jXddlZddlZddlZddlmZddlmZddlZddl m Z m Z m Z m Z mZmZmZddlmZddlmZddlmZmZdd lmZdd lmZmZmZmZmZm Z m!Z!m"Z"m#Z#m$Z$m%Z%m&Z&m'Z'm(Z(dd lm)Z)d d l m*Z*m+Z+d dl,m-Z-e%eeeee.efefZ/GddeZ0dZ1ddZ2dde0dede0fdZ3y)N)deepcopy)sha256)cachingconvexgroupinginertiatransformationsunitsutil)log)export)Geometry Geometry3D) procrustes) ArrayLikeDictFloatingIntegerIterableListNDArrayOptionalSequenceTupleUnion ViewerTypefloat64int64) unique_name)cameraslighting) SceneGraphceZdZdZ dNdeededeedeedee jdee e jd eefd Zd Z dOded eed eedeedeedeef dZdeeee fddfdZdPdZ dQdeedeedeeddfdZdefdZedefdZedefdZej@deeee!ffdZ"ej@deee!fdZ#ej@deee!fdZ$ej@de%fdZ&ej@deee!fd Z'ej@defd!Z(ej@d"Z)d#Z*ej@de%fd$Z+ej@de!fd%Z,ej@dee!fd&Z-ej@d'Z.ej@deeeffd(Z/ej@defd)Z0ej@de1e1efd*Z2dRd+eddfd,Z3 dOde jfd-Z4ed.Z5e5jld/e7fd0Z5de8ee!ee!ee9ffd1Z:ede jfd2Z;e;jldee jfd3Z;edefd4ZdSd8ede1e?fd9Z@dTd:ZAde?fd;ZBdZDdUd?ZEdVdeFfd@ZGedeefdAZHeHjldBefdCZHdSdDedEeddfdFZIdUdPdGZJdHeee7fddfdIZKdWdJZL dVdKeMfdLZNdMZOy)XScenez A simple scene graph which can be rendered directly via pyglet/openGL or through other endpoints such as a raytracer. Meshes are added by name, which can then be moved by updating transform in the transform tree. Ngeometry base_framemetadatagraphcameralightscamera_transformcxtj|_t||_t j |j|_||j|i|_ t|tr|jj||||_|||_|||_|||_yyy)aX Create a new Scene object. Parameters ------------- geometry : Trimesh, Path2D, Path3D PointCloud or list Geometry to initially add to the scene base_frame Name of base frame metadata Any metadata about the scene graph A passed transform graph to use camera : Camera or None A passed camera to use lights : [trimesh.scene.lighting.Light] or None A passed lights to use camera_transform Homogeneous (4, 4) camera transform in the base frame r() id_functionN) collections OrderedDictr'r$r*rCache__hash___cache add_geometryr) isinstancedictupdater,r+r-)selfr'r(r)r*r+r,r-s @/DATA/.local/lib/python3.12/site-packages/trimesh/scene/scene.py__init__zScene.__init__/s>$//1  :6 mm >     h ' h % MM  *  DJ   DK   DK+(8%, c |jj}|jjj|D]F}t j ||j|d}|jj |||H|S)z Apply a transform to all children of the base frame without modifying any geometry. Parameters -------------- transform : (4, 4) Homogeneous transformation matrix. r frame_fromframe_tomatrix)r*r( transformschildrennpdotr9)r: transformbasechildcombineds r;apply_transformzScene.apply_transformjspzz$$ZZ**33D9EvviE):1)=>H JJ  h  O: r= node_name geom_nameparent_node_namerGc X|ytj|r%|Dcgc]}|j||||||c}St|tr6|j D cic]\}} ||j| ||c} }St|t rj||z} |jj|jj| j| jj|j_ y||} nld|jvr|jd} nN|jj|jj} n!dtt!|jz} t#| |jj%} ||j| <|@|jjj&j%} t#| | }|| vsJ|t)j*d}|jj|||| dd i| |Scc}wcc} }w) a Add a geometry to the scene. If the mesh has multiple transforms defined in its metadata, they will all be copied into the TransformForest of the current scene automatically. Parameters ---------- geometry : Trimesh, Path2D, Path3D PointCloud or list Geometry to initially add to the scene node_name : None or str Name of the added node. geom_name : None or str Name of the added geometry. parent_node_name : None or str Name of the parent node in the graph. transform : None or (4, 4) float Transform that applies to the added node. metadata : None or dict Optional metadata for the node. Returns ---------- node_name : str Name of single node in self.graph (passed in) or None if node was not added (eg. geometry was null or a Scene). N)r'rLrMrNrGr))r'rMr)name geometry_startcontainsvisibleT)rAr@rBr'geometry_flagsr))r is_sequencer6r7r8itemsr&r'clearr9r*rCr)source file_namestrlenr keys node_datarEeye) r:r'rLrMrNrGr)valuekvconcatrPexistings r;r6zScene.add_geometryzs-L      h '& &E!!"''%5'% "&  $ '%NN,,DAq4$$a1x$PP,  % (H_F MM   ! MM  1$*LL$;$;DJJ !   D x(( ($$V,D __ & & 2??,,DS%7!88D 0B0B0DE& d  zz,,66;;=H$D(3IH, ,,  q I '%t,  K s H!!H&namesreturnct|tr|g}t|}|jj ||Dcgc]}|j j |d c}ycc}w)a Delete one more multiple geometries from the scene and also remove any node in the transform graph which references it. Parameters -------------- name : hashable Name that references self.geometry N)r7r]setr*remove_geometriesr'pop)r:rgrPs r;delete_geometryzScene.delete_geometrysX eS !GEE  $$U+38954  4 &599s#A%cddlm}|jjD]'}t j |ds|||_)y)zl Strip visuals from every Trimesh geometry and set them to an empty `ColorVisuals`. r) ColorVisualsTrimesh)meshN) visual.colorror'valuesr is_instance_namedvisual)r:ror's r; strip_visualszScene.strip_visualss: 0 ,,.H%%h :".H"=/r=percent face_count aggressionci}|jjD])\}}t|ds|j|||||<+|jj |y)a Apply in-place `mesh.simplify_quadric_decimation` to any meshes in the scene. Parameters ----------- percent A number between 0.0 and 1.0 for how much face_count Target number of faces desired in the resulting mesh. aggression An integer between `0` and `10`, the scale being roughly `0` is "slow and good" and `10` being "fast and bad." simplify_quadric_decimation)rwrxryN)r'rYhasattrr{r9)r:rwrxryupdatesrcrds r;r{z!Scene.simplify_quadric_decimation sc,MM'')DAqq78::# z; * W%r=c.|jt|jjj g}|j fdj Dtjdj|jdS)z Return information about scene which is hashable. Returns --------- hashed String hashing scene. c3VK|] }t|j"ywN)hexr4).0rcr's r; z!Scene.__hash__..8s$M_HQK0023_s&)zutf-8) r'rr*rCr4extendr_r hash_fastjoinencode)r:hashabler's @r;r4zScene.__hash__)sm== --6689:MX]]_MM  !2!9!9'!BCCr=c2t|jdk(S)z Does the scene have anything in it. Returns ---------- is_empty True if nothing is in the scene r)r^r'r:s r;is_emptyzScene.is_empty;s4==!Q&&r=ct|jdk(ry |jjDchc]}|j|d}}|t |jj k(Scc}w#t$rYywxYw)z Is every geometry connected to the root node. Returns ----------- is_valid : bool Does every geometry have a transform rTr!F)r^r'r*nodes_geometry BaseExceptionrjr_)r:i referenceds r;is_validzScene.is_validHs t}}  " 48JJ4M4MN4Mq$**Q-*4MJN S!3!3!5666 O  s"A9A4 A94A99 BBcPi}|jjDcic]B\}}|t|dr$t|jdkDr |jn |j D}}}|j |jDcic]M\}}|F|jddk(r4|tj|tjt|fOc}}|jjD]}|j|\}}|j|} | )tj|ddddf| j} tj | j#d|dddfz| j%d|dddfzg||<|Scc}}wcc}}w)z Get the post-transform AABB for each node which has geometry defined. Returns ----------- corners Bounds for each node with vertices: {node_name : (2, 3) float} verticesrNr!raxis)r'rYr|r^rboundsr9shaperE column_stackzerosr*rgetrFTarrayminmax) r:cornersrcmrrdrLrG geometry_namepointsrFs r;bounds_cornerszScene.bounds_corners^s ++- -1 WQ 3AJJ!8KqzzQRQYQY Y-  %NN, ,DAq=QWWQZ1_2??ArxxA'7#899,  22I'+zz)'< $I}\\-0F~&&2A2rr6*FHH5C!#a9RaRU#33SWW!W_yQSRSQSUVQVGW5WX"GI 39  s AFAF" c2|j}t|dk(rytjt |jj }tj |jd|jdgtjS)z Return the overall bounding box of the scene. Returns -------- bounds : (2, 3) float or None Position of [min, max] bounding box Returns None if no valid bounds exist rNrdtype) rr^rEvstacklistrsrrrr)r:rrs r;rz Scene.boundssq,, ~ ! #))D!4!4!;!;!=>?xx!,gkkqk.AB"**UUr=cl|j}|ytj|djdS)z Return the axis aligned box size of the current scene or None if the scene is empty. Returns ---------- extents Bounding box sides length or None for empty scene. Nrr)rrEdiffreshape)r:rs r;extentsz Scene.extentss1 >wwvA&..r22r=c^|j}|yt|dzjdzS)z The approximate scale of the mesh Returns ----------- scale : float The mean of the bounding box edge lengths ?rg?)rfloatsum)r:rs r;scalez Scene.scales2,, ?gqj%%'3.//r=cf|j}|ytj|jd}|S)z Return the center of the bounding box for the scene. Returns -------- centroid : (3) float Point for center of bounding box Nrr)rrEmean)r:rcentroids r;rzScene.centroids. >774;;Q/r=c R|jjDcic]\}}t|dr ||j }}}|jjDcic]\}}t|ds||j!}}}|j }|j Dcgc]}|| }}tj|D cgc]9\}} | |vr0tj|tj|| ddd;c} }tj} tj|D cgc] \} } ||  c} } tj} | | jz} | | jdzjd Scc}}wcc}}wcc}wcc} }wcc} } w) z Find the center of mass for every instance in the scene. Returns ------------ center_mass : (3,) float The center of mass of the scene center_massmassr!Nrr)rr!rr)r'rYr|rrr*rrErrFappendrrr) r:rcrrrr*ninstancematg transformed_weightss r;rzScene.center_masss ++- -1q-( q}} -  '+mm&9&9&;R&;dawq&?Q166 &;R &+&:&:;&:E!H&:;hh' &FC #sBIIk!na89"1=&  **  ((91DG9L7;;= goog66;;;CC/ S< :s##F !F6F" F>F .F# cjtj|tj|jS)a Return the moment of inertia of the current scene with respect to the center of mass of the current scene. Returns ------------ inertia : (3, 3) float Inertia with respect to cartesian axis at `scene.center_mass` scenerG)r scene_inertiar translation_matrixrrs r;moment_inertiazScene.moment_inertias-$$/"D"DTEUEU"V  r=c0tj||S)aM Return the moment of inertia of the current scene relative to a transform from the base frame. Parameters transform : (4, 4) float Homogeneous transformation matrix. Returns ------------- inertia : (3, 3) float Inertia tensor at requested frame. r)r r)r:rGs r;moment_inertia_framezScene.moment_inertia_frames$$49EEr=cjjDcic]\}}t|ds||j!c}}t fdj j DdScc}}w)z What is the summed area of every geometry which has area. Returns ------------ area : float Summed area of every instanced geometry areac3bK|]&}jj|dd(ywr!Nrr*)rrareasr:s r;rzScene.area..s, Q7P!UYYtzz!}Q' -7P,/r)r'rYr|rrr*r)r:rrrs` @r;rz Scene.arease(,}}':':'<S'.0s, R8Q1VZZ 1 a(# .8Qrr)r'rYr|rrr*r)r:rrrs` @r;rz Scene.volume!se+/--*=*=*?V*?$!Q71fCU!QXX+*?V R 8Q8Q RTW  Wrc 2g}g}|jjD]}|j|\}}|j|}t|ds1|j t j |jjjd||j tj|t|jtj||jd<tj|jdS)z Return a correctly transformed polygon soup of the current scene. Returns ---------- triangles : (n, 3, 3) float Triangles in space triangles)rr)rBtriangles_node)rrr)r*rr'r|rr transform_pointsrcopyrrEtiler^hstackr5r)r:rrrLrGrr's r;rzScene.triangles3s 22I'+zz)'< $I}}}]3H8[1   00&&++-55g>y   ! !"'')S9K9K5L"M N3")+ .(A $%yy#++J77r=c8|j}|jdS)z Which node of self.graph does each triangle come from. Returns --------- triangles_index : (len(self.triangles),) Node name for each triangle r)rr5)r:populates r;rzScene.triangles_nodeTs>>{{+,,r=c~|jjDcic]\}}|j|c}}Scc}}w)z Look up geometries by identifier hash. Returns --------- identifiers {Identifier hash: key in self.geometry} )r'rYidentifier_hash)r:rPrqs r;geometry_identifierszScene.geometry_identifiersas;>B]]=P=P=RS=RztT$$d*=RSSSs9cdjd|jjDtt |j z}t |jjS)z8 Get a unique identifier for the scene. rc34K|]}|jywr)rrrs r;rz(Scene.identifier_hash..rsI2HQq((2Hs) rr'rsr]hashr*rr hexdigest)r:dumps r;rzScene.identifier_hashmsZ wwI$--2F2F2HIIC  M  dkkm$..00r=c :t|jdk(rgS|jjDcic](\}}t|dr|t |j d*}}}|j }|jDcic]}||j||d}}tjt}|jDcgc]\}}|||j|c}}t|jScc}}wcc}wcc}}w)a@ Return a sequence of node keys of identical meshes. Will include meshes with different geometry but identical spatial hashes as well as meshes repeated by self.nodes. Returns ----------- duplicates Keys of self.graph that represent identical geometry rrr!)r^r'rYr|intrr*rrr1 defaultdictrrrs) r:rcrhashesr*node node_hash duplicateshasheds r;duplicate_nodeszScene.duplicate_nodesws! t}}  "I  ++- -1q+, s1$$b) )-   CHBVBVWBV$T6::eDk!n55BV W!,,T2 !* 1 1 f! v  % %d + 1 J%%'((/ X  s-D D Dcost_thresholdct||S)a If a scene has been "baked" with meshes it means that the duplicate nodes have *corresponding vertices* but are rigidly transformed to different places. This means the problem of finding ab instance transform can use the `procrustes` analysis which is *very* fast relative to more complicated registration problems that require ICP and nearest-point-on-surface calculations. TODO : construct a parent non-geometry node for containing every group. Parameters ---------- scene The scene to handle. cost_threshold The maximum value for `procrustes` cost which is "squared mean vertex distance between pair". If the fit is above this value the instance will be left even if it is a duplicate. Returns --------- dedupe A copy of the scene de-duplicated as much as possible. )r)reconstruct_instances)r:rs r;rzScene.reconstruct_instancess6%T.IIr=c|tjddg}t|jdk(r]t j ||_tjd|j|j j<|j S|tjd}tj|}t j|j||||}t|dr1|j %||j _|.||j _nt j || |_||j|j j<|j S) a Create a camera object for self.camera, and add a transform to self.graph for it. If arguments are not passed sane defaults will be figured out which show the mesh roughly centered. Parameters ----------- angles : (3,) float Initial euler angles in radians distance : float Distance from centroid center : (3,) float Point camera should be center on camera : Camera object Object that stores camera parameters <-r)fovrUr)rrotationdistancecenter_camera)r resolution)rErr^r'r"Camerarrar*rPrr euler_matrixlook_atrr|rr)r:anglesrrrrrrGs r; set_camerazScene.set_cameras, ;((B8$C t}}  "">>c2DL,.FF1IDJJt||(( )<<  >XXa[F"//8OO KKS8hv  4 # (@"DLL %*4 '#>>cjIDL(1 4<<$$%||r=cN|j|jjdS)z Get camera transform in the base frame. Returns ------- camera_transform : (4, 4) float Camera transform in the base frame rr*r+rPrs r;r-zScene.camera_transforms"zz$++**+A..r=rBcJ||j|jj<y)z Set the camera transform in the base frame Parameters ---------- camera_transform : (4, 4) float Camera transform in the base frame Nr)r:rBs r;r-zScene.camera_transforms(. 4;;##$r=c|jj\}}|j}tj||d}t j |tj|z}|||fS)a Calculate the trimesh.scene.Camera origin and ray direction vectors. Returns one ray per pixel as set in camera.resolution Returns -------------- origin: (n, 3) float Ray origins in space vectors: (n, 3) float Ray direction unit vectors in world coordinates pixels : (n, 2) int Which pixel does each ray correspond to in an image F) translate)r+to_raysr-r rrE ones_liketranslation_from_matrix)r:vectorspixelsrGoriginss r; camera_rayszScene.camera_rays sl ++--/)) !227IQVW,,w'/*Q*Q +  ''r=cn|js|jS|jJ|jS)z Get the single camera for the scene. If not manually set one will abe automatically generated. Returns ---------- camera : trimesh.scene.Camera Camera object defined for the scene ) has_camerarrrs r;r+z Scene.camera%s2??$ $||'''||r=c|y||_y)z Set a camera object for the Scene. Parameters ----------- camera : trimesh.scene.Camera Camera object for the scene N)r)r:r+s r;r+z Scene.camera8s >  r=c:t|dxr|jduS)Nr)r|rrs r;rzScene.has_cameraFstY'DDLL,DDr=ct|dr |jLtj|\}}t ||D]\}}||j |j < ||_|jS)z Get a list of the lights in the scene. If nothing is set it will generate some automatically. Returns ------------- lights : [trimesh.scene.lighting.Light] Lights in the scene. _lights)r|rr# autolightzipr*rP)r:r,rCLrs r;r,z Scene.lightsJsftY'4<<+?!)!3!3D!9 FJFJ/1%& 166"0"DL||r=c||_y)z Assign a list of light objects to the scene Parameters -------------- lights : [trimesh.scene.lighting.Light] Lights in the scene. N)r)r:r,s r;r,z Scene.lights_s  r=cz|js tj|jdrytjd}|j |dddf<t |j jdz}|j j||j j|||j _y)z Move the current scene so that the AABB of the whole scene is centered at the origin. Does this by changing the base frame to a new, offset base frame. rNrUr_Ir?) rrEallcloserrar]r*r(r9)r:rBnew_bases r;rezeroz Scene.rezeroks ==BKK s; rr1u tzz,,-4 $***?*?  !) r= concatenatecVg}|jjD]}|j|\}}|j|j}t |dr]t j |t jd}d|ddddf<|js|j}n |ddddf}|j|||jd<||jd <|j||r1tjd td t j |S|S) a Get a list of every geometry moved to its instance position, i.e. freezing or "baking" transforms. Parameters ------------ concatenate KWARG IS DEPRECATED FOR REMOVAL APRIL 2025 Concatenate results into single geometry. This keyword argument will make the type hint incorrect and you should replace `Scene.dump(concatenate=True)` with: - `Scene.to_geometry()` for a Trimesh, Path2D or Path3D - `Scene.to_mesh()` for only `Trimesh` components. Returns ---------- dumped Copies of `Scene.geometry` transformed to their instance position. to_3Dg:0yE>)atolTNrrrPrzd`Scene.dump(concatenate=True)` DEPRECATED FOR REMOVAL APRIL 2025: replace with `Scene.to_geometry()`)category stacklevel)r*rr'rr|r isclose _IDENTITYallr!rKr)rwarningswarnDeprecationWarningr)r:rresultrLrGrcurrentchecks r;rz Scene.dumps*22I'+zz)'< $I}mmM2779Gw( YTJ $bqb"1"f yy{%mmoG!*"1"bqb& 1I  # #I .'4G  V $'0G  V $ MM' "/32  MMv+  ##F+ + r=c ddlm}tj|j Dcgc]}t ||s|c}Scc}w)a> Concatenate every mesh instances in the scene into a single mesh, applying transforms and "baking" the result. Will drop any geometry in the scene that is not a `Trimesh` object. Returns ---------- mesh All meshes in the scene concatenated into one. r)rp)rHrpr rrr7)r:rpds r;to_meshz Scene.to_meshs; #DIIK RKq:a;QK RSS Rs AAcHtj|jS)aM Concatenate geometry in the scene into a single like-typed geometry, applying the transforms and "baking" the result. May drop geometry if the scene has mixed geometry. Returns --------- concat Either a Trimesh, Path2D, or Path3D depending on what is in the scene. )r rrrs r; to_geometryzScene.to_geometrys ,,r=rc|j}|jj|}|jDcgc] }|d|vs |}}t |}|j ||Dchc]}d|dvs |dd}}|Dcic]}||j |}}t||} | Scc}wcc}wcc}w)a  Get part of a scene that succeeds a specified node. Parameters ------------ node Hashable key in `scene.graph` Returns ----------- subscene Partial scene generated from current. rr/r'rr'r*)r*rC successors to_edgelistr$ from_edgelistr'r&) r:rr*nodeseedgesgeometry_namesrcr'r+s r;subscenezScene.subscenes    ++D1!--/A/q1Q45=/Ad+ E"49PEqZ1Q4=O!A$z*EP1?@AAt}}Q''@6 B Q@s B3B3. B8; B8 B=ctj|jDcgc]}|jc}}t j |Scc}w)z The convex hull of the whole scene. Returns --------- hull : trimesh.Trimesh Trimesh object which is a convex hull of all meshes in scene )r vstack_emptyrrr convex_hull)r:rrs r;r?zScene.convex_hullsD"" #D 1AJJ #DE!!&))$EsAc 4tjd|||d|S)a Export a snapshot of the current scene. Parameters ---------- file_obj : str, file-like, or None File object to export to file_type : str or None What encoding to use for meshes IE: dict, dict64, stl Returns ---------- export : bytes Only returned if file_obj is None )rfile_obj file_type)r export_scene)r:rArBkwargss r;rz Scene.exports+""" Y BH  r=c (ddlm}|d||ddd|S)a1 Get a PNG image of a scene. Parameters ----------- resolution : (2,) int Resolution to render image **kwargs Passed to SceneViewer constructor Returns ----------- png : bytes Render of scene as a PNG r) render_sceneF)rr fullscreen resizablerC)viewer.windowedrG)r:rrErGs r; save_imagezScene.save_images* 3 :%5 TZ  r=c|jjDchc]}|j}}t|dk(r|j St|dkDrt j d|dycc}w)a Get the units for every model in the scene. If the scene has mixed units or no units this will return None. Returns ----------- units Units for every model in the scene or None if there are no units or mixed units r!z Mixed units `z` returning NoneN)r'rsr r^rlr warning)r:rrfs r;r z Scene.units0sm&*]]%9%9%;<%;AGG%;< x=A <<> ! ]Q  KK-z1AB C =sA8rbc|jj}|jjD] }||_ y)z Set the units for every model in the scene without converting any units just setting the tag. Parameters ------------ value : str Value to set every geometry unit value to N)striplowerr'rsr )r:rbrs r;r z Scene.unitsDs6 ##%%%'AAG(r=desiredguessct|jdk(r|jS|j}|tj||}tj ||}|j |}||_|S)a% If geometry has units defined convert them to new units. Returns a new scene with geometries and transforms scaled. Parameters ---------- desired : str Desired final unit system: 'inches', 'mm', etc. guess : bool Is the converter allowed to guess scale when models don't have it specified in their metadata. Returns ---------- scaled : trimesh.Scene Copy of scene with scaling applied and units set for every model r)rR)r,rQ)r)r^r'rr units_from_metadataunit_conversionscaled)r:rQrRr,rr+s r; convert_unitszScene.convert_unitsSsw* t}}  "99; ** ?//EBG%%gwG5)  r=c| |j}||jdz }tj|tj}tj|tj}|j j D]}|j |\}}|j|j}tj|tj|ddd}|jdk(r ||z |z}nBtj|dk(rtj|||z }||z}n td|j} | dddfxx|z cc<| |j |<y) a Explode the current scene in-place around a point and vector. Parameters ----------- vector : (3,) float or float Explode radially around a direction vector or spherically origin : (3,) float Point to explode around Ng9@rr!rrC)rzexplode vector wrong shape!) rrrE asanyarrayrr*rr'rFrr ValueErrorr) r:vectororiginrLrGrroffset projectedT_news r;explodez Scene.explode|s3 >]]F >ZZ$&FvRZZ8vRZZ822I'+zz)'< $I}}}]3<??NN$E "1"a%LF "L$)DJJy !%3r=rc  |j}tj|dr|St|tt tj fxrt|dk(}|r?tjtj||dk(rt|d}d}n |s t|}|r&|jjD]}|jj|}t|dkDs,|j|}|D]}|jjj|}|j!|j||||jjj"||fj%dd|jjj"||fj%dd |j'||jD]V}|j|j(j*dd k(s-|j|j-|j|<X|jj.D]} |jj%| \} }| j} d | dddf<|j|j1| j3|j1tj4j7| |jjj"} | D]`} d| | vs | | } | | dj} | dddfxx|zcc<| | d<|jj8d| d| dd | bi|jj_t=t?j@|jj_!|jj:jEntjFd|z}tjFd |z}tjH|jj.}tjJt|d d f}dgt|z}tM|D]\}}|j|\||<||<|jjEtOjP|D] }||d}||d}tjR||}|j|j(j*dd k(r|j|j1|n|j|j1|tU||||D]i\}} tWjX|| tj4j7|g}|dddfxx|zcc<|jj9|||kd|_-|S)ao Return a copy of the current scene, with meshes and scene transforms scaled to the requested factor. Parameters ----------- scale : float or (3,) float Factor to scale meshes and transforms Returns ----------- scaled : trimesh.Scene A copy of the current scene but scaled rrrFr!rBNr))r'rMrLrNrGr)rr)r@rArU)rArBr'rC).rrErr7rtuplendarrayr^r'asarrayrr*geometry_nodesr'rCparentsr6 edge_datarrmrrr!rrK apply_scalelinalginvr9r5r]uuiduuid4 _modifiedrZrarr enumeratergrouprFrr multi_dotr)r:rr+ scale_is_3DrMnodes_with_geomgeomrpkeyrrguvpropsscale_2Dscale_3Dr8rC geometriesrrror'originalnew_geomrGs r;rVz Scene.scaleds ;;uc "M!ubjj(ABVs5zUV 266"**U"3uQx"?@%(OEK%LE  $\\88 "(,,"="=i"H'!+!??95D,"LL33;;A>++%)YY[&/&'-.&,ll&=&=&G&GA&O&S&S ($'&,\\%<%<%F%F1v%N%R%R *D&, -**95%9*$__ ??9-66<!COOH-==hGOOH-==hG"5<E1BCGD! $!RYY]]8=T/U VIbqb!e$-$LL''!%i(( D44 r=cp|jjDcic]\}}||j}}}t|dr |jd}n|j j}t ||jj|jj|}|Scc}}w)z Return a deep copy of the current scene Returns ---------- copied : trimesh.Scene Copy of the current scene rN)r'r*r)r+) r'rYrr|rr+r&r*r))r:rrr'r+copieds r;rz Scene.copy+s-1MM,?,?,AB,ADAqAqvvxK,ABtY'4<<+?F[[%%'F**//#]]'')    CsB2viewerc |ddlm}|}|sd}|dk(rddlm}||fi|S|dk(rddlm}||fi|S|dk(rddlm}||fi|St |r ||fi|St d ) a Display the current scene. Parameters ----------- viewer What kind of viewer to use, such as `gl` to open a pyglet window `jupyter` for a jupyter notebook `marimo'` for a marimo notebook None for a "best guess" kwargs Passed to viewer, such as `smooth=False` which will turn off automatic smooth shading r) in_notebookgl) SceneViewerjupyter)scene_to_notebookmarimo)scene_to_mo_notebookzJInvalid value for viewer: not 'gl', 'jupyter', 'marimo', callable, or None)rrrrrcallablerZ)r:rrErrrrs r;showz Scene.showGs* > ,!]F T> -t.v. . y 2$T4V4 4 x  5'77 7 f $)&) )\ r=cNt||g|jjg}|S)a` Concatenate the current scene with another scene or mesh. Parameters ------------ other : trimesh.Scene, trimesh.Trimesh, trimesh.Path Other object to append into the result scene Returns ------------ appended : trimesh.Scene Scene with geometry from both scenes )common) append_scenesr*r()r:otherr+s r;__add__z Scene.__add__|s&e}djj6K6K5LM r=)NworldNNNNN)NNNNN)rhN)NNN)gh㈵>)F)rhztrimesh.Trimesh)NNr)rhr&)P__name__ __module__ __qualname____doc__r GeometryInputr]rr$r"rrr#Lightrr<rKr6rrjrmrvrrr{rr4propertyboolrrrcache_decoratorrrrrrrrrrrrrrrrrrrrrr-setterrrrrr+rr,rrrr0r2r<r?rbytesrKr rWr`rVrrrrrCr=r;r&r&'s -1!#'&*+/59.299=)99994. 99  # 99 ( 99(..1299#7+99v&$(#'*.'+#'ppC=pC= p #3- p G$ p4.pd:U3X+=%>:4:( >'+(,(, &(#&W%&W% &  &<D#D$ '$ ' '7$77* *S''*:%: ;**X V!12VV"  3''"23 3 3  0u 0 0  (77#34   !DW!D!DF     F   e  "    " 877+88@  - -  Td38n T T 111 ()d3i()()TJHJJ<MQ1 1f / / .y . .(U77#3WW5Ewu~#UV(6$ ]] Xgnn5  EDEEX^^,( ]] Xhnn5  ).88h8tT -X -SW<  * * * u ,x}& \\ 3  'S''''R%*NFE(I"56F7FP<"33jr=r&c t|tr|Si}tj|rQ|Dcgc]}|j t |di c}t||}t d|Dd|_|St|jdi|t|j}t|j|_|Scc}w)z Given a geometry, list of geometries, or a Scene return them as a single Scene object. Parameters ---------- geometry : splittable Returns --------- scene: trimesh.Scene r))r)c3NK|]}|j|jywr)r[rs r;rzsplit_scene..sQ1AHHFGhJ3 4hGh2QQSWX  L  HNN $V $h//0 !1 L Hs#Cc4t|tr|S|gi}g}ttfd}|D]}t|dr|j }t|ts!t t |jdi}|jjD]*\}} t||j} | ||<| || <,it|jjD]@\} } } || || } } d| vr| d|vr || d| d<|j| | | fBjt|}|jj!||jj||S)a Concatenate multiple scene objects into one scene. Parameters ------------- iterable : (n,) Trimesh or Scene Geometries that should be appended common : (n,) str Nodes that shouldn't be remapped base_frame : str Base frame of the resulting scene Returns ------------ result : trimesh.Scene Scene containing all geometry c|vr|S|vr"|vr|tjz}||<|}j||S)a Remap node to new name if necessary Parameters ------------- node : hashable Node name in original scene Returns ------------- name : hashable Node name in concatenated scene )r unique_idadd)rrPrconsumedr,map_nodes r; node_remapz!append_scenes..node_remapsZ 8 D> ! v $("2$..**D!HTND  D r=rz is not a scene!rRr'r/)r7r&rjr|rrZtyperr'rYr r_r*r6rr9r7)iterablerr(r'r:rsmap_geomrcrdrPabattrr+rr,rs ` @@@r;rrs$(E" ~H E[FuHB 1g  A!U#Q 0 011ABC CJJ$$&DAqQADHQKHTN '%''--/JAq$a=*Q-qA T!d:&6(&B#+D,<#=Z LL!Q &0  INj )F LLu% OO8$ Mr=rrrhc Z|jj}|jD] }t|dkr|d}|j|\}}|j|j j tj}|ddD]}|j|\} } |j| j j tj} | j|jk7ret|| ddd\} } }||ks|j|tj| | |t|jj}t!|jj#Dcic]\}}||vs ||jc}}| Scc}}w) ad If a scene has been "baked" with meshes it means that the duplicate nodes have *corresponding vertices* but are rigidly transformed to different places. This means the problem of finding ab instance transform can use the `procrustes` analysis which is *very* fast relative to more complicated registration problems that require ICP and nearest-point-on-surface calculations. TODO : construct a parent non-geometry node for containing every group. Parameters ---------- scene The scene to handle. cost_threshold The maximum value for `procrustes` cost which is "squared mean vertex distance between pair". If the fit is above this value the instance will be left even if it is a duplicate. Returns --------- dedupe A copy of the scene de-duplicated as much as possible. rrr!NTF) translationr reflection)rBr'r4)r*rrr^r'rviewrErcrrr9rFrjrer_r&rY)rrr*ro node_baser geom_baserHrnode_mat node_geom node_verticesrB_pcostrrcrds r;rr$s~8 KK   E&& u:> !H {{9- 9y1::?? K!"ID"'++d"3 Hi"NN95>>CCBJJOM""djj0 *mUu  FBn$ T"&&6*BY W#'@U))..01J */..*>*>*@T*@$!QAO!QVVX+*@T Ts = F' F' )Nr)gư>)4r1rkr(rrhashlibrnumpyrErrrrr r r r constantsr exchangerparentrr registrationrtypedrrrrrrrrrrrrrrr r"r#rCr$r]rr&rrrrCr=r;rs OOO)% "h 2Dh4GRS dJdN+"JnbDDDEDr=