l0jdZddlZddlZddlZddlZddlZddlZddlZddlZddl Z ddl Z ddl Z ddl Z ddl Z ddlmZddlmZmZddlmZddlZejdZejZe j ZejZejejjdzZdZ d Z!ej"d ej Z#d e#j$d <d e%de&fdZ'd]dZ(de)fdZ*dZ+dZ,de&fdZ-de&fdZ.de&fdZ/d^de&de&fdZ0dZ1d^dZ2dZ3dZ4dZ5 ej6j7Z7n##e8$re9ddZ7YnwxYwd Z:d!Z;d^d"Zd%Z?d&Z@d'ZAd(ZBd_deCfd)ZDejEddd*d*dfd+ZFd,ZGd-ZHd`d2ZI d`d3ZJdad5ZKdbd7ZLdcd9ZMd:ZNd;ZOddd<ZPd=ZQ d_ded>fd?ZR ded@ZSdfdAZTdBZUdCZVdDZWdEZXdgdGZYdHZZdIZ[dJZ\d_dKZ]dLZ^dMZ_dNZ`dbdOZadhdQZbdidSZcdjdTe)fdUZddjdTe)fdVZeGdWdXeZfdbdYZgdZZhd^d[Zid_d\ZjdS)kz util.py ----------- Standalone functions which require only imports from numpy and the standard library. Other libraries may be imported must be wrapped in try/except blocks or imported inside of a function N)Mapping)BytesIOStringIO)Uniontrimeshd:0yE>Fdtype WRITEABLEnamereturncVtjdkrddlm}nddlm}||duS)a  Check to see if a module is installed by name without actually importing the module. Parameters ------------ name : str The name of the module to check Returns ------------ installed : bool True if module is installed ) r) find_spec) find_loaderN)sys version_infoimportlib.utilrpkgutilr)rrs O/home/wildlama/miniconda3/envs/lam/lib/python3.11/site-packages/trimesh/util.py has_moduler6sN 7"",,,,,,, 544444 9T??$ &&c:tj|}|t}t|jdkrhtjtj||zdg|jdz}||k}||xxdzcc<||dz}nqt|jdkrJtjtj||}||k}|r||z }n$|}ntd|r |||fS|S)a Unitize a vector or an array or row-vectors. Parameters ------------ vectors : (n,m) or (j) float Vector or vectors to be unitized check_valid : bool If set, will return mask of nonzero vectors threshold : float Cutoff for a value to be considered zero. Returns --------- unit : (n,m) or (j) float Input vectors but unitized valid : (n,) bool or bool Mask of nonzero vectors returned if `check_valid` N?r rz vectors must be (n, ) or (n, d)!) np asanyarrayTOL_ZEROlenshapesqrtdotreshapecopy ValueError)vectors check_valid thresholdnormvalidunits runitizer2Os$*mG$$G  7=Qwrvg/#q9I1IJJKKy  U  g... W]  q wrvgw//00y   "T>DD<<>>DD;<<<"E{E!! Krctjdtdtj|tj}tj|tj}tj||z dzS)zB DEPRECATED: use `np.linalg.norm(a - b)` instead of this. zp`trimesh.util.euclidean` is deprecated and will be removed in January 2025. replace with `np.linalg.norm(a - b)`r)category stacklevelr )warningswarnDeprecationWarningr"r#float64r'sumabs r euclideanr>s| M 1$  arz***A arz***A 7QUqL%%'' ( ((rcBt|dpt|dS)z Check if an object is file-like Parameters ------------ obj : object Any object type to be checked Returns ----------- is_file : bool True if object is a file readwritehasattrobjs ris_filerFs# 3   873#8#88rcd|jj}t|do|dS)z Check if the object is a `pathlib.Path` or subclass. Parameters ------------ obj : object Object to be checked Returns ------------ is_pathlib : bool Is the input object a pathlib path absolutePath) __class____name__rCendswithrErs r is_pathlibrNs/ = !D 3 # # = f(=(==rc,t|tS)z Check if an object is a string. Parameters ------------ obj : object Any object type to be checked Returns ------------ is_string : bool True if obj is a string ) isinstancestrrDs r is_stringrRs c3  rcf|dSt|rt|dkr |ddSdS)a Check to see if an object is None or not. Handles the case of np.array(None) as well. Parameters ------------- obj : object Any object type to be checked Returns ------------- is_none : bool True if obj is None or numpy None-like NTrrF) is_sequencer%rDs ris_nonerUs>  {t3CHHMMc!fnt 5rc2td rtdptd}|o,tfdtttfD}|ot jdv}tdr |o jdk}|S)z Check if an object is a sequence or not. Parameters ------------- obj : object Any object type to be checked Returns ------------- is_sequence : bool True if object is sequence strip __getitem____iter__c3:K|]}t| VdSN)rP.0irEs r zis_sequence..s0GG*S!,,,GGGGGGr) PointCloudr&)rCalldictsetrQtyperKr&)rEseqs` rrTrTssG$$ $ Dm)D)D  ZJJC  G#GGGGtS#6FGGGGGC  :$s))$N:CsG&%ci2o Jr allow_zerosc@t|dr%t|jt|krdSt|dkrd|vrdSt|j|D]7\}}t |r||vrdS|dkr |dkr|sdS.||krdS8dS)a[ Compare the shape of a numpy.ndarray to a target shape, with any value less than zero being considered a wildcard Note that if a list-like object is passed that is not a numpy array, this function will not convert it and will return False. Parameters ------------ obj : np.ndarray Array to check the shape on shape : list or tuple Any negative term will be considered a wildcard Any tuple term will be evaluated as an OR allow_zeros: bool if False, zeros do not match negatives in shape Returns --------- shape_ok : bool True if shape of obj matches query shape Examples ------------------------ In [1]: a = np.random.random((100, 3)) In [2]: a.shape Out[2]: (100, 3) In [3]: trimesh.util.is_shape(a, (-1, 3)) Out[3]: True In [4]: trimesh.util.is_shape(a, (-1, 3, 5)) Out[4]: False In [5]: trimesh.util.is_shape(a, (100, -1)) Out[5]: True In [6]: trimesh.util.is_shape(a, (-1, (3, 4))) Out[6]: True In [7]: trimesh.util.is_shape(a, (-1, (4, 5))) Out[7]: False r&Frr T)rCr%r&ziprT)rEr&rgr^targets ris_shaperksb 3 C NNc%jj$@$@u 3xx1}}ut E** 6 v   F{{uu A::Avvkvuu Q;;55  4rct|r!tjt|Stj|gS)a Given an object, if it is a sequence return, otherwise add it to a length 1 sequence and return. Useful for wrapping functions which sometimes return single objects and other times return lists of objects. Parameters ------------- obj : object An object to be made a sequence Returns -------------- as_sequence : (n,) sequence Contains input value )rTr"arraylistrDs r make_sequenceroZs:$3xS """xrc tj|tj}t|dr|t k}tjtj||tk}tjt|tj}d||dddf<d|tj |dddf|dddf<n t|dr|t k}tjtj||tk}tjt|tj}d||dddf<d|tj |dddf|dddf<d|tj tj |dddf|dddf|dddf<ntd || d z}|r||fS|S) a For a set of 3D vectors alter the sign so they are all in the upper hemisphere. If the vector lies on the plane all vectors with negative Y will be reversed. If the vector has a zero Z and Y value vectors with a negative X value will be reversed. Parameters ------------ vectors : (n, 3) float Input vectors return_sign : bool Return the sign mask or not Returns ---------- oriented: (n, 3) float Vectors with same magnitude as source but possibly reversed to ensure all vectors are in the same hemisphere. sign : (n,) float [OPTIONAL] sign of original vectors r r rgNrrr rrzvectors must be (n, 3)!r!) r"r#r9rkr$ logical_not logical_oronesr% logical_andr+r))r, return_signnegativezerosignsorienteds rvector_hemispherer|rs8mG2:666G!!!4hY&~bmHg6HIIJJG BJ777 $hqqq!tn=AbnT!!!Q$Z!!!Q$8899 '7 # #4hY&~bmHg6HIIJJG BJ777 $hqqq!tn<@bnT!!!Q$Z!!!Q$889   N2>$qqq!t*d111a4jAA8AAAqD> R R  2333w///H Orctj|tj}t|dst dt |d\}}d|tj|tk<|j\}}}tj t|dftj}tj tj ||tj |f||<|S)z Convert a set of cartesian points to (n, 2) spherical unit vectors. Parameters ------------ cartesian : (n, 3) float Points in space Returns ------------ spherical : (n, 2) float Angles, in radians r rrz Cartesian points must be (n, 3)!T)r-r)r"r#r9rkr+r2abs TOL_MERGETzerosr% column_stackarctan2arccos) cartesianr1r0xyz sphericals rvector_to_sphericalrs irz:::I Iw ' '=;<<<)666KD%%(D !"fGAq!#i..!,BJ???I 1a(8(8")A,,'GHHIe rcntj|tj}t|dst d|j\}}tj|tj|}}tj|tj|}}tj||z||z|fS)z Convert an array of `(n, 2)` spherical angles to `(n, 3)` unit vectors. Parameters ------------ spherical : (n , 2) float Angles, in radians Returns ----------- vectors : (n, 3) float Unit vectors r rqz%spherical coordinates must be (n, 2)!) r"r#r9rkr+rsincosr)rthetaphistctspcps rspherical_to_vectorrs irz:::I Iw ' 'B@AAAJE3 VE]]BF5MMB VC[["&++B ?BGR"Wb1 2 22rcft|tjr]|d}tj||f}|dddd}|Sddl}||\}}t|t||S)a For an iterable, group values into pairs. Parameters ------------ iterable : (m, ) list A sequence of values Returns ----------- pairs: (n, 2) Pairs of sequential values Example ----------- In [1]: data Out[1]: [0, 1, 2, 3, 4, 5, 6] In [2]: list(trimesh.util.pairwise(data)) Out[2]: [(0, 1), (1, 2), (2, 3), (3, 4), (4, 5), (5, 6)] r rrqrN) rPr"ndarrayr)r itertoolsteenextri)iterablestackedpairsrr<r=s rpairwisers2(BJ''##B''/8X"677##AbD)11'::  == " "DAqGGG q!99rz1np.linalg.multi_dot not available, using fallbackctj|}|d}|ddD]}tj||}|S)z Compute the dot product of two or more arrays in a single function call. In most versions of numpy this is included, this slower function is provided for backwards compatibility with ancient versions of numpy. rrN)r"r#r*r()arraysresultr^s r multi_dotr sU v&&!! ' 'AVFA&&FF rcxtj|}tj||zdg|jdzS)aD Dot product by row of a and b. There are a lot of ways to do this though performance varies very widely. This method uses a dot product to sum the row and avoids function calls if at all possible. Comparing performance of some equivalent versions: ``` In [1]: import numpy as np; import trimesh In [2]: a = np.random.random((10000, 3)) In [3]: b = np.random.random((10000, 3)) In [4]: %timeit (a * b).sum(axis=1) 1000 loops, best of 3: 181 us per loop In [5]: %timeit np.einsum('ij,ij->i', a, b) 10000 loops, best of 3: 62.7 us per loop In [6]: %timeit np.diag(np.dot(a, b.T)) 1 loop, best of 3: 429 ms per loop In [7]: %timeit np.dot(a * b, np.ones(a.shape[1])) 10000 loops, best of 3: 61.3 us per loop In [8]: %timeit trimesh.util.diagonal_dot(a, b) 10000 loops, best of 3: 55.2 us per loop ``` Parameters ------------ a : (m, d) float First array b : (m, d) float Second array Returns ------------- result : (m,) float Dot product of each row rr)r"r#r(r&r;s r diagonal_dotr-s9` aA 6!a%#+ , ,,rcttjtj|dzdg|jdzS)a  Compute the norm per-row of a numpy array. This is identical to np.linalg.norm(data, axis=1) but roughly three times faster due to being less general. In [3]: %timeit trimesh.util.row_norm(a) 76.3 us +/- 651 ns per loop In [4]: %timeit np.linalg.norm(a, axis=1) 220 us +/- 5.41 us per loop Parameters ------------- data : (n, d) float Input 2D data to calculate per-row norm of Returns ------------- norm : (n,) float Norm of each row of input array rr)r"r'r(r&)datas rrow_normrcs1. 726$'A3A#677 8 88rcztj|tj}|j}|dkrd}nt |dkrt d|ddkr8tj|tjt |f}d}n|ddkrd}nt d |r||fS|S) a For a list of (n, 2) or (n, 3) points return them as (n, 3) 3D points, 2D points on the XY plane. Parameters ------------ points : (n, 2) or (n, 3) float Points in either 2D or 3D space return_2D : bool Were the original points 2D? Returns ---------- points : (n, 3) float Points in space is_2D : bool [OPTIONAL] if source points were (n, 2) r rFrzPoints must be 2D array!rTrz Points must be (n, 2) or (n, 3)!)r"r#r9r&r%r+rr)points return_2Dr&is_2Ds rstack_3Dr}s&]6 4 4 4F LE }} Uq3444 qQ&"(3v;;*?*?!@AA qQ;<<<u} Mrctj|tj}t|dkrt dtj|tj}|jdkr tj||jd}dt|j|D}tj tj |ddi |jdd j}|S) a` Return a grid from an (2,dimension) bounds with samples step distance apart. Parameters ------------ bounds: (2,dimension) list of [[min x, min y, etc], [max x, max y, etc]] step: float, or (dimension) floats, separation between points Returns --------- grid: (n, dimension), points inside the specified bounds r rbounds must be (2, dimension!rarc6g|]\}}tj|d|iS)step)r"arange)r]r=ss r zgrid_arange..s+KKKtq!RY***KKKrindexingijr ) r"r#r9r%r+r&tilerirvstackmeshgridr))boundsr grid_elementsgrids r grid_arangers]6 4 4 4F 6{{a8999 =RZ 0 0 0D zRwtV\!_--KKs68T7J7JKKKM "+}.s+MMM1R[!+++MMMrrrr ) r"r#r9r%r+int64r&rrirrrr))rcountrrs r grid_linspacers]6 4 4 4F 6{{a8999 M%rx 0 0 0E {bv|A//MMFHe8L8LMMMM "+} 0x7F, or 127) Should work in both Python 2 and 3 iTF)tellr@seekrPrQord)file_objstartfbytesis_strfbytecodes ris_binary_filer s MMOOE ]]4 F MM%  $ $F  u::DDD #::44  5rc|}|dd|}||||z }|S)z For an open file object how far is it to the end Parameters ------------ file_obj: open file-like object Returns ---------- distance: int, bytes to end of file rr)rr)rposition_current position_enddistances rdistance_to_endrsV }} MM!Q==??L MM"###..H Orctttj|}|tj||d}t|S)a Return the number of digits to the first nonzero decimal. Parameters ----------- decimal: float min_digits: int, minimum number of digits to return Returns ----------- digits: int, number of digits to the first nonzero decimal N)rintr"log10clip)decimal min_digitsdigitss rdecimal_to_digitsr2sHRXg&&'' ( (FR00 v;;rTc |gd}tj|tjdd}|r- ddlm}|dddd d d d d d }n#t $rYnwxYw|tj}|||||5ttj j j }|tjddtjd_|D]Xjjdkst'fd|Dr.||Yt+jdddS)a Attach a stream handler to all loggers. Parameters ------------ level : enum Logging level, like logging.INFO handler : None or logging.Handler Handler to attach loggers : None or (n,) logging.Logger If None, will try to attach to all available colors : bool If True try to use colorlog formatter blacklist : (n,) str Names of loggers NOT to attach to N)TerminalIPythonApp PYREADLINEpyembreeshapely matplotlibparsozD[%(asctime)s] %(levelname)-7s (%(filename)s:%(lineno)3s) %(message)sz%Y-%m-%d %H:%M:%Sr)ColoredFormatterzW%(log_color)s%(levelname)-8s%(reset)s %(filename)17s:%(lineno)-4s %(blue)4s%(message)sTcyangreenyellowred)DEBUGINFOWARNINGERRORCRITICAL)datefmtreset log_colorsz py.warningsrLoggerc3LK|]}j|VdSr[)r startswith)r]r=loggers rr_z attach_to_log..sD8 8 *+FK " "1 % %8 8 8 8 8 8 r) precisionsuppress)loggingcaptureWarnings Formattercolorlogr ImportError StreamHandler setFormattersetLevelrdrmanager loggerDictvaluesadd getLoggerdisabledrJrKany addHandlerr"set_printoptions) levelhandlerloggerscolorscapture_warnings blacklist formatterrrs @r attach_to_logrFs 4    ,---!NI  1 1 1 1 1 1((J##'" % II    D ')) ### Ugn,7>>@@AA KK!-00111.2Gj!!*   $ 0 0C8 8 8 8 /88 8 8 5 5 0 '"""!d333333sA AAcHtj|}t|dkrtjgSt |drdt|df}nd}tj|dd|ddf|S)a Stack a list of values that represent a polyline into individual line segments with duplicated consecutive values. Parameters ------------ indices : (m,) any List of items to be stacked Returns --------- stacked : (n, 2) any Stacked items Examples ---------- In [1]: trimesh.util.stack_lines([0, 1, 2]) Out[1]: array([[0, 1], [1, 2]]) In [2]: trimesh.util.stack_lines([0, 1, 2, 4, 5]) Out[2]: array([[0, 1], [1, 2], [2, 4], [4, 5]]) In [3]: trimesh.util.stack_lines([[0, 0], [1, 1], [2, 2], [3, 3]]) Out[3]: array([[0, 0], [1, 1], [1, 1], [2, 2], [2, 2], [3, 3]]) rr rqNr)r"r#r%rmrTrr))indicesr&s r stack_linesr"sNmG$$G 7||qx|| WQZ S__% ?GCRCL'!""+6 7 7 ? ? F FFrchtjd|D}tjdtj|dd}g}t ||D]1\}}t |dkr|||z2t |}t |}||fS)a Given a sequence of zero-indexed faces and vertices combine them into a single array of faces and a single array of vertices. Parameters ----------- vertices_seq : (n, ) sequence of (m, d) float Multiple arrays of verticesvertex arrays faces_seq : (n, ) sequence of (p, j) int Zero indexed faces for matching vertices Returns ---------- vertices : (i, d) float Points in space faces : (j, 3) int Reference vertex indices c,g|]}t|Srar%r]r^s rrz append_faces..s:::SVV:::rrNr )r"rmrcumsumrir% vstack_empty) vertices_seq faces_seq vertices_len face_offset new_facesoffsetfacesverticess r append_facesr1s*8::\:::;;L)Ary66ss;<>/ 12Y> y>>#e**JWU]]7++a\ : : B B2 F FF" !6*:XI:6I rcb tjt|}t|}t|}t|}t jdkr"t dtjjjt d| ddkrt d|d}jjD]}|jj }t |jdkr|jdnd}|d vr| d d |z} nH|d kr-| d d t|zdz|z} nt dj||| zz }|dt | |z}|t z}t  tj fdjjD d} |j| dt | } | S)aQ Convert an unstructured array into a string with a specified number of digits and delimiter. The reason thisexists is that the basic numpy array to string conversionsare surprisingly bad. Parameters ------------ array : (n,) or (n, d) float or int Data to be converted If shape is (n,) only column delimiter will be used col_delim : str What string should separate values in a column row_delim : str What string should separate values in a row digits : int How many digits should floating point numbers include value_format : str Format string for each value or sequence of values If multiple values per value_format it must divide into array evenly. Returns ---------- formatted : str String representation of original array rr7Nz4array is not structured, use array_to_string insteadr8zNvalue_format %s is invalid, repeating unstructured array values is unsupportedrr9r5z{:0.0f}r;r<r=r>cJg|]}|df S)r )r))r]rrmrs rrz.structured_array_to_string..s/BBB1q  5"+ & &BBBrr )r"r#rrQr%r&r+r r?rr@rAhstackr)rB) rmrCrDrrErGrr@element_row_lengthelement_format_str flattenedrJrs ` @rstructured_array_to_stringrSNsW> M% E [[FIIII|$$L 5;! ;S=M=M    { OPPP#"" &    J ! > >T{ %58t9J5K5Kq5P5PU4[.q11VW :  !-!5!5dI!F!F!R   S[[$$T53v;;+>+EFFR  8%+FF F(+=== -s9~~o-.:J#e**J JJE BBBBB 0ABBB gbkk " !9-.?Y.?@I rbase64ctj|}|j}tj|}||j}tj|j|d}|dvrdt j|| }t|dr| d}||d<n3|dkr| d |d<ntd |d |S) a Export a numpy array to a compact serializable dictionary. Parameters ------------ array : array Any numpy array dtype : str or None Optional dtype to encode array encoding : str 'base64' or 'binary' Returns --------- encoded : dict Has keys: 'dtype': str, of dtype 'shape': tuple of shape 'base64': str, base64 encoded string N)r r&)rTdict64decodeutf-8rTbinaryC)orderz encoding z is not available!) r"r#r&ravelr rQrT b64encodeastypetobytesrCrWr+)rmr encodingr&flatencodedpackeds rarray_to_encodedrds* M% E KE 8E??D } +e<">?? 68 $ $ ,]]7++F" X  !MMM44AXAAABBB NrrXc|}|D]`}t|drN||}||kr3|||||<||a|S)a If a dictionary has keys that are bytes decode them to a str. Parameters ------------ store : dict Dictionary with data Returns --------- result : dict Values are untouched but keys that were bytes are converted to ASCII strings. Example ----------- In [1]: d Out[1]: {1020: 'nah', b'hi': 'stuff'} In [2]: trimesh.util.decode_keys(d) Out[2]: {1020: 'nah', 'hi': 'stuff'} rW)keysrCrWpop)storer`rfkeydecodeds r decode_keysrks{. ::<.s'333qwwx##333rc3~K|]8}t|dkt|ddk.|dV9dS)rrNr%r&s rr_z comment_strip..sBNNQ!AaD A ! NNr)rprjoinrW)text starts_withrqrpleadremovedrs ` r comment_striprxs&$ H_ # #K 0 0E {##Qx4333U333G   --NNgNNN N N O \\^^F Mrct|ts4t|rtj|}|St dt |}tj|d}d|vr.tjtj |d|}n d|vrtj|d|}d|vr| |d}|S)au Turn a dictionary with base64 encoded strings back into a numpy array. Parameters ------------ encoded : dict Has keys: dtype: string of dtype shape: int tuple of shape base64: base64 encoded string of flat array binary: decode result coming from numpy.tobytes Returns ---------- array: numpy array z(Unable to extract numpy array from inputr rTrYr r&) rPrcrTr"r#r+rkr frombufferrT b64decoder))rbas_arrayr rms rencoded_to_arrayr}s$ gt $ $I w   I}W--HOGHH H'""G HWW% & &E7 f.wx/@AA5II W   gh/u===' gg.// Lrc t|trtfd|DSt|dS#t$rYdSwxYw)ah Given an object, if it is a member of the class 'name', or a subclass of 'name', return True. Parameters ------------ obj : instance Some object of some class name: str The name of the class we want to check for Returns --------- is_instance : bool Whether the object is a member of the named class c38K|]}t|VdSr[is_instance_namedr\s rr_z$is_instance_named..Vs.??Q(a00??????rTF)rPrnr type_namedr+rMs` rrrCst" dD ! ! "????$????? ? sD ! ! !t uus/AA AAc0tjt|jjg}t |D]'}|d|dD( tj|}n#t$rg}YnwxYwd|DS)z0 Return the bases of the object passed. c g|] }||j Sr[)__base__r&s rrztype_bases..dsEEEQq}aj}}}rr c2g|]}t|d|S)rKrBr&s rrztype_bases..is' 7 7 7!: 6 6 7A 7 7 7r) rdequernrJ __bases__rangerr"rO IndexError)rEdepthbasesr^s r type_basesr^s  tCM$;<<= > >E 5\\GG EE%)EEEFFFF %    7 7u 7 7 77s%A:: B B ct|}|jj|kr|jSt|D]}|j|kr|cSt d|z)a# Similar to the type() builtin, but looks in class bases for named instance. Parameters ------------ obj : any Object to look for class of name : str Nnme of class Returns ---------- class : Optional[Callable] Camed class, or None z Unable to extract class of name )rQrJrKrr+)rErbases rrrlsk$ t99D }%%}3 =D KKK ! 7$> ? ??r)ztrimesh.Trimeshztrimesh.path.Path2Dztrimesh.path.Path3Dcg}|:t|r||n|||:t|r||n||g}|D]O}t|dr(||:||Pt |dkr|dSt |dkrddlm}|Sd|D}d|D}t |t |krddl m }||St |dkrgSt|dd } td |Dd |D\} } d} td |Dr+td |D} | j| jksJd} td|Dr+td|D} | j| jksJ |dj d|ddD}nF#t"$r9}t$dt(dd}t(r|Yd}~nd}~wwxYw| | | | | |dS)aI Concatenate two or more meshes. Parameters ------------ a : trimesh.Trimesh Mesh or list of meshes to be concatenated object, or list of such b : trimesh.Trimesh Mesh or list of meshes to be concatenated Returns ---------- result : trimesh.Trimesh Concatenated mesh NScenerrTrimeshc2g|]}t|d|Srrr]r;s rrzconcatenate..s(BBBQ"3Ay"A"ABqBBBrc2g|]}t|d|S)rIrrs rrzconcatenate..s(???Q"3Av">">?q???r) concatenaterc@g|]}|jSra)r0r*r]ms rrzconcatenate..s$,,,q  ,,,rc@g|]}|jSra)r/r*rs rrzconcatenate..s".O.O.O!qw||~~.O.O.Orc3(K|] }d|jvVdS) face_normalsN_cachers rr_zconcatenate..s) 7 7!>QX % 7 7 7 7 7 7rcg|] }|j Sra)rrs rrzconcatenate..s$E$E$EQ^$E$E$Erc3(K|] }d|jvVdS)vertex_normalsNrrs rr_zconcatenate..s* 9 9A qx ' 9 9 9 9 9 9rcg|] }|j Sra)rrs rrzconcatenate..s&I&I&IAq'7&I&I&Ircg|] }|j Sra)visualrs rrzconcatenate..s/N/N/NQ/N/N/Nrzfailed to combine visuals T)exc_infoF)r0r/rrrprocess)rTextendrrdumpr%r*rr path.utilrrr1rr(r&r BaseExceptionlogdebug_STRICT)r<r=rarr^ris_meshis_pathconcatenate_path trimesh_typer0r/rrrEs rrrsQ* D} q>>  KKNNNN KKNNN} q>>  KKNNNN KKNNN D  Q ( (  KK ! ! ! ! KKNNNN 4yyA~~Aw||~~ Ta!!!!!!wyyBB$BBBG??$???G 7||c'll"">>>>>>((( 7||q gaj)44L#,,G,,,.O.Ow.O.O.OOHe L 7 7w 7 7 7771#$E$EW$E$E$EFF !U[0000N 9 9 9 9 9996%&I&I&I&I&IJJ#x~5555"../N/N'!""+/N/N/NOO  8w884 HHH  G      <!%    s2I:: J=/J88J=cJt|}t|dkrgSjtj}jtj}g}g} g} g} t jt|} |D]l} t j| } t| dkr+| j j dkr1| sP|| |krkn|t| |kr|| }t j |d}t jt|| |<| j| || || || | j| [#t&$rd} YjwxYwt| dkrt jgSt+d|rd} t j| } | d| dd}n#t&$rYnwxYwt/| |\} }| |t j| |d}|S| dgt| z} fd t3| || | D}|s|r d |D}|rd t3||DS|S) a7 Return a subset of a mesh. Parameters ------------ mesh : Trimesh Source mesh to take geometry from faces_sequence : sequence (p,) int Indexes of mesh.faces repair : bool Try to make submeshes watertight only_watertight : bool Only return submeshes which are watertight append : bool Return a single mesh which has the faces appended, if this flag is set, only_watertight is ignored Returns --------- if append : Trimesh object else list of Trimesh objects rr=Nr rrF)r0r/rrrc jg|]/\}}}}||||tjjd0S)F)r0r/rrmetadatar)r*deepcopyr)r]rr;nrmeshrs rrzsubmesh..Psb    Aq!Q  ]4=11       rcfg|].}|ot|jdk/Sr ) fill_holesr%r/r&s rrzsubmesh.._s2KKKqallnn:QW):KKKrcg|] \}}|| Srara)r]r^ws rrzsubmesh..bs!;;;da;;;;r)rnr%r/viewr"rr0rr#r r@rr:uniquer)rrr face_subsetrrmrrr1rri)rfaces_sequencerepaironly_watertight min_facesroriginal_facesoriginal_verticesr/r0normalsvisualsmaskindexcurrentrrappendedr watertightrs` @rsubmeshrsm4.))N >a Z__RZ00N **2:66 EHGG 9S*++ , ,D e$$ u::??  ; s " "99;; $y)@)@  "s5zzI'='=  '7??2..//yV--V t(/000 T']###)&1222  NN4;22599 : : : :   GGG  8}}x||dI..L  hw''GQZ++GABBK88FF    D 'x77%<7++    &3x==(     hw@@   FL&LLKFKKK <;;c&*55;;;; Ms$-G55 HH7I<< J J c"t|dkrtj|St||krBtj|}|r||t| d<n||dt|<|Stj|S)z Parameters ------------ data : (n,) 1D array count : int Minimum length of result array Returns --------- padded : (m,) 1D array where m >= count rN)r%r"rr#)rrrightpaddeds rzero_padrgs 4yyA~~x TU  %  '#'FCII:<< "&F;SYY;  }T"""rc ZGddtj}tj|fd|i|S)a= A version of json.dumps that can handle numpy arrays by creating a custom encoder for numpy dtypes. Parameters -------------- obj : list, dict A JSON-serializable blob kwargs : dict Passed to json.dumps Returns -------------- dumped : str JSON dump of obj ceZdZdZdS)jsonify..EdgeEncoderct|dr|St|dr|Stj||S)Nr timestamp)rCrrr JSONEncoderdefault)selfrEs rrz$jsonify..EdgeEncoder.defaults]sH%% 'zz||#k** '}}&#++D#66 6rN)rK __module__ __qualname__rrarr EdgeEncoderrs# 7 7 7 7 7rrcls)rrdumps)rEkwargsrs rrrsN$77777d&777 :c 5 5{ 5f 5 55rct|tjrtj||jSt||jst |r|St|r6t|dkr#t|d|jr|dSt|tr@|jj dkr0| drddl m }||S||}|S)a" Convert an item to have the dtype of another item Parameters ------------ item : any Item to be converted like : any Object with target dtype If None, item is returned unmodified Returns ---------- result: item, but in dtype of like r rrPolygonPOLYGON)wkt)rPr"rr#r rJrUrTr%rQrKrrrr)itemlikers r convert_likers"$ ##5}T4444$''74== 4SYY!^^ 47DN0S0S^Aw 4  N #y 0 0 OOI & & 1 yy >>$  D Krc ddl}tj|tjd}t |jdkrE|jddkrt d|t |d f}n2t |jdks |jdkrt d |jd}|dzdkrt d t|dz }|j | }|j ttjt ||dgt |z| S)ar Given a set of axis aligned bounds create an r-tree for broad-phase collision detection. Parameters ------------ bounds : (n, 2D) or (n, 2, D) float Non-interleaved bounds where D=dimension E.G a 2D bounds tree: [(minx, miny, maxx, maxy), ...] Returns --------- tree : Rtree Tree containing bounds by index rNTr r*rrrzbounds not (n, 2, dimension)!r z"Bounds must be (n, dimension * 2)!zBounds must be (n,dimension*2)!) dimension) properties)rtreer"rmr9r%r&r+r)sizerrPropertyIndexrir)rrrrs r bounds_treersK"LLLXfBJT : : :F 6<A <?a  <== =Vb 122 V\  a  6;!#3#3=>>> QIA !:;;;IM""I%% %::J ;   BIc&kk " "FTFS[[,@AAj   rct|trt|St|trt |St t |jd)z Wrap a string or bytes object as a file object. Parameters ------------ item: str or bytes Item to be wrapped Returns --------- wrapped : file-like object Contains data from item z is not wrappable!)rPrQrbytesrr+rerK)rs rwrap_as_streamrs`$~~ D% t}} T +??? @ @@rrc<t||\}}|d|zz}|S)aZ Round a single value to a specified number of significant figures. Parameters ------------ values : float Value to be rounded sigfig : int Number of significant figures to reduce to Returns ---------- rounded : float Value rounded to the specified number of significant figures Examples ---------- In [1]: trimesh.util.round_sigfig(-232453.00014045456, 1) Out[1]: -200000.0 In [2]: trimesh.util.round_sigfig(.00014045456, 1) Out[2]: 0.0001 In [3]: trimesh.util.round_sigfig(.00014045456, 4) Out[3]: 0.0001405 r) sigfig_int)rsigfigas_int multiplierroundeds r sigfig_roundrs+8$FF33FJJ'G Nrcxtj|d}tj|tjd}|j|jkrt dtjt|}tj|tk}tj tj tj||||<||z dz}|d|zz tj}||fS)a Convert a set of floating point values into integers with a specified number of significant figures and an exponent. Parameters ------------ values : (n,) float or int Array of values sigfig : (n,) int Number of significant figures to keep Returns ------------ as_int : (n,) int Every value[i] has sigfig[i] digits multiplier : (n, int) Exponent, so as_int * 10 ** multiplier is the same order of magnitude as the input r r zsigfig must match identifierrr)r"r#r)rr&r+rr%rr$floorrroundr^)rrexponentnonzerorrs rrr1s*]6 " " * *2 . .F ]6 2 2 2 : :2 > >F |v|##7888xF $$HfVnnx'G"&*A*A!B!BCCHWF"Q&JJ' . . 0 0 7 7 A AF : rct|}t|trt |}|dr4t j|fdDS|drIddl }|j ddt | |d iSd |d dvr;ddl }| |d fd DStd )a Given an open file object and a file type, return all components of the archive as open file objects in a dict. Parameters ------------ file_obj : file-like Containing compressed data file_type : str File extension, 'zip', 'tar.gz', etc Returns --------- decompressed : dict Data from archive in format {file name : file-like} ricVi|]%}|t|&Sra)rr@r]rarchives r zdecompress..ns/XXXTnW\\$%7%788XXXrbz2rNr)modetari)fileobjr c<i|]}||Sra) extractfilers rrzdecompress..ws)OOODg))$//OOOrzUnsupported type passed!)rQlowerrPrrrLzipfileZipFilenamelistrropenr@tarfilegetnamesr+)r file_typerrrs @r decompressrVsG$I$$&&I(E"",!(++%  Y/(++XXXXWEUEUEWEWXXXX%  Y  crc"N388H383O3O3T3T3V3V$W$WXX "##,,xc,::OOOOG.s///1A///rrrr Nr FrrT) r"rmrrr%rrr'ruboolrfliplr)stripslengthsblobtrir^ length_indexkeepflips rtriangle_strips_to_facesr3s8h/////00G >& ! !D (CIIM1%RX 6 6 6C 1XX33"&q26z"2Oc$ii!mOQ 233iCG9W%%crc*L 73s884 ( ( (D"D "D  d)C9Q 'A+ 6 677L 8L$D 1 1 1D 3|$$q( ) )DD?C\!_q <A#6 67!<< #d)$$CI JrcFd|D}tj|dS)z Convert fans of m + 2 vertex indices in fan format to m triangles Parameters ---------- fans: (n,) list of (m + 2,) int Vertex indices Returns ------- faces: (m, 3) int Vertex indices representing triangles c g|][}tj|dtjt|dz tz|dd|ddg\S)rrr rr N)r" transposerur%r)r]fans rrz*triangle_fans_to_faces..sn     c!frws3xx!|3????QrTCPQPRPRGTUU   rraxis)r"r)fansr/s rtriangle_fans_to_facesr;s7     E >%a ( ( ((rcd|D}t|dkrtj|dSt|dkrtjgStj|S)a$ A thin wrapper for numpy.vstack that ignores empty lists. Parameters ------------ tup : tuple or list of arrays With the same number of columns Returns ------------ stacked : (n, d) array With same number of columns as constituent arrays. c8g|]}t|dk|Srr%r&s rrz vstack_empty..s#...q3q66A:::::rrr)r%r"r#rmr)tup stackables rr(r(sk /.C...I 9~~}Yq\*** Y1  x|| 9Y  rcdt|ddv}t|t}t|t}|r+|r)|||nB|s+|r)|||n||||S)a If a file is open in binary mode and a string is passed, encode and write. If a file is open in text mode and bytes are passed decode bytes to str and write. Assumes binary mode if file_obj does not have a 'mode' attribute (e.g. io.BufferedRandom). Parameters ----------- file_obj : file object With 'write' and 'mode' stuff : str or bytes Stuff to be written encoding : str Encoding of text r=r )getattrrPrQrrAencoderWflush)rstuffr` binary_file string_stuff binary_stuffs r write_encodedrH"s(63777KeS))LeU++L|u||H--.... \u||H--....u NN Lr cltjtjddjd|S)z Generate a random alphaNumber unique identifier using UUID logic. Parameters ------------ length : int Length of desired identifier Returns ------------ unique : str Unique alphaNumber identifier r )rversionN)uuidUUIDrandom getrandbitshex)lengths r unique_idrSDs0 9+C00! < < < @& IIr-q=ctj|tjd}|jdkrt dtj|}||krtjdS||z}tj|d |ddg}tj|}||krGtj|d  |ddg}|tj|z}n||z}tj||}tj|||gtj }trtj tj ||d ksJtj tj ||d ksJtj tj ||d ksJtj tj|d d sJ|S)a Generate an arbitrary basis (also known as a coordinate frame) from a given z-axis vector. Parameters ------------ z : (3,) float A vector along the positive z-axis. epsilon : float Numbers smaller than this considered zero. Returns --------- x : (3,) float Vector along x axis. y : (3,) float Vector along y axis. z : (3,) float Vector along z axis. Tr)rzz must be (3,) float!rrrr~rr r r8r) r"rmr9r&r+linalgr/eyecrossrrr(allclose)repsilonz_normrx_normrrs rgenerate_basisr]Vs, "*4000Aw$0111 Y^^A  F vayyKA 1Q4%1s#$$A Y^^A  F  HqteQqT3' ( ( RY^^A   V  AA Xq!Qirz 2 2 2F@vbfQll##d****vbfQll##d****vbfQll##d****{29>>&q>993????? MratolcH||z }tj|| k||kS)a A replacement for np.isclose that does fewer checks and validation and as a result is roughly 4x faster. Note that this is used in tight loops, and as such a and b MUST be np.ndarray, not list or "array-like" Parameters ------------ a : np.ndarray To be compared b : np.ndarray To be compared atol : float Acceptable distance between `a` and `b` to be "close" Returns ----------- close : np.ndarray, bool Per-element closeness )r"rv)r<r=r^diffs riscloseras), q5D >$$,t 4 44rcRttj||z |kS)a| A replacement for np.allclose that does few checks and validation and as a result is faster. Parameters ------------ a : np.ndarray To be compared b : np.ndarray To be compared atol : float Acceptable distance between `a` and `b` to be "close" Returns ----------- bool indicating if all elements are within `atol`. )floatr"ptp)r<r=r^s rrYrYs#& A  $ &&rc<eZdZdZdZdZdZdZdZdZ dZ d S) FunctionRegistrya Non-overwritable mapping of string keys to functions. This allows external packages to register additional implementations of common functionality without risk of breaking implementations provided by trimesh. See trimesh.voxel.morphology for example usage. c Ri|_|D] \}}|||< dSr[)_dictr)rrrrs r__init__zFunctionRegistry.__init__s9 LLNN  DAqDGG  rc|j|Sr[rhrris rrXzFunctionRegistry.__getitem__sz#rct|tstd|||vrtd|t |std||j|<dS)Nzkey must be a string, got z%Cannot set new value to existing key z'Cannot set value which is not callable.)rPrQr+KeyErrorcallablerh)rrivalues r __setitem__zFunctionRegistry.__setitem__sy#s## CA#AABB B $;;H3HHII I HFGG G 3rc*t|jSr[)iterrhrs rrYzFunctionRegistry.__iter__sDJrc*t|jSr[)r%rhrts r__len__zFunctionRegistry.__len__s4:rc||jvSr[rkrls r __contains__zFunctionRegistry.__contains__sdj  rc|||i|Sr[ra)rriargsrs r__call__zFunctionRegistry.__call__stCy$)&)))rN) rKrr__doc__rirXrqrYrvrxr{rarrrfrfs       !!!*****rrfc jt|ds|S ||}n#t$r|ddl}||dd}t d||d|d||dd }YnwxYw|S) ap Try to decode byte input as a string. Tries initial guess (UTF-8) then if that fails it uses chardet to try another guess before failing. Parameters ------------ text : bytes Data that might be a string initial : str Initial guess for text encoding. Returns ------------ decoded : str Data as a string rWrNiz&Data not {}! Trying {} (confidence {})r` confidenceignoreerrors)rCrWUnicodeDecodeErrorchardetdetectrrrB)rtinitialrrs r decode_textrs( 4 " " @{{7## @@@ UdU ,, 4 ; ; +VL-A     {{6*-h{??@ Ks*BB0/B0ct|dr*|dddSt|dr|ddSt|S)z Force a string or other to ASCII text ignoring errors. Parameters ----------- text : any Input to be converted to ASCII string Returns ----------- ascii : str Input as an ASCII string rBasciirrrW)rCrBrWrQ)rts rto_asciir sntX5{{78{44;;GDDD x 5{{78{444 t99rctj|tj}t|jdks|jddkrt dtj|ddddgf|ddzj}|dz }|d k}|s|S|dd|ddz| d zd d |zz }|||fS) a Check if connected 2D points are counterclockwise. Parameters ----------- points : (n, 2) float Connected points on a plane return_all : bool Return polygon area and centroid or just counter-clockwise. Returns ---------- ccw : bool True if points are counter-clockwise area : float Only returned if `return_centroid` centroid : (2,) float Centroid of the polygon. r rrz only defined for `(n, 2)` pointsNr rg@r~r!r8g@) r"rmr9r%r&r+subtractrr:r))r return_allproductareaccwcentroids ris_ccwr0 s(XfBJ / / /F 6<AaA!5!5;<<<kF3B3A;/&*<?@G ;;==3 D *C  vabbz)W__W-E-EEJJPQJRR d H h rc"|t|dkr||vr|S|d}n||d}|zt|dkrg|dz}|dd}t|dkr8|dkr2 t|d}|ddz}n#t$rYnwxYwnd}t |dzd|zt|zD]&}||}||vr ||||<|cS'td) aA Deterministically generate a unique name not contained in a dict, set or other grouping with `__includes__` defined. Will create names of the form "start_10" and increment accordingly. Parameters ----------- start : str Initial guess for name. contains : dict, set, or list Bundle of existing names we can *not* use. counts : None or dict Maps name starts encountered before to increments in order to speed up finding a unique name as otherwise it potentially has to iterate through all of contains. Should map to "how many times has this `start` been attempted, i.e. `counts[start]: int`. Note that this *will be mutated* in-place by this function! Returns --------- unique : str A name that is not contained in `contains` Nrz_{}_rrz geometry_{}z Unable to establish unique name!)r%getrsplitrrrrBr+)rcontainscounts incrementrrpr^checks r unique_namer[ sW6 SZZ!^^X0E0E ~ JJua((  SZZ!^^EM  S!$$ u::??yA~~  aMM !!Hu,      " 9q=!i-#h--"? @ @  ##  ! !u LLL ! 7 8 88s B"" B/.B/)FN)Fr[)r2r3r4r5)NrT)rX)rlr3r)TFNF)Tro)rI)rT)r )kr|abcrTrr*rrrOshutilrtimerMr6rcollections.abcriorrtypingrnumpyr"rrABCnowwhichfinfor9 resolutionr$rrrW _IDENTITYflagsrQr*rr2rcr>rFrNrRrUrTrkror|rrrrVrAttributeErrorrrrrrrrrrrrrrrr"r1rKrSrdrkrxr}rrrrrrrrrrrrrrr&r3r;r(rHrSr]rarYrfrrrrrarrrs     $##### g "" g i  28BJ   *S 0   BF1BJ ' ' ' $  'S'T''''24444n)u))))"999">>>& d    "D.@TTdTtTTTTn0GGGGT83330&&&R #II   IIABBB       3-3-3-l9994%%%%P><,&&(3* -    _4_4_4_4D.G.G.Gb$$$NKKKK^BFVVVVr&&&&RB****Z"""J6 8 8 8 8@@@8 aa JKaaaaJV[yyyyx####6666@***Z(((VAAA*D"""J"1"1"1J<$$$$<777t))),   6DJJJJ$::::z5555554'''''',&*&*&*&*&*w&*&*&*R))))X0((((V>9>9>9>9>9>9s: DD'&D'