:vj<ddlZddlmZmZddlmZGddZy)N)cachingutil)transformationscZeZdZdZddej dzfdZdZedZ edZ e jdZ ejd Z ejd Zejd Zd Zd ZdZdZdZejdZdZejdZy) Transformz Class for caching metadata associated with 4x4 transformations. The transformation matrix is used to define relevant properties for the voxels, including pitch and origin. N datastorectj|tj}|jdk7stj|dddfgds t d|t j|_n9t|t jr||_nt t|d||jd<t j|jj |_ y) a  Initialize with a transform. Parameters ----------- matrix : (4, 4) float Homogeneous transformation matrix datastore If passed store the actual values in a reference to another datastore. dtyperN)rrrzmatrix is invalid!z != caching.DataStoretransform_matrix) id_function)np asanyarrayfloat64shapeallclose ValueErrorr DataStore_data isinstancetypeCache__hash___cache)selfmatrixr s i/workspace/moltex-experiments/.pixi/envs/default/lib/python3.12/site-packages/trimesh/voxel/transforms.py__init__zTransform.__init__svRZZ8 <<6 !VAqD\<)P12 2   **,DJ  7#4#4 5"DJY00EFG G)/ %&mm 0C0CD c6|jjS)z Get the hash of the current transformation matrix. Returns ------------ hash : str Hash of transformation matrix )rrr s r"rzTransform.__hash__+szz""$$r$c.|jddddfS)z Get the translation component of the matrix Returns ------------ translation : (3,) float Cartesian translation rNrrr&s r" translationzTransform.translation6s!zz,-bqb!e44r$c |jdS)z Get the homogeneous transformation matrix. Returns ------------- matrix : (4, 4) float Transformation matrix rr(r&s r"r!zTransform.matrixBszz,--r$ctj|tj}|jdk7r t d||j d<y)z Set the homogeneous transformation matrix. Parameters ------------- matrix : (4, 4) float Transformation matrix r r zmatrix must be (4, 4)!rN)rrrrrr)r valuess r"r!zTransform.matrixNs?vRZZ8 <<6 !56 6)/ %&r$c|j}tj|ddddf}tj|ddddf|tjdz|dzdzs t d|S)z Get the scale factor of the current transformation. Returns ------------- scale : (3,) float Scale factor from the matrix Nrư>:0yE>z&transform features a shear or rotation)r!rdiagreye RuntimeError)r r!scales r"r3zTransform.scale]srrr2A2v'{{6"1"bqb&>5266!9+QRGH H r$c |j}tj|d|ddtjtj |dzdzs t d|S)Nrrr.r/z&transform features non-uniform scaling)r3rrrmaxabsr2r r3s r"pitchzTransform.pitchosR }}U1XuQRy"&&2G$2NQU2UVGH H r$cltjj|jdddddfS)z"Volume of a transformed unit cube.rNr)rlinalgdetrr&s r" unit_volumezTransform.unit_volumevs2yy}}TZZ(:;BQBFCDDr$cPtj||j|_|S).Mutate the transform in-place and return self.)rmatmulr!)r r!s r"apply_transformzTransform.apply_transform{sii 4  r$c<|jdddfxx|z cc<|Sr>Nrr!)r r)s r"apply_translationzTransform.apply_translations# BQBEk) r$c6|jddxxx|zccc|SrBrCr7s r" apply_scalezTransform.apply_scales BQ5  r$c|jr|jStj|j dd|j j |j S)a Apply the transformation to points (not in-place). Parameters ---------- points: (n, 3) float Points in cartesian space Returns ---------- transformed : (n, 3) float Points transformed by matrix r) is_identitycopytrtransform_pointsreshaper!rr pointss r"rLzTransform.transform_pointssO   ;;= ""6>>"a#8$++FNN LL  r$c|jr|Stj|jdd|jj|j S)z:Apply the inverse transformation to points (not in-place).rHr)rIrKrLrMinverse_matrixrrNs r"inverse_transform_pointsz"Transform.inverse_transform_pointssH   M""6>>"a#8$:M:MNVV LL  r$cztjj|j}d|j_|S)NF)rr:invr!flags writeable)r rTs r"rQzTransform.inverse_matrixs)iimmDKK(#  r$c.t|jS)NrC)rr!r&s r"rJzTransform.copys ,,r$cjtj|jtjddS)zO Flags this transformation being sufficiently close to eye(4). rr/)rrr!rr1r&s r"rIzTransform.is_identitys# }}T[["&&)T::r$)N)__name__ __module__ __qualname____doc__rrr#rpropertyr)r!settercache_decoratorr3r8r<r@rDrFrLrRrQrJrIr$r"rrsE'*;*;d*BE8 % 5 5 . . ]] 0 0 "   EE    (   - ;;r$r)numpyrrrrrKrr`r$r"rcs$m;m;r$