Ti1dZddlZddlmZmZmZmZddlmZ ddl m Z ddl m Z Gd d Z dd Zd ZddZdS)z7 A basic slow implementation of ray- triangle queries. N)cachinggrouping intersectionsutil) triangles)tolcontains_pointsc<eZdZdZdZ d dZdZdZdZd Z d S) RayMeshIntersectorzs An object to query a mesh for ray intersections. Precomputes an r-tree for each triangle on the mesh. cZ||_tj|jj|_dS)N)meshrCache__hash___cache)selfrs R/DATA/AppData/hermes/venv/lib/python3.11/site-packages/trimesh/ray/ray_triangle.py__init__zRayMeshIntersector.__init__s# mDI$677 FTc 6t|jj|||jj||jj\}}}|r]t |dkr|||fSt jtj ||fd} || || || fS||fS)a Find the intersections between the current mesh and an array of rays. Parameters ------------ ray_origins : (m, 3) float Ray origin points ray_directions : (m, 3) float Ray direction vectors multiple_hits : bool Consider multiple hits of each ray or not return_locations : bool Return hit locations or not Returns ----------- index_triangle : (h,) int Index of triangles hit index_ray : (h,) int Index of ray that hit triangle locations : (h, 3) float [optional] Position of intersection in space )r ray_originsray_directionstree multiple_hitstriangles_normalr) ray_triangle_idrrtriangles_tree face_normalslenr unique_rowsnp column_stack) rrrreturn_locationsrkwargs index_tri index_ray locationsuniques r intersects_idz RayMeshIntersector.intersects_ids@-<i)#))'!Y3 - - - )Iy  K9~~"" )Y66)"/9i:P*Q*QRRSTUFV$i&769JJ J)##rc 6|jd||dd|\}}}|||fS)a Return unique cartesian locations where rays hit the mesh. If you are counting the number of hits a ray had, this method should be used as if only the triangle index is used on- edge hits will be counted twice. Parameters ------------ ray_origins : (m, 3) float Ray origin points ray_directions : (m, 3) float Ray direction vectors Returns --------- locations : (n) sequence of (m,3) float Intersection points index_ray : (n,) int Array of ray indexes index_tri: (n,) int Array of triangle (face) indexes T)rrr%)r+)rrrr&r'r(r)s rintersects_locationz&RayMeshIntersector.intersects_locationFsK.-?D,>- #)!- -  - - )Iy )Y..rc |jd||ddd|\}}tjt|tjdz}|||<|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 F)rrr%rdtyper-)r+r#onesr!int64)rrrr&r'r(results rintersects_firstz#RayMeshIntersector.intersects_firstesq$"4!3" #)" " "  " " I[)):::R?%y rc |||\}}tjt|t}tj|}t|dkrd||<|S)ad Find out if each ray hit any triangle on the mesh. Parameters ------------ ray_origins : (m, 3) float Ray origin points ray_directions : (m, 3) float Ray direction vectors Returns --------- hit : (m,) bool Whether any ray hit any triangle on the mesh r0rT)r+r#zerosr!boolr*)rrrr& _index_trir(hit_anyhit_idxs rintersects_anyz!RayMeshIntersector.intersects_anysi !% 2 2; O O I(3{++4888)I&& w<@.-----rrTctj|tj}tj|tj}tj|tj}|tj|}t |||\}}||}||} ||} |dddddf} |;tj|\} } | stdn||} tj | | | | \}}t|dks| s_tj gtjtj gtjtj gtjfStj|||}tj|t"j kd|dt"jzkd}|||}|||}||}|||z }t'j|||d k}||}||}||}||r|||fSt|dkr|||fStj fd t+j|D}||||||fS) a Find the intersections between a group of triangles and rays Parameters ------------- triangles : (n, 3, 3) float Triangles in space ray_origins : (m, 3) float Ray origin points ray_directions : (m, 3) float Ray direction vectors triangles_normal : (n, 3) float Normal vector of triangles, optional tree : rtree.Index Rtree object holding triangle bounds Returns ----------- index_triangle : (h,) int Index of triangles hit index_ray : (h,) int Index of ray that hit triangle locations : (h, 3) float Position of intersection in space r0N)rrrrzInvalid triangles!) plane_origins plane_normals line_originsline_directionsr axisgưcPg|]"}||#Sr-)argmin).0gdistances r z#ray_triangle_id..*s.QQQ!a **,,-QQQr)r# asanyarrayfloat64 triangles_mod bounds_treeray_triangle_candidatesnormalsall ValueErrorr planes_linesr!anyarrayr4points_to_barycentric logical_andr zeror diagonal_dotrgroup)rrrrrrray_candidatesray_idtriangle_candidatesrGrHrErF triangle_oklocationvalid barycentrichitr'r(vectorforwardfirstrOs @rrrsB irz:::I- 2:>>>K]>DDDN |(335TNF $N3v&L$V,O(1aaa0M%2%:;N%O%O" {   3122 2 3)8 $0##!' OHe 1$$EIIKK$ HRrx ( ( ( HRrx ( ( ( HRrz * * *   5E"HK . y %%1%-- q38|0L/Q/QWX/Q/Y/Y  Cu%c*Iu c"I}H I. .F  )BCCHG'"I'"I H H.)X-- 9~~)X-- HQQQQx~i7P7PQQQ R RE U Yu-x >>rct|||j}g}g}t|D]b\}}t||}||||gt |zctj|tj tj|tj fS)a1 Do broad- phase search for triangles that the rays may intersect. Does this by creating a bounding box for the ray as it passes through the volume occupied by the tree Parameters ------------ ray_origins : (m, 3) float Ray origin points. ray_directions : (m, 3) float Ray direction vectors tree : rtree object Ccontains AABB of each triangle Returns ---------- ray_candidates : (n,) int Triangle indexes ray_id : (n,) int Corresponding ray index for a triangle candidate )rrboundsr0) ray_boundsrm enumeratelist intersectionextendr!r#r[r4) rrrboundingindex candidatesirmcands rrUrU/s0t{H EJx((&& 6D%%f--..$ aS3t99_%%%% 8Jbh / / /%rx1P1P1P PPrh㈵>ctjtjtjtjtj|}tjd}|dj|}tjfdt|Dd}tjfdt|Dd}|dkd }tj |} ||||z ||z | |<|| | |k<| d d d fd} | d d dfd} | zz} | zz} tj | | fd d j df}tj | d|df}|tjgd |zz }|S)a& Given a set of rays and a bounding box for the volume of interest where the rays will be passing through, find the bounding boxes of the rays as they pass through the volume. Parameters ------------ ray_origins: (m,3) float, ray origin points ray_directions: (m,3) float, ray direction vectors bounds: (2,3) bounding box (min, max) buffer_dist: float, distance to pad zero width bounding boxes Returns --------- ray_bounding: (n) set of AABB of rays passing through volume r0r rI)rr2c2g|]\}}||Sr-r-)rMrvars rrPzray_bounds..os&GGGtq!Q*GGGr)r2r c2g|]\}}||Sr-r-)rMrvr{rs rrPzray_bounds..ps'JJJ$!Q*1-JJJrgr2Nrr)r2r2r2r r r )r#rQrRabsargmaxreshapeTr[ro zeros_liker$shapehstackminmax)rrrm buffer_distrJ axis_boundaxis_oriaxis_dirnonzerott_at_bon_aon_bon_plane ray_boundings`` rrnrnTs3$- 2:>>>K]>DDDN]6 " "F 6. ! ! ( (a ( 0 0D((*40JxGGGGyGGGHHPPQXYYHxJJJJ)D//JJJKKSSH3''++G j!!AW%(99Xg=NNAgJ%Aa+o AAAqD'//' " "C AAAqD'//' " "C S K /D S K /Dd|,,44b!^=QRS=T5UVVH9hlll22HLLaL4H4HIJJL BH22233kAAL r)NNT)rx)rCnumpyr#rrrrrrS constantsr ray_utilr rrrUrnr-rrrs555555555555))))))%%%%%%a-a-a-a-a-a-a-a-P  {?{?{?{?|"Q"Q"QJ>>>>>>r