Ti% ddlZddlmZmZmZddlmZddlm Z ddl m Z m Z m Z mZmZddlmZdd lmZe dd e d ee de dejfdZ d de d e de dedeejf dZe d!d e dee dejfdZe d"d ee dee dee dejfdZejeeeZ d#d ee dedeejfdZdS)$N)groupingremeshutil)transformations)log_time) ArrayLikeIntegerNumberOptionalVoxelizationMethodsType)base)encoding @pitchmax_iter edge_factorreturnc  ||z }|tj|j|jdddf|j|jdddfz d}t t tjtj||z d}tj |j|j ||d\}}}tj ||z  t } tj| \} } | | } | d} | |z}t#jt'j| | z t+j||S) a Voxelize a surface by subdividing a mesh until every edge is shorter than: (pitch / edge_factor) Parameters ----------- mesh : trimesh.Trimesh Source mesh pitch Side length of a single voxel cube max_iter Cap maximum subdivisions or None for no limit. edge_factor Proportion of pitch maximum edge length. Returns ----------- VoxelGrid instance representing the voxelized mesh. NrraxisT)max_edger return_indexscale translate) transform)nplinalgnormverticesedgesmaxintceillog2rsubdivide_to_sizefacesroundastyper unique_rowsminr VoxelGridencSparseBinaryEncodingtrscale_and_translate)meshrrrr longest_edgev_f_idxhitunique_inverseoccupied_index origin_indexorigin_positions P/DATA/AppData/hermes/venv/lib/python3.11/site-packages/trimesh/voxel/creation.pyvoxelize_subdivider@ sv.{"Hy~~ M$*QQQT* +dmDJqqq!t  ,!>??(uPPP   Tpointradiusfillc lddlm}tj|tjd}t |tstdtj ||dz|zz ||dz|zzf}t|j |}t|dkrdS|d|Dd } | | t!| |fi|} | jdddf} | jj} tj| |z tj} tj|| z d}tj| |zd z| jz d}tj| tj||fd d} | |z } | | d|z | d|zd z| d |z | d |zd z| d|z | d|zd zf}|||zz }|r||\}||fdt;d |d zD}|tj||z|z}tj |dd z}tj!"|j}tj#||}tIj%|tMj'|S)a Voxelize a mesh in the region of a cube around a point. When fill=True, uses proximity.contains to fill the resulting voxels so may be meaningless for non-watertight meshes. Useful to reduce memory cost for small values of pitch as opposed to global voxelization. Parameters ----------- mesh : trimesh.Trimesh Source geometry point : (3, ) float Point in space to voxelize around pitch Side length of a single voxel cube radius Number of voxel cubes to return in each direction. kwargs Parameters to pass to voxelize_subdivide Returns ----------- voxels : VoxelGrid instance with resolution (m, m, m) where m=2*radius+1 or None if the volume is empty r)ndimagedtypez.radius needs to be an integer number of cubes!g?Ncg|]}|gSrK).0fs r? z"local_voxelize..ys---!1#---rAT)appendrrconstant)modercvg|]5}tj|kzj6SrK)r unravel_indexargmaxshape)rLidistanceregionss r?rNz"local_voxelize..sM     h'Q,7??AA8> R R   rA)(scipyrFr asanyarrayfloat64reshape isinstancer& ValueError concatenatelisttriangles_tree intersectionlensubmeshapply_translationr@rrdenser+r,int64maximumrVpadstacklabeldistance_transform_cdtrangecontainsasarraywhereisinflatten logical_orrr/r2translation_matrix)r4rBrrCrDkwargsrFboundsr*localvoxoriginmatrixcenterprepadpostpadvoxels local_originnrepresentativesrorqinternalrXrYs @@r?local_voxelizerDs\@ M%rz 2 2 2 : :1 = =E fc " "KIJJJ^ &3,%' '&3,%1G)GHF $11&99 : :E 5zzQt LL--u---dL ; ;E UF### UE 4 4V 4 4C ]2A2q5 !F \ FXvgo & & - -bh 7 7FZ + +Fj&1,v|;Q??G VFBHfg%6R@@@z R R RF fFq FVAY/!33q FVAY/!33q FVAY/!33 5F 6E>)L 1]]F7++ 116'::     1a!e__   ==O!&""7 "E"E F FFrAper_cellc|#tjddgtj}n3tj|tjd}t |}|jddddf}|dxx|d|zz z cc<|dxx|z cc<||z }tj||}tj t||jdd|z z}tj ||f}tj |gdz}|j ||d}tj||z tj} | d } | | z} t%j| } | |z} t)j| t-j|| S) a= Voxelize a mesh using ray queries. Parameters ------------- mesh Mesh to be voxelized pitch Length of voxel cube per_cell : (2,) int How many ray queries to make per cell Returns ------------- grid VoxelGrid instance representing the voxelized mesh. NrrGrg?r)step)rrrrr)r arrayrhr]floatrwcopyr grid_arangeonesrd column_stack ones_likerayintersects_locationr+r,r.r0r1rr/r2r3) r4rrrwrray_orizray_dirhitsrr=rr>s r? voxelize_rayrs*8QF"(3338HBH555==a@@ %LLE[BQB  $ $ & &F 1III#.))III 1IIIIII 8 DvD111G G Q!2U!:;Aowl++Gl7##iii/G 8 ' ' 9 9! "(uPPP  rA dimensionrwc lddlm}|J||j}n |\}}||z }tt jt j||z }|lGGJD$TkGw% 78899   _ , ,JKK K*,-*?*?*G*G*I*I'vFFFoFFH   h / //rA)r subdividerrmethodc "t|f||d|S)a_ Voxelize the given mesh using the specified implementation. See `voxelizers` for available implementations or to add your own, e.g. via `voxelizers['custom_key'] = custom_fn`. `custom_fn` should have signature `(mesh, pitch, **kwargs) -> VoxelGrid` and should not modify encoding. Parameters -------------- mesh Geometry to voxelize pitch Side length of each voxel. method Which voxelization method to use. kwargs Passed through to the specified implementation. Returns -------------- grid A VoxelGrid instance. )r4r) voxelizers)r4rrrvs r?voxelizers!> f ?4u ? ? ? ??rA)rr)T)N)NNN)r)numpyr rrrrr2 constantsrtypedr r r r r rrr0r/r@boolrrrFunctionRegistryrrrKrAr?rs%%%%%%%%%%$$$$$$ QQQQQQQQQQQQQQ QT555#+G#45HN5 ^555 5z ^G^G ^G ^G  ^G  ^Gdn^G^G^G^GB 9=:::#+I#6: ^::: :z ##'"& 3030 F 30 30 Y  30  ^ 303030 30l#T " 2? '2@@ F @ $@ dn @@@@@@rA