j^dZddlZddlZddlmZmZmZmZm Z ddlm Z ddl m Z ddlmZddlmZmZdd lmZmZmZmZej0d Zd ej4_Gd d e ZGddZGddeZGddeZGddeZ GddeZ!GddeZ"y)z primitives.py ---------------- Subclasses of Trimesh objects that are parameterized as primitives. Useful because you can move boxes and spheres around and then use trimesh operations on them at any point. N)creationinertiasample trianglesutil)transformations)Trimesh)cache_decorator)logtol) ArrayLikeIntegerNumberOptionalFceZdZdZdZdZfdZdZedZ e jdZ edZ e jdZ ed Z e jd Z ed Z ejd Zdd ZdZdZdZxZS) Primitivez Geometric Primitives which are a subclass of Trimesh. Mesh is generated lazily when vertices or faces are requested. Nct||jjd|_d|j _y)NFT)super__init___dataclear _validate_cacheforce_immutable)self __class__s ?/DATA/.local/lib/python3.12/site-packages/trimesh/primitives.pyrzPrimitive.__init__%s5  '+ #c4dt|jdS)Nz)type__name__rs r__repr__zPrimitive.__repr__1s%d4j&9&9%:!<W% == )M {{7##r c| tdy)Nz+primitive faces are immutable: not setting! ValueErrorrvaluess rr(zPrimitive.faces<s  JK K r c|jd}tj|dr|S|j|jdS)Nverticesr)r,r/s rr7zPrimitive.verticesAs>Z( == )M {{:&&r c| tdy)Nz.primitive vertices are immutable: not setting!r2r4s rr7zPrimitive.verticesJs  MN N r c<d|jvr|j|jd}tj|dr|St j |j\}}t jt|df}|||<||jd<|S)Nr7 face_normalsr)r+) rr.rr-rnormalsnpzeroslen)rr0unitvalidr;s rr:zPrimitive.face_normalsOs T[[ (    ^, == )M ''7 e((CJ?+&- N#r c4|tjdyy)Nz%Primitive face normals are immutable!)r warningr4s rr:zPrimitive.face_normalsfs   KK? @ r c.|jjS)z The transform of the Primitive object. Returns ------------- transform : (4, 4) float Homogeneous transformation matrix  primitive transformr%s rrFzPrimitive.transformks~~'''r ct)z: Should be implemented by each primitive. )NotImplementedErrorr%s rto_dictzPrimitive.to_dictws "##r c |j|j|jdt|di|}|r|jj |_|j j |_|jjjD]#\}}||jvs||j|<%|S)z Return a copy of the Primitive object. Returns ------------- copied : object Copy of current primitive kind) updaterIpopr#visualcopymetadatardataitems)rinclude_visualkwargsprimitive_copykvs rrPzPrimitive.copy~s  dlln% 6#d-f- $(KK$4$4$6N !#'--"4"4"6JJOO))+DAq,,,*+$$Q',r c td|jj|jj|jj|j ddd|}|S)a, Return a copy of the Primitive object as a Trimesh. Parameters ----------- kwargs : dict Passed to the Trimesh object constructor. Returns ------------ mesh : trimesh.Trimesh Tessellated version of the primitive. processF)r7r(r:rZrL)r r7rPr(r:rN)rrUresults rto_meshzPrimitive.to_meshsb ]]'')**//#**//1JJy%0     r ctj|dtj}|jdk7r t dt j |tdr|S|j}|jj}tjj|ddddfdz}tttt f}t#||rt%|d z dkDrt'|d r|xj(|zc_t'|d r|xj*|zc_t'|d r|xj,|zc_|dddfxx|zcc<t j.|t1j2d |z |g}ntj4||}t1j6|s t d ||j_ |S)at Apply a transform to the current primitive by applying a new transform on top of existing `self.primitive.transform`. If the matrix contains scaling it will change parameters like `radius` or `height` automatically. Parameters ------------ matrix: (4, 4) float Homogeneous transformation C)orderdtyperrzmatrix must be `(4, 4)`!g:0yE>Nr+gUUUUUU??heightradiusextentsz!Couldn't produce rigid transform!)r< asanyarrayfloat64shaper3rallclose _IDENTITYrErFrPlinalgdetBoxCylinderCapsuleSphere isinstanceabshasattrrcrdre multi_dottf scale_matrixdotis_rigid)rmatrixprimcurrentscalekindsupdateds rapply_transformzPrimitive.apply_transformsrvS C <<6 !78 8 ==D 1K~~..%%' fRaR!Vn-)<h0 dE "s53;'7$'>tX& u$ tX& u$ tY' % BQBENe #NnnfboocEk.JG%TUGffVW-G{{7#@A A$+  r ctd)Nz'Primitive doesn't define mesh creation!r2r%s rr.zPrimitive._create_meshsBCCr T)r$ __module__ __qualname____doc____copy__ __deepcopy__rr&propertyr(setterr7r:rFabcabstractmethodrIrPr\rr. __classcell__rs@rrrs HL +=$$ \\LL''__OO,AA ( ( $$ :.4lDr rcJeZdZdZddZedZfdZfdZdZxZ S)PrimitiveAttributesz: Hold the mutable data which defines a primitive. cb|j|_||_||_|jj|||_|j D]=\}}|j |d}|tj|||j|<?|jsd|j_ yy)a5 Hold the attributes for a Primitive. Parameters ------------ parent : Primitive Parent object reference. defaults : dict The default values for this primitive type. kwargs : dict User-passed values, i.e. {'radius': 10.0} NF) r _defaults_parentrM_mutablerSgetr convert_likemutable)rparentdefaultsrUrkeydefaultvalues rrzPrimitiveAttributes.__init__s\\ !  (# %NN,LCJJsD)E "&"3"3E7"C 3 - }}!&DJJ r cddl}dj|jjj|j |j ddd}|S)Nra'Store the attributes of a {name} object. When these values are changed, the mesh geometry will automatically be updated to reflect the new values. Available properties and their default values are: {defaults} Example --------------- p = trimesh.primitives.{name}() p.primitive.radius = 10 r*)widthr)namer)pprintformatrrr$pformatr)rrdocs rrzPrimitiveAttributes.__doc__sW   &''00^^DNN"^=aC    r c|jdrt| |S|dk(r|jddddfS||jvr0t j |j||j|Std|d)N_centerrFr+z#primitive object has no attribute 'z' ) startswithr __getattr__rrrrAttributeError)rrrs rrzPrimitiveAttributes.__getattr__)s >># 7&s+ + H_::k*2A2q51 1 DNN "$$TZZ_dnnS6IJ JB3%rJKKr c|jdrt| ||S|dk(rStj|tj }tj d}||dddf<||jd<y||jvrH|jr1tj||j||j|<ytdt|jj}td|d ) Nrrr`rr+rFz;Primitive is configured as immutable! Cannot set attribute!zOnly default attributes z can be set!)rr __setattr__r<arrayrgeyerrrrrr3listkeys)rrrrFrrs rrzPrimitiveAttributes.__setattr__3s >># 7&sE2 2 H_HHU"**5Eq I$Ibqb!e &/DJJ{ #  DNN "}}"&"3"3E4>>#;N"O 3 Q++-.D7v\JK Kr cttt|t|jj z}|SN)sorteddirr#rrr)rr[s r__dir__zPrimitiveAttributes.__dir__Gs0DJ$t~~/B/B/D*EEF r r) r$rrrrrrrrrrs@rrrs3 'D*LL(r rceZdZd fd ZedZedefdZedZedZ e dZ dZ d Z d ZxZS) rnc t|ddtjddd}t ||||||d||_y)a Create a Cylinder Primitive, a subclass of Trimesh. Parameters ------------- radius : float Radius of cylinder height : float Height of cylinder transform : (4, 4) float Homogeneous transformation matrix sections : int Number of facets in circle. mutable : bool Are extents and transform mutable after creation. $@rbr rcrdrFsectionsrrUrNrrr<rrrErrdrcrFrrrrs rrzCylinder.__init__MsO" "cq WYZ,   &$    r ctj|jjdzz|jjzS)z The analytic volume of the cylinder primitive. Returns --------- volume : float Volume of the cylinder )r<pirErdrcr%s rvolumezCylinder.volumems1--q00DNN4I4IIIr returnc|jj|jj}}tjdz|z|zdtjz|dzzzS)z? The analytical area of the cylinder primitive rrErdrcr<rrrdrcs rareaz Cylinder.areaysO ..0E0E F"V+BEE FAI0EFFr ctj|j|jj|jj |jj }|S)z The analytic inertia tensor of the cylinder primitive. Returns ---------- tensor: (3, 3) float 3D inertia tensor )massrdrcrF)rcylinder_inertiarrErdrcrF)rtensors rmoment_inertiazCylinder.moment_inertiasI))>>((>>((nn..    r cdtj|jjgddd}|S)z The direction of the cylinder's axis. Returns -------- axis: (3,) float, vector along the cylinder axis rrrrNr+r<rwrErFraxiss r directionzCylinder.directions*vvdnn.. =bqA r c |jjdz }tj|jjtj dd| dgdd|dggj ddddf}|S)z A line segment which if inflated by cylinder radius would represent the cylinder primitive. Returns ------------- segment : (2, 3) float Points representing a single line segment @rrNr+)rErcr<rwrF transposeT)rhalfpointss rsegmentzCylinder.segmentsr~~$$s* NN $ $bllQD5!4Dq!TSTo3V&W !ArrE r cd|jjjt|jjt|jj dS)a  Get a copy of the current Cylinder primitive as a JSON-serializable dict that matches the schema in `trimesh/resources/schema/cylinder.schema.json` Returns ---------- as_dict : dict Serializable data for this primitive. cylinder)rKrFrdrc)rErFtolistfloatrdrcr%s rrIzCylinder.to_dictsK1188:DNN112DNN112   r ct|}t|jj|dzz|jj|z|jj j }|S)a Return a cylinder primitive which covers the source cylinder by distance: radius is inflated by distance height by twice the distance. Parameters ------------ distance : float Distance to inflate cylinder radius and height Returns ------------- buffered : Cylinder Cylinder primitive inflated by distance r)rcrdrF)rrnrErcrdrFrP)rdistancebuffereds rbufferzCylinder.buffers\ ?>>((8a<7>>((83nn..335  r ctjdtj|jj |jj |jj|jj}|j|jd<|j|jd<|j|jd<y)Nz$creating mesh for Cylinder primitive)rdrcrrFr7r(r:) r debugrrrErdrcrrFr7rr(r:rmeshs rr.zCylinder._create_meshs 89  >>((>>((^^,,nn..  #'-- J#zz G&*&7&7 N#r )rbrbNrT)r$rrrr rrrrrrrrIrr.rrs@rrnrnLs @ J JGeGG$  $ $0 8r rnczeZdZ d fd ZedZedefdZedefdZ dZ edZ dZ xZ S) roc t|ddtjddd}t ||||||d||_y)a Create a Capsule Primitive, a subclass of Trimesh. Parameters ---------- radius : float Radius of cylinder height : float Height of cylinder transform : (4, 4) float Transformation matrix sections : int Number of facets in circle mutable : bool Are extents and transform mutable after creation. rbrrrrNrrs rrzCapsule.__init__sO& !SrvvayVXY,   &$    r c.|jjSrrDr%s rrFzCapsule.transform~~'''r rc|jj|jj}}tj|dzzd|z|zzS)z The analytic volume of the capsule primitive. Returns --------- volume : float Volume of the capsule rgUUUUUU?rrs rrzCapsule.volumesC..0E0E !yF&:V&CDDr c|jj|jj}}dtjz|z|zdtjz|dzzzS)z The analytic area of the capsule primitive. Returns --------- area : float Area of the capsule rrrrs rrz Capsule.area sO..0E0EBEE F"V+BEE FAI0EFFr cd|jjjt|jjt|jj dS)a Get a copy of the current Capsule primitive as a JSON-serializable dict that matches the schema in `trimesh/resources/schema/capsule.schema.json` Returns ---------- as_dict : dict Serializable data for this primitive. capsule)rKrFrcrd)rErFrrrcrdr%s rrIzCapsule.to_dict-sK1188:DNN112DNN112   r cdtj|jjgddd}|S)z The direction of the capsule's axis. Returns -------- axis : (3,) float Vector along the cylinder axis rNr+rrs rrzCapsule.direction?s*vvdnn.. =bqA r ctjdtj|jj |jj }|j|jj|j|jd<|j|jd<|j|jd<y)Nz%creating mesh for `Capsule` primitive)rdrcr7r(r:) r rrrrErdrcrrFr7rr(r:rs rr.zCapsule._create_meshLs 9:>>((1F1F  T^^556"&-- J#zz G&*&7&7 N#r )rbrNrT)r$rrrrrFr rrrrIrr.rrs@rroroszLP  D(( E E E Ge G G $   8r roc eZdZ ddedeedeededef fd Ze dZ e jdZ d Z e d Z e d Zed Zed ZedZdZxZS)rprdrrF subdivisionsrct|t|t|d}|1| t dt j d}||dddf<||d<n|||d<t|dt j ddd|| |_y) a Create a Sphere Primitive, a subclass of Trimesh. Parameters ---------- radius Radius of sphere center : None or (3,) float Center of sphere. transform : None or (4, 4) float Full homogeneous transform. Pass `center` OR `transform. subdivisions Number of subdivisions for icosphere. mutable Are extents and transform mutable after creation. )rdrNz3only one of `center` and `transform` may be passed!rr+rFrb)rdrFrr) rrrintr3r<rrrE) rrdrrFrr constructor translaters rrzSphere.__init__Zs2 !&vL@QR   $ !VWWq I%Ibqb!e '0K $  "'0K $-  #"&&)QO  r c.|jjSrrErr%s rrz Sphere.centers~~$$$r c&||j_yrr)rrs rrz Sphere.centers %r cd|jjjt|jjdS)a Get a copy of the current Sphere primitive as a JSON-serializable dict that matches the schema in `trimesh/resources/schema/sphere.schema.json` Returns ---------- as_dict : dict Serializable data for this primitive. sphere)rKrFrd)rErFrrrdr%s rrIzSphere.to_dicts91188:DNN112  r ctj|jj|jjz |jj|jjzg}|Sr)r<rrErrd)rboundss rrz Sphere.boundssV %%(=(==%%(=(==    r c|jSr) bounding_boxr%s rbounding_box_orientedzSphere.bounding_box_orienteds    r c`dtjz|jjdzz}|S)z Surface area of the current sphere primitive. Returns -------- area: float, surface area of the sphere Primitive @rr<rrErdrrs rrz Sphere.areas*RUU{dnn33Q67 r cfdtjz|jjdzzdz }|S)z Volume of the current sphere primitive. Returns -------- volume: float, volume of the sphere Primitive rr+g@rrrs rrz Sphere.volumes/+!6!6!9:cA r cltj|j|jjS)z The analytic inertia tensor of the sphere primitive. Returns ---------- tensor: (3, 3) float 3D inertia tensor. )rrd)rsphere_inertiarrErdr%s rrzSphere.moment_inertias%%%4;;t~~?T?TUUr cptjdtj|jj |jj }|j|jjz|jd<|j|jd<|j|jd<y)Nz"creating mesh for Sphere primitive)rrdr7r(r:) r rr icosphererErrdr7rrr(r:)rr?s rr.zSphere._create_meshs 67!!44T^^=R=R  #'--$..2G2G"G J#zz G&*&7&7 N#r )rbNNr+T)r$rrrrrrboolrrrrrIrrr rrrr.rrs@rrprpYs&*)- ! - - #- I& -  -  - ^%% ]]&& "  !!     V V 8r rpcpeZdZd fd ZdZedZdZd dZedZ e dZ dZ d Z xZS) rmct|tjdtjdd}||| t dtj |tj}|jdk7r t dtj|d }tjd}|d |d z z|dddf<t||||d | |_ y)a  Create a Box Primitive as a subclass of Trimesh Parameters ---------- extents : Optional[ndarray] (3,) float Length of each side of the 3D box. transform : Optional[ndarray] (4, 4) float Homogeneous transformation matrix for box center. bounds : Optional[ndarray] (2, 3) float Axis aligned bounding box, if passed extents and transform will be derived from this. mutable : bool Are extents and transform mutable after creation. rr+)rFreNz>#;#;AaC1H#ErvvayQQ Qr cjttj|jj}|S)z Volume of the box Primitive. Returns -------- volume : float Volume of box. )rr<prodrErers rrz Box.volumejs&rwwt~~5567 r ctjdtj|jj |jj }|jjj|jj|j|jd<|j|jd<|j|jd<y)Nzcreating mesh for Box primitiver r7r(r:) r rrrrErerFrcacherMr7r(r:)rrs rr.zBox._create_meshws 34llNN**dnn6N6N    !1!12"%,, J"yy G&)&6&6 N#r crddlm}||jj|jjS)z Return a Path3D containing the outline of the box. Returns ----------- outline : trimesh.path.Path3D Outline of box primitive r) box_outliner ) path.creationr&rErerF)rr&s r as_outlinezBox.as_outlines/ /NN**dnn6N6N  r )NNNT)NN)r$rrrrIrrFrrr r rr.r(rrs@rrmrms_' R "((*!F   7 r rmc eZdZ ddeedededeffd ZedZ edZ edZ e d Z e d Zed Zd Zdd ZdZdZxZS) ExtrusionrFrcr mid_planec ddlm}t| |ddgj dt j dddd}t||||||d||_y ) a Create an Extrusion primitive, which is a subclass of Trimesh. Parameters ---------- polygon : shapely.geometry.Polygon Polygon to extrude transform : (4, 4) float Transform to apply after extrusion height : float Height to extrude polygon by mutable : bool Are extents and transform mutable after creation. r)PointrbrF)polygonrFrcr+)rFr.rcr+rN) shapely.geometryr-rrrr<rrrE) rr.rFrcrr+r-rrs rrzExtrusion.__init__so0 + aV}++C0  - &" &    r ct|jj|jjjz}||jjj dzz }|S)z The surface area of the primitive extrusion. Calculated from polygon and height to avoid mesh creation. Returns ---------- area: float Surface area of 3D extrusion r)rrrErcr.lengthrrs rrzExtrusion.areasQ4>>((4>>+A+A+H+HHI &&++a// r ct|jjj|jjz}|S)z The volume of the Extrusion primitive. Calculated from polygon and height to avoid mesh creation. Returns ---------- volume : float Volume of 3D extrusion )rrrEr.rrcrs rrzExtrusion.volumes2T^^++004>>3H3HHI r ctj|jjddddfddtj|jj g}|S)z Based on the extrudes transform what is the vector along which the polygon will be extruded. Returns --------- direction : (3,) float Unit direction vector Nr+)r<rwrErFsignrc)rrs rrzExtrusion.directionsTFF NN $ $RaR!V ,sCAVAV9W.X r c<|jjdddfS)z Based on the extrude transform what is the origin of the plane it is extruded from. Returns ----------- origin : (3,) float Origin of extrusion plane Nr+rDr%s roriginzExtrusion.origins!~~''A..r c.|jjSrrDr%s rrFzExtrusion.transformrr cddlm}|j|jjj j \}}tj|t|jj}tjjtj|}|jjdz |d<tj|jj |}t#||dS)Nr)rrr F)rFrer)roriented_bounds_2DrEr.exteriorcoordsr<appendrrrcrkinvruplanar_matrix_to_3DrwrFrm)rr to_originrre rotation_Zto_3Ds rrzExtrusion.bounding_box_orienteds  224>>3I3I3R3R3Y3YZ 3))CT^^%:%:!;<YY]]2#9#9)#DE >>0036 4t~~//<UGUCCr ct|}tjd}||d<tj|jj j |j }||j_y)z Alter the transform of the current extrusion to slide it along its extrude_direction vector Parameters ----------- distance : float Distance along self.extrude_direction to move rr N)rr<rrwrErFrP)rr translation new_transforms rslidezExtrusion.slides\?ffQi $ Dt~~77<<> @P@P@RS #0 r c t|}||}|jj}|tj|dz|zz }t |d|jj j|jjj||d|}|jtj| |z|S)a Return a new Extrusion object which is expanded in profile and in height by a specified distance. Parameters -------------- distance : float Distance to buffer polygon distance_height : float Distance to buffer above and below extrusion kwargs : dict Passed to Extrusion constructor Returns ---------- buffered : primitives.Extrusion Extrusion object with new values r)rFr.rcrL) rrErcr<r5r#rFrPr.rrG)rrdistance_heightrUrcrs rrzExtrusion.buffer)s&?  "&O&&"''&/C'/994: nn..335NN**11(;    '/9:r cd|jjj|jjj t |jj dS)a" Get a copy of the current Extrusion primitive as a JSON-serializable dict that matches the schema in `trimesh/resources/schema/extrusion.schema.json` Returns ---------- as_dict : dict Serializable data for this primitive. extrusion)rKr.rFrc)rEr.wktrFrrrcr%s rrIzExtrusion.to_dictTsL ~~--111188:DNN112   r ctjdtj|jj |jj |jj|jj}tjr|jdkr td|j|jd<|j|jd<y)Nz%creating mesh for Extrusion primitive)r.rcrFr+r4zmatrix inverted mesh!r7r()r rrextrude_polygonrEr.rcrFr+r strictrr3r7rr(rs rr.zExtrusion._create_meshfs 9:''NN**>>((nn..nn..   ::$+++45 5#'-- J#zz Gr )NNrbTFr)r$rrrrrrrr rrrrr7rFrrGrrIr.rrs@rr*r*s)- . I&.  .  .  . `"    / /((DD 1 )V $*r r*)#rrnumpyr<r:rrrrrr rubaser cachingr constantsr r typedrrrrrrjflags writeablerrrnrorprmr*rLr rrWs 88#$77 BFF1I ! NDNDb]]@]8y]8@j8ij8ZM8YM8`h )h Vb* b*r