:vjh ddlmZddlZddlmZddlmZddlmZ ddlm Z ddl m Z mZmZmZd ZeGd d Z dd e d ededefdZddZddZy)) dataclassN)util)log)res_path)tol_path) ArrayLikeNDArrayNumberfloat64g-q=cveZdZUeed<eeed<dZeedzed<dZeedzed<dZ e dzed<dZ y)ArcInforadiuscenterNnormalanglesspanct||SN)getattr)selfitems a/workspace/moltex-experiments/.pixi/envs/default/lib/python3.12/site-packages/trimesh/path/arc.py __getitem__zArcInfo.__getitem__!stT"") __name__ __module__ __qualname__float__annotations__r r rrrr rrrrrsW M G '+FGG t #*'+FGG t #*D&4-#rrpoints return_normal return_anglereturnc jtj|tj}|gd|gdz }tj|dzdg|jdz}tj |}|j }||z }|jdz }|tj||z z} | tjkr td|tj|dz tj | z z} |gd gd zjd jd |z} |jj| | jz } tjr:tj tj"j%|| z d | sJ| | d } |r|jdk(r\tj&tj(tj*|d dtj*|dd| d<n3tj&tj(|d |d| d<|rXtj&|| z }tj,|d }tj|ddg}|t.dz krtj0}n$|dt.z kDrd}ntj2|}t5|t.kDr+tj|dkrtj0dz|z }tj6|ddddfjdddtj0dzz}tj8|ddg}|d|dcxkxr|dknc}|dddt;| dzz }|| d<|| d<t=di| S)a Given three points on a 2D or 3D arc find the center, radius, normal, and angular span. Parameters --------- points : (3, dimension) float Points in space, where dimension is either 2 or 3 return_normal : bool If True calculate the 3D normal unit vector return_angle : bool If True calculate the start and stop angle and span Returns --------- info Arc center, radius, and other information. dtype)rr)r)rrrr)g@zarc is colinear!g@) r)rrrrr)rr)r) r)r)r)r)r*r)r)r*)r+)axis)rr)r+rrrNr*rrr!)np asanyarrayr dotshapesqrtminsumprodtolmerge ValueErrorreshapeTstrictrallcloselinalgnormunitizecrossappenddiff _TOL_ZEROpiarccosabsarctan2sortintr)r"r#r$vectorsabc2abcscaleedgeshalfdenomrba2rresultvectoredge_directionr0angler angles_sortedreverses r arc_centerrX&s(*]]6 4FY&"33G 66'1*qcFLLO3 4D ''$-C GGIE %KE 99; D 2774%<( (E syy+,, rwwu~+rwwu~= >F + ,/M M V V  cqckD CXX\\#  *F zz}}RYY^^FVO!^DfMMM& 1F <<6 ! $||GAJ;2BIIgaj!4LM F8  $||BHHgaj['!*,MNF8 fvo.a0fffaVn% )a- EEE 1y= EIIcNE u: !bffn&=&CUUQY%'EVArrE]__TrT23beeai?1v/ "VAYAq1AA%&C!cg+.>.B*B&CD (xv  V rc@tj|d\}} t|}|j|j |j |jf\}}}}|rtjdz}|tjz } ||ztj|zz } tj| | g} tj| dtj} t!tj"| } tj$|d|z } tj$tj&| | } tj(d|| }tj*|| df}||tj,|j/dz| zz }||tj0|j/dz| zz }|st2j4rtj6|dd g|dd gz }|t2j8kj;}|sJt=j>d tA||t=j>d tA|tCd |dd g|dd g<|dddd |z f}|S#t$r|r |ddddfcYS|cYSwxYw)a Returns a version of a three point arc consisting of line segments. Parameters --------- points : (3, d) float Points on the arc where d in [2,3] close : boolean If True close the arc into a circle scale : float What is the approximate overall drawing scale Used to establish order of magnitude for precision Returns --------- discrete : (m, d) float Connected points in space T) return_2DNrrr))r*r)r*z4failed to discretize arc (endpoint_distance=%s R=%s)zFailed arc points: %szArc endpoints diverging!r+)"rstack_3DrX BaseExceptionrrrrr.rDres seg_angleseg_fracmaxclipinfrIceilr?r@linspacetilecosr9sinr6r;row_normr7allrwarningstrr8)r"closerMis_2D center_inforRNrUcount_acount_lcountV1V2tdiscretearc_distarc_oks rdiscretize_arcr{sa*MM&D9MFE (   FAq%  cmm#G5yS\\E12G FFGW% &E GGE1bff %E  E fQi&( )B bhhr2& 'B Aue$Awwvqz*H BFF1I%%g..33H BFF1I%%g..33H  ::}}VQG_xB7H%HIH*//1F JM  3S[A !;<<"Ar7O!R=a%i=()H Os  !RaR%=  s JJJJcz|dtjg}tj|tj}|jdk7r t d|d|dkr|dxxtjdzz cc<tj|tj}|jdk7r t dtj |d|j|dgtj}tjtj|tj|f|z|z}|S) a For 2D arcs, given a center and radius convert them to three points on the arc. Parameters ----------- center : (2,) float Center point on the plane radius : float Radius of arc angles : (2,) float Angles in radians for start and end angle if not specified, will default to (0.0, pi) Returns ---------- three : (3, 2) float Arc control points r-r')rzangles must be (2,)!r)rrzonly valid on 2D arcs!) r.rDr/r r1r8arraymean column_stackrgrh)rrrthrees r to_threepointrs*~ruu ]]6 4F ||t/00 ay6!9q RUUQY ]]6 4F ||t122XXvay&++-;2:: NF __bffVnbffVn= > G6 QE Lr)TT)Fg?r) dataclassesrnumpyr.r constantsrrr^rr6typedr r r r rCrboolrXr{rr!rrrs{!''77   ## #.IM[ [&*[AE[ [|Sl)r