:vj#-dZddlZddlmZddlmZddlmZm Z m Z ddl m Z ddl mZmZd d lmZej$Zd Zd ZGd dZGddZy)z[ Ray queries using the embreex package with the API wrapped to match our native raytracer. N) rtcore_scene) TriangleMesh)caching intersectionsutil)log_time) ArrayLikeIntegercontains_pointsgư>g:0yE>c eZdZddefdZedZejdZ dde de defdZ e dde de ded e d ef d Ze d Zd ZdZdZdZdZdZy)RayMeshIntersector scale_to_boxc~||_||_tj|jj|_y)a7 Do ray- mesh queries. Parameters ------------- geometry : Trimesh object Mesh to do ray tests on scale_to_box : bool If true, will scale mesh to approximate unit cube to avoid problems with extreme large or small meshes.  id_functionN)mesh _scale_to_boxrCache__hash___cache)selfgeometryrs i/workspace/moltex-experiments/.pixi/envs/default/lib/python3.12/site-packages/trimesh/ray/ray_pyembree.py__init__zRayMeshIntersector.__init__s- )mm 0B0BC cX|jrd|jjz }|Sd}|S)z/ Scaling factor for precision. gY@g?)rrscale)rr s r_scalezRayMeshIntersector._scale+s4   DIIOO+E E rct|jj|jj|jS)z8 A cached version of the embreex scene. )verticesfacesr ) _EmbreeWraprr#r$r!)rs r_scenezRayMeshIntersector._scene8s. YY''tyydkk  r ray_originsray_directions multiple_hitsc>|j|||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..rmax_hitsr+ctj|tj}tj|tj}|j|jk7r t dt j |}tjdtjg}tjdtjg}tjdtjg}|s|rftt|jjtz} || z} |jjdddddf} |jj} tj t#|dtj} tj$t#|}t'|D]@}|j(j+||||}|dk7}|j-sn||}||}|s&|s$|j/||j/|n| ||k(}|| |<||}||}||}t1j2 | |||||\}}||||}}|j/||j/||j/||snM| |z||<|| z| |<| |xxdzcc<||xx| |z cc<tj4||g}Ctj4|}tj4|}|r||tj4|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)r1r+result_triangleresult_ray_idxresult_locations base_offset ray_offsetsr8r9last_hitlive_depthqueryhithit_rayshit_trisdupeok_raysok_tris dupe_rays new_originsvalidr-r.s rr,z RayMeshIntersector.intersects_idcsNhh{"**= . C    4 4 4DE En588ARXX67((1BHH56HHV2::>? ,/CU1UVK(;6K!II//1a8M II22M773{+Rrxx@yy[)* HoFKKOOK$5~d7KLE2+C779CyHSzH!)9&&x0%%h/H%1D!)HX uoGuoG I "/!;!;+G4+G4(1 .w 7 " K 'u~wu~WG  # #K 0  " "7 +  ! !' * $/W1E#EK #1'#:[#HK  "c ) "  "k)&< < ">>7I"67Do&rNN?3 NN>2 i8H)II I)##rctj|t}tj|t}|j|jk7r t dt j |}|jj||S)an Find the index of the first triangle a ray hits. Parameters ---------- ray_origins : (n, 3) float Origins of rays ray_directions : (n, 3) float Direction (vector) of rays Returns ---------- triangle_index : (n,) int Index of triangle ray hit, or -1 if not hit r3r5) r<r= _embree_dtyper?r@rrAr&rM)rr'r(s rintersects_firstz#RayMeshIntersector.intersects_firstsg&hh{-@ . F    4 4 4DE En5{{{N;;rc6|j||}|dk7}|S)aO Check if a list of rays hits the surface. Parameters ----------- ray_origins : (n, 3) float Origins of rays ray_directions : (n, 3) float Direction (vector) of rays Returns ---------- hit : (n,) bool Did each ray hit the surface )r'r(r7)rf)rr'r(firstr[s rintersects_anyz!RayMeshIntersector.intersects_anys.$%%#N& rk rct||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,,rc^|jj}|jdd|S)Nr)__dict__copypoprstates r __getstate__zRayMeshIntersector.__getstate__+s' ""$ (D! rc|jj|tj|jj |_y)Nr)rmupdaterrrrrrps r __setstate__zRayMeshIntersector.__setstate__1s. U#mm 0B0BC rc"|jS)N)__copy__rargss r __deepcopy__zRayMeshIntersector.__deepcopy__6s}}rcDt|j|jS)N)rr)rrrrxs rrwzRayMeshIntersector.__copy__9s!4994CUCUVVrN)T)TdF)__name__ __module__ __qualname__boolrpropertyr!rcache_decoratorr&r r0r r r,rfrirrrrurzrwrrrrsDtD"     # / /" / /D #!& A$A$"A$ A$  A$  A$A$F<<40-" D WrrceZdZdZdZdZy)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}|jd|_t ||_||jz |j z}tj|_ t|j|jt|jtjjtjy)Nr3r)axis)scener#indices)r<r=r>minoriginfloatr r EmbreeScenerrastypereviewndarrayint32)rr#r$r scaleds rrz_EmbreeWrap.__init__Ds("**5jjaj( 5\ 4;;&$**4!--/ **]]=1JJrzz*11"((; rc tj|tj|jz |jz}|j j |jt|jtfi|S)Nr3) r<r=r>rr rrMrre)roriginsnormalskwargsrs rrMz_EmbreeWrap.runRs^((7"**5 CtzzQtzz~~ MM- ('..*G KQ  rN)r}r~r__doc__rrMrrrr%r%=s   rr%)rnumpyr<embreexrembreex.mesh_constructionrrrr constantsr typedr r ray_utilrfloat32rerFrErr%rrrrsX !2++ &% aWaWH   r