:vj1|dZddlZddlmZmZmZmZddlmZ ddl m Z ddl m Z Gd d Z dd Zd Zdd Zy)z7 A basic slow implementation of ray- triangle queries. N)cachinggrouping intersectionsutil) triangles)tolcontains_pointsc:eZdZdZdZ d dZdZdZdZdZ y) RayMeshIntersectorzs An object to query a mesh for ray intersections. Precomputes an r-tree for each triangle on the mesh. cn||_tj|jj|_y)N)meshrCache__hash___cache)selfrs i/workspace/moltex-experiments/.pixi/envs/default/lib/python3.12/site-packages/trimesh/ray/ray_triangle.py__init__zRayMeshIntersector.__init__s# mmDII$6$67 c Lt|jj|||jj||jj\}}}|rNt |dk(r|||fSt jtj||fd} || || || fS||fS)a Find the intersections between the current mesh and an array of rays. Parameters ------------ ray_origins : (m, 3) float Ray origin points ray_directions : (m, 3) float Ray direction vectors multiple_hits : bool Consider multiple hits of each ray or not return_locations : bool Return hit locations or not Returns ----------- index_triangle : (h,) int Index of triangles hit index_ray : (h,) int Index of ray that hit triangle locations : (h, 3) float [optional] Position of intersection in space )r ray_originsray_directionstree multiple_hitstriangles_normalr) ray_triangle_idrrtriangles_tree face_normalslenr unique_rowsnp column_stack) rrrreturn_locationsrkwargs index_tri index_ray locationsuniques r intersects_idz RayMeshIntersector.intersects_ids@-<ii))#)))'!YY33 - )Iy 9~" )Y66))"//9i:P*QRSTUFV$i&769JJ J)##rc @|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_locationFsD.-?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_firstese$"4!3!3" #)" "  " I[):R?%y rc |j||\}}tjt|t}tj |}t|dkDrd||<|S)ad Find out if each ray hit any triangle on the mesh. Parameters ------------ ray_origins : (m, 3) float Ray origin points ray_directions : (m, 3) float Ray direction vectors Returns --------- hit : (m,) bool Whether any ray hit any triangle on the mesh r0rT)r+r#zerosr!boolr*)rrrr& _index_trir(hit_anyhit_idxs rintersects_anyz!RayMeshIntersector.intersects_anysY !% 2 2; O I((3{+48))I& w@.-rrctj|tj}tj|tj}tj|tj}|tj|}t |||\}}||}||} ||} |dddddf} |3tj |\} } | jstd||} tj| | | | \}}t|dk(s|jsntjgtjtjgtjtjgtjfStj|||}tj |t"j$ kDjd|dt"j$zkjd}|||}|||}||}|||z }t'j(|||}|d kD}||}||}||}||}|r|||fSt|dk(r|||fStjt+j,|Dcgc]}|||j/c}}||||||fScc}w) 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 axisgư)r# asanyarrayfloat64 triangles_mod bounds_treeray_triangle_candidatesnormalsall ValueErrorr planes_linesr!anyarrayr4points_to_barycentric logical_andr zeror diagonal_dotrgroupargmin)rrrrrrray_candidatesray_idtriangle_candidatesrGrHrErF triangle_oklocationvalid barycentrichitr'r(vectordistanceforwardgfirsts rrrsB irzz:I-- 2::>K]]>DN |((35TNF $N3v&L$V,O(1a0M%2%:%:;N%O" { 12 2(8 $00##!' OHe 1$EIIK HHRrxx ( HHRrxx ( HHRrzz *   55E"HK .. y %%1%- q388|0L/Q/QWX/Q/Y Cu%c*Iu c"I}H I. .F   )BCHG'"I'"I H H)X-- 9~)X-- HHx~~i7PQ7P!a **,-7PQ RE U Yu-x >>RsK ct|||j}g}g}t|D]N\}}t|j |}|j ||j |gt |zPtj|tjtj|tjfS)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_boundsrj enumeratelist intersectionextendr!r#rUr4) rrrboundingindex candidatesirjcands rrOrO/s0t{{H EJx( 6D%%f-.$ aS3t9_%) 88Jbhh /%rxx1P PPrctj|tj}tj|tj}tj|}tj|j d}|j dj |}tjt|Dcgc] \}}|||c}}j d}tjt|Dcgc] \}}|||c}}j d} | dk7j d} tj|} || || z | | z | | <|| | |k<| ddd fj d} | dddfj d} || z|z}|| z|z}tj||fj dd |jdf}tj|jd|jdf}|tjgd |zz }|Scc}}wcc}}w) 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)rr2)r2r gr2Nrr)r2r2r2r r r )r#rKrLabsargmaxreshapeTrUrl zeros_liker$shapehstackminmax)rrrj buffer_distrJ axis_boundrsaaxis_oriaxis_dirnonzerott_at_bon_aon_bon_plane ray_boundings rrkrkTs$-- 2::>K]]>DN]]6 "F 66. ! ( (a ( 0D(**40JxxyGtq!Q*GHPPQXYHxx)D/J/$!Q*1-/JKSSH3''+G j!AW%(99Xg=NNAgJ%Aa+o AqD'//' "C AqD'//' "C S K /D S K /Dd|,44b!^=Q=QRS=T5UVH99hlll2HLLaL4HIJL BHH23kAAL GHJs I I )NNT)gh㈵>)rCnumpyr#rrrrrrM constantsr ray_utilr rrrOrkr-rrrsI55)%a-a-P  {?|"QJ>r