TirddlZddlZddlZddlmZddlmZddlZddl m Z m Z m Z m Z mZmZmZddlmZddlmZddlmZmZdd lmZdd lmZmZmZmZmZm Z m!Z!m"Z"m#Z#m$Z$m%Z%m&Z&m'Z'm(Z(dd lm)Z)d d l m*Z*m+Z+d dl,m-Z-e%eeeee.efefZ/GddeZ0dZ1ddZ2dde0dede0fdZ3dS)N)deepcopy)sha256)cachingconvexgroupinginertiatransformationsunitsutil)log)export)Geometry Geometry3D) procrustes) ArrayLikeDictFloatingIntegerIterableListNDArrayOptionalSequenceTupleUnion ViewerTypefloat64int64) unique_name)cameraslighting) SceneGraphc6eZdZdZ dRdeededeedeedee j d ee e j d eefd Zd Z dSded eedeedeedeedeef dZdeeee fddfdZdTdZ dUdeedeedeeddfdZdefdZedefdZedefdZej deeee!ffdZ"ej deee!fdZ#ej deee!fdZ$ej de%fd Z&ej deee!fd!Z'ej defd"Z(ej d#Z)d$Z*ej de%fd%Z+ej de!fd&Z,ej dee!fd'Z-ej d(Z.ej deeeffd)Z/ej defd*Z0ej de1e1efd+Z2dVd-eddfd.Z3 dSde j fd/Z4ed0Z5e5j6d1e7fd2Z5de8ee!ee!ee9ffd3Z:ede j fd4Z;e;j6dee j fd5Z;edefd6ZdWd;ede1e?fd<Z@dXd>ZAde?fd?ZBd@eddfdAZCej dBZDdYdCZEdZdeFfdDZGedeefdEZHeHj6dFefdGZHdWdHedIeddfdJZIdYdTdKZJdLeee7fddfdMZKd[dNZL dZdOeMfdPZNdQZOdS)\Scenez A simple scene graph which can be rendered directly via pyglet/openGL or through other endpoints such as a raytracer. Meshes are added by name, which can then be moved by updating transform in the transform tree. Nworldgeometry base_framemetadatagraphcameralightscamera_transformctj|_t||_t j|j|_|| |i|_ t|tr|j ||||_|||_|||_| ||_dSdSdS)aX Create a new Scene object. Parameters ------------- geometry : Trimesh, Path2D, Path3D PointCloud or list Geometry to initially add to the scene base_frame Name of base frame metadata Any metadata about the scene graph A passed transform graph to use camera : Camera or None A passed camera to use lights : [trimesh.scene.lighting.Light] or None A passed lights to use camera_transform Homogeneous (4, 4) camera transform in the base frame r)) id_functionN) collections OrderedDictr(r$r+rCache__hash___cache add_geometryr* isinstancedictupdater-r,r.)selfr(r)r*r+r,r-r.s M/DATA/AppData/hermes/venv/lib/python3.11/site-packages/trimesh/scene/scene.py__init__zScene.__init__/s>$/11  :666 m >>>     h ' ' ' h % % + M  * * *  DJ   DK   DK+(8%%%  ++c|jj}|jjj|D]E}t j||j|d}|j|||F|S)z Apply a transform to all children of the base frame without modifying any geometry. Parameters -------------- transform : (4, 4) Homogeneous transformation matrix. r frame_fromframe_tomatrix)r+r) transformschildrennpdotr:)r; transformbasechildcombineds r<apply_transformzScene.apply_transformjsnz$Z*3D9 P PEviE):1)=>>H J  h  O O O O r> node_name geom_nameparent_node_namerHc|dStj|rfd|DSt|tr!fd|DSt|t rU|z}jj|j|j j j _ dS}nTd|j vr|j d}n=|j j |j j }n$dttjz}t!|j}|j|<9j j j} t!|| | vsJt'jdj |dd i S) a Add a geometry to the scene. If the mesh has multiple transforms defined in its metadata, they will all be copied into the TransformForest of the current scene automatically. Parameters ---------- geometry : Trimesh, Path2D, Path3D PointCloud or list Geometry to initially add to the scene node_name : None or str Name of the added node. geom_name : None or str Name of the added geometry. parent_node_name : None or str Name of the parent node in the graph. transform : None or (4, 4) float Transform that applies to the added node. metadata : None or dict Optional metadata for the node. Returns ---------- node_name : str Name of single node in self.graph (passed in) or None if node was not added (eg. geometry was null or a Scene). Nc Fg|]}|S))r(rMrNrOrHr*r7).0valuerNr*rMrOr;rHs r< z&Scene.add_geometry..sR   !!"''%5'% "   r>cHi|]\}}|||S))r(rNr*rR)rSkvr*r;s r< z&Scene.add_geometry..sDAq4$$a1x$PPr>name geometry_startcontainsvisibleT)rBrArCr(geometry_flagsr*)r is_sequencer8r9itemsr&r(clearr:r+rDr*source file_namestrlenr keys node_datarFeye) r;r(rMrNrOrHr*concatrZexistings ` ````` r<r7zScene.add_geometryzs?L   F  h ' '          &    $ ' ' $NN,,  % ( ( H_F M   ! ! ! M  1 1 1$*L$;DJ ! F  DD x( ( ($V,DD _ & 2?,DDS%7%7!8!88D 0B0B0D0DEEE& d  z,6;;==H$D(33IH,,,,  q I '%t,    r>namesreturnct|tr|g}t|}j|fd|DdS)a Delete one more multiple geometries from the scene and also remove any node in the transform graph which references it. Parameters -------------- name : hashable Name that references self.geometry cFg|]}j|dSN)r(pop)rSrZr;s r<rUz)Scene.delete_geometry..s+9994  4 & &999r>N)r8rgsetr+remove_geometries)r;rns` r<delete_geometryzScene.delete_geometrysa eS ! ! GEE  $$U+++99995999999r>cddlm}|jD](}t j|dr|||_)dS)zl Strip visuals from every Trimesh geometry and set them to an empty `ColorVisuals`. r) ColorVisualsTrimesh)meshN) visual.colorrxr(valuesr is_instance_namedvisual)r;rxr(s r< strip_visualszScene.strip_visualssg 0///// ,,.. > >H%h :: >".,H"="="= > >r>percent face_count aggressionci}|jD]0\}}t|dr||||||<1|j|dS)a Apply in-place `mesh.simplify_quadric_decimation` to any meshes in the scene. Parameters ----------- percent A number between 0.0 and 1.0 for how much face_count Target number of faces desired in the resulting mesh. aggression An integer between `0` and `10`, the scale being roughly `0` is "slow and good" and `10` being "fast and bad." simplify_quadric_decimation)rrrN)r(rchasattrrr:)r;rrrupdatesrWrXs r<rz!Scene.simplify_quadric_decimation s,M''))  DAqq788 ::# z;  W%%%%%r>cD|jt|jjg}|fdDtjd | dS)z Return information about scene which is hashable. Returns --------- hashed String hashing scene. c3fK|]+}t|V,dSrr)hexr5)rSrWr(s r< z!Scene.__hash__..8s;MMHQK002233MMMMMMr>zutf-8) r(rr+rDr5extendrir hash_fastjoinencode)r;hashabler(s @r<r5zScene.__hash__)s= -668899:MMMMX]]__MMMMMM !2!2!9!9'!B!BCCCr>c2t|jdkS)z Does the scene have anything in it. Returns ---------- is_empty True if nothing is in the scene r)rhr(r;s r<is_emptyzScene.is_empty;s4=!!Q&&r>ctjdkrdS fdjjD}n#t$rYdSwxYw|t jkS)z Is every geometry connected to the root node. Returns ----------- is_valid : bool Does every geometry have a transform rTc6h|]}j|dSr!)r+)rSir;s r< z!Scene.is_valid..Vs$NNNq$*Q-*NNNr>F)rhr(r+nodes_geometry BaseExceptionrtri)r; referenceds` r<is_validzScene.is_validHs t}   " "4 NNNNDJ4MNNNJJ   55  S!3!3!5!56666s6 AAc"i}d|jD}|d|D|jjD]}|j|\}}||}|*t j|ddddf|j}t j | d|dddfz| d|dddfzg||<|S)z Get the post-transform AABB for each node which has geometry defined. Returns ----------- corners Bounds for each node with vertices: {node_name : (2, 3) float} ci|]<\}}|t|drt|jdkr|jn|j=S)verticesr)rrhrboundsrSrWms r<rYz(Scene.bounds_corners..msY   1 WQ 33YAJ!8K8KqzzQRQY   r>c i|]N\}}||jddk|tj|tjt |fOS)Nr!r)shaperF column_stackzerosrh)rSrWrXs r<rYz(Scene.bounds_corners..ssX   Aq=QWQZ1__2?ArxA'7'7#899%4__r>Nr!axis) r(rcr:r+rgetrFrGTarrayminmax)r;cornersrrMrH geometry_namepointsrGs r<bounds_cornerszScene.bounds_corners^s@   ++--      $NN,,      2  I'+z)'< $I}\\-00F~&2A2rr6*FH55C!#a9RaRU#33SWW!W__yQSRSQSUVQVGW5WX""GI  r>c>|j}t|dkrdStjt |j}tj|d|dgtj S)z Return the overall bounding box of the scene. Returns -------- bounds : (2, 3) float or None Position of [min, max] bounding box Returns None if no valid bounds exist rNrdtype) rrhrFvstacklistr|rrrr)r;rrs r<rz Scene.boundss, ~  ! # #4)D!4!;!;!=!=>>??x!,,gkkqk.A.AB"*UUUUr>cj|j}|dStj|ddS)z Return the axis aligned box size of the current scene or None if the scene is empty. Returns ---------- extents Bounding box sides length or None for empty scene. Nrr)rrFdiffreshape)r;rs r<extentsz Scene.extentss8 >4wvA&&&..r222r>cf|j}|dSt|dzdzS)z The approximate scale of the mesh Returns ----------- scale : float The mean of the bounding box edge lengths N?rg?)rfloatsum)r;rs r<scalez Scene.scales8, ?3gqj%%''3.///r>cR|j}|dStj|jd}|S)z Return the center of the bounding box for the scene. Returns -------- centroid : (3) float Point for center of bounding box Nrr)rrFmean)r;rcentroids r<rzScene.centroids0 >474;Q///r>cd|jDd|jD|jfdjD}t jfd|Dtj}t jfd|Dtj}||z}||dzd S) z Find the center of mass for every instance in the scene. Returns ------------ center_mass : (3,) float The center of mass of the scene cDi|]\}}t|d||jS) center_mass)rrrs r<rYz%Scene.center_mass..s@   1q-(( q}   r>cDi|]\}}t|d||jS)mass)rrrs r<rYz%Scene.center_mass..s/RRRdawq&?Q?QR16RRRr>c g|] }| Sr)rSnr+s r<rUz%Scene.center_mass..s;;;E!H;;;r>c g|]?\}}|v tj|tj|ddd@S)r!Nr)rFrGappend)rSmatgrs r<rUz%Scene.center_mass..sW   C ##sBIk!na8899"1"=###r>rc&g|] \}}|Srr)rS_rrs r<rUz%Scene.center_mass..s!9991DG999r>)rr!rr) r(rcr+rrFrrrr)r;instance transformedweightsrr+rs @@@r<rzScene.center_masss&   ++--   SRdm&9&9&;&;RRR ;;;;e&:;;;h    &    *    (9999999LLL7;;== goog666;;;CCCr>c\tj|tj|jS)a Return the moment of inertia of the current scene with respect to the center of mass of the current scene. Returns ------------ inertia : (3, 3) float Inertia with respect to cartesian axis at `scene.center_mass` scenerH)r scene_inertiar translation_matrixrrs r<moment_inertiazScene.moment_inertias1$/"DTEU"V"V    r>c.tj||S)aM Return the moment of inertia of the current scene relative to a transform from the base frame. Parameters transform : (4, 4) float Homogeneous transformation matrix. Returns ------------- inertia : (3, 3) float Inertia tensor at requested frame. r)r r)r;rHs r<moment_inertia_framezScene.moment_inertia_frames$49EEEEr>cdjDtfdjjDdS)z What is the summed area of every geometry which has area. Returns ------------ area : float Summed area of every instanced geometry cDi|]\}}t|d||jSarea)rrrSrrs r<rYzScene.area..s/SSStq!6@R@RSAFSSSr>c3fK|]+}j|ddV,dSr!Nrr+)rSrareasr;s r<rzScene.area..s< Q Q!UYYtz!}Q' - - Q Q Q Q Q Qr>rr(rcrr+r)r;rs`@r<rz Scene.areas\TSt}':':'<'<SSS Q Q Q Q Qtz7P Q Q QSV   r>cdjDtfdjjDdS)z What is the summed volume of every geometry which has volume Returns ------------ volume : float Summed area of every instanced geometry cDi|]\}}t|d||jSr)rvolumers r<rYz Scene.volume..-s/VVV$!Q71fCUCUV!QXVVVr>c3fK|]+}j|ddV,dSrr)rSrr;rs r<rzScene.volume..0s< R R1VZZ 1 a(# . . R R R R R Rr>rr)r;rs`@r<rz Scene.volume!s\WV$-*=*=*?*?VVV R R R R R 8Q R R RTW   r>c $g}g}|jjD]}|j|\}}|j|}t|ds0|t j|j d||tj |t|jtj ||jd<tj| dS)z Return a correctly transformed polygon soup of the current scene. Returns ---------- triangles : (n, 3, 3) float Triangles in space triangles)rr)rCtriangles_node)rrr)r+rr(rrr transform_pointsrcopyrrFtilerhhstackr6r)r;rrrMrHrr(s r<rzScene.triangles3s  2 O OI'+z)'< $I}}]3H8[11    0&++--55g>>y     ! !"')S9K5L5L"M"M N N N N(* .(A(A $%y##++J777r>c*|j}|jdS)z Which node of self.graph does each triangle come from. Returns --------- triangles_index : (len(self.triangles),) Node name for each triangle r)rr6)r;populates r<rzScene.triangles_nodeTs>{+,,r>cHd|jDS)z Look up geometries by identifier hash. Returns --------- identifiers {Identifier hash: key in self.geometry} c$i|] \}}|j|Sridentifier_hash)rSrZrzs r<rYz.Scene.geometry_identifiers..ks!SSSztT$dSSSr>)r(rcrs r<geometry_identifierszScene.geometry_identifiersas'TST]=P=P=R=RSSSSr>cdd|jDtt |jz}t |S)z8 Get a unique identifier for the scene. rc3$K|] }|jV dSrrrrSrs r<rz(Scene.identifier_hash..rs%IIQq(IIIIIIr>) rr(r|rghashr+rr hexdigest)r;dumps r<rzScene.identifier_hashmsv wwII$-2F2F2H2HIIIIIC   M M  dkkmm$$..000r>clt|jdkrgSd|jD|jfdjD}t jtfd|DtS)a@ Return a sequence of node keys of identical meshes. Will include meshes with different geometry but identical spatial hashes as well as meshes repeated by self.nodes. Returns ----------- duplicates Keys of self.graph that represent identical geometry rc`i|]+\}}t|d|t|jd,S)r)rintrrs r<rYz)Scene.duplicate_nodes..sL   1q+,, s1$b))   r>cTi|]$}||d%Sr)r)rSnoder+hashess r<rYz)Scene.duplicate_nodes..s/WWW$T6::eDk!n55WWWr>cPg|]"\}}|||#Srr)r)rSrhashed duplicatess r<rUz)Scene.duplicate_nodes..s@   f! v  % %d + +!!!r>) rhr(rcr+rr2 defaultdictrr|)r; node_hashr r+rs @@@r<duplicate_nodeszScene.duplicate_nodesws t}   " "I   ++--    XWWWW%BVWWW !,T22     ) 1 1    J%%''(((r>h㈵>cost_thresholdc$t||S)a If a scene has been "baked" with meshes it means that the duplicate nodes have *corresponding vertices* but are rigidly transformed to different places. This means the problem of finding ab instance transform can use the `procrustes` analysis which is *very* fast relative to more complicated registration problems that require ICP and nearest-point-on-surface calculations. TODO : construct a parent non-geometry node for containing every group. Parameters ---------- scene The scene to handle. cost_threshold The maximum value for `procrustes` cost which is "squared mean vertex distance between pair". If the fit is above this value the instance will be left even if it is a duplicate. Returns --------- dedupe A copy of the scene de-duplicated as much as possible. )r)reconstruct_instances)r;rs r<rzScene.reconstruct_instancess6%T.IIIIr>cD|tjddg}t|jdkrGt j||_tjd|j|jj <|jS|tj d}tj |}t j |j||||}t|d r"|j||j_| ||j_nt j|| |_||j|jj <|jS) a Create a camera object for self.camera, and add a transform to self.graph for it. If arguments are not passed sane defaults will be figured out which show the mesh roughly centered. Parameters ----------- angles : (3,) float Initial euler angles in radians distance : float Distance from centroid center : (3,) float Point camera should be center on camera : Camera object Object that stores camera parameters N<-r)fovr_r)rrotationdistancecenter_camera)r resolution)rFrrhr(r"Camerarrkr+rZrr euler_matrixlook_atrrrr)r;anglesrrrrrrHs r< set_camerazScene.set_cameras, ;(B8$$C t}   " "">c222DL,.F1IIDJt|( )<  >Xa[[F"/8O KS8hv    4 # # J (@"DL %*4 '#>cjIIIDL(1 4<$%|r>c<|j|jjdS)z Get camera transform in the base frame. Returns ------- camera_transform : (4, 4) float Camera transform in the base frame rr+r,rZrs r<r.zScene.camera_transformsz$+*+A..r>rCc.||j|jj<dS)z Set the camera transform in the base frame Parameters ---------- camera_transform : (4, 4) float Camera transform in the base frame Nr!)r;rCs r<r.zScene.camera_transforms(. 4;#$$$r>c|j\}}|j}tj||d}t j|tj|z}|||fS)a Calculate the trimesh.scene.Camera origin and ray direction vectors. Returns one ray per pixel as set in camera.resolution Returns -------------- origin: (n, 3) float Ray origins in space vectors: (n, 3) float Ray direction unit vectors in world coordinates pixels : (n, 2) int Which pixel does each ray correspond to in an image F) translate)r,to_raysr.r rrF ones_liketranslation_from_matrix)r;vectorspixelsrHoriginss r< camera_rayszScene.camera_rays sp +--//) !27IQVWWW,w''/*Q + +  ''r>cX|js|S|jJ|jS)z Get the single camera for the scene. If not manually set one will abe automatically generated. Returns ---------- camera : trimesh.scene.Camera Camera object defined for the scene ) has_camerarrrs r<r,z Scene.camera%s4 %??$$ $|'''|r>c|dS||_dS)z Set a camera object for the Scene. Parameters ----------- camera : trimesh.scene.Camera Camera object for the scene N)r)r;r,s r<r,z Scene.camera8s > F r>c4t|do|jduS)Nr)rrrs r<r-zScene.has_cameraFstY''DDL,DDr>ct|dr|jCtj|\}}t ||D]\}}||j|j<||_|jS)z Get a list of the lights in the scene. If nothing is set it will generate some automatically. Returns ------------- lights : [trimesh.scene.lighting.Light] Lights in the scene. _lights)rr1r# autolightzipr+rZ)r;r-rDLrs r<r-z Scene.lightsJsotY'' "4<+?!)!3D!9!9 FJFJ// ' '1%& 16""!DL|r>c||_dS)z Assign a list of light objects to the scene Parameters -------------- lights : [trimesh.scene.lighting.Light] Lights in the scene. N)r1)r;r-s r<r-z Scene.lights_s r>c0|jstj|jdrdStjd}|j |dddf<t |jjdz}|j||jj|||j_dS)z Move the current scene so that the AABB of the whole scene is centered at the origin. Does this by changing the base frame to a new, offset base frame. rNr_r_Ir@) rrFallcloserrkrgr+r)r:)r;rCnew_bases r<rezeroz Scene.rezeroks = BK s;;  Frr1u tz,--4 $**?    !) r>F concatenatecLg}|jjD]}|j|\}}|j|}t |drct j|t jd}d|ddddf<|s| }n|ddddf}| |||j d<||j d <| ||r0tjd td t j|S|S) a Get a list of every geometry moved to its instance position, i.e. freezing or "baking" transforms. Parameters ------------ concatenate KWARG IS DEPRECATED FOR REMOVAL APRIL 2025 Concatenate results into single geometry. This keyword argument will make the type hint incorrect and you should replace `Scene.dump(concatenate=True)` with: - `Scene.to_geometry()` for a Trimesh, Path2D or Path3D - `Scene.to_mesh()` for only `Trimesh` components. Returns ---------- dumped Copies of `Scene.geometry` transformed to their instance position. to_3Dg:0yE>)atolTNrrrZrzd`Scene.dump(concatenate=True)` DEPRECATED FOR REMOVAL APRIL 2025: replace with `Scene.to_geometry()`)category stacklevel)r+rr(rrr isclose _IDENTITYallr=rLr*rwarningswarnDeprecationWarningr;)r;r;resultrMrHrcurrentchecks r<rz Scene.dumpsG*2 # #I'+z)'< $I}mM27799Gw(( 2 YTJJJ $bqb"1"f yy{{2%mmooGG!*"1"bqb& 1I  # #I . . .'4G V $'0G V $ MM' " " " "  , Mv+     #F++ + r>trimesh.Trimeshctddlmtjfd|DS)a> Concatenate every mesh instances in the scene into a single mesh, applying transforms and "baking" the result. Will drop any geometry in the scene that is not a `Trimesh` object. Returns ---------- mesh All meshes in the scene concatenated into one. r)ryc4g|]}t||Sr)r8)rSdrys r<rUz!Scene.to_mesh..s( R R Rq:a;Q;Q R R R Rr>)rIryr r;r)r;rys @r<to_meshz Scene.to_meshsG #""""" R R R RDIIKK R R RSSSr>cNtj|S)aM Concatenate geometry in the scene into a single like-typed geometry, applying the transforms and "baking" the result. May drop geometry if the scene has mixed geometry. Returns --------- concat Either a Trimesh, Path2D, or Path3D depending on what is in the scene. )r r;rrs r< to_geometryzScene.to_geometrys ,,,r>rc,j}|j|fd|D}t |}||d|D}fd|D}t ||}|S)a  Get part of a scene that succeeds a specified node. Parameters ------------ node Hashable key in `scene.graph` Returns ----------- subscene Partial scene generated from current. c(g|]}|dv |S)rr)rSenodess r<rUz"Scene.subscene..s"AAAq1Q45=====r>r0c>h|]}d|dv |ddS)r(rr)rSrSs r<rz!Scene.subscene..s/PPPqZ1Q4=O=O!A$z*=O=O=Or>c,i|]}|j|Sr)r()rSrWr;s r<rYz"Scene.subscene..s"@@@AAt}Q'@@@r>r(r+)r+rD successors to_edgelistr$ from_edgelistr&)r;rr+edgesgeometry_namesr(rGrTs` @r<subscenezScene.subscenes   ++D11AAAAE--//AAAd+++ E"""PPEPPP@@@@@@@666 r>ctjd|D}tj|S)z The convex hull of the whole scene. Returns --------- hull : trimesh.Trimesh Trimesh object which is a convex hull of all meshes in scene cg|] }|j Sr)r)rSrs r<rUz%Scene.convex_hull..s#D#D#D1AJ#D#D#Dr>)r vstack_emptyrr convex_hull)r;rs r<razScene.convex_hulls<"#D#D #D#D#DEE!&)))r>c ,tjd|||d|S)a Export a snapshot of the current scene. Parameters ---------- file_obj : str, file-like, or None File object to export to file_type : str or None What encoding to use for meshes IE: dict, dict64, stl Returns ---------- export : bytes Only returned if file_obj is None )rfile_obj file_typer)r export_scene)r;rcrdkwargss r<rz Scene.exports2"" Y  BH   r>c (ddlm}|d||ddd|S)a1 Get a PNG image of a scene. Parameters ----------- resolution : (2,) int Resolution to render image **kwargs Passed to SceneViewer constructor Returns ----------- png : bytes Render of scene as a PNG r) render_sceneF)rr fullscreen resizabler)viewer.windowedrh)r;rrfrhs r< save_imagezScene.save_imagesE 322222| :%5  TZ   r>cd|jD}t|dkr|St|dkrt jd|ddS)a Get the units for every model in the scene. If the scene has mixed units or no units this will return None. Returns ----------- units Units for every model in the scene or None if there are no units or mixed units ch|] }|j Sr)r )rSrs r<rzScene.units..=s<<<AG<<r!z Mixed units `z` returning NoneN)r(r|rhrsr warning)r;rms r<r z Scene.units0sv=> ! ]]Q   KBBBB C C Ctr>rTc|}|jD] }||_ dS)z Set the units for every model in the scene without converting any units just setting the tag. Parameters ------------ value : str Value to set every geometry unit value to N)striplowerr(r|r )r;rTrs r<r z Scene.unitsDsM ##%%%%''  AAGG  r>desiredguessct|jdkr|S|j}|tj||}tj||}||}||_|S)a% If geometry has units defined convert them to new units. Returns a new scene with geometries and transforms scaled. Parameters ---------- desired : str Desired final unit system: 'inches', 'mm', etc. guess : bool Is the converter allowed to guess scale when models don't have it specified in their metadata. Returns ---------- scaled : trimesh.Scene Copy of scene with scaling applied and units set for every model rN)rt)rHrs)r)rhr(rr units_from_metadataunit_conversionscaled)r;rsrtrHrrGs r< convert_unitszScene.convert_unitsSs* t}   " "99;; * ?/EBBBG%gwGGG5))  r>c||j}| |jdz }tj|tj}tj|tj}|jjD]}|j|\}}|j|j}tj|tj |ddd}|j dkr ||z |z}nEtj |dkrtj|||z }||z}ntd| } | dddfxx|z cc<| |j|<dS) a Explode the current scene in-place around a point and vector. Parameters ----------- vector : (3,) float or float Explode radially around a direction vector or spherically origin : (3,) float Point to explode around Ng9@rr!rr)rzexplode vector wrong shape!) rrrF asanyarrayrr+rr(rGrr ValueErrorr) r;vectororiginrMrHrroffset projectedT_news r<explodez Scene.explode|sS >]F >Z$&FvRZ888vRZ8882 * *I'+z)'< $I}}]3???NN$$E "1"a%LLLF "LLL$)DJy ! !% * *r>rc 8 |}tj|dr|St|tt tjfot|dk}|rHtjtj ||dkrt|d}d}n|st|}|r|j j D]}|j j |}t|dkr|j |}|D]}|j jj|}||||||j jj||fdd|j jj||fdd |||j D]J}|j |jjdd kr'|j ||j |<K|j jD]} |j | \} }| } d | dddf<|j || |tj| |j jj} | D]n} d| | vrb| | } | | d} | dddfxx|zcc<| | d<|j jd| d| dd | oi|j j_t=t?j |j j_!|j j"ntj#d|z}tj#d |z}tj$|j j}tj%t|d d f}dgt|z}tM|D]\}}|j |\||<||<|j "tOj(|D]}||d}||d}tj)||}|j |jjdd kr!|j ||n |j ||tU||||D]j\}} tWj,|| tj|g}|dddfxx|zcc<|j |||kd|_-|S)ao Return a copy of the current scene, with meshes and scene transforms scaled to the requested factor. Parameters ----------- scale : float or (3,) float Factor to scale meshes and transforms Returns ----------- scaled : trimesh.Scene A copy of the current scene but scaled rrrFr!rCNr*)r(rNrMrOrHr*rr)rArBr_)rBrCr(r).rrFr8r8rtuplendarrayrhrCasarrayrr+geometry_nodesr(rDparentsr7 edge_datarrvrrr=rrL apply_scalelinalginvr:r6rguuiduuid4 _modifiedrdrkrr enumeratergrouprGr3r multi_dotr)r;rrG scale_is_3DrNnodes_with_geomgeomrpkeyrruvpropsscale_2Dscale_3DrTrD geometriesrrrr(originalnew_geomrHs r<rxz Scene.scaleds ;uc " " M!ubj(ABBVs5zzUV  !26"*U"3"3uQx"?@@ !%(OOEKK !%LLE `  $\8 6 6 "(,"=i"H''!++!?95D,  "L3;A>++%)YY[[&/&'-.&,l&=&GA&O&S&S ($''&,\%<%F1v%N%R%R *D&&,    **9555$_ T T ?9-6!CCOH-==hGGGGOH-==hGGG"5<E1BCCGD! $!RY]]8=T=T/U V VIbqb!e$$$-$$$L''!%i((  r>c4d|jD}t|dr|jd}n|j}t ||j|j|}|S)z Return a deep copy of the current scene Returns ---------- copied : trimesh.Scene Copy of the current scene c>i|]\}}||Srrrs r<rYzScene.copy..6s&BBBDAqAqvvxxBBBr>rN)r(r+r*r,) r(rcrrr,rr&r+r*)r;r(r,copieds r<rz Scene.copy+sCBDM,?,?,A,ABBBtY'' (4<+?FF[%%''F*//##]''))      r>viewerc |ddlm}|}|sd}|dkrddlm}||fi|S|dkrddlm}||fi|S|dkrdd lm}||fi|St |r ||fi|St d ) a Display the current scene. Parameters ----------- viewer What kind of viewer to use, such as `gl` to open a pyglet window `jupyter` for a jupyter notebook `marimo'` for a marimo notebook None for a "best guess" kwargs Passed to viewer, such as `smooth=False` which will turn off automatic smooth shading Nr) in_notebookgl) SceneViewerjupyter)scene_to_notebookmarimo)scene_to_mo_notebookzJInvalid value for viewer: not 'gl', 'jupyter', 'marimo', callable, or None)rrrrrcallabler|)r;rrfrrrrs r<showz Scene.showGs* > , , , , , ,![]]F  T>> - , , , , ,;t..v.. . y 2 2 2 2 2 2$$T44V44 4 x   5 5 5 5 5 5''7777 7 f   6$))&)) )\ r>cBt||g|jjg}|S)a` Concatenate the current scene with another scene or mesh. Parameters ------------ other : trimesh.Scene, trimesh.Trimesh, trimesh.Path Other object to append into the result scene Returns ------------ appended : trimesh.Scene Scene with geometry from both scenes )common) append_scenesr+r))r;otherrGs r<__add__z Scene.__add__|s'e}dj6K5LMMM r>)Nr'NNNNN)NNNNN)roN)NNN)r)F)rorJ)NNrr)ror&)P__name__ __module__ __qualname____doc__r GeometryInputrgrr$r"rrr#Lightrr=rLr7rrtrvrrrrrr5propertyboolrrrcache_decoratorrrrrrrrrrrrrrrrrrr rrr.setterrrrr+r,r-r-r:rrrNrPr]rarbytesrlr ryrrxrrrrrr>r<r&r&'s-1!#'&*+/59.29999=)99994. 99  # 99 ( 99(.1299#7+99999999v&$(#'*.'+#'pppC=pC= p #3- p G$ p4.ppppd:U3X+=%>:4::::( > > > >'+(,(, &&(#&W%&W% &  &&&&<D#DDDD$ '$ ' ' 'X '7$777X7* *S''*:%: ;****X V!12VVVV"  3''"23 3 3 3 3  0u 0 0 0 0  (77#34     !DW!D!D!D!DF      FFF   e    "      " 877+8888@  - - -  Td38n T T T T 11111 ()d3i()()()()TJJHJJJJJ<MQ11 1111f / /X / .y . . . .(U77#3WW5Ewu~#UV((((6X$ ] Xgn5   ] EDEEEXEX^,X( ] Xhn5   ] )))).888h8888tTTTT -X - - - -SW<  * * *    *  u    ,x}X& \ 3   \ ''S'''''''R%*%*%*%*%*NFE(I"56F7FFFFP<"333333jr>r&c nt|tr|Sitj|r?fd|Dt|}t d|Dd|_nGt|jdi|t|j}t|j |_|S)z Given a geometry, list of geometries, or a Scene return them as a single Scene object. Parameters ---------- geometry : splittable Returns --------- scene: trimesh.Scene c Xg|]&}t|di'Sr*)r:getattr)rSrr*s r<rUzsplit_scene..s1GGGJ33 4 4GGGr>rc32K|]}|j |jVdSrr)rers r<rzsplit_scene..s+QQ1AHNr) r8r&r rbnext_sourcesplitrr*re)r(rfrr*s @r< split_sceners(E""H !! 2GGGGhGGGGh222QQQQQSWXX  HN $ $V $ $h/00   !11 Lr>r'ct|tr|S|gi}g}ttfd}|D]@}t|dr|}t|ts$t t |jdi}|j D]2\}} t|| } | ||<| || <3it|j D]S\} } } || || } } d| vr| d|vr|| d| d<|| | | fTBt|}|j ||j||S)a Concatenate multiple scene objects into one scene. Parameters ------------- iterable : (n,) Trimesh or Scene Geometries that should be appended common : (n,) str Nodes that shouldn't be remapped base_frame : str Base frame of the resulting scene Returns ------------ result : trimesh.Scene Scene containing all geometry Nc|vr|S|vr!|vr|tjz}||<|}||S)a Remap node to new name if necessary Parameters ------------- node : hashable Node name in original scene Returns ------------- name : hashable Node name in concatenated scene )r unique_idadd)rrZrconsumedrHmap_nodes r< node_remapz!append_scenes..node_remapsj 8  D> ! v  $("2"2$.***D!HTND  D r>rz is not a scene!r\r(r0)r8r&rtrrr|typerr(rcr rir+rYrr:rZ)iterablerr)r(r[rsmap_geomrWrXrZabattrrGrrHrs ` @@@r<rrs$(E"" ~H E[[FuuHB$!$! 1g    A!U## DQ 0BBBCC CJ$$&&  DAqQAAADHQKHTNN%%'--// ' 'JAq$:a==**Q--qA T!!d:&6(&B&B#+D,<#=Z LL!Q & & & &    j ) ) )F Lu%%% O8$$$ Mr>ư>rrroc |j}|jD]}t|dkr|d}|j|\}}|j|jtj}|ddD]}|j|\} } |j| jtj} | j |j krRt|| ddd\} } }||kr+| |tj | | |t|jt!fd |jD| S) ad If a scene has been "baked" with meshes it means that the duplicate nodes have *corresponding vertices* but are rigidly transformed to different places. This means the problem of finding ab instance transform can use the `procrustes` analysis which is *very* fast relative to more complicated registration problems that require ICP and nearest-point-on-surface calculations. TODO : construct a parent non-geometry node for containing every group. Parameters ---------- scene The scene to handle. cost_threshold The maximum value for `procrustes` cost which is "squared mean vertex distance between pair". If the fit is above this value the instance will be left even if it is a duplicate. Returns --------- dedupe A copy of the scene de-duplicated as much as possible. rrr!NTF) translationr reflection)rCr(cHi|]\}}|v ||Srr)rSrWrXrs r<rYz)reconstruct_instances..fs,TTT$!QAOO!QVVXXOOOr>rW)r+rr rhr(rviewrFrrrr:rGrtrrir&rc)rrr+r node_baser geom_baserIrnode_mat node_geom node_verticesrC_pcostrs @r<rr$s8 K    E&XX u::>> !H {9- 9y1:?? KK!""I X XD"'+d"3 Hi"N95>CCBJOOM"dj00 *mUu    FBn$$ T"&6*B*BY WWW# X(U)..0011J TTTT%.*>*>*@*@TTT   r>)Nr')r)4r2rrDrrhashlibrnumpyrFrrrrr r r r constantsr exchangerparentrr registrationrtypedrrrrrrrrrrrrrrr r"r#rDr$rgrr&rrrrr>r<rsx OOOOOOOOOOOOOOOOOO))))))))%%%%%% """"""h 2Dh4GRS dddddJdddN+"""JnnnnbDDDDEDDDDDDr>