:vjxodZddlZddlmZmZmZddlmZddlm Z ddl m Z ddl m Z  dd Zd Zdd Z dd Z dd Z ddZy)zT intersections.py ------------------ Primarily mesh-plane intersections (slicing). N)geometrygroupingutil)transformations) triangles)tol)points_to_barycentricc Hd}fd}d}fd} tjtjtjtjjdk7sjdk7r t d| |j } n4tj|tj }|j |} ||} n#tj|jz } tjt|jtj} d| | tj k<d | | tjkD<| | } || } | ||f}tjt| |Dcgc]\}}|| || ||j!c}}}|ratj | Dcgc]}tj"|d c}}|j$j&d k(sJ|||fS|||fS|Scc}}wcc}w) aH Find a the intersections between a mesh and a plane, returning a set of line segments on that plane. Parameters --------- mesh : Trimesh object Source mesh to slice plane_normal : (3,) float Normal vector of plane to intersect with mesh plane_origin : (3,) float Point on plane to intersect with mesh return_faces : bool If True return face index each line is from local_faces : None or (m,) int Limit section to just these faces. cached_dots : (n, 3) float If an external function has stored dot products pass them here to avoid recomputing. Returns ---------- lines : (m, 2, 3) float List of 3D line segments in space. face_index : (m,) int Index of mesh.faces for each line Only returned if return_faces was True cjtj|d}tjt|tjdz}t dD]}||dd|fd|z zz }tjdt }d|d <||}d |ddd|d <||}d |ddd|d d g<||}|||fS)a Figure out which faces correspond to which intersection case from the signs of the dot product of each vertex. Does this by bitbang each row of signs into an 8 bit integer. code : signs : intersects 0 : [-1 -1 -1] : No 2 : [-1 -1 0] : No 4 : [-1 -1 1] : Yes; 2 on one side, 1 on the other 6 : [-1 0 0] : Yes; one edge fully on plane 8 : [-1 0 1] : Yes; one vertex on plane 2 on different sides 12 : [-1 1 1] : Yes; 2 on one side, 1 on the other 14 : [0 0 0] : No (on plane fully) 16 : [0 0 1] : Yes; one edge fully on plane 20 : [0 1 1] : No 28 : [1 1 1] : No Parameters ---------- signs: (n,3) int, all values are -1,0, or 1 Each row contains the dot product of all three vertices in a face with respect to the plane Returns --------- basic : (n,) bool Which faces are in the basic intersection case one_vertex : (n,) bool Which faces are in the one vertex case one_edge : (n,) bool Which faces are in the one edge case raxisdtypeNTF )npsortzeroslenint8rangebool)signs signs_sortedcodedikeyone_edge one_vertexbasics f/workspace/moltex-experiments/.pixi/envs/default/lib/python3.12/site-packages/trimesh/intersections.pytriangle_casesz"mesh_plane..triangle_cases6sFwwu1- \*"'':R?qA \!Q$'1q50 0Ehhr&Bu:AAZ AQG E j(**c||dk(}||dk7jd}t ||jd\}}tj||||fjd}|S)NrF line_segmentsr,r-r)reshape plane_linesTr column_stack) rfacesvertices vertex_plane edge_thrupoint_intersectvalidlines plane_normal plane_origins r'handle_on_vertexz$mesh_plane..handle_on_vertextsUaZ( %1*%--g6 !, ,(=U" ,u*=!> PQYY   r)c>||dk(jd}||}|S)Nrr+)r1)rr5r6edgespointss r'handle_on_edgez"mesh_plane..handle_on_edges)eqj!))'2% r)c ztj|ddg}tj|||tj|dd|||tj|ddfj d}t ||jd\}}|jsJ|j d S) Nr,r)uniquer r-r+Fr.r0) runique_value_in_rowrr4rollr1r2r3all) rr5r6unique_elementr@ intersectionsr:r<r=s r' handle_basicz mesh_plane..handle_basics!55eRGLn%bggnaa89n%bggnaa89    ''   + ,(9  u yy{{$$Z00r)rrz%Plane origin and normal must be (3,)!r,rrr")r asanyarrayfloat64shape ValueErrorr5int64dotr6rrrr mergevstackziphstacknonzerorkind)meshr<r= return_faces local_faces cached_dotsr(r>rBrJr5dotsrcaseshandlerschr;indexs `` r' mesh_planerbsJ<+|  1(==RZZ@L==RZZ@LT!\%7%74%?@AA mmKrxx@  ;' vvdmml2LA HHS'rww 7E!E$#)) E$  %LE 5 !E.?H II:=eX:NO:N$!Q58U1Xt}} -:NO E U;U2::a=+U;<{{3&&&  %< k%((( L P 2N&&)KJJH!\F%:; '!#%  u# D~{3 e$% &&u}}W'=uEArrE?**:6!% AF*BJJ7J Z ++r)cPtj|}tj|jd}tj|d|dz }tjtj|jd}tj |||dz j }tj ||j }tj|tjkD}|rtj |tj||dz }tj|tj|k7} tjtj|tjkDtj|tjkD} tj|| }tj|| }tj||||} |d|} | tj| d||zz} | |fS)au Calculate plane-line intersections Parameters --------- plane_origin : (3,) float Point on plane plane_normal : (3,) float Plane normal vector endpoints : (2, n, 3) float Points defining lines to be tested line_segments : bool If True, only returns intersections as valid if vertices from endpoints are on different sides of the plane. Returns --------- intersections : (m, 3) float Cartesian intersection points valid : (n, 3) bool Indicate whether a valid intersection exists for each input line segment rrrr,r)rrLr1rrhrQr3absr zero transposesign logical_or logical_anddivide) r=r< endpointsr/line_dirtbr:testdifferent_sidesrVd intersections r'r2r2%s2 i(I==.66q9L||IaL9Q<78H<< l ; C CA FGL |lYq\9<<=A |XZZ(A FF1I EvvlBLL ! 1L$MN''!* 5--q CHH 4bffTlSXX6MNuo6ug. !E(AeH%AQ<&L"**Q"88E?"JJL  r)ctj|tj}tj|tj}tj|tj}tj|tj}||z }tj||}tj||}tj |dkD} tj || || } || | jdz} | || z } | | g} |r| j| |r| j|| S)a Given one line per plane find the intersection points. Parameters ----------- plane_origins : (n,3) float Point on each plane plane_normals : (n,3) float Normal vector of each plane line_origins : (n,3) float Point at origin of each line line_directions : (n,3) float Direction vector of each line return_distance : bool Return distance from origin to point also return_denom : bool Return denominator, so you can check for small values Returns ---------- on_plane : (n,3) float Points on specified planes valid : (n,) bool Did plane intersect line or not distance : (n,) float [OPTIONAL] Distance from point denom : (n,) float [OPTIONAL] Denominator rgh㈵>r) rrLrMr diagonal_dotrrr1rm) plane_origins plane_normals line_originsline_directionsreturn_distance return_denomorigin_vectorsprojection_oriprojection_dirr:distanceon_planeresults r' planes_linesrXsNMM-rzzBMMM-rzzBM==RZZ@LmmO2::FO#\1N&&~}EN&& FN FF> "T )Eyy.u0EFHu%(8(8(AAH U##H F h n% Mr)c Vt|dk(r|||fS|du}|||}||}ntj||z |}tjt|tj} d| |t j k<d| |t j kD<| |} | jdtj} tj| jdtj} tj| dk\tj| dk} | | k(} | dk(}|jrFtj|||\}}tj||}|| |<|||<|dk| |<|| }||}|| }|tj| | dk}|tj| | dk\}| tj| | dk}| tj| | dk\}t|t|zdk(rt|dk(rwtjd tjtjd tj|r(tjd tjf}|Sdf}|Stj |j#dt|d \}}||}|j#d }|r||nd}|||fS|}tj$|dd|z } ||z j|}!tj| |}"d|"|"dk(<tj&|!|"}#|#dddddf| z|z}$|}%tjd }&tjd }'|$| dk| ddddf}(t|(})|)dkDr~tj(|dk(d}*|tj*t-|)t-|)fdtj*|*dzdz|*dzdzfdf}+tj.|+tj0t|%t|%d|)zzj#|)dd},|(tj*t-|)t-|)fdtj*|*dzdzj2|*j2fdddfj#d|)zd}&tj.|%|&d}%t5j6|,}-tj.||-d}|$| dk\| ddddf}.t|.}/|/dkDr6tj(|dk(d}0|t-|/|0fj#|/d}1tj.|1tj0t|%t|%d|/zzj#|/dd}2|.tj*t-|/t-|/fdtj*|0j2|0dzdzj2fdddfj#d|/zd}'tj.|%|'d}%tj.||2d}tj |j#dt|%d \}}|%|}|j#d }d}|rt9tj:||dd|&}3t9tj:||dd|'}4tj<|3|4g}5tj<||||g}6tj>dtj:|6dd|5}7tj<||7g|}|||fS)aS Slice a mesh (given as a set of faces and vertices) with a plane, returning a new mesh (again as a set of faces and vertices) that is the portion of the original mesh to the positive normal side of the plane. Parameters --------- vertices : (n, 3) float Vertices of source mesh to slice faces : (n, 3) int Faces of source mesh to slice plane_normal : (3,) float Normal vector of plane to intersect with mesh plane_origin : (3,) float Point on plane to intersect with mesh uv : (n, 2) float, optional UV coordinates of source mesh to slice face_index : ((m,) int) Indexes of faces to slice. When no mask is provided, the default is to slice all faces. cached_dots : (n, 3) float If an external function has stored dot products pass them here to avoid recomputing Returns ---------- new_vertices : (n, 3) float Vertices of sliced mesh new_faces : (n, 3) int Faces of sliced mesh new_uv : (n, 2) int or None UV coordinates of sliced mesh rNrrr,)rrr-g)rr)rr-T) minlengthreturn_inversergr g-q=rz ijk,ij->ik) rrrQrrr rRsumrranytmnormalsrMrPrunique_bincountr1rFrwherestackrrmaranger3rtriangulate_quadsr repeat concatenateeinsum)8r6r5r<r=uvrvr[have_uvr\r signs_sum signs_asumonedgeinsidercheckr: dot_check new_facesr cut_trianglescut_faces_quad cut_faces_tricut_signs_quad cut_signs_triemptyrDinverse final_vert final_facefinal_uvornumdenomdist int_points new_verticesnew_quad_verticesnew_tri_verticesquad_int_points num_quads quad_int_indsquad_int_vertsnew_quad_facesnew_tri_faces_from_quadstri_int_pointsnum_tris tri_int_inds tri_int_verts new_tri_facesquad_barycentricstri_barycentricsall_barycentricscut_uvnew_uvs8 r'slice_faces_planersWV 8}""nGj! vvh-|< HHS]"'' 2E E$#))  E$  %LE  q 0I"""9J ^^J!ORVVI->!-C DF :+ %F QH||~zz(5?";< uFF5,/  x"$s?xf I If%M2>>&)a-@AN"..a@AM2>>&)a-@AN"..a@AM >S//14 y>Q rzz2rxx06=rzz2E LDHE L#22   b !S]4  f% __W- !(2f:d:x// A 2A"A !   .C FF1l #EE%3, 99S% DaDj!A%)JL(xx'!)a-!8!Q!>?OO$I1}1!45a8 ' HHeI&i(89 B HH}q(A- 0AQ/FGa P R    IIc,'\):Q])J K S S1   , HHeI&i(89 B HH )Q.11=??C! L    '!i- # yy/@qI #+#=#=n#M IIi)AJ  a 8!Q >?N>"H!|xx  34Q7 %eHo|&CDLLXWXY   IIc,'\):Q\)I J R R!   * HHeHouX7a @ HHlnn q(8A'=&@&@A J    '!h, " yy/?aH IIiQ? .."\):4OFG f%J)JH1 IIh~. :>+<>N*OPN!3R 5F GH<611)EGWX>>2v,/7 z8 ++r)c  |yddlm}ddlm}ddlm} ddlm} ddlm } tj|tj }tj|tj }|jd k(xstj|d xrB|jd k(xstj|d xr|j|jk(} | s t!d |j"j%} |j&j%}t)|jd xrAtj|jj*t-|j"dfk(xr| }|r$|jj*j%nd}d|vrd|d<t/|j1d |j1d D]s\}}t3| |||||\} }}|s|r t5dt7j8| \}}| |} ||}||ddddf|ddddfk7j;d}t=j>|| }tj@jC|}tEjF| |}t=jH|}|jKdtjL|dddfdk}|||j;d}||dddf|dddfk7}t7jN|d}t-|dkr`|| }|g}| jQ|||ddddfD]}| ||d\}}tEjFtjR||} |jU| \}!}"|!jWdkDrtjXj[d|"|}#|#ddddf|#ddddfk7j;d|#dddf|#dddfk7z}$|j]|#|$tj^|}v|r,| ||jj`j%nd}%|d| ||%d|S)a Slice a mesh with a plane returning a new mesh that is the portion of the original mesh to the positive normal side of the plane. Parameters --------- mesh : Trimesh object Source mesh to slice plane_normal : (3,) float Normal vector of plane to intersect with mesh plane_origin : (3,) float Point on plane to intersect with mesh cap : bool If True, cap the result with a triangulated polygon face_index : ((m,) int) Indexes of mesh.faces to slice. When no mask is provided, the default is to slice all faces. cached_dots : (n, 3) float If an external function has stored dot products pass them here to avoid recomputing engine : None or str Triangulation engine passed to `triangulate_polygon` kwargs : dict Passed to the newly created sliced mesh Returns ---------- new_mesh : Trimesh object Sliced mesh Nr)cKDTreer)Trimesh)triangulate_polygon)polygons)TextureVisualsrrKrgz)plane origins and normals must be (n, 3)!rr-processF)r6r5rr<r=rvz)face_index and cap can't be used togetherr rdg:0yE>) require_countrT)engineforce_verticesz%triangulate may have inserted vertex!)rmaterial)r6r5visual)1 scipy.spatialrbasercreationrpathrrrrrLrMrNris_shaperOr6copyr5hasattrrrrTr1rNotImplementedErrorr unique_rowsrGrrirjrkrnrofaces_to_edgesrr group_rowsedges_to_polygonsstack_3DquerymaxlogdebugrmrSr)&rXr<r=rvcaprkwargsrrrrrshape_okr6r5has_uvrrerfrDrfr|r{ vertices_2Dr@r unique_edgetreepvnfnvn3rvidnfnf_okrs& r'slice_mesh_planers>R |&-&==RZZ@L==RZZ@L   t # Kt}}\7'K 5   4 ' O4==w+O 5   ,"4"4 4 DEE}}!!#H JJOO E  T"Zrxx '?C DVXYCZ'Z' #)   dB!yW%|';';G'D0!  % )*UVV'228K++A.E JJAJ vvk!Q$/047H(5/--1-56E%1+q!t45E"--e1EK6{Q8$DCE//k0BKPQSUTUSUPUDVW,QvdSB))$--*;UC $ 3 #<<>D(HHNN#JKWAqrEbBQBi/44!4<1a4BqRStH@TU RY'XIIe$Ew|HN"t{{';';'@'@'BCSW  KHE& KF KKr))FNN)T)FF)NNN)NFN)__doc__numpyrrrrrrnrr constantsr r rbr~r2rrrrr)r'r ss&&#, zzT,n0p @P v,z  QLr)