:vj1't UdZddlZddlZddlZddlZddlZddlZddlZddlZddl Z ddl Z ddl Z ddl m Z mZmZmZmZmZmZmZddlmZddlmZddlmZmZddlmZddlZ dd l!m"Z"dd l#m$Z$m%Z%m&Z&m'Z'm(Z(m)Z)m*Z*m+Z+m,Z,m-Z-m.Z.m/Z/erddl0Z1ejde3Z4ejje6d <ejnZ7ejZ8ejrZ9e:e jve jxjzd zZ>e:e6d <dZ?e:e6d<dZ@eAe6d<e jde jxZCe je6d<deCjd<e j jZGdde.de j jfdZIdeJdeAfdZK dde%deAde:dzfdZLde%d e%de jxfd!ZMd"e$de&fd#ZNd"eOdeAfd$ZPd"eOdeAfd%ZQd"e$deAfd&ZR dd"e*e$zd'eeSeTeSd(fzd)eAdeAfd*ZUd"e$deVfd+ZW dde%d,eAfd-ZXd.e%de,e jxfd/ZYd0e%de,e jxfd1ZZd2e)e$fd3Z[e jjZ]de%d e%de jeTeSe je$ffd4Z_d5e,e$de+e jxfd6Z` dd7e%d8eAde,e jxeTe,e jxeAfzfd9Zad:e%d;e-e%zde,e jxfd<Zbd:e%d=e(e%zde,e jxfd>Zcd?e%e)eTee$fzdejeeVffd@Zed5eOde$fdAZfdBe/deAfdCZgdBe/deSfdDZhddEe'dFe(dzdeSfdGZiejdddHdHddHfdIe(dJejdzdKeejjdzdLeAdMeAdNe)eJdzdOeAddfdPZldQe%de*fdRZmdSe)e%dTe)e%deTe,e je,e jffdUZp ddVe%dWeJdXeJdYe(dZeJdeJf d[Zq ddVe%dWeJdXeJdYe(dZeJdeJf d\Zr ddVe%d]e j:jdzd^eJdeeJe$ffd_Ztdd`eue$e$fd^eJdeueJe$ffdaZvddbeJdceJddeJdeJfdeZwdfe%eue$e$fzde*fdgZxd"eOdeJeVeJzdeAfdhZydd"eOdie(deVezfdjZ{d"eOdeJdezfdkZ|dddlZ} ddme)e%dneAdoeAdpe(dzdqeAf drZ~dd5e*d=e(dseAde*fdtZd"eOdue$deJfdvZdwZd:e%de$fdxZdyeJezdeezfdzZdd{e%d|e%de+e jxfd}Zd{e%d|e%deTe+e j e+e jxffd~ZdZdBee/zdeJdeueJe/dzffdZdeeJeJeze/zfdue$defdZddeJde)eJdzdeJfdZde%ee%zde,e j fdZde)e%de,e j fdZde)e%de*fdZ ddBe/deJezd^eJdeJezfdZdde(deJfdZdde%de:de,e jxfdZ dde-e*zd e-e*zde'de j$e*e j$zfdZdde-e*zd e-e*zde'deAfdZGddeeJe d(e$ffZddbeJezdeJdeJfdZdbe$deJfdZdd7e%deAfdZ ddeJdzdeeJdeeJdzeSfdzdeJfdZy)z Grab bag of utility functions. N)Callable CollectionHashableIteratorMappingMutableMapping MutableSetSequence)deepcopy)asdict)BytesIOStringIO) TYPE_CHECKING)chain) Any ArrayLike BoolIsFileFloatingIntegerIterableNDArray NDArray1D NDArray2DNumberSeedStreamlogdTOL_ZERO:0yE> TOL_MERGEF_STRICTdtype _IDENTITY WRITEABLEseedreturncP|tStjj|S)a Get a random generator, optionally seeded for deterministic results. Parameters ---------- seed If None use a shared generator seeded from OS entropy. An integer seeds a fresh generator. A `Generator` is returned unaltered which lets a caller thread one stream through nested calls rather than re-seeding each of them to identical values. Returns ------- generator Draw random values from this. )_RANDOM_DEFAULTnprandom default_rng)r)s ]/workspace/moltex-experiments/.pixi/envs/default/lib/python3.12/site-packages/trimesh/util.pyrandom_generatorr1Ss&" | 99  &&namec"ddlm}||duS)a  Check to see if a module is installed by name without actually importing the module. Parameters ------------ name : str The name of the module to check Returns ------------ installed : bool True if module is installed r) find_specN)importlib.utilr5)r3r5s r0 has_moduler7ks) T?$ &&r2vectors check_valid thresholdctj|}|t}t|jdk(rdtj tj ||zdg|jdz}||kD}||xxdzcc<||jdz}njt|jdk(rGtj tj ||}||kD}|r||z }n|j}n td|r|||fS|S)a Unitize a vector or an array or row-vectors. Parameters ------------ vectors : (n,m) or (j) float Vector or vectors to be unitized check_valid : bool If set, will return mask of nonzero vectors threshold : float Cutoff for a value to be considered zero. Returns --------- unit : (n,m) or (j) float Input vectors but unitized valid : (n,) bool or bool Mask of nonzero vectors returned if `check_valid` ?rr>rz vectors must be (n, ) or (n, d)!) r- asanyarrayr lenshapesqrtdotreshapecopy ValueError)r8r9r:normvalidunits r0unitizerKs2mmG$G  7==Qwwrvvg/#q9I1IJKy  U  g.. W]] q wwrvvgw/0y  T>D<<>D;<<E{E!! Kr2abc tjdtdtj|tj }tj|tj }tj ||z dzjS)zB DEPRECATED: use `np.linalg.norm(a - b)` instead of this. zp`trimesh.util.euclidean` is deprecated and will be removed in January 2025. replace with `np.linalg.norm(a - b)`r<category stacklevelr%)warningswarnDeprecationWarningr-r@float64rCsumrLrMs r0 euclideanrXsg MM 1$  arzz*A arzz*A 77QUqL%%' ((r2objc6t|dxs t|dS)z Check if an object is file-like Parameters ------------ obj : object Any object type to be checked Returns ----------- is_file : bool True if object is a file readwrite)hasattrrYs r0is_filer_s 3  873#88r2cl|jj}t|dxr|jdS)z Check if the object is a `pathlib.Path` or subclass. Parameters ------------ obj : object Object to be checked Returns ------------ is_pathlib : bool Is the input object a pathlib path absolutePath) __class____name__r]endswithrYr3s r0 is_pathlibrgs. == ! !D 3 # = f(==r2cZtjdtdt|tS)zp DEPRECATED : this is not necessary since we dropped Python 2. Replace with `isinstance(obj, str)` zo`trimesh.util.is_string` is deprecated and will be removed in January 2025. replace with `isinstance(obj, str)`r<rO)rRrSrT isinstancestrr^s r0 is_stringrks,  MM 0$  c3 r2ctd xr tdxs td}|xr#tfdtttfD}|xrt j dv}tdr|xrjdk7}|S)z Check if an object is a sequence or not. Parameters ------------- obj : object Any object type to be checked Returns ------------- is_sequence : bool True if object is sequence strip __getitem____iter__c38K|]}t| ywN)ri.0irYs r0 zis_sequence..sG6F*S!,,6Fs) PointCloudrB)r]alldictsetrjtyperdrB)rYseqs` r0 is_sequencer}ssG$ $ Dm)D  ZJC  G#GtS#6FGGC  :$s)$$N:CsG%cii2o Jr2rB. allow_zerosc:t|dr!t|jt|k7ryt|dk(rd|vryt|j|D]A\}}t |t t fr||vr!yt|dkr |dk(r|sy;||k7sAyy)a[ Compare the shape of a numpy.ndarray to a target shape, with any value less than zero being considered a wildcard Note that if a list-like object is passed that is not a numpy array, this function will not convert it and will return False. Parameters ------------ obj : np.ndarray Array to check the shape on shape : list or tuple Any negative term will be considered a wildcard Any tuple term will be evaluated as an OR allow_zeros: bool if False, zeros do not match negatives in shape Returns --------- shape_ok : bool True if shape of obj matches query shape Examples ------------------------ In [1]: a = np.random.random((100, 3)) In [2]: a.shape Out[2]: (100, 3) In [3]: trimesh.util.is_shape(a, (-1, 3)) Out[3]: True In [4]: trimesh.util.is_shape(a, (-1, 3, 5)) Out[4]: False In [5]: trimesh.util.is_shape(a, (100, -1)) Out[5]: True In [6]: trimesh.util.is_shape(a, (-1, (3, 4))) Out[6]: True In [7]: trimesh.util.is_shape(a, (-1, (4, 5))) Out[7]: False rBFrr>T)r]rArBziprilisttupleint)rYrBr~rttargets r0is_shaper sj 3 C Nc%j$@ 3x1}u E* 6 ftUm ,F{ v;?Avk Q;/+6 r2c4t|r t|S|gS)a Given an object, if it is a sequence return, otherwise add it to a length 1 sequence and return. Useful for wrapping functions which sometimes return single objects and other times return lists of objects. Parameters ------------- obj : object An object to be made a sequence Returns -------------- as_sequence : (n,) sequence Contains input value )r}rr^s r0 make_sequencer}s$3Cyu r2 return_signc tj|tj}t|dr|t k}tj tj ||tkD}tjt|tj}d||dddf<d|tj|dddf|dddf<nt|dr|t k}tj tj ||tkD}tjt|tj}d||dddf<d|tj|dddf|dddf<d|tjtj|dddf|dddf|dddf<n td ||jd z}|r||fS|S) a For a set of 3D vectors alter the sign so they are all in the upper hemisphere. If the vector lies on the plane all vectors with negative Y will be reversed. If the vector has a zero Z and Y value vectors with a negative X value will be reversed. Parameters ------------ vectors : (n, 3) float Input vectors return_sign : bool Return the sign mask or not Returns ---------- oriented: (n, 3) float Vectors with same magnitude as source but possibly reversed to ensure all vectors are in the same hemisphere. sign : (n,) float [OPTIONAL] sign of original vectors r%r>r<gNrrr>r<zvectors must be (n, 3)!r?) r-r@rUrr logical_not logical_oronesrA logical_andrGrE)r8rnegativezerosignsorienteds r0vector_hemispherers>mmG2::6G!hY&~~bmmHg6HIJG BJJ7 $hq!tn=AbnnT!Q$Z!Q$89 '7 #hY&~~bmmHg6HIJG BJJ7 $hq!tn<@bnnT!Q$Z!Q$89   NN2>>$q!t*d1a4jA8AqD> R 233w//H Or2 cartesianctj|tj}t|ds t dt |d\}}d|tj |tk<|j\}}}tjt|dftj}tjtj||tj|f||<|S)z Convert a set of cartesian points to (n, 2) spherical unit vectors. Parameters ------------ cartesian : (n, 3) float Points in space Returns ------------ spherical : (n, 2) float Angles, in radians r%rz Cartesian points must be (n, 3)!T)r9r<)r-r@rUrrGrKabsr"TzerosrA column_stackarctan2arccos)rrJrIxyz sphericals r0vector_to_sphericalrs irzz:I Iw ';<<)6KD%%(D !"ffGAq!#i.!,BJJ?I 1a(8"))A,'GHIe r2rc|tj|tj}t|ds t d|j \}}tj |tj|}}tj |tj|}}tj||z||z|fS)z Convert an array of `(n, 2)` spherical angles to `(n, 3)` unit vectors. Parameters ------------ spherical : (n , 2) float Angles, in radians Returns ----------- vectors : (n, 3) float Unit vectors r%rz%spherical coordinates must be (n, 2)!) r-r@rUrrGrsincosr)rthetaphistctspcps r0spherical_to_vectorrs irzz:I Iw '@AAJE3 VVE]BFF5MB VVC["&&+B ??BGR"Wb1 22r2iterablec.t|tjrM|jd}tj||f}|jdddjd}|Sddl}|j |\}}t|t||S)a For an iterable, group values into pairs. Parameters ------------ iterable : (m, ) list A sequence of values Returns ----------- pairs: (n, 2) Pairs of sequential values Example ----------- In [1]: data Out[1]: [0, 1, 2, 3, 4, 5, 6] In [2]: list(trimesh.util.pairwise(data)) Out[2]: [(0, 1), (1, 2), (2, 3), (3, 4), (4, 5), (5, 6)] r>rrrN) rir-ndarrayrEr itertoolsteenextr)rstackedpairsrrLrMs r0pairwisers2(BJJ'##B'//8X"67#Ab)11':  == "DAqG q!9r2ctj|}tj||zdg|jdzS)aD Dot product by row of a and b. There are a lot of ways to do this though performance varies very widely. This method uses a dot product to sum the row and avoids function calls if at all possible. Comparing performance of some equivalent versions: ``` In [1]: import numpy as np; import trimesh In [2]: a = np.random.random((10000, 3)) In [3]: b = np.random.random((10000, 3)) In [4]: %timeit (a * b).sum(axis=1) 1000 loops, best of 3: 181 us per loop In [5]: %timeit np.einsum('ij,ij->i', a, b) 10000 loops, best of 3: 62.7 us per loop In [6]: %timeit np.diag(np.dot(a, b.T)) 1 loop, best of 3: 429 ms per loop In [7]: %timeit np.dot(a * b, np.ones(a.shape[1])) 10000 loops, best of 3: 61.3 us per loop In [8]: %timeit trimesh.util.diagonal_dot(a, b) 10000 loops, best of 3: 55.2 us per loop ``` Parameters ------------ a : (m, d) float First array b : (m, d) float Second array Returns ------------- result : (m,) float Dot product of each row r=r)r-r@rDrBrWs r0 diagonal_dotrBs9` aA 66!a%#+ ,,r2datac|tjtj|dzdg|jdzS)a  Compute the norm per-row of a numpy array. This is identical to np.linalg.norm(data, axis=1) but roughly three times faster due to being less general. In [3]: %timeit trimesh.util.row_norm(a) 76.3 us +/- 651 ns per loop In [4]: %timeit np.linalg.norm(a, axis=1) 220 us +/- 5.41 us per loop Parameters ------------- data : (n, d) float Input 2D data to calculate per-row norm of Returns ------------- norm : (n,) float Norm of each row of input array r<r)r-rCrDrB)rs r0row_normrxs1. 77266$'A3A#67 88r2points return_2Dc^tj|tj}|j}|dk(rd}nmt |dk7r t d|ddk(r6tj |tjt |f}d}n|ddk(rd}n t d |r||fS|S) a For a list of (n, 2) or (n, 3) points return them as (n, 3) 3D points, 2D points on the XY plane. Parameters ------------ points : (n, 2) or (n, 3) float Points in either 2D or 3D space return_2D : bool Were the original points 2D? Returns ---------- points : (n, 3) float Points in space is_2D : bool [OPTIONAL] if source points were (n, 2) r%)rFr<zPoints must be 2D array!rTrz Points must be (n, 2) or (n, 3)!)r-r@rUrBrArGrr)rrrBis_2Ds r0stack_3Drs,]]6 4F LLE } Uq344 qQ&"((3v;*?!@A qQ;<<u} Mr2boundsstepc Ptj|tj}t|dk7r t dtj|tj}|j dk(r#tj ||j d}t|j|Dcgc]\}}tj|d|i}}}tjtj|ddij|j dd j}|Scc}}w) a` Return a grid from an (2,dimension) bounds with samples step distance apart. Parameters ------------ bounds: (2,dimension) list of [[min x, min y, etc], [max x, max y, etc]] step: float, or (dimension) floats, separation between points Returns --------- grid: (n, dimension), points inside the specified bounds r%r<bounds must be (2, dimension!rwrrindexingijr>) r-r@rUrArGrBtilerrarangevstackmeshgridrE)rrrMs grid_elementsgrids r0 grid_arangers]]6 4F 6{a899 ==RZZ 0D zzRwwtV\\!_-7:688T7JK7Jtq!RYY**7JMK "++})r-r@rUrArGint64rBrrrlinspacerrrE)rrrMcrrs r0 grid_linspacers]]6 4F 6{a899 MM%rxx 0E {{bv||A/8;FHHe8LM8L1R[[!++8LMM "++} 0x7F, or 127) iTF)tellr[seekrirjord)rstartfbytesis_strfbytecodes r0is_binary_filer%s_ MMOE ]]4 F MM%  $F u:DD #:  r2c|j}|jdd|j}|j|||z }|S)z For an open file object how far is it to the end Parameters ------------ file_obj: open file-like object Returns ---------- distance: int, bytes to end of file rr<)rr)rposition_current position_enddistances r0distance_to_endr7sF }} MM!Q==?L MM"#..H Or2decimal min_digitsctttj|}|tj||d}t|S)a Return the number of digits to the first nonzero decimal. Parameters ----------- decimal: float min_digits: int, minimum number of digits to return Returns ----------- digits: int, number of digits to the first nonzero decimal )rrr-log10clip)rrdigitss r0decimal_to_digitsrKs>RXXg&' (FR0 v;r2Tlevelhandlerloggerscolorscapture_warnings blacklist only_parentc ( |gd}tj|tjdd}|r ddlm}|dddd d d d d d }|tj }|j||jt||;ttjjjj}|jtj ddtj d_|D cic]C} t%| dr5t'| tjr| j(|vr | j(| E} } |rMi} t+| j-D]- t/ fd| j-Dr&| | </| } | jD]-} | j1|| jt|/t3j4ddy#t $rYwxYwcc} w)aD Attach a stream handler to all loggers. Parameters ------------ level : enum Logging level, like logging.INFO handler : None or logging.Handler Handler to attach loggers : None or (n,) logging.Logger If None, will try to attach to all available colors : bool If True try to use colorlog formatter blacklist : (n,) str Names of loggers NOT to attach to only_parent Only attach to parent loggers, i.e. `trimesh`, `trimesh.sub1`, `trimesh.sub2` will only attach to `trimesh` and not the sub-loggers N) TerminalIPythonApp PYREADLINEpyembreeshapely matplotlibz parso.cacheparsozparso.python.diffasynciozprompt_toolkit.bufferzD[%(asctime)s] %(levelname)-7s (%(filename)s:%(lineno)3s) %(message)sz%Y-%m-%d %H:%M:%Sr)ColoredFormatterzW%(log_color)s%(levelname)-8s%(reset)s %(filename)17s:%(lineno)-4s %(blue)4s%(message)sTcyangreenyellowred)DEBUGINFOWARNINGERRORCRITICAL)datefmtreset log_colorsz py.warningsrr3c3FK|]}j|dyw).N) startswith)rspr3s r0ruz attach_to_log..s#O9NAt!Aw/9Ns!) precisionsuppress)loggingcaptureWarnings Formattercolorlogr  ImportError StreamHandler setFormattersetLevelrrzLoggermanager loggerDictvaluesadd getLoggerdisabledr]rir3sortedkeysany addHandlerr-set_printoptions)rrrrrrr formatterr L loggers_dictparent_loggersloggerr3s @r0 attach_to_logr9_s<   ,-!!NI  1(J##'" % I&'') # SZ gnn,,77>>@A KK!!-01.2Gj!* A 1f  q'.. ) FF) #  <,,./DO9L9L9NOO'3D'9t$0 & %%''"E #( !d3c   0sG?AH? H  H indicesc tj|}t|dk(rtjgSt |drdt|df}nd}tj |dd|ddfj |S)a Stack a list of values that represent a polyline into individual line segments with duplicated consecutive values. Parameters ------------ indices : (m,) any List of items to be stacked Returns --------- stacked : (n, 2) any Stacked items Examples ---------- In [1]: trimesh.util.stack_lines([0, 1, 2]) Out[1]: array([[0, 1], [1, 2]]) In [2]: trimesh.util.stack_lines([0, 1, 2, 4, 5]) Out[2]: array([[0, 1], [1, 2], [2, 4], [4, 5]]) In [3]: trimesh.util.stack_lines([[0, 0], [1, 1], [2, 2], [3, 3]]) Out[3]: array([[0, 0], [1, 1], [1, 1], [2, 2], [2, 2], [3, 3]]) rr>rNr)r-r@rAarrayr}rrE)r:rBs r0 stack_linesr=s{NmmG$G 7|qxx| WQZ S_% ??GCRL'!"+6 7 ? ? FFr2 vertices_seq faces_seqc8tj|Dcgc] }t|c}tj}tjdtj |dd}g}t ||D](\}}t|dk(r|j ||z*t|}t|}t|dk(r|jd}t|dk(r.|jdjtj}||fScc}w)a Given a sequence of zero-indexed faces and vertices combine them into a single array of faces and a single array of vertices. Parameters ----------- vertices_seq : (n, ) sequence of (m, d) float Multiple arrays of verticesvertex arrays faces_seq : (n, ) sequence of (p, j) int Zero indexed faces for matching vertices Returns ---------- vertices : (i, d) float Points in space faces : (j, 3) int Reference vertex indices r%rNr>)rr) r-r<rArrcumsumr vstack_emptyrEastype) r>r?rt vertices_len face_offset new_facesoffsetfacesverticess r0 append_facesrJ s088\:\SV\:"((KL))Aryy6s;)r-r@rrjrArBrGr&namesrkindreplacer3rrEformat) r<rKrLrrMrepeats format_strend_junkshaped formatteds r0array_to_stringra<sD MM% E [FIIII|$L 5;;! ;S=M   {{$WXX  %G {{:%!I-   S !))$F 0Cd0JKiW 4ekk6F6FGG9~H 5;;1ekk!n$  13y>/2Y> y>#e*JWWU]]7+a\ : B B2 FF" !!6*:XI6I r2c Rtj|}t|}t|}t|}t|}t |j dkDrt dt|j |jj t d|jddkDr t d|d}|jjD]}||jj}t ||j dk(r||j dnd}|d vr|jd d |z} n@|d k(r%|jd d t|zdz|z} nt d|j||| zz }|dt | |z}|t |z}t |} tj|jjD cgc]} || j| dfc} jd} |j| dt | } | Scc} w)aS Convert an unstructured array into a string with a specified number of digits and delimiter. The reason thisexists is that the basic numpy array to string conversions are surprisingly slow. Parameters ------------ array : (n,) or (n, d) float or int Data to be converted If shape is (n,) only column delimiter will be used col_delim : str What string should separate values in a column row_delim : str What string should separate values in a row digits : int How many digits should floating point numbers include value_format : str Format string for each value or sequence of values If multiple values per value_format it must divide into array evenly. Returns ---------- formatted : str String representation of original array rrONz4array is not structured, use array_to_string insteadrPzNvalue_format %s is invalid, repeating unstructured array values is unsupportedr<rQrTz{:0.0f}rSrUrVrWr>)r-r@rrjrArBrGr&rXrrYrZhstackrEr[)r<rKrLrrMr]r3rYelement_row_lengthelement_format_strrr flattenedr`s r0structured_array_to_stringrhs.F MM% E [FIIII|$L 5;;! ;S=M   {{ OPP#" &   J !!T{  %%58t9J9J5Kq5PU4[..q1VW : !-!5!5dI!F!R  S[$$T53v;+>+EFR 8%++F F(+=== " -s9~o.:J#e*J JE 05 0A0AB0A1q  5"+ &0AB gbk " !!9-.?Y@I  CsH$r&encodingctj|}|j}tj|}| |j}tj|j |d}|dvrVt j|j|j}t|dr|jd}||d<|S|dk(r|jd|d<|Std |d ) a Export a numpy array to a compact serializable dictionary. Parameters ------------ array : array Any numpy array dtype : str or None Optional dtype to encode array encoding : str 'base64' or 'binary' Returns --------- encoded : dict Has keys: 'dtype': str, of dtype 'shape': tuple of shape 'base64': str, base64 encoded string )r&rB)base64dict64decodeutf-8rkbinaryC)orderz encoding z is not available!) r-r@rBravelr&rjrk b64encoderCtobytesr]rmrG)r<r&rirBflatencodedpackeds r0array_to_encodedrxs2 MM% E KKE 88E?D } (*(;(;eLG''!!$++e"4"<"<">? 68 $]]7+F" N X !MMM4 N9XJ.@ABBr2storec|j}|D]N}t|ds|j|}||k7s'||||j|<|j|P|S)a If a dictionary has keys that are bytes decode them to a str. Parameters ------------ store : dict Dictionary with data Returns --------- result : dict Values are untouched but keys that were bytes are converted to ASCII strings. Example ----------- In [1]: d Out[1]: {1020: 'nah', b'hi': 'stuff'} In [2]: trimesh.util.decode_keys(d) Out[2]: {1020: 'nah', 'hi': 'stuff'} rm)r0r]rmpop)ryrir0keydecodeds r0 decode_keysr~sa. ::.as-NgQ!AaD A !gs 22 2)splitrjoinrm)rrrrleadrtremovedrs r0 comment_stripr<s&$ H_ # #K 0E {#Qx.33Uqwwx#UG3   --NgN N O \\^F M4sBrvct|ts-t|rtj|}|St dt |}tj|d}d|vr-tjtj|d|}n*d|vrtj|d|}n t dd|vr|j|d}|S)aa Turn a dictionary with base64 encoded strings back into a numpy array. Parameters ------------ encoded Has keys: dtype: string of dtype shape: int tuple of shape base64: base64 encoded string of flat array binary: decode result coming from numpy.tobytes Returns ---------- array z(Unable to extract numpy array from inputr&rkror%z8Invalid encoded array, no 'base64' or 'binary' key foundrB) riryr}r-r@rGr~r& frombufferrk b64decoderE)rvas_array encoded_dictr&r<s r0encoded_to_arrayris$ gt $ w }}W-HOGH Hw'L HH\'* +E< f..|H/EFN \ ! l84EBSTT, l734 Lr2c t|trtfd|DSt|y#t$rYywxYw)ah Given an object, if it is a member of the class 'name', or a subclass of 'name', return True. Parameters ------------ obj : instance Some object of some class name: str The name of the class we want to check for Returns --------- is_instance : bool Whether the object is a member of the named class c36K|]}t|ywrq)is_instance_namedrrs r0ruz$is_instance_named..s?$Q(a0$sTF)rirr1 type_namedrGrfs` r0rrsB" dD !?$?? ? sD ! s#4 4 AAdepthctjt|jjg}t |D]1}|j |dDcgc]}||jc}3 tj|}|Dcgc]}t|ds|c}Scc}w#t$rgcYSwxYwcc}w)z0 Return the bases of the object passed. r>rd) rdequerrc __bases__ranger__base__r-rd IndexErrorr])rYrbasesrt bases_flats r0 type_basesrs&1%6%6S]]=T=T8U7V%WE 5\ %)E)Qq}ajj)EFYYu% " ??r2c g}t||D]?}t|dr |j|j/|j |At |dk(r|dj St |dk(r ddlm}|S|Dcgc]}t|ds|}}|Dcgc]}t|ds|}}t |t |kDrddl m }||St |dk(r ddlm}|St|dd} t|D cgc]} | jj c} |D cgc]} | jj c} \} } d} td |Dr>t!|D cgc]} | j"c} } | j$| j$k(sJd}td |Dr>t!|D cgc]} | j&c} }|j$| j$k(sJ |dj(j|ddD cgc]} | j(c} }i} |j3d|Dg}i}|dj4j7D]Zt9fd|Ds t;j|Dcgc]}|j4j=g c}d|<\i}|dj@j7D]Zt9fd|Ds t;j|Dcgc]}|j@j=g c}d|<\| | | | |||||d } tC|djD|_#|Scc}wcc}wcc} wcc} wcc} wcc} wcc} w#t*$r3}t,j/d t0d d}t0r|Yd}~d}~wwxYw#t*$rYwxYwcc}w#t*$rt,j?ddd YwxYwcc}w#t*$rt,j?ddd Y\wxYw#t*$rY|SwxYw)a7 Concatenate two or more meshes. Parameters ------------ a : trimesh.Trimesh Mesh or list of meshes to be concatenated object, or list of such b : trimesh.Trimesh Mesh or list of meshes to be concatenated Returns ---------- result Concatenated mesh Scenerr)Trimeshrrb) concatenateNc38K|]}d|jvyw) face_normalsN_cachersms r0ruzconcatenate..s 7w!>QXX %wc38K|]}d|jvyw)vertex_normalsNrrs r0ruzconcatenate..s 9A qxx 'rzfailed to combine visuals Texc_infoc3FK|]}t|jywrq)r metadatars r0ruzconcatenate..'sC7aXajj17s!c3K|]?}t|jjgt|jk(Aywrq)rAvertex_attributesgetrIrsrr|s r0ruzconcatenate../s9YQXAs1&&**334AJJGQXAAaxisz)Failed to concatenate `vertex_attribute['z']`c3K|]?}t|jjgt|jk(Aywrq)rAface_attributesrrHrs r0ruzconcatenate..=s7TGqs1$$((b12c!''lBGrz'Failed to concatenate `face_attribute['F) rIrHrrvisualrrrprocess)$rrextenddumprrArFrr path.utilrrrJrIrHr1rBrrBrr BaseExceptionrdebugr#updaterr0rxr-rwarningrr source_source)rLrMrrtrrSis_meshis_pathconcatenate_path trimesh_typerrIrHrrrEr_rmeshrrr|s @r0rrsW" D 1a[ Q ( KK ! KKN  4yA~Aw||~ Ta!yB$Q"3Ay"Aq$GB?$Q"3Av">q$G? 7|c'l">(( 7|q "ygaj)4L#$+,Gq G,w.Ow!qww||~w.OOHe L 7w 77#W$EWQ^^W$EF !!U[[000N 9 99%&IAq'7'7&IJ##x~~555""..'!"+/N+Q+/NOH __C7C C D qz++002 YQXY Y )+ELMWTT++//R8WMTU*!#& 3Oqz))..0 TGT T ')~~CJK74T))--c267KRS($ 1!%+' F !'!*"3"34 MIC?* -.O %F 'J 0O  .wi84 H G     N   ?uCHSW L   =cU#FQU *   M sN$N.NN!N!N" N'N,N64N1N6O5"P 5#P  P P:1#P5  P:4Q%1N66 O2?(O--O25 PPP  $P21P25P::$Q"!Q"% Q21Q2faces_sequencerepaironly_watertight min_facesrcvt|}t|dk(rgS|jjtj }|j jtj }g}g} g} g} t jt|} |D]2} t j| } t| dk(r(| jjdk(r'| jsR|%| j|krh|t| |kry|| }t j|jd}t jt|| |<| j|j | |j| || j||| j|j"j%| 5t| dk(rgSt'|d}|rd} t j(| } | dj+| dd}t3| |\} }|| |t j4| |t7|j8d }t7|j:|_|S| dgt| z} t?| || | Dcgc](\}}}}|||||t7|j8d *}}}}}|Dcgc]"}tA|d t7|j:$c}|r8|Dcgc],}t|jd k\xr|jC.}}n|r|Dcgc]}|jD}}|r"t?|Dcgc] \}}|s | c}}S|S#t,$rt.j1dd YwxYwcc}}}}wcc}wcc}wcc}wcc}}w)ax Return a subset of a mesh. Parameters ------------ mesh : Trimesh Source mesh to take geometry from faces_sequence : sequence (p,) int Indexes of mesh.faces repair Try to make submeshes watertight only_watertight Only return submeshes which are watertight min_faces Minimum number of faces allowed in a submesh. append : bool Return a single mesh which has the faces appended, if this flag is set, only_watertight is ignored Returns --------- result : Trimesh | list[Trimesh] Depending on if `append` is true or not. rrMNr>rrzfailed to combine visualsTrF)rIrHrrrrrr$)#rrArHviewr-rrIrr@r&rYr1rVuniquerErrr face_subsetrr<r ExceptionrrrJrr rrrrsetattr fill_holes is_watertight)rrrrrroriginal_facesoriginal_verticesrHrInormalsvisualsmaskindexcurrentrrrappendedrrSnrrrrt watertightws r0submeshr^syB.)N >a ZZ__RZZ0N **2::6 EHGG 99S*+ ,D e$ u:?  ;;  s "99;$y)@  "s5zI'=  '7??2./yyV-V t((/0 T']#)&12t{{..u563 6 8} dI.L  Bhhw'GQZ++GABK8F'x7%7+dmm,  $DKK0&3x=(hw@ AJAq!Q dmm,  A = count rN)rAr-rr@)rrrpaddeds r0zero_padrsx 4yA~xx TU % #'FCI:<  #'F;SY  }}T""r2kwargsc dGddtj}tj|fd|i|S)a= A version of json.dumps that can handle numpy arrays by creating a custom encoder for numpy dtypes. Parameters -------------- obj : list, dict A JSON-serializable blob kwargs : dict Passed to json.dumps Returns -------------- dumped : str JSON dump of obj ceZdZdefdZy)jsonify..EdgeEncoderrYct|dr|jSt|dr|jSt|dr t|Stj j ||S)Nr timestamp__dataclass_fields__)r]rrdataclass_to_dictr JSONEncoderdefault)selfrYs r0rz$jsonify..EdgeEncoder.defaults_sH%zz|#k*}}&45(--##++D#6 6r2N)rd __module__ __qualname__rrrwr2r0 EdgeEncoderrs 7s 7r2rcls)rrdumps)rYrrs r0rrs/$ 7d&& 7 ::c 5{ 5f 55r2ct|tjr!tj||jSt||j s||St |r,t|dk(rt|d|j r|dSt|trA|j jdk(r(|jdrddl m }|j|S|j |}|S)a" Convert an item to have the dtype of another item Parameters ------------ item : any Item to be converted like : any Object with target dtype If None, item is returned unmodified Returns ---------- result: item, but in dtype of like r%rrPolygonPOLYGON)wkt)rir-rr@r&rcr}rArjrdrrrr)itemlikers r0 convert_liker*s"$ #}}T44$'4< 4SY!^ 47DNN0SAw 4 NN # #y 0 OOI & yy >>$ D Kr2c ddl}tj|tjd}t |j dk(r:|j ddk7r t d|jt |d f}n2t |j dk7s|jdk(r t d |j d}|dzdk7r t d t|dz }|jj| }|jjttjt ||dgt |z| S)ar Given a set of axis aligned bounds create an r-tree for broad-phase collision detection. Parameters ------------ bounds : (n, 2D) or (n, 2, D) float Non-interleaved bounds where D=dimension E.G a 2D bounds tree: [(minx, miny, maxx, maxy), ...] Returns --------- tree : Rtree Tree containing bounds by index rNTr&rFrrr<zbounds not (n, 2, dimension)!r>z"Bounds must be (n, dimension * 2)!zBounds must be (n,dimension*2)!) dimension) properties)rtreer-r<rUrArBrGrEsizerrPropertyIndexrr)rrrrs r0 bounds_treerWs"XXfBJJT :F 6<<A <<?a <= =Vb 12 V\\ a 6;;!#3=>> QIA !:;;IM"I%% %:J ;;   BIIc&k "FTFS[,@Aj  r2rct|tr t|St|tr t |St t |jd)z Wrap a string or bytes object as a file object. Parameters ------------ item: str or bytes Item to be wrapped Returns --------- wrapped : file-like object Contains data from item z is not wrappable!)rirjrbytesr rGr{rd)rs r0wrap_as_streamr sJ$~ D% t} T ++,,>? @@r2r+sigfigc4t||\}}|d|zz}|S)aZ Round a single value to a specified number of significant figures. Parameters ------------ values : float Value to be rounded sigfig : int Number of significant figures to reduce to Returns ---------- rounded : float Value rounded to the specified number of significant figures Examples ---------- In [1]: trimesh.util.round_sigfig(-232453.00014045456, 1) Out[1]: -200000.0 In [2]: trimesh.util.round_sigfig(.00014045456, 1) Out[2]: 0.0001 In [3]: trimesh.util.round_sigfig(.00014045456, 4) Out[3]: 0.0001405 ) sigfig_int)r+r as_int multiplierroundeds r0 sigfig_roundrs(8$FF3FJJ'G Nr2cntj|jd}tj|tjjd}|j|jk7r t dtj t|}tj|tkD}tjtjtj||||<||z dz}|d|zz jjtj}||fS)a Convert a set of floating point values into integers with a specified number of significant figures and an exponent. Parameters ------------ values : (n,) float or int Array of values sigfig : (n,) int Number of significant figures to keep Returns ------------ as_int : (n,) int Every value[i] has sigfig[i] digits multiplier : (n,) float Exponent, so as_int * 10 ** multiplier is the same order of magnitude as the input r>r%zsigfig must match identifierrr )r-r@rErrBrGrrArr floorrroundrC)r+r exponentnonzerorrs r0rrs.]]6 " * *2 .F ]]6 2 : :2 >F ||v||#788xxF $HffVnx'G"&&*A!BCHWF"Q&JJ' . . 0 7 7 AF : r2l file_typect|j}t|tr t |}|j drt j|}i}d}|jD]}||jztkDr,tjd|j|jE||jz }|j|d5}|j}dddt!||j<|S|j dr@ddl}t%|dd dd } | t!|j|djiSd |d dvr{ddl} | j|d }i}|j)D]M}|j+s|j-|}|(t!|j||j.<O|St1d#1swYxYw)ag Given an open file object and a file type, return all components of the archive as open file objects in a dict. ZIP members are skipped once the total uncompressed size declared by the archive exceeds `_ARCHIVE_SKIP_SIZE`. Other formats don't store a per-member compressed size so there is nothing to check before reading. Parameters ------------ file_obj : file-like Containing compressed data. file_type : str File extension, 'zip', 'tar.gz', etc. Returns --------- decompressed : dict Data from archive in format {file name : file-like}. rrz7skipping `%s`: declared %d bytes exceeds archive budgetr)modeNbz2r3 archive1234tari)fileobjrzUnsupported type passed!)rjlowerrir r rezipfileZipFileinfolist file_size_ARCHIVE_SKIP_SIZErrfilenameopenr[r rgetattrtarfile getmembersisfile extractfiler3rG) rrarchivertotalinfosrcrrr3r)s r0 decompressr1s0I$$&I(E"8$% //(+$$&Dt~~%(:: MMMNN  T^^ #Ed-xxz.$24$8F4== !' % x7<nSXXhSX%A%F%F%HIJJ "#,,xc,:&&(D;;=%%d+C{ .sxxz :F499  ) / 00/.-s G))G3 r/c |t}tj|fdtjd|5}|j D]@\}}t |t tfr|}n|j}|j||B ddd|jd|j}|S#1swY,xYw)a1 Compress data stored in a dict. Parameters ----------- info : dict Data to compress in form: {file name in archive: bytes or file-like object} kwargs : dict Passed to zipfile.ZipFile Returns ----------- compressed : bytes Compressed file data r)r compressionNr) r r!r" ZIP_DEFLATEDitemsrirjr r[writestrr)r/rrzipperr3 data_or_filer compresseds r0compressr:*s&yH  (<(< @F  "&**, D,,e 5#$((* OOD$ ' #/  MM!J   s AB22B; file_namespecialct|}|ddg}|jt|r|D]}|j|s|cS|jddS)a Find the file extension of a file name, including support for special case multipart file extensions (like .tar.gz) Parameters ------------ file_name : str File name special : list of str Multipart extensions eg: ['tar.bz2', 'tar.gz'] Returns ---------- extension : str Last characters after a period, or a value from 'special' ztar.bz2ztar.gzrr>)rjrerr)r;r<ends r0split_extensionr?Msa&IIh'%.)C!!#&  ??3  ##r2stripsc|tj|Dcgc] }t|c}tj}tj|tj}tj|dd|dd|ddgtjj }t|dk(r#tj |ddd|ddd<|Stj|dd}tjt|t}d||dz <d||dz <||}tjdtj|dz }tj|dt}tt|dz D]}d |||dz||dzddd<tj ||||<|Scc}w) a Convert a sequence of triangle strips to (n, 3) faces. Processes all strips at once using np.concatenate and is significantly faster than loop-based methods. From the OpenGL programming guide describing a single triangle strip [v0, v1, v2, v3, v4]: Draws a series of triangles (three-sided polygons) using vertices v0, v1, v2, then v2, v1, v3 (note the order), then v2, v3, v4, and so on. The ordering is to ensure that the triangles are all drawn with the same orientation so that the strip can correctly form part of a surface. Parameters ------------ strips: (n,) list of (m,) int Vertex indices Returns ------------ faces : (m, 3) int Vertex indices representing triangles r%Nrr>r<FrT) r-r<rArrrfliplrrArboolrrr)r@rtlengthsblobtri length_indexkeepflips r0triangle_strips_to_facesrKks<hh/1A/rxx@G >>& 1D ((D"ItAbz484BHH E G GC 6{aIIc!$Q$i(ADqD  99W%cr*L 773s84 (D"D "D  d)C99Q 'A+ 67L 88L$D 1D 3|$q( )?C\!_q <A#67!<* #d)$CI J=0sF9fansc |Dcgc]K}tj|dtjt|dz tz|dd|ddgM}}tj |tScc}w)z Convert fans of m + 2 vertex indices in fan format to m triangles Parameters ---------- fans: (n,) list of (m + 2,) int Vertex indices Returns ------- faces: (m, 3) int Vertex indices representing triangles rr<r%rr>N)r- transposerrArr)rLfanrHs r0triangle_fans_to_facesrPsv& C c!frwws3x!|3??QrCPQPRGTU   >>%s ++  sAA2tupc|Dcgc]}t|dkDs|}}t|dk(rtj|dSt|dk(rtjgStj|Scc}w)a$ A thin wrapper for numpy.vstack that ignores empty lists. Parameters ------------ tup : tuple or list of arrays With the same number of columns Returns ------------ stacked : (n, d) array With same number of columns as constituent arrays. rr)rAr-r@r<r)rQrt stackables r0rBrBso  .Cq3q6A:CI. 9~}}Yq\** Y1 xx| 99Y /s A=A=stuffc:dt|ddv}t|t}t|t}|r#|r!|j |j |n6|s#|r!|j |j |n|j ||j|S)a If a file is open in binary mode and a string is passed, encode and write. If a file is open in text mode and bytes are passed decode bytes to str and write. Assumes binary mode if file_obj does not have a 'mode' attribute (e.g. io.BufferedRandom). Parameters ----------- file_obj : file object With 'write' and 'mode' stuff : str or bytes Stuff to be written encoding : str Encoding of text rMr)r(rirjr r\encodermflush)rrTri binary_file string_stuff binary_stuffs r0 write_encodedr[s~06377KeS)LeU+L|u||H-. \u||H-.u NN Lr2lengthcptjtjddjd|S)z Generate a random alphaNumber unique identifier using UUID logic. Parameters ------------ length : int Length of desired identifier Returns ------------ unique : str Unique alphaNumber identifier r$)rversionN)uuidUUIDr. getrandbitshex)r\s r0 unique_idrd s- 99++C0! < @ @& IIr2repsilonc tj|tjd}|jdk7r t dtj j |}||krtjdS||z}tj|d |ddg}tj j |}||krBtj|d  |ddg}|tj j |z}n||z}tj||}tj|||gtj }trtjtj||d ksJtjtj||d ksJtjtj||d ksJtjtj j |d d sJ|S)a Generate an arbitrary basis (also known as a coordinate frame) from a given z-axis vector. Parameters ------------ z : (3,) float A vector along the positive z-axis. epsilon : float Numbers smaller than this considered zero. Returns --------- x : (3,) float Vector along x axis. y : (3,) float Vector along y axis. z : (3,) float Vector along z axis. Tr)rzz must be (3,) float!rrrrr<r%r!rr=) r-r<rUrBrGlinalgrHeyecrossr#rrDallclose)rrez_normrx_normrrs r0generate_basisrm s, "**40Aww$011 YY^^A F vvayKA 1Q4%1s#$A YY^^A F  HHqteQqT3' ( RYY^^A  V  AA XXq!Qirzz 2FvvbffQl#d***vvbffQl#d***vvbffQl#d***{{299>>&q>93??? Mr2atolcF||z }tj|| kD||kS)a A replacement for np.isclose that does fewer checks and validation and as a result is roughly 4x faster. Note that this is used in tight loops, and as such a and b MUST be np.ndarray, not list or "array-like" Parameters ------------ a : np.ndarray To be compared b : np.ndarray To be compared atol : float Acceptable distance between `a` and `b` to be "close" Returns ----------- close : np.ndarray, bool Per-element closeness )r-r)rLrMrndiffs r0iscloserqR s(4 q5D >>$$,t 44r2c\tttj||z |kS)a| A replacement for np.allclose that does few checks and validation and as a result is faster. Parameters ------------ a : np.ndarray To be compared b : np.ndarray To be compared atol : float Acceptable distance between `a` and `b` to be "close" Returns ----------- bool indicating if all elements are within `atol`. )rDfloatr-ptp)rLrMrns r0rjrjp s%& bffQUm$t+ ,,r2ceZdZdZdedefddfdZdededeffdZded ede fddfd Z de efd Z de fd Zde defd Zdede de defdZy)FunctionRegistrya Non-overwritable mapping of string keys to functions. This allows external packages to register additional implementations of common functionality without risk of breaking implementations provided by trimesh. See trimesh.voxel.morphology for example usage. r.r*Nc Li|_|jD] \}}|||< yrq)_dictr5)rrrrs r0__init__zFunctionRegistry.__init__ s& LLNDAqDG#r2r|c |j|Srqrxrr|s r0rnzFunctionRegistry.__getitem__ szz#r2valuect|tstd|||vrtd|t |s td||j |<y)Nzkey must be a string, got z%Cannot set new value to existing key z'Cannot set value which is not callable.)rirjrGKeyErrorcallablerx)rr|r}s r0 __setitem__zFunctionRegistry.__setitem__ sY#s#9#AB B $;B3%HI IFG G 3r2c,t|jSrq)iterrxrs r0rozFunctionRegistry.__iter__ sDJJr2c,t|jSrq)rArxrs r0__len__zFunctionRegistry.__len__ s4::r2c||jvSrqr{r|s r0 __contains__zFunctionRegistry.__contains__ sdjj  r2argsc|||i|Srqrw)rr|rrs r0__call__zFunctionRegistry.__call__ stCy$)&))r2)rdrr__doc__rrryrjrnobjectrrrorrrDrrrwr2r0rvrv s#s(!3 sxS'9 s 8CK+@ T  (3- !!4!*C**&*S*r2rvinitialc t|tr|S |j|S#t$rZddlm}||dd}t jdj||d|d|j|dxs|d cYSwxYw) a{ Try to decode byte input as a string. Tries initial guess (UTF-8) then if that fails it uses charset_normalizer to try another guess before failing. Parameters ------------ text : bytes Data that might be a string initial : str Initial guess for text encoding. Returns ------------ decoded : str Data as a string r)detectNiz&Data not {}! Trying {} (confidence {})ri confidenceignoreerrors) rirjrmUnicodeDecodeErrorcharset_normalizerrrrr[)rrcharset_normalizer_detectrs r0 decode_textr s($ K{{7## KJ+4;7 4 ; ; +VL-A  {{6*-8{JJKs%A BBct|dr"|jddjdSt|dr|jddSt|S)z Force a string or other to ASCII text ignoring errors. Parameters ----------- text : any Input to be converted to ASCII string Returns ----------- ascii : str Input as an ASCII string rVasciirrrm)r]rVrmrj)rs r0to_asciir sStX{{78{4;;GDD x {{78{44 t9r2 return_allctj|tj}t|jdk7s|jddk7r t dtj |ddddgf|ddzj}|jdz }|d k}|s|S|dd|ddz|jd zjd d |zz }|||fS) a Check if connected 2D points are counterclockwise. Parameters ----------- points : (n, 2) float Connected points on a plane return_all : bool Return polygon area and centroid or just counter-clockwise. Returns ---------- ccw : bool True if points are counter-clockwise area : float Only returned if `return_centroid` centroid : (2,) float Centroid of the polygon. r%r<rz only defined for `(n, 2)` pointsNr>rg@rr?rg@) r-r<rUrArBrGsubtractrrVrE)rrproductareaccwcentroids r0is_ccwr s(XXfBJJ /F 6<<AaA!5;<<kkF3B3A;/&*<??@G ;;=3 D *C  vabz)W__W-EEJJPQJR d H h r2rcontainscountsc|t|dkDr||vr|S|d}n|j|d}|Pt|dkDrB|dz}|jdd}t|dk(r|dk(r t|d}|ddz}nd}t |dzd|zt|zD]"}|j |}||vs||||<|cStd#t$rYYwxYw)aA Deterministically generate a unique name not contained in a dict, set or other grouping with `__includes__` defined. Will create names of the form "start_10" and increment accordingly. Parameters ----------- start : str Initial guess for name. contains : dict, set, or list Bundle of existing names we can *not* use. counts : None or dict Maps name starts encountered before to increments in order to speed up finding a unique name as otherwise it potentially has to iterate through all of contains. Should map to "how many times has this `start` been attempted, i.e. `counts[start]: int`. Note that this *will be mutated* in-place by this function! Returns --------- unique : str A name that is not contained in `contains` rz_{}rrr<z geometry_{}z Unable to establish unique name!)rArrsplitrrrr[rG)rrr incrementr4rrtchecks r0 unique_namer s> SZ!^X0E ~ JJua(  SZ!^EM  S!$ u:?yA~  aM !!Hu, " 9q=!i-#h-"? @  #  ! !u L A 7 88!  s)C CCrq)FN)F)  rT)Nrk)rn)#r)r$)r*ztrimesh.parent.Geometry)TFNF)T)r) )g-q=)r!)rabcrkrrr r.shutiltimer`rRr!collections.abcrrrrrrr r rFr dataclassesr rior rtypingrnumpyr- iterationrtypedrrrrrrrrrrrrtrimesh.parenttrimeshr-rdrr(__annotations__ABCnowwhichrsfinforU resolutionr r"r#rDrhr'rflagsr/r, Generatorr1rjr7rKrXr_rrgrkr}rrrrrrrrrrg multi_dotr&rrrrrrrrrrrrHandlerr9r=floatingintegerrJrarh DTypeLikerxryr~rrrr{rrrrrrrrr r rrrr%r1r:r?rKrPrBr[rdrmbool_rqrjrvrrrrrwr2r0rs       3     $(g''1W^^1 gg ii  ,77#=>%> 5q 3 2::3$  ))'')'4'299+>+>'0'S'T',"8 88t|8v))y)RZZ)"999">F>t>& 6 d "STFZ 3Z C%S/) *ZZ Zzst4J JJZ92::1F83932::1F30&x}&R II   3-I3-)3- 5:rxxPS};T0U3-l99S>9i &;98( ((rzzU9RZZ#8$#>??(V )); "**@U>)Gi,?IbjjDY< xhm 45 5Xt^,0C&V$f(xWt^s*]]&*15!&*x4 x4 __t #x4 '$ .x4  x4  x4 }t# x4x4 x4v.G.Gw.Gb.9%. ". 9R[[ !9RZZ#8 89.f Q QQQ  Q  Q  Ql Z ZZZ  Z  Z  Z~)-* * 99   %** S#X *\tCH~4S>B**#*s*c*Z$i$sCx.8$W$N6tCyT6 =F =7 =4: =@F@#@$@6GZ! $ IY'I I I ~ I  IX#7#7#4#7#6"6"63"63"6J*Z( (c(VAuAG);A*Ii >SD$ $($ 9RXX  "** 5 56$P"C1fnC1C1 #v} C1L  #sU{V++ ,    F$s$Xc]T-A$S$<< + +<rxx<~, 9 ,rxx,0 hy) g <## ;## 5[ #LJgJsJ$:i:%:Ibjj