:vj% ddlZddlmZmZmZddlmZddlm Z ddl m Z m Z m Z mZddlmZdd lmZe dd e d e dzd e d ej$fdZ dde d e de ded ej$dzf dZe dd e de dzd ej$fdZe dd e dzde dzde dzd ej$fdZej0eeeZ dd e dzded ej$dzfdZy) N)groupingremeshutil)transformations)log_time) ArrayLikeIntegerNumberVoxelizationMethodsType)base)encodingpitchmax_iter edge_factorreturnc ||z }|tjj|j|jdddf|j|jdddfz dj }t t tjtj||z d}tj|j|j||d\}}}tj||z jt } tj| \} } | | } | j!d} | |z}t#j$t'j(| | z t+j,||S) a Voxelize a surface by subdividing a mesh until every edge is shorter than: (pitch / edge_factor) Parameters ----------- mesh : trimesh.Trimesh Source mesh pitch Side length of a single voxel cube max_iter Cap maximum subdivisions or None for no limit. edge_factor Proportion of pitch maximum edge length. Returns ----------- VoxelGrid instance representing the voxelized mesh. Nrr axisT)max_edger return_indexscale translate) transform)nplinalgnormverticesedgesmaxintceillog2rsubdivide_to_sizefacesroundastyper unique_rowsminr VoxelGridencSparseBinaryEncodingtrscale_and_translate)meshrrrr longest_edgev_f_idxhitunique_inverseoccupied_index origin_indexorigin_positions g/workspace/moltex-experiments/.pixi/envs/default/lib/python3.12/site-packages/trimesh/voxel/creation.pyvoxelize_subdivider= sT.{"Hyy~~ MM$**QT* +dmmDJJq!t>   ,!>?((uP pointradiusfillc ddlm}tj|tjj d}t |ts tdtj||dz|zz ||dz|zzf}t|jj|}t|dk(ry|j|D cgc]} | gc} d } | j| t!| |fi|} | j"dddf} | j$j&} tj(| |z j+tj,}tj.||z d}tj.||zd z| j0z d}tj2| tj4||fd d } ||z }| |d|z |d|zd z|d |z |d |zd z|d|z |d|zd zf}|||zz }|r |j7|\}}|j9|}t;d |d zDcgc]6}tj<|||k(zj?|j08}}|jAtjB||z|z}tjD|dd z}tjF|jI|j |j0}tjJ||}tMjN|tQjR|Scc} wcc}w)a Voxelize a mesh in the region of a cube around a point. When fill=True, uses proximity.contains to fill the resulting voxels so may be meaningless for non-watertight meshes. Useful to reduce memory cost for small values of pitch as opposed to global voxelization. Parameters ----------- mesh : trimesh.Trimesh Source geometry point : (3, ) float Point in space to voxelize around pitch Side length of a single voxel cube radius Number of voxel cubes to return in each direction. kwargs Parameters to pass to voxelize_subdivide Returns ----------- voxels : VoxelGrid instance with resolution (m, m, m) where m=2*radius+1 or None if the volume is empty r)ndimagedtypez.radius needs to be an integer number of cubes!g?NT)appendr rconstant)moder)*scipyrCr asanyarrayfloat64reshape isinstancer# ValueError concatenatelisttriangles_tree intersectionlensubmeshapply_translationr=rrdenser(r)int64maximumshapepadstacklabeldistance_transform_cdtrange unravel_indexargmaxcontainsasarraywhereisinflatten logical_orrr,r/translation_matrix)r1r?rr@rAkwargsrCboundsr'flocalvoxoriginmatrixcenterprepadpostpadvoxels local_originregionsndistanceirepresentativesrcreinternals r<local_voxelizer|Ds)@ MM%rzz 2 : :1 =E fc "IJJ^^ &3,%' '&3,%1G)GHF $$11&9 :E 5zQ LLu-u!1#u-dL ;E UF# UE 4V 4C ]]2A2q5 !F \\  FXXvgo & - -bhh 7FZZ +Fjj&1,v||;Q?G VVFBHHfg%6R@z RF fFq FVAY/!33q FVAY/!33q FVAY/!33 5F 6E>)L ]]F7+ 116':1a!e_ $   h'Q,7??A8>> R$  ==O!>&""7"7 "E FFS.@ s  M;M per_cellc|(tjddgtj}n4tj|tjjd}t |}|j ddddfj }|dxx|d|zz z cc<|dxx|z cc<||z }tj||}tjt||j dd|z z}tj||f}tj|gdz}|jj||d}tj||z j!tj} | j#d } | | z} t%j&| } | |z} t)j*| t-j.|| S) a= Voxelize a mesh using ray queries. Parameters ------------- mesh Mesh to be voxelized pitch Length of voxel cube per_cell : (2,) int How many ray queries to make per cell Returns ------------- grid VoxelGrid instance representing the voxelized mesh. NrrDrg?r )step)rrr rr)rarrayrYrNfloatrkcopyr grid_arangeonesrU column_stack ones_likerayintersects_locationr(r)r+r-r.rr,r/r0) r1rr}rkrray_orizray_dirhitsrtr:rr;s r< voxelize_rayrs*88QF"((388HBHH5==a@ %LE[[BQB  $ $ &F 1I#.))I 1II 8 DvD1G G Q!2U!:;Aoowl+Gll7#i/G 88 ' ' 9! >"((uP r> dimensionrkc fddlm}|M| |j}n |\}}||z }tt j t j ||z }|5d|vr tdt j|j|d<|jdd|i|} |j|| S)a" Voxelize via binvox tool. Parameters -------------- mesh : trimesh.Trimesh Mesh to voxelize pitch : float Side length of each voxel. Ignored if dimension is provided dimension: int Number of voxels along each dimension. If not provided, this is calculated based on pitch and bounds/mesh extents bounds: (2, 3) float min/max values of the returned `VoxelGrid` in each instance. Uses `mesh.bounds` if not provided. **binvoxer_kwargs: Passed to `trimesh.exchange.binvox.Binvoxer`. Should not contain `bounding_box` if bounds is not None. Returns -------------- grid `VoxelGrid` instance Raises -------------- `ValueError` if `bounds is not None and 'bounding_box' in binvoxer_kwargs`. r)binvox bounding_boxz+Cannot provide both bounds and bounding_boxr) trimesh.exchangerextentsr#rr$r"rPrLrgBinvoxer voxelize_mesh) r1rrrkbinvoxer_kwargsrrminsmaxsbinvoxers r<voxelize_binvoxrsH( >llGJD$TkGw% 789   _ ,JK K*,--*?*G*G*I'vFFoFH   h //r>)r subdividermethodc t|f||d|S)a_ Voxelize the given mesh using the specified implementation. See `voxelizers` for available implementations or to add your own, e.g. via `voxelizers['custom_key'] = custom_fn`. `custom_fn` should have signature `(mesh, pitch, **kwargs) -> VoxelGrid` and should not modify encoding. Parameters -------------- mesh Geometry to voxelize pitch Side length of each voxel. method Which voxelization method to use. kwargs Passed through to the specified implementation. Returns -------------- grid A VoxelGrid instance. )r1r) voxelizers)r1rrrjs r<voxelizers> f ?4u ? ??r>) g@)T)N)NNN)r)numpyrrrrrr/ constantsrtypedr r r r rrr-r,r=boolr|rrFunctionRegistryrrrr>r<rs%%$ GG NQ55#*T>5EK5 ^^5 5z ^G ^G ^G  ^G  ^G ^^d^GB 6:::#,t#3: ^^: :z  $# 30 D=30~30   30  ^^ 30 30l#T " " 2? '2@ D=@ $@  ^^d @r>