l0j:dZddlZddlmZmZddlmZddlm Z ddl m Z  ddl Z n##e$rZddlmZeeZ YdZ[ndZ[wwxYw dd lmZn##e$rZddlmZeeZYdZ[ndZ[wwxYwd Zdd Zdd ZddZdZddZdS)zL repair.py ------------- Fill holes and fix winding and normals of meshes. N)graph triangles)log)faces_to_edges) group_rows)ExceptionWrapper) faces_to_pathc||jrdStj|j}d}|jt j}tj |D]}| |}tt| }tj||D]}t j|}||}t!|} t#t j| dd} t'| dkrf| | d} | dd| ddkr%|dz }||dddd||d<|dkr||_t)jd|t'|jd zdS) z Traverse and change mesh faces in-place to make sure winding is correct with edges on adjacent faces in opposite directions. Parameters ------------- mesh : Trimesh Source geometry to alter in-place. Nrraxis require_countzflipped %d/%d edges)is_winding_consistentnx from_edgelistface_adjacencyfacesviewnpndarraycopyconnected_componentssubgraphnextiternodes bfs_edgesravelrrsortlenrdebug) mesh graph_allflippedr componentsgstart face_pairpairedgesoverlap edge_pairs Q/home/wildlama/miniconda3/envs/lam/lib/python3.11/site-packages/trimesh/repair.py fix_windingr2 s ! !455IG JOOBJ ' ' , , . .E-i88@@   z * *T!''))__%%a// @ @I ++I#D"4((E Q!7!7!7qIIIG7||q  gaj)I|A)A,q/111 &+IaL&9$$B$&?il#% @({{ I#Wc$*oo.ABBBBBFc|jsdS|r@tj|j}t |dkr!|jdkr|dStjt |j t}|j }|j }|D]6}tj ||||dd}|dkrd||<7|rgd|jvr*|j}||xxd zcc<nd}tj|j ||j |<| ||_dSdSdS|jdkr|dSdS) z Check to see if a mesh has normals pointing "out." Parameters ------------- mesh : trimesh.Trimesh Mesh to fix in-place. multibody : bool If True will try to fix normals on every body NrgdtypeT)crosses skip_inertiavolume face_normalsg) is_watertightrrrr$r9invertrzerosrboolrtriangles_crossmass_propertiesany_cacher:rfliplr) r& multibodygroupsfliptricrossrr9normalss r1 fix_inversionrJYs  $+D,?@@ v;;!  {S   FxDJt444n$ # #E.E E%LtF ||"U 88:: ,,,+0022 % !yD)9::DJt "$+!!! , ,#" s     r3cFt|t||dS)a Fix the winding and direction of a mesh face and face normals in-place. Really only meaningful on watertight meshes but will orient all faces and winding in a uniform way for non-watertight face patches as well. Parameters ------------- mesh : trimesh.Trimesh Mesh to fix normals on multibody : bool if True try to correct normals direction on every body rather than just one Notes -------------- mesh.faces : will flip columns on inverted faces )rDN)r2rJ)r&rDs r1 fix_normalsrLs+,$),,,,,,r3cntj|j}dt|D}t j|}|H|jdkr=t j|}|j dks|j dksgd}||j j |<|S)al Return the index of faces in the mesh which break the watertight status of the mesh. Parameters -------------- mesh : trimesh.Trimesh Mesh to check broken faces on color: (4,) uint8 or None Will set broken faces to this color if not None Returns --------------- broken : (n, ) int Indexes of mesh.faces c$g|] \}}|dk |Sr).0kvs r1 z broken_faces..s! G G GDAqQar3Nr)rO)rrrV) rrrdictdegreeitemsrarraysizeshapevisual face_colors)r&color adjacencybrokens r1 broken_facesrbs" !455I G GD!1!1!3!344::<< G G GF Xf  F V[A-- t##u{d':':$$$E*/ ' Mr3cld}t|jdkrdS|jrdSt|jd}t|dkrdS|j|}d|D}t jtj ||f}g}g}t j |D]}||\} } t| d kr%tj | } | | d kxxt|t|j zt| zz cc<| | | | tj |}tj |}t|d krdSt|D]L\} } | d d } |j|j| d }| d |dk}|s| d d d || <Mt|d krtj|j |f}n|j }d|jjvr|jjd}nd }t'j||\}}|sdS|jjr|jjdkr |jj}nd }tj|jd||f|_||_ |j|tj||f|_|xtj|}t|d krQtj|d tj|df}tj||f}||j_tAj!dtj||jS)ab Fill single- triangle holes on triangular meshes by adding new triangles to fill the holes. New triangles will have proper winding and normals, and if face colors exist the color of the last face will be assigned to the new triangles. Parameters ------------ mesh : trimesh.Trimesh Mesh will be repaired in- place ctj|}t|dkr|ggfSt|dkr|gd}|gd}||ggfSggfS)a Given a loop of vertex indices representing a hole turn it into triangular faces. If unable to do so, return None Parameters ----------- hole : (n,) int Ordered loop of vertex indices Returns --------- faces : (n, 3) int New faces vertices : (m, 3) float New vertices rrU)rrr)rrr)r asanyarrayr$)holeface_Aface_Bs r1 hole_to_facesz!fill_holes..hole_to_facessp$}T"" t99>>62:  t99>>)))_F)))_FF#R' '2v r3rFTrrcg|]}d|iS)indexrP)rQis r1rTzfill_holes..s;;;agq\;;;r3)rfrNrrkrr:facerz Filled in mesh with %i triangles)"r$rr;r edges_sortedr.rrr column_stack cycle_basisrZverticesextend enumerate get_edge_datavstackrBcacherrIrAr]definedkindr^_dataverifyr:r\tilesumrr%)r&riboundary_groupsboundary_edges index_as_dictr* new_faces new_vertexrfrvertex face_indexrm edge_test edge_boundaryreversed new_verticescached_normals new_normalsvalidr_ color_shape new_colorss r1 fill_holesrs: 4:u t!!2!DDDO  ?auZ0N;;?;;;M .-)HIIJJAIJq!!   & 4000 v u::??  eaiC OOc$-.@.@@3v;;NN&!!!##I*%%J 9~~u%i00 / / D!H  ?1?I#>w#GH Q<=#33 /$(2JIj ! :!y$-!<== } ****>:#*< +BCCK 99;;u  {t{/699 'DJw/51ABCCDJ DM K!I~{&CDD  huoo {  q rRVE]]A,>??JE:#677J&0DK #I0"&--@@@  r3cZ|&tjt|j}dt ||dD}|j|j}|j}|j}|ratj fd|D}ttj |ffdt|D}n d|D}ttt||D]\} } | ddddf} | d || d } t| d krgtj| } ||| }t%j| dd \}}|s|d }tj||}|d krtj| || <tj |}|r||fS|S)aC Create a fan stitch over the boundary of the specified faces. If the boundary is non-convex a triangle fan is going to be extremely wonky. Parameters ----------- mesh : trimesh.Trimesh Mesh to create fan stitch on. faces : (n,) int Face indexes to stitch with triangle fans. insert_vertices : bool Allow stitching to insert new vertices? Returns ---------- fan : (m, 3) int New triangles referencing mesh.vertices. vertices : (p, 3) float Inserted vertices (only returned `if insert_vertices`) Ncg|]=}t|jdk|jd|jdk6|j>S)rrr)r$points)rQes r1rTzstitch..~sM qx==1  ! !.s.GGG1hqk..A.66GGGr3c g|][\}}tjtjt|dz t|zz|dd|ddf\S)rr5Nrrroonesr$int)rQrlrcounts r1rTzstitch..su   1 ORWSVVaZs;;;uqyI1SbS6STUVUWUWSXY Z Z   r3c g|][}tjtjt|dz t|dz|dd|ddf\S)rr5rrrrr)rQrs r1rTzstitch..sl    ORWSVVaZs;;;adBAadGQqQStWU V V   r3 rr g|=)rrr)raranger$rr rqr: edges_faceedges_sorted_treerZrursziprangerr#query_ball_point concatenaterrIrAdotrrC)r&rinsert_verticesrrIr tree_edge centroidsfanrltrquery edge_indexoriginalcheckrsignrrqs @@r1stitchrbsM, } #dj//** tU++J7F}HGJ&I HGGGGGGGHH H 9h 233    !&))        E#c((OOS))""1 crc122gJOO   A **1*66 u::?? ^E** :j12!(!BQB%99 uyy{{  avh&& 99;;??Yq\\CF )C..CI~ Jr3)F)N)NF)__doc__numpyrrr constantsrgeometryrgroupingrnetworkxr BaseExceptionE exceptionsr path.exchange.miscr r2rJrLrbrrrPr3r1rs$$$$$$ -,,,,,  !  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