Whether to have the sphere inside or outside the mesh. normals : (n, 3) float or None Normals of the mesh at the given points if is None computed automatically. Returns ---------- centers : (n,3) float Centers of spheres radii : (n,) float Radii of spheres r rrNnormals must be (n,3)!.number of points must equal number of normals!r6rArFrrr7z ij, ij->i)!rrrrr r!rEr_rronesboolr{isinfdotr#maxrrrr` nan_to_numr&nanrrr-r9rrr]copyr})r)r*inwardsru thresholdmax_iterrradii not_convergedr3 projectionsrcentersDconvergence_thresholdn_itern_pointsn_dists_n_facesdonediff old_radiicvgeds rmax_tangent_spherers)>]6 4 4 4F = ) )20111-rz:::}Wg.. 7566 6 v;;#g,, & &MNN N '#M$$?$?$BC(D&'22I OEGCKKt444MXbhy)) * *1 -  fT]VAY6 CC ??  sz ) )vE!H$M!  ];#5#5#7#78Fvfvay0&6!92DEEBF6F1I-wqz:::E!HH wu}}R/C/C!D!DDDG "7GBHUOO t{1~ A677A%M F      ! !fx&7&7! &*l&=&=gm>T&U&U#'8 F)..!7&:O!OVW.XXY  j   ;@ bh}--a067 !66-(--// !ydDAA  +tW]-CDD D m"( !69ORW S '"a..:"  E-003HH;@ bh}--a078;      ! !fx&7&7> E>rF max_spherecttj|tj}tj|dst d|ttj|tj}tj|dst dt |t |krt dn!|jt||d}|dkrt||| | \}}|dz}|S|d kr%|rt|||St||| St d ) a Find the thickness of the mesh at the given points. Parameters ---------- points : (n, 3) float Points in space exterior : bool Whether to compute the exterior thickness (a.k.a. reach) normals : (n, 3) float Normals of the mesh at the given points If is None computed automatically. method : string One of 'max_sphere' or 'ray' Returns ---------- thickness : (n,) float Thickness at given points. r rrNrrr6r)r)r*rrurz)Invalid method, use "max_sphere" or "ray") rrrrr r!rEr_rrr)r)r*exteriorrumethod_centersradius thicknesss rrrsK,]6 4 4 4F = ) )20111-rz:::}Wg.. 7566 6 v;;#g,, & &MNN N '#M$$?$?$BC -f(lG   &QJ  5  7tVW55 5tVgX66 6DEEEr)TNrr)FNr)rnumpyrr constantsrrgroupingrr4rr2r scipy.spatialr BaseExceptionE exceptionsr r/rNrrrrrrrrrrs$$$$$$$$666666,,,,,,"%%%%%%%""",,,,,,q!!GGGGGG" ***Z0*0*0*f^5^5^5BDDDNQQQQQQQQ$B3B3B3B3B3B3B3B3J,&,&,&`HKqqqqh1F1F1F1F1F1Fs/AA  A