j9ddlZddlmZddlmZddlmZ ddlZ dZddZdd Zd Zej$d fd ed efdZdZddZ ddZddZy#e $r"Z ddlm Z e je Z YdZ [ VdZ [ wwxYw)N)util)log)NDArray) exceptionsct|gd}|5tj|tj|ddd |dddf<|S)a Given the origin and normal of a plane find the transform that will move that plane to be coplanar with the XY plane. Parameters ---------- origin : (3,) float Point that lies on the plane normal : (3,) float Vector that points along normal of plane Returns --------- transform: (4,4) float Transformation matrix to move points onto XY plane )rrrNr) align_vectorsnpdotappend)originnormal transforms =/DATA/.local/lib/python3.12/site-packages/trimesh/geometry.pyplane_transformrsN"fi0I FF9bii.BCBQGG "1"a% ctj|tj}tj|tj}|jdk7s|jdk7r t dtj j |jdd}tj j |jdd}tj j|dkr|dddfxxdzcc<tj j|dkr|dddfxxdzcc<tjd }|j|j|dd dd f<|rbtj|d|d}tjtj|dd }|d kr|tjz }||fS|S) a Find the rotation matrix that transforms one 3D vector to another. Parameters ------------ a : (3,) float Unit vector b : (3,) float Unit vector return_angle : bool Return the angle between vectors or not Returns ------------- matrix : (4, 4) float Homogeneous transform to rotate from `a` to `b` angle : float If `return_angle` angle in radians between `a` and `b` dtype)r zvectors must be (3,)!rrNrr ?gh㈵)r arrayfloat64shape ValueErrorlinalgsvdreshapedeteyer Tarccosclippi)ab return_angleaubumatrixr angles rr r 'sh, "**%A "**%Aww$!''T/011 qyy) *1 -B qyy) *1 -B yy}}R1 1b5 T  yy}}R1 1b5 T VVAYFVVBDD\F2A2rr6NffRUBqE" "''#tS12 ; RUUNEu} Mrc$tj|tj}|ddgdfjd}|rOtjtj t |djjd}||fS|S)a Given a list of faces (n,3), return a list of edges (n*3,2) Parameters ----------- faces : (n, 3) int Vertex indices representing faces Returns ----------- edges : (n*3, 2) int Vertex indices representing edges N)rrrr1r)rr1)r rr)r asanyarrayint64r"tilearangelenr%)faces return_indexedges face_indexs rfaces_to_edgesr;\sv MM% *E !'' ( 0 0 9EWWRYYs5z2F;==EEbI j  Lrctj|tj}t|dk(rtjgSt j |dr|jd}n!t j |ds tdt j|dddf|dddf}tj|d d }tjtj|}|S) z Find the angles between pairs of unit vectors. Parameters ---------- pairs : (n, 2, 3) float Unit vector pairs Returns ---------- angles : (n,) float Angles between vectors in radians rrr1r )rr1r )rr1r=zpairs must be (n,2,(2|3))!Nrrr) r r2rr6rris_shaper"r diagonal_dotr'absr&)pairsdotsangless r vector_anglerDvs MM%rzz 2E 5zQxx| uf % j) ]]5/ 2566   U1a4[%1+ 6D 774s #D VVBIIdO $F MrTuse_fanreturncnt|dk(rtjd|S tj||}t|jdk(r#|jddk(r|j |St|jdk(rJ|jddk(r8tj |ddgdf|ddgd ffj |Stj|Dcgc] }t|c}tj}tjtj|dk(dDcgc]}|| c}tj}tjtj|dk(dDcgc]}|| c}tj}|r,tj|dkDdDcgc]}|| }}ng}t|dk(rt|dk(r|j |St|dkDrtj|}t|dkDr)tj |ddgdf|ddgd ff}tj|||gj |S#t$rYwxYwcc}wcc}wcc}wcc}w) a Given an array of quad faces return them as triangle faces, also handles pure triangles and mixed triangles and quads. Parameters ----------- quads: (n, 4) int Vertex indices of quad faces. dtype Data type requested for the return use_fan Triangulate holes larger than quads with fans, which may be wrong if the holes are non-convex Returns ----------- faces : (m, 3) int Vertex indices of triangular faces. rrr1rr rN)rrr1)r1r r) r6r zerosrrastypevstackrr3nonzerortriangle_fans_to_faces vstack_empty)quadsrrEilengthstriquadpolys rtriangulate_quadsrTsG* 5zQxx'' e, u{{ q U[[^q%8<<& & u{{ q U[[^q%899eAyL15I3FGHOOPUV Vhh.1A.bhh?G ((bjjA&>q&AB&AE!H&AB"(( SC 88rzz'Q,'?'BC'B!U1X'BC288 TD"$**Wq["9!"<="s1AJ9A!J.J# J( J- J2 J J cV tj|j|}t||k(sJ|j|ksJtjdtj|dd}tj|j|dddfz}|||zdddfk\jtj } tjj!t|t" }|j%|j'd}|||dk(<|S#t$rAt j dtj |jdd}YOwxYw#t($rt j d d tj*|j,tj } |j} t/|D]5} tj0| | k(dd zddd| || || || z7| ||dk(<Y|SwxYw) a Find vertex face indices from the faces array of vertices Parameters ----------- vertex_count : int The number of vertices faces refer to faces : (n, 3) int List of vertex indices faces_sparse : scipy.sparse.COO Sparse matrix Returns ----------- vertex_faces : (vertex_count, ) int Face indices for every vertex Array padded with -1 in each row for all vertices with fewer face indices than the max number of face indices. ) minlengthzcasting failed, falling back!T) return_countsrrNrrzJvertex_faces falling back to slow loop! mesh probably has degenerate facesexc_infor )r bincountflatten TypeErrorrwarninguniquer6maxr cumsumr5rIr3scipysparseidentityintr rK BaseExceptionrHsizerangewhere) vertex_countr7 faces_sparsecountsstartspackpaddedrc sorted_facessortflatvs rvertex_face_indicesrss,CU]]_ E v;, && & 99; %% %YYq"))F+CR0 1F 99VZZ\ "VAtG_ 4DD1199"((C CF#<<((U3(?#''199;A> +v{ MK C 345==?$?B C0  #  3 xx "((3}}|$A79xx 7J17MQR7RTXVXTX6YDVAY2 3%#v{ M #s&%D-AE:-AE76E7:B*H('H(c fd}fd} |}tj|}|S#t$r!tjdd|}Y@wxYw)a Find vertex normals from the mean of the faces that contain that vertex. Parameters ----------- vertex_count : int The number of vertices faces refer to faces : (n, 3) int List of vertex indices face_normals : (n, 3) float Normal vector for each face Returns ----------- vertex_normals : (vertex_count, 3) float Normals for every vertex Vertices unreferenced by faces will be zero. cL t}n}|j}|SN) index_sparser )r.summed face_normalsr7rbris r summed_sparsez*mean_vertex_normals..summed_sparse/s. >!,6FFL) rcxtjdf}tD]\}}||xx|z cc<|SNr )r rHzip)rxfacerryr7ris r summed_loopz(mean_vertex_normals..summed_loop:s@<+,|4LD& 4LF "L5 r*unable to use sparse matrix, falling back!TrX)rerr]runitize) rir7ryrbkwargsrzrrxvertex_normalss ```` rmean_vertex_normalsrsV*  \\&)N   @4Ps3'AAc2fd}fd}dzjddkD}||||s tj|Stj|S#t$rt j dd Y.summed_sparsems+ lE 8I8I8KLzz,''rc&tjdftj}tjD]Q}tj|k(\}}||f}tj ||j z |||<S|Sr|)r rHrr5rhr sum) rx vertex_idx face_idxs inface_idxssurrounding_anglesrryr7ris rrz,weighted_vertex_normals..summed_loopus<+RZZ8))L1J&(XXez.A%B "I{!,Y -C!D !#"%7%;%;%==|I?V"F:  2 rr1r)axisg?rTrX)rrrrerr])rir7ryruse_looprzrface_oks```` rweighted_vertex_normalsrNs>( Q###+c1G 'NE(Lg&K  U<< 0 0 << && U KKDt T UsA33 BBcTtj|}t|}|jd}tjtj t |jdd|jdfjd}|t |f}|%tjt |t}n"t |t |k7r td||j|}tjj|||ff||jS)a Return a sparse matrix for which vertices are contained in which faces. A data vector can be passed which is then used instead of booleans Parameters ------------ columns : int Number of columns, usually number of vertices indices : (m, d) int Usually mesh.faces Returns --------- sparse: scipy.sparse.coo_matrix of shape (columns, len(faces)) dtype is boolean Examples ---------- In [1]: sparse = faces_sparse(len(mesh.vertices), mesh.faces) In [2]: sparse.shape Out[2]: (12, 20) In [3]: mesh.faces.shape Out[3]: (20, 3) In [4]: mesh.vertices.shape Out[4]: (12, 3) In [5]: dense = sparse.toarray().astype(int) In [6]: dense Out[6]: array([[1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], [1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 0], [0, 0, 1, 1, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0], [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 1, 1, 0, 0, 1, 0, 0], [0, 0, 1, 0, 1, 0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0], [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 1, 0, 1, 0, 0, 0, 1], [1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 1, 0, 0], [0, 0, 0, 0, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 1, 0, 1, 1, 0, 0], [0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 1, 1], [0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 1, 0, 0, 1, 1]]) In [7]: dense.sum(axis=0) Out[7]: array([3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]) rrrrzdata incorrect length)rr)r r2rdr"r4r5r6ronesboolrrIrarb coo_matrixr)columnsindicesrrrowcolrs rrwrwsdmmG$G'lG //" C '' #g,''01gmmA6F2G  gbkc'l #E |wws3xt, Tc#h 011 {{5! << " "D3*#5U$** " UUr)Frv)NN)numpyr r constantsrtypedr scipy.sparserareErExceptionWrapperrr r;rDr3rrTrsrrrwrrrs+.2j4@$&88TA>dA>gA>H=@1j>CB'JEVU + (J ' ' *E +sAA7A22A7