Ti#-dZddlZddlmZddlmZddlmZm Z m Z ddl m Z ddl mZmZd d lmZejZd Zd ZGd dZGddZdS)z[ Ray queries using the embreex package with the API wrapped to match our native raytracer. N) rtcore_scene) TriangleMesh)caching intersectionsutil)log_time) ArrayLikeIntegercontains_pointsgư>g:0yE>c eZdZddefdZedZejdZ dde de defd Z e dde de ded e d ef dZe dZdZdZdZdZdZdZdS)RayMeshIntersectorT scale_to_boxcj||_||_tj|jj|_dS)a7 Do ray- mesh queries. Parameters ------------- geometry : Trimesh object Mesh to do ray tests on scale_to_box : bool If true, will scale mesh to approximate unit cube to avoid problems with extreme large or small meshes.  id_functionN)mesh _scale_to_boxrCache__hash___cache)selfgeometryrs R/DATA/AppData/hermes/venv/lib/python3.11/site-packages/trimesh/ray/ray_pyembree.py__init__zRayMeshIntersector.__init__s0 )m 0BCCC c8|jrd|jjz }nd}|S)z/ Scaling factor for precision. gY@g?)rrscale)rr s r_scalezRayMeshIntersector._scale+s+   DIO+EEE rcXt|jj|jj|jS)z8 A cached version of the embreex scene. )verticesfacesr ) _EmbreeWraprr#r$r!)rs r_scenezRayMeshIntersector._scene8s- Y'tydk    r ray_originsray_directions multiple_hitscF||||d\}}}|||fS)a Return the location of where a ray hits a surface. Parameters ---------- ray_origins : (n, 3) float Origins of rays ray_directions : (n, 3) float Direction (vector) of rays Returns --------- locations : (m) sequence of (p, 3) float Intersection points index_ray : (m,) int Indexes of ray index_tri : (m,) int Indexes of mesh.faces T)r'r(r)return_locations) intersects_id)rr'r(r) index_tri index_ray locationss rintersects_locationz&RayMeshIntersector.intersects_locationAs@2-1,>,>#)'! -?- - )Iy)Y..rdFmax_hitsr+ctj|tj}tj|tj}|j|jkrt dt j|}tjdtjg}tjdtjg}tjdtjg}|s|rQtt|j j tz} || z} |j jdddddf} |j j} tjt#|dtj} tjt#|}t'|D]}|j||||}|dk}|snL||}||}|s/|s-||||n | ||k}|| |<||}||}||}t1j| || |||||\}}||||}}|||||||snZ|| |z||<||| z| |<| |xxdzcc<||xx| |z cc<tj||g}tj|}tj|}|r||tj|fS||fS) aC Find the triangles hit by a list of rays, including optionally multiple hits along a single ray. Parameters ---------- ray_origins : (n, 3) float Origins of rays ray_directions : (n, 3) float Direction (vector) of rays multiple_hits : bool If True will return every hit along the ray If False will only return first hit max_hits : int Maximum number of hits per ray return_locations : bool Should we return hit locations or not Returns --------- index_tri : (m,) int Indexes of mesh.faces index_ray : (m,) int Indexes of ray locations : (m) sequence of (p, 3) float Intersection points, only returned if return_locations dtype%Ray origin and direction don't match!r)rN) plane_origins plane_normals line_originsline_directionsg@)nparrayfloat64shape ValueErrorrunitizezerosint64max_ray_offset_floorrr _ray_offset_factor triangles face_normalsfulllenarangeranger&runanyappendr planes_lines concatenate)rr'r(r)r2r+result_triangleresult_ray_idxresult_locations base_offset ray_offsetsr9r:last_hitlive_depthqueryhithit_rayshit_trisdupeok_raysok_tris dupe_rays new_originsvalidr-r.s rr,z RayMeshIntersector.intersects_idcsNh{"*=== . CCC   4 4 4DEE En558ARX6667(1BH5556HV2:>>>?  3, 3/CU1UVVK(;6K!I/1aaa8M I2M73{++Rrx@@@y[))** Hoo7 87 8FKOOK$5~d7KLLE2+C7799 CyHSzH! )9 &&x000%%h///H%1D!)HX uoGuoG I "/!;+G4+G4(1 .w 7 """ K 'u~wu~WG  # #K 0 0 0  " "7 + + +  ! !' * * *  $/W1E#EK #1'#:[#HK  " " "c ) " " "  " " "k)&< < " " ">7I"677DDN?33 N>22  Ji8H)I)II I)##rc tj|t}tj|t}|j|jkrt dt j|}|j||S)an Find the index of the first triangle a ray hits. Parameters ---------- ray_origins : (n, 3) float Origins of rays ray_directions : (n, 3) float Direction (vector) of rays Returns ---------- triangle_index : (n,) int Index of triangle ray hit, or -1 if not hit r4r6) r=r> _embree_dtyper@rArrBr&rN)rr'r(s rintersects_firstz#RayMeshIntersector.intersects_firstsq&h{-@@@ . FFF   4 4 4DEE En55{{N;;;rc@|||}|dk}|S)aO Check if a list of rays hits the surface. Parameters ----------- ray_origins : (n, 3) float Origins of rays ray_directions : (n, 3) float Direction (vector) of rays Returns ---------- hit : (n,) bool Did each ray hit the surface )r'r(r8)rg)rr'r(firstr\s rintersects_anyz!RayMeshIntersector.intersects_anys3$%%#N&  rk rc"t||S)ab Check if a mesh contains a list of points, using ray tests. If the point is on the surface of the mesh, behavior is undefined. Parameters --------- points: (n, 3) points in space Returns --------- contains: (n,) bool Whether point is inside mesh or not r )rpointss rrz"RayMeshIntersector.contains_pointsstV,,,rcd|j}|dd|S)Nr)__dict__copypoprstates r __getstate__zRayMeshIntersector.__getstate__+s. ""$$ (D!!! rc|j|tj|jj|_dS)Nr)rnupdaterrrrrrqs r __setstate__zRayMeshIntersector.__setstate__1s5 U###m 0BCCC rc*|S)N)__copy__rargss r __deepcopy__zRayMeshIntersector.__deepcopy__6s}}rc8t|j|jS)N)rr)rrrrys rrxzRayMeshIntersector.__copy__9s!494CUVVVVrN)T)Tr1F)__name__ __module__ __qualname__boolrpropertyr!rcache_decoratorr&r r0r r r,rgrjrrsrvr{rxrrrrsDDtDDDD"  X     # / / /" / / / / /D #!& A$A$A$"A$ A$  A$  A$A$A$XA$F<<X<40---" DDD WWWWWrrceZdZdZdZdZdS)r%z A light wrapper for Embreex scene objects which allows queries to be scaled to help with precision issues, as well as selecting the correct dtypes. ctj|tj}|d|_t ||_||jz |jz}tj|_ t|j | t| tj tjdS)Nr4r)axis)scener#indices)r=r>r?minoriginfloatr r EmbreeScenerrastyperfviewndarrayint32)rr#r$r scaleds rrz_EmbreeWrap.__init__Ds("*555jjaj(( 5\\ 4;&$*4!-// *]]=11JJrz**11"(;;      rc tj|tj|jz |jz}|jj|t|tfi|S)Nr4) r=r>r?rr rrNrrf)roriginsnormalskwargsrs rrNz_EmbreeWrap.runRsh(7"*555 CtzQtz~ MM- ( ('..*G*G  KQ   rN)r}r~r__doc__rrNrrrr%r%=s<         rr%)rnumpyr=embreexrembreex.mesh_constructionrrrr constantsr typedr r ray_utilrfloat32rfrGrFrr%rrrrs ! 222222++++++++++ &&&&&&&&%%%%%% aWaWaWaWaWaWaWaWH           r