Ti.ddlZddlmZddlmZddZdS)N)util)tol_pathctj|d\}}tj|d\}}|tj|dz}t jt jt j|dtj krdS|\}}|\}}||z }|7t j ||}|tj |z}t j ||} | tj | z} tj |} | tj kr5t t j ||| z tj krdSt j | |t j | |z } || |zz} d| dd|z fS) a Find the intersection between two lines. Uses terminology from: http://geomalgorithms.com/a05-_intersect-1.html line 1: P(s) = p_0 + sU line 2: Q(t) = q_0 + tV Parameters --------- origins : (2, d) float Points on lines (d in [2,3]) directions : (2, d) float Direction vectors plane_normal : (3, ) float If not passed computed from cross Returns --------- intersects : bool Whether the lines intersect. In 2D, false if the lines are parallel In 3D, false if lines are not coplanar intersection : (d,) float or None Point of intersection T) return_2D)r)axis)FNN)rstack_3Drow_normreshapenpsumabsdifftolzerocrosslinalgnormdot) origins directions plane_normalis_2Dq_0p_0vuwv_perpw_norms_I intersections T/DATA/AppData/hermes/venv/lib/python3.11/site-packages/trimesh/path/intersections.py line_liner's8]7d;;;NGU jDAAAJ$- ++33G<<r-sY''''''B-B-B-B-B-B-r(