:vjFTddlZddlZddlmZmZddlZddlZddlm Z Gdde Z Gdde Z Gd d e ZGd d e ZGd de ZGdde ZGddeZGddeZGddeZ GddeZGddeZGddeZGddeZGdd eZGd!d"eZGd#d$eZGd%d&eZGd'd(eZGd)d*eZGd+d,e ZGd-d.eZ Gd/d0e Z!Gd1d2e Z"d3Z#d4Z$d5Z%d6Z&Gd7d8eZ'Gd9d:e'Z(Gd;de'Z*Gd?d@eZ+GdAdBeZ,GdCdDeZ-GdEdFeZ.dGZ/GdHdIeZ0GdJdKeZ1GdLdMeZ2dOdNZ3y)PN)StringIOBytesIO)transformationsceZdZdZy) SceneElementcHttj|_yN)struuiduuid1selfs a/workspace/moltex-experiments/.pixi/envs/default/lib/python3.12/site-packages/meshcat/geometry.py__init__zSceneElement.__init__ s % N)__name__ __module__ __qualname__rrrrr s&rrceZdZdZy)ReferenceSceneElementc|j|jgj|j||jSr ) setdefaultfieldappendlowerr r object_datas rlower_in_objectz%ReferenceSceneElement.lower_in_objects4tzz2.55djj6MNyyrN)rrrr rrrrrsrrceZdZdZdZy)Geometry geometriesc*tjSr )tfidentity_matrixrs rintrinsic_transformzGeometry.intrinsic_transforms!!##rN)rrrrr'rrrr"r"s E$rr"ceZdZdZy)Material materialsNrrrrrrrr)r) Err)ceZdZdZy)TexturetexturesNr+rrrr.r. s Err.ceZdZdZy)ImageimagesNr+rrrr1r1$s Err1c$eZdZfdZdZxZS)Boxc8tt| ||_yr )superr4rlengths)rr7 __class__s rrz Box.__init__)s c4!# rct|jd|jd|jd|jddS)N BoxGeometryrr)r typewidthheightdepth)r r7rs rrz Box.lower-s7YY#ll1o||All1o   rrrrrr __classcell__r8s@rr4r4(s  rr4c$eZdZfdZdZxZS)Spherec8tt| ||_yr )r6rDrradius)rrFr8s rrzSphere.__init__8s fd$& rc:|jd|jdddS)NSphereGeometry)r r<rF widthSegmentsheightSegments)r rFrs rrz Sphere.lower<s#YY&{{! "   rr@rBs@rrDrD7s  rrDc(eZdZdZfdZdZxZS) Ellipsoidz An Ellipsoid is treated as a Sphere of unit radius, with an affine transformation applied to distort it into the ellipsoidal shape c:tt| d||_yN?)r6rMrradii)rrQr8s rrzEllipsoid.__init__Ks i', rcjtjtj|jdfSrO)npdiaghstackrQrs rr'zEllipsoid.intrinsic_transformOs#wwryy$**c!2344r)rrr__doc__rr'rArBs@rrMrMFs5rrMc&eZdZdfd ZdZxZS)Cylinderctt| ||||_||_n||_||_||_d|_y)N2)r6rXr radiusTop radiusBottomr>radialSegments)rr>rFr[r\r8s rrzCylinder.__init__XsH h&(  \%=&DN ,D #DN &D   rcx|jd|j|j|j|jdS)NCylinderGeometry)r r<r[r\r>r])r r[r\r>r]rs rrzCylinder.lowercs6YY(..!..{{#22   r)rPNNr@rBs@rrXrXWs  ! rrXc2eZdZ dfd ZdZxZS)GenericMaterialc  tt| ||_||_||_||_||_||_||_ ||_ | |_ | |_ | |_ yr )r6rarcolor reflectivitymapside transparentopacity linewidth wireframewireframeLinewidth vertexColors properties) rrcrdrerfrgrhrirjrkrlkwargsr8s rrzGenericMaterial.__init__osc ot-/ ( & """4( rc |jt|jdk7}n |j}|j|j|j |j |j||j|jt|j|j|jrdndd }|j|j|j|jj||d<|S)Nrr;r) r r<rcrdrfrgrhrirjrkrlre)rgboolrhr _typercrdrfrirjrkrlupdatermrer )rrrgdatas rrzGenericMaterial.lowers    #t||q01K**KYYZZjj!..YY' ..t~~.#'#:#:#'#4#4a!   DOO$ 88 8833K@DL r) g?Nr;NrPrPFrPFr@rBs@rrarans=A9< "&)# !(rraceZdZdZy)MeshBasicMaterialNrrrrqrrrrvrv ErrvceZdZdZy)MeshPhongMaterialNrwrrrrzrzrxrrzceZdZdZy)MeshLambertMaterialNrwrrrr|r|s Err|ceZdZdZy)MeshToonMaterialNrwrrrr~r~s Err~ceZdZdZy)LineBasicMaterialNrwrrrrrrxrrc4eZdZfdZedZdZxZS)PngImagec8tt| ||_yr )r6rrrs)rrsr8s rrzPngImage.__init__s h&( rcxt|d5}t|jcdddS#1swYyxYw)Nrb)openrreadfnamefs r from_filezPngImage.from_files( % !AFFH%  s09c|jtdtj|jj dzdS)Nzdata:image/png;base64,ascii)r url)r r base64 b64encodersdecoders rrzPngImage.lowers<YY063C3CDII3N3U3UV]3^^_  r)rrrr staticmethodrrrArBs@rrrs!&& rrc$eZdZfdZdZxZS)GenericTexturec8tt| ||_yr )r6rrrm)rrmr8s rrzGenericTexture.__init__s nd,.$rcd|ji}|j|jd|vr|d}|j||d<|S)Nr image)r rrrmr )rrrsrs rrzGenericTexture.lowersJ# DOO$ t NE"22;?DN rr@rBs@rrrs %rrc2eZdZddgddgffd ZdZxZS) ImageTextureirc btt| ||_||_||_||_yr )r6rrrwraprepeatrm)rrrrrnr8s rrzImageTexture.__init__s, lD*,    rc|j|j|j|jj |d}|j |j |S)N)r rrr)r rrrr rrrm)rrrss rrzImageTexture.lowersGYYYY{{jj00=   DOO$ rr@rBs@rrrs$($<A!rrc2eZdZeffd ZdZxZS)ObjectcFtt| ||_||_yr )r6rrgeometrymaterial)rrrr8s rrzObject.__init__s fd$&    rc hdddgg|j|j|jj|jjt |jj j dd}|jj||jj||S)Ng@r)versionr<)r r<rrmatrix)metadatar#r*object)r rqrrlistr'flattenr rrss rrz Object.lowers "!]]//!]]// A A C K K MN   %%d+ %%d+ r)rrrrzrrrArBs@rrrs*;*=! rrceZdZdZy)MeshNrwrrrrr Errc&eZdZdfd ZdZxZS)OrthographicCameractt| ||_||_||_||_||_||_||_ yr ) r6rrleftrighttopbottomnearfarzoom) rrrrrrrrr8s rrzOrthographicCamera.__init__sB  $02     rc d|jd|j|j|j|j|j |j |jd i}|S)Nrr) r r<rrrrrrr)r rrrrrrrrs rrzOrthographicCamera.lowersS .**;;    r)rr@rBs@rrrs rrc"eZdZdZ ddZdZy)PerspectiveCameraz The PerspectiveCamera is the default camera used by the meshcat viewer. See https://threejs.org/docs/#api/en/cameras/PerspectiveCamera for more information. c tj|||_||_||_||_||_||_||_||_ y)a fov : Camera frustum vertical field of view, from bottom to top of view, in degrees. Default is 50. aspect: Camera frustum aspect ratio, usually the canvas width / canvas height. Default is 1 (square canvas). near : Camera frustum near plane. Default is 0.1. The valid range is greater than 0 and less than the current value of the far plane. Note that, unlike for the OrthographicCamera, 0 is not a valid value for a PerspectiveCamera's near plane. far : Camera frustum far plane. Default is 2000. zoom : Gets or sets the zoom factor of the camera. Default is 1. filmGauge: Film size used for the larger axis. Default is 35 (millimeters). This parameter does not influence the projection matrix unless .filmOffset is set to a nonzero value. filmOffset: Horizontal off-center offset in the same unit as .filmGauge. Default is 0. focus: Object distance used for stereoscopy and depth-of-field effects. This parameter does not influence the projection matrix unless a StereoCamera is being used. Default is 10. N) rrfovaspectrrr filmGauge filmOffsetfocus) rrrrrrrrrs rrzPerspectiveCamera.__init__'sJ" d#   "$ rc d|jd|j|j|j|j|j |j |j|jd i}|S)Nrr) r r<rrrrrrrr) r rrrrrrrrrs rrzPerspectiveCamera.lowerBsZ -;;"nn#**    rN)rZrg?ir#r )rrrrVrrrrrrr!s @DAC6rrc|jdk(ry|jdk(r|jdStdj|j)Nrr;rzRI can only pack 1- or 2-dimensional numpy arrays, but this one has {:d} dimensions)ndimshape ValueErrorformat)arrays r item_sizerSsP zzQ q{{1~mttuzuuAB Brc|tjk(ry|tjk(ry|tjk(ry|tjk(ryt dt |z)N) Uint8Array) Int32Array) Uint32Array) Float32ArrayzUnsupported datatype: )rSuint8int32uint32float32rr dtypes r threejs_typer\sS " "(( " ")) # "** $1CJ>??rc|jtjk(r|jtj}t |j\}}t ||tj||jdddS)NFF)itemSizer<r normalized) rrSfloat64astyperrrumsgpackExttobytes)xtypenameextcodes rpack_numpy_arrayrisdww"** HHRZZ $QWW-Hgq\,,w #7  rct|tr"|jjd}|St|tr|j}|St dj t|)Nutf-8)encoding6Stream must be instance of StringIO or BytesIO, not {}) isinstancerrrrrrr<)streamrss rdata_from_streamrusj&'"{{}##W#5 K FH %{{} KQXXY]^dYefggrc$eZdZfdZdZxZS) MeshGeometrycFtt| ||_||_yr )r6rrcontents mesh_format)rrrr8s rrzMeshGeometry.__init__s lD*,  &rcLd|j|j|jdS)N _meshfile)r<r rrs)r rrrs rrzMeshGeometry.lowers&!YY'']]   rr@rBs@rrrs '  rrc>eZdZfdZedZedZxZS)ObjMeshGeometrycFtt||djyNobj)r6rrrrr8s rrzObjMeshGeometry.__init__ otXv6??Arczt|d5}t|jdcdddS#1swYyxYw)Nrrrrrrs rrzObjMeshGeometry.from_file* % &1  1:c,tt|dSrrrrs r from_streamzObjMeshGeometry.from_stream,Q/88rrrrrrrrrArBs@rrr1B2299rrc>eZdZfdZedZedZxZS)DaeMeshGeometrycFtt||djyNdae)r6r rrs rrzDaeMeshGeometry.__init__rrczt|d5}t|jdcdddS#1swYyxYw)Nrr rrs rrzDaeMeshGeometry.from_filerrc,tt|dSr rrs rrzDaeMeshGeometry.from_streamrrrrBs@rr r rrr c>eZdZfdZedZedZxZS)StlMeshGeometrycFtt||djy)Nstl)r6rrrs rrzStlMeshGeometry.__init__rrcDt|d5}tj|jtj}t tj\}}t j||j}t|dcdddS#1swYyxYw)Nrrr) rrS frombufferrrrrrrr)rrarr_rencodeds rrzStlMeshGeometry.from_filesf % !--9C%bhh/JAwll7CKKM:G0   s A?BBct|tr4tj|j tj }nqt|t r>tjt|j dtj }n#tdjt|ttj \}}tj||j}t|dS)Nrrrr)rrrSrrrrbytesrrr<rrrrr)rrrrrs rrzStlMeshGeometry.from_streams a !==:C 8 $--affh 8ICU\\]abc]def f!"((+ 7,,w 6GV,,rrrBs@rrrs1B11 - -rrc2eZdZdZddgZdfd ZdZxZS)TriangularMeshGeometrya A mesh consisting of an arbitrary collection of triangular faces. To construct one, you need to pass in a collection of vertices as an Nx3 array and a collection of faces as an Mx3 array. Each element of `faces` should be a collection of 3 indices into the `vertices` array. For example, to create a square made out of two adjacent triangles, we could do: vertices = np.array([ [0, 0, 0], # the first vertex is at [0, 0, 0] [1, 0, 0], [1, 0, 1], [0, 0, 1] ]) faces = np.array([ [0, 1, 2], # The first face consists of vertices 0, 1, and 2 [3, 0, 2] ]) mesh = TriangularMeshGeometry(vertices, faces) To set the color of the mesh by vertex, pass an Nx3 array containing the RGB values (in range [0,1]) of the vertices to the optional `color` argument, and set `vertexColors=True` in the Material. verticesfacesctt| tj|tj }tj|tj }|jddk(sJd|jddk(sJd||_||_ |Vtj|tj }tj|j|jsJd||_ y)Nrrz`vertices` must be an Nx3 arrayz`faces` must be an Mx3 arrayz*`color` must be the same shape as vertices) r6rrrSasarrayrrrrr array_equalrc)rrrrcr8s rrzTriangularMeshGeometry.__init__s $d46::hbjj9 5 2~~a A%H'HH%{{1~"B$BB"    JJuBJJ7E>>(..%++> l@l l> rcdt|jji}|j"t|jj|d<|jd|t|j jddS)NpositionrcBufferGeometry) attributesindexr r<rs)rrTrcr rrrattrss rrzTriangularMeshGeometry.lowersf.t}}?@ :: !.tzz|| :: !.tzz:E(OYY&u  rr r@rBs@rr.r.s   rr.c&eZdZdfd ZdZxZS)PointsMaterialcFtt| ||_||_yr )r6r2rsizerc)rr4rcr8s rrzPointsMaterial.__init__s nd,.  rcN|jd|j|jddS)Nr2r;)r r<rcr4rl)r rcr4rs rrzPointsMaterial.lowers'YY&jjYY   r)gMbP?rtr@rBs@rr2r2s   rr2ceZdZdZy)PointsNrwrrrr7r7s Err7c @tt||tdi|S)Nr)r7r.r2)r$rcrns r PointCloudr9#s$ x'   rceZdZdZy)LineNrwrrrr;r;*rrr;ceZdZdZy) LineSegmentsNrwrrrr=r=.s Err=ceZdZdZy)LineLoopNrwrrrr?r?2r,rr?cztttjgd|ddggdd|dggddd|ggj tj j tjgdgdgdgdgdgdgj tj j td S) a A visual representation of the origin of a coordinate system, drawn as three lines in red, green, and blue along the x, y, and z axes. The `scale` parameter controls the length of the three lines. Returns an `Object` which can be passed to `set_object()` )rrrr)rrr)r333333?r)rrr)rArr)rrr)rrAr)r$rcT)rl)r=r.rSrrrr)r)scales rtriadrC6s  q!} 5!} 1e}*&!'(.vbjj'9!!(( { { {$%&,VBJJ%7  t, . .r)rP)4rr iorrrnumpyrSrr%rrrr"r)r.r1r4rDrMrXrarvrzr|r~rrrrrrrrrrrrrrr rrr.r2r7r9r;r=r?rCrrrrGs #&6& L $$$$# !  (    X   5 5 x .0h0f!/! u " W 7&\6660 0dB @   8   9l 9 9l 9-l-26 X6 r X &  X  V66v.r