Ti|dZddlZddlZddlmZmZmZmZm Z ddlm Z ddl m Z ddlmZddlmZmZdd lmZmZmZmZejd Zd ej_Gd d e ZGddZGddeZGddeZGddeZ GddeZ!GddeZ"dS)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) ArrayLikeIntegerNumberOptionalFc"eZdZdZdZdZfdZdZedZ e j dZ edZ e j dZ ed Z e j d Z ed Z ejd ZddZdZdZdZxZS) Primitivez Geometric Primitives which are a subclass of Trimesh. Mesh is generated lazily when vertices or faces are requested. Nct|jd|_d|j_dS)NFT)super__init___dataclear _validate_cacheforce_immutable)self __class__s L/DATA/AppData/hermes/venv/lib/python3.11/site-packages/trimesh/primitives.pyrzPrimitive.__init__%sH  '+ ###c2dt|jdS)Nz)type__name__rs r__repr__zPrimitive.__repr__1sNr+gUUUUUU??heightradiusextentsz!Couldn't produce rigid transform!)r< asanyarrayfloat64shaper3rallclose _IDENTITYrErFrPlinalgdetBoxCylinderCapsuleSphere isinstanceabshasattrrcrdre multi_dottf scale_matrixdotis_rigid)rmatrixprimcurrentscalekindsupdateds rapply_transformzPrimitive.apply_transformsvS CCC <6 ! !788 8 =D 1 1 K~.%%'' fRaR!Vn--)<h0 dE " " .s53;'7'7$'>'>tX&& % u$ tX&& % u$ tY'' & % BQBENNNe #NNNnfbocEk.J.JG%TUUGGfVW--G{7## B@AA A$+  r c td)Nz'Primitive doesn't define mesh creation!r2r%s rr.zPrimitive._create_meshsBCCCr T)r$ __module__ __qualname____doc____copy__ __deepcopy__rr&propertyr(setterr7r:rFabcabstractmethodrIrPr\rr. __classcell__rs@rrrs HL + + + + +===$$X$ \LL\L''X'_OO_OX,AAA ( (X ( $$$ :.444lDDDDDDDr rcPeZdZdZddZedZfdZfdZdZxZ S) PrimitiveAttributesz: Hold the mutable data which defines a primitive. TcD|j|_||_||_|j|||_|D]:\}}||d}|tj|||j|<;|jsd|j_ dSdS)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,, D DLCJJsD))E "&"3E7"C"C 3} '!&DJ    ' 'r cddl}d|jjj||jddd}|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$pformatr)rrdocs rrzPrimitiveAttributes.__doc__s]    &'0^^DN"^==adC     r c8|dr!t|S|dkr|jddddfS||jvr+t j|j||j|Std|d)N_centerrFr+z#primitive object has no attribute 'z' ) startswithr __getattr__rrrrAttributeError)rrrs rrzPrimitiveAttributes.__getattr__)s >>#   K77&&s++ + H__:k*2A2q51 1 DN " "$TZ_dnS6IJJ JJ3JJJKKKr c|dr"t||S|dkrItj|tj}tjd}||dddf<||jd<dS||jvr@|j r*tj ||j||j|<dStdt|j}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 >>#   L77&&sE22 2 H__HU"*555Eq I$Ibqb!e &/DJ{ # F DN " "} "&"3E4>#;N"O"O 3 Q++--..DJJJJKK Kr cttt|t|jz}|SN)sorteddirr#rrr)rr[s r__dir__zPrimitiveAttributes.__dir__Gs;DJJ$t~/B/B/D/D*E*EEFF r r) r$rrrrrrrrrrs@rrrs ' ' ' 'DX*LLLLLLLLLL(r rceZdZdfd ZedZedefdZed Zed Z e d Z d Z d Z dZxZS)rnrbN Tc tddtjddd}t ||||||d||_dS)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. $@rbrrrcrdrFsectionsrrUrNrrr<rrrErrdrcrFrrrrs rrzCylinder.__init__Msp" "cq WYZZ,   &$      r cTtj|jjdzz|jjzS)z The analytic volume of the cylinder primitive. Returns --------- volume : float Volume of the cylinder )r<pirErdrcr%s rvolumezCylinder.volumems%-q00DN4IIIr returnc|jj|jj}}tjdz|z|zdtjz|dzzzS)z? The analytical area of the cylinder primitive rrErdrcr<rrrdrcs rareaz Cylinder.areaysA .0E F"V+BE FAI0EFFr c|tj|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_inertias?)>(>(n.      r cXtj|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,vdn. ==bqbA r c |jjdz }tj|jjtjdd| dgdd|dggjddddf}|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.segmentsn~$s* N $blQD5!4Dq!TSTo3V&W&W  AAArrE r cd|jjt|jjt|jjdS)a  Get a copy of the current Cylinder primitive as a JSON-serializable dict that matches the schema in `trimesh/resources/schema/cylinder.schema.json` Returns ---------- as_dict : dict Serializable data for this primitive. cylinder)rKrFrdrc)rErFtolistfloatrdrcr%s rrIzCylinder.to_dictsJ188::DN122DN122    r ct|}t|jj|dzz|jj|z|jj}|S)a Return a cylinder primitive which covers the source cylinder by distance: radius is inflated by distance height by twice the distance. Parameters ------------ distance : float Distance to inflate cylinder radius and height Returns ------------- buffered : Cylinder Cylinder primitive inflated by distance r)rcrdrF)rrnrErcrdrFrP)rdistancebuffereds rbufferzCylinder.buffers\ ??>(8a<7>(83n.3355    r ctjdtj|jj|jj|jj|jj}|j |j d<|j |j d<|j |j d<dS)Nz$creating mesh for Cylinder primitive)rdrcrrFr7r(r:) r debugrrrErdrcrrFr7rr(r:rmeshs rr.zCylinder._create_meshs} 8999 >(>(^,n.    #'- J#z G&*&7 N###r )rbrbNrT)r$rrrr rrrrrrrrIrr.rrs@rrnrnLs      @ J J_ JGeGGG_G_$  _ X$   $0 8 8 8 8 8 8 8r rnceZdZ dfd ZedZedefd Zedefd Z d Z ed Z d Z xZ S)rorbrNrTc tddtjddd}t ||||||d||_dS)a Create a Capsule Primitive, a subclass of Trimesh. Parameters ---------- radius : float Radius of cylinder height : float Height of cylinder transform : (4, 4) float Transformation matrix sections : int Number of facets in circle mutable : bool Are extents and transform mutable after creation. rbrrrrNrrs rrzCapsule.__init__sp& !SrvayyVXYY,   &$      r c|jjSrrDr%s rrFzCapsule.transform ~''r rch|jj|jj}}tj|dzzd|z|zzS)z The analytic volume of the capsule primitive. Returns --------- volume : float Volume of the capsule rgUUUUUU?rrs rrzCapsule.volumes7.0E !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 sA.0EBE F"V+BE FAI0EFFr cd|jjt|jjt|jjdS)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-sJ188::DN122DN122    r cXtj|jjgddd}|S)z The direction of the capsule's axis. Returns -------- axis : (3,) float Vector along the cylinder axis rNr+rrs rrzCapsule.direction?s,vdn. ==bqbA r ctjdtj|jj|jj}||jj|j |j d<|j |j d<|j |j d<dS)Nz%creating mesh for `Capsule` primitive)rdrcr7r(r:) r rrrrErdrcrrFr7rr(r:rs rr.zCapsule._create_meshLs 9:::>(1F    T^5666"&- J#z G&*&7 N###r )rbrNrT)r$rrrrrFr rrrrIrr.rrs@rrorosLP       D((X( E E E E_ E Ge G G G_ G   $  _  8 8 8 8 8 8 8r roc eZdZ ddedeedeeded ef fd Ze d Z e j d Z d Z e dZ e dZedZedZedZdZxZS)rprbNr+TrdrrF subdivisionsrc\tt|t|d}|4|t dt jd}||dddf<||d<n|||d<t|dt jddd|| |_dS) 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@Q@QRR   $ !VWWWq I%Ibqb!e '0K $ $  "'0K $-  #"&))QOO    r c|jjSrrErr%s rrz Sphere.centers ~$$r c||j_dSrr)rrs rrz Sphere.centers %r ctd|jjt|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_dicts:188::DN122   r ctj|jj|jjz |jj|jjzg}|Sr)r<rrErrd)rboundss rrz Sphere.boundssE %(==%(==     r c|jSr) bounding_boxr%s rbounding_box_orientedzSphere.bounding_box_orienteds   r cDdtjz|jjdzz}|S)z Surface area of the current sphere primitive. Returns -------- area: float, surface area of the sphere Primitive @rr<rrErdrrs rrz Sphere.areas#RU{dn3Q67 r cJdtjz|jjdzzdz }|S)z Volume of the current sphere primitive. Returns -------- volume: float, volume of the sphere Primitive rr+g@rrrs rrz Sphere.volumes(+!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~?TUUUUr ctjdtj|jj|jj}|j|jjz|j d<|j |j d<|j |j d<dS)Nz"creating mesh for Sphere primitive)rrdr7r(r:) r rr icosphererErrdr7rrr(r:)rr?s rr.zSphere._create_meshsv 6777!4T^=R    #'-$.2G"G J#z G&*&7 N###r )rbNNr+T)r$rrrrrrboolrrrrrIrrr rrrr.rrs@rrprpYsn&*)- ! - - - #- I& -  -  - - - - - - ^%%X% ]&&]&   "  X !!X!  _   _  V V_ V 8 8 8 8 8 8 8r rpceZdZd fd ZdZedZdZd dZedZ e d Z d Z d Z xZS)rmNTcttjdtjdd}|||t dtj|tj}|jdkrt dtj |d }tjd}|d |d z z|dddf<t||||d | |_ dS)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+)rFreNz188::~-4466   r c|jjSrrDr%s rrFz Box.transform$rr c\tj|jj||jj}|S)a Return random samples from inside the volume of the box. Parameters ------------- count : int Number of samples to return Returns ---------- samples : (count, 3) float Points inside the volume )recountrF)rvolume_rectangularrErerF)rrsampless r sample_volumezBox.sample_volume(s5+N*n.    r cJ||tdtj|jj |jjgdz}|t j||}n(|t j||}ntdtj ||jj }|S)a Return a 3D grid which is contained by the box. Samples are either 'step' distance apart, or there are 'count' samples per box side. Parameters ----------- count : int or (3,) int If specified samples are spaced with np.linspace step : float or (3,) float If specified samples are spaced with np.arange Returns ----------- grid : (n, 3) float Points inside the box Nz$only step OR count can be specified!g?)step)rz'either count or step must be specified!)ry) r3r<rrErer grid_arange grid_linspacerutransform_pointsrF)rrrrgrid transformeds r sample_gridzBox.sample_grid=s&  !1CDD DDN22DN4JKLLsR  #F666DD  %fE:::DDFGG G)$t~7OPPP r ctj|jjdr>t j|jjddddft jd SdS)zK Returns whether or not the current box is rotated at all. rarr+F)rr-rErFr<rirr%s r is_orientedzBox.is_oriented`sU =16 : : {4>#;AaC1H#ErvayyQQQ Q5r c\ttj|jj}|S)z Volume of the box Primitive. Returns -------- volume : float Volume of box. )rr<prodrErers rrz Box.volumejs%rwt~56677 r c.tjdtj|jj|jj}|jj |jj|j |jd<|j |jd<|j |jd<dS)Nzcreating mesh for Box primitiver r7r(r:) r rrrrErerFrcacherMr7r(r:)rrs rr.zBox._create_meshws 3444lN*dn6N      !1222"%, J"y G&)&6 N###r cPddlm}||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@ /.....{N*dn6N    r )NNNT)NN)r$rrrrIrrFrrr r rr.r(rrs@rrmrms' ' ' ' ' ' R   "((X(*!!!!FX  _  7 7 7       r rmc eZdZ ddeedededeffd Zed Z ed Z ed Z e d Z e dZedZdZddZdZdZxZS) ExtrusionNrbTFrFrcr mid_planec ddlm}t|ddgdt jdddd}t||||||d||_d S) 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__s0 +***** uaV}}++C00   - &" &      r ct|jj|jjjz}||jjjdzz }|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.areas?4>(4>+A+HHII &+a// r c\t|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.volumes(T^+04>3HHII r ctj|jjddddfddtj|jjg}|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.directionsNF N $RaR!V ,sCAV9W9W.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}||jjjj\}}tj|t|jj }tj tj|}|jj dz |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>3I3R3YZZ 3)CT^%:!;!;<<Y]]2#9)#D#DEE >036 4t~/<<UGUCCCCr ct|}tjd}||d<tj|jj|}||j_dS)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.slidesd??fQii $ Dt~7<<>> @P@P@R@RSS #0   r c xt|}||}|jj}|tj|dz|zz }t |d|jj|jj ||d|}| tj| |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 Nr)rFr.rcrL) rrErcr<r5r#rFrPr.rrG)rrdistance_heightrUrcrs rrzExtrusion.buffer)s&??  "&O&"'&//C'/994:: n.3355N*11(;;      '/9:::r cd|jjj|jjt |jjdS)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_dictTsE ~-1188::DN122    r c6tjdtj|jj|jj|jj|jj}tj r|j dkrtd|j |jd<|j|jd<dS)Nz%creating mesh for Extrusion primitive)r.rcrFr+r4zmatrix inverted mesh!r7r()r rrextrude_polygonrEr.rcrFr+r strictrr3r7rr(rs rr.zExtrusion._create_meshfs 9:::'N*>(n.n.     : 6$+++455 5#'- J#z Gr )NNrbTFr)r$rrrrrrrr rrrrr7rFrrGrrIr.rrs@rr*r*sh)- . . I&.  .  .  . . . . . . `_"  _ _  / /X /((X(DD_D 111 ))))V   $*******r r*)#rrnumpyr<r:rrrrrr rubaser cachingr constantsr r typedrrrrrrjflags writeablerrrnrorprmr*rLr rrWsS 88888888888888######$$$$$$777777777777 BF1II ! NDNDNDNDNDNDNDNDb]]]]]]]]@]8]8]8]8]8y]8]8]8@j8j8j8j8j8ij8j8j8ZM8M8M8M8M8YM8M8M8`h h h h h )h h h Vb*b*b*b*b* b*b*b*b*b*r