pax_global_header00006660000000000000000000000064147057426340014526gustar00rootroot0000000000000052 comment=6ed17ba4656b2f71ba45228e9a91fc1f8ae09f00 trimesh-4.5.1/000077500000000000000000000000001470574263400132105ustar00rootroot00000000000000trimesh-4.5.1/.github/000077500000000000000000000000001470574263400145505ustar00rootroot00000000000000trimesh-4.5.1/.github/workflows/000077500000000000000000000000001470574263400166055ustar00rootroot00000000000000trimesh-4.5.1/.github/workflows/release.yml000066400000000000000000000077471470574263400207670ustar00rootroot00000000000000name: Release Trimesh on: push: branches: - main - release-candidate jobs: formatting: name: Check Code Formatting runs-on: ubuntu-latest steps: - uses: actions/checkout@v4 - name: Set up Python uses: actions/setup-python@v5 with: python-version: "3.12" - name: Install Formatting run: | pip install ruff - name: Check Formatting run: ruff check . tests: name: Run Unit Tests needs: formatting runs-on: ${{ matrix.os }} strategy: matrix: python-version: ["3.8", "3.9", "3.10", "3.11"] os: [ubuntu-latest, macos-13, windows-latest] exclude: # windows runners have gotten flaky - os: windows-latest python-version: 3.8 - os: windows-latest python-version: 3.9 - os: macos-13 python-version: 3.9 steps: - uses: actions/checkout@v4 - name: Set up Python ${{ matrix.python-version }} uses: actions/setup-python@v5 with: python-version: ${{ matrix.python-version }} - name: Test a minimal install run: | pip install --no-cache-dir . python tests/test_minimal.py - name: Install Trimesh run: pip install --no-cache-dir .[easy,test] - name: Run Pytest run: pytest tests/ pypi: name: Release To PyPi needs: [tests, containers] runs-on: ubuntu-latest steps: - uses: actions/checkout@v4 - name: Set up Python uses: actions/setup-python@v5 with: python-version: '3.11' - name: Install publishing dependencies run: | python -m pip install --upgrade pip pip install build twine - name: Build and publish env: TWINE_USERNAME: __token__ TWINE_PASSWORD: ${{ secrets.PYPI_TOKEN }} run: | pyproject-build --outdir dist . twine upload dist/* containers: name: Build Docker Images runs-on: ubuntu-latest steps: - name: Log In to Docker Hub run: echo ${{ secrets.DH_PASS }} | docker login --username mikedh --password-stdin - name: Checkout trimesh uses: actions/checkout@v4 - name: Build Images And Docs env: CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }} run: | make tests # build docker images and run unit tests make publish-docker # push images to docker hub make docs # build sphinx docs - name: Deploy Github Pages uses: peaceiris/actions-gh-pages@v3 with: github_token: ${{ secrets.GITHUB_TOKEN }} publish_dir: ./html force_orphan: true - name: Logout of registries if: always() run: | docker logout corpus: runs-on: ubuntu-latest name: Check Corpus Loading steps: - uses: actions/checkout@v4 - name: Trimesh DiskCache id: cache-resolvers uses: actions/cache@v4 with: path: ~/.trimesh-cache key: trimesh-cache - name: Set up Python 3.10 uses: actions/setup-python@v5 with: python-version: "3.10" - name: Install Trimesh run: pip install .[easy,test] - name: Run Corpus Check run: python tests/corpus.py release: permissions: contents: write # for actions/create-release name: Create GitHub Release needs: [tests, containers] runs-on: ubuntu-latest steps: - name: Checkout code uses: actions/checkout@v4 - name: Tag Version id: set_tag run: | export VER=$(python trimesh/version.py) echo "::set-output name=tag_name::${VER}" - name: Create Release id: create_release uses: actions/create-release@latest env: GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} with: tag_name: ${{ steps.set_tag.outputs.tag_name }} release_name: Release ${{ steps.set_tag.outputs.tag_name }} draft: false body: ${{ github.event.head_commit.message }} prerelease: false trimesh-4.5.1/.github/workflows/test.yml000066400000000000000000000033131470574263400203070ustar00rootroot00000000000000name: Run Tests on: [pull_request,workflow_dispatch] permissions: contents: read jobs: formatting: name: Check Formatting runs-on: ubuntu-latest steps: - uses: actions/checkout@v4 - name: Set up Python ${{ matrix.python-version }} uses: actions/setup-python@v5 with: python-version: "3.12" - name: Install run: pip install ruff - name: Run Ruff run: ruff check . tests: name: Run Unit Tests runs-on: ${{ matrix.os }} strategy: matrix: python-version: ["3.8", "3.12"] os: [ubuntu-latest, windows-latest, macos-13] steps: - uses: actions/checkout@v4 - name: Set up Python ${{ matrix.python-version }} uses: actions/setup-python@v5 with: python-version: ${{ matrix.python-version }} - name: Test a minimal install run: | pip install --no-cache-dir . python tests/test_minimal.py - name: Install Trimesh run: pip install --no-cache-dir .[easy,test] - name: Run Pytest run: | pytest docker: name: Run Tests In Docker runs-on: ubuntu-latest steps: - uses: actions/checkout@v4 - name: Run Pytest In Docker run: make tests corpus: runs-on: ubuntu-latest name: Check Corpus Loading steps: - uses: actions/checkout@v4 - name: Trimesh DiskCache id: cache-resolvers uses: actions/cache@v4 with: path: ~/.trimesh-cache key: trimesh-cache - name: Set up Python 3.11 uses: actions/setup-python@v5 with: python-version: "3.11" - name: Install Trimesh run: pip install .[easy,test] - name: Run Corpus Check run: python tests/corpus.py trimesh-4.5.1/.gitignore000066400000000000000000000025531470574263400152050ustar00rootroot00000000000000# Temporary files *~ *.swp # Byte-compiled / optimized / DLL files __pycache__/ *.py[cod] *$py.class # C extensions *.so # Distribution / packaging .Python build/ develop-eggs/ dist/ downloads/ eggs/ .eggs/ lib/ lib64/ parts/ sdist/ var/ wheels/ *.egg-info/ .installed.cfg *.egg MANIFEST # PyInstaller # Usually these files are written by a python script from a template # before PyInstaller builds the exe, so as to inject date/other infos into it. *.manifest *.spec # Installer logs pip-log.txt pip-delete-this-directory.txt # Unit test / coverage reports htmlcov/ .tox/ .coverage .coverage.* .cache nosetests.xml coverage.xml *.cover .hypothesis/ # Translations *.mo *.pot # Django stuff: *.log .static_storage/ .media/ local_settings.py # Flask stuff: instance/ .webassets-cache # Scrapy stuff: .scrapy # Sphinx documentation docs/_build/ docs/trimesh*.rst docs/examples.*.rst docs/README.rst docs/.deps docs/_static/examples/ # PyBuilder target/ # Jupyter Notebook .ipynb_checkpoints # pyenv .python-version # celery beat schedule file celerybeat-schedule # SageMath parsed files *.sage.py # Environments .env .venv env/ venv/ ENV/ env.bak/ venv.bak/ # Spyder project settings .spyderproject .spyproject # vscode project settings .vscode # Rope project settings .ropeproject # mkdocs documentation /site # mypy .mypy_cache/ # pycharm project settings .idea trimesh-4.5.1/Dockerfile000066400000000000000000000065401470574263400152070ustar00rootroot00000000000000# use a vanilla Debian base image FROM debian:trixie-slim AS base LABEL maintainer="mikedh@kerfed.com" # Create a non-root user with `uid=499`. RUN useradd -m -u 499 -s /bin/bash user && \ apt-get update && \ apt-get install --no-install-recommends -qq -y python3.12-venv && \ apt-get clean -y USER user WORKDIR /home/user # install a python `venv` # this seems a little silly since we're already in a container # but if you use Debian methods like `update-alternatives` # it won't provide a `pip` which works easily and it isn't # easy to know how system packages interact with pip packages RUN python3.12 -m venv venv # So scripts installed from pip are in $PATH ENV PATH="/home/user/venv/bin:$PATH" ENV VIRTUAL_ENV="/home/user/venv" # Install helper script to PATH. COPY --chmod=755 docker/trimesh-setup /home/user/venv/bin ####################################### ## install things that need building FROM base AS build # copy in essential files COPY --chown=499 trimesh/ /home/user/trimesh COPY --chown=499 pyproject.toml /home/user/ # install trimesh into the venv RUN pip install /home/user[easy] # install FCL which currently has broken wheels on PyPi RUN pip install https://github.com/BerkeleyAutomation/python-fcl/releases/download/v0.7.0.7/python_fcl-0.7.0.7-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl #################################### ### Build output image most things should run on FROM base AS output # just copy over the results of the compiled packages COPY --chown=499 --from=build /home/user/venv /home/user/venv ############################### #### Run Unit Tests FROM output AS tests # copy in tests and supporting files COPY --chown=499 tests ./tests/ COPY --chown=499 trimesh ./trimesh/ COPY --chown=499 models ./models/ COPY --chown=499 pyproject.toml . # codecov looks at the git history COPY --chown=499 ./.git ./.git/ USER root RUN trimesh-setup --install=test,gmsh,gltf_validator,llvmpipe,binvox USER user # install things like pytest and make sure we're on Numpy 2.X RUN pip install .[all] && \ python -c "import numpy as n; assert(n.__version__.startswith('2'))" # check for lint problems RUN ruff check trimesh # run a limited array of static type checks # TODO : get this to pass on base RUN pyright trimesh/base.py || true # run pytest wrapped with xvfb for simple viewer tests # print more columns so the short summary is usable RUN COLUMNS=240 xvfb-run pytest \ --cov=trimesh \ --beartype-packages=trimesh \ -p no:ALL_DEPENDENCIES \ -p no:INCLUDE_RENDERING \ -p no:cacheprovider tests # set codecov token as a build arg to upload ARG CODECOV_TOKEN="" RUN curl -Os https://uploader.codecov.io/latest/linux/codecov && \ chmod +x codecov && \ ./codecov -t ${CODECOV_TOKEN} ################################ ### Build Sphinx Docs FROM output AS build_docs USER root # install APT packages for docs RUN trimesh-setup --install docs USER user COPY --chown=499 README.md . COPY --chown=499 docs ./docs/ COPY --chown=499 examples ./examples/ COPY --chown=499 models ./models/ COPY --chown=499 trimesh ./trimesh/ WORKDIR /home/user/docs RUN make ### Copy just the docs so we can output them FROM scratch as docs COPY --from=build_docs /home/user/docs/built/html/ ./ ### Make sure the output stage is the last stage so a simple # "docker build ." still outputs an expected image FROM output as final trimesh-4.5.1/LICENSE.md000066400000000000000000000021021470574263400146070ustar00rootroot00000000000000The MIT License (MIT) Copyright (c) 2023 Michael Dawson-Haggerty Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. trimesh-4.5.1/Makefile000066400000000000000000000035601470574263400146540ustar00rootroot00000000000000# See: https://clarkgrubb.com/makefile-style-guide MAKEFLAGS += --warn-undefined-variables SHELL := bash .SHELLFLAGS := -eu -o pipefail -c .DEFAULT_GOAL := all .DELETE_ON_ERROR: .SUFFIXES: # get the git short hash and trimesh semver. VERSION := $(shell python trimesh/version.py) GIT_SHA := $(shell git rev-parse --short HEAD) # for coverage reports GIT_SHA_FULL := $(shell git rev-parse HEAD) GIT_REPO := "mikedh/trimesh" # the name of the docker images NAME=trimesh/trimesh REPO=docker.io IMAGE=$(REPO)/$(NAME) # the tags we'll be applying TAG_LATEST=$(IMAGE):latest TAG_GIT_SHA=$(IMAGE):$(GIT_SHA) TAG_VERSION=$(IMAGE):$(VERSION) # This will output the help for each task # See: https://marmelab.com/blog/2016/02/29/auto-documented-makefile.html .PHONY: help help: ## Print usage help @awk 'BEGIN {FS = ":.*?## "} /^[a-zA-Z_-]+:.*?## / {printf "\033[36m%-30s\033[0m %s\n", $$1, $$2}' $(MAKEFILE_LIST) .DEFAULT_GOAL := help # build the output stage image using buildkit .PHONY: build build: ## Build the docker images DOCKER_BUILDKIT=1 \ docker build \ --progress=plain \ --target output \ --tag $(TAG_LATEST) \ --tag $(TAG_VERSION) \ --tag $(TAG_GIT_SHA) \ . # build the tests stage of the image .PHONY: tests tests: ## Run unit tests inside docker images. DOCKER_BUILDKIT=1 \ docker build \ --target tests \ --progress=plain \ --build-arg "CODECOV_TOKEN=$(CODECOV_TOKEN)" \ . # build the docs inside our image and eject the contents # into `./html` directory .PHONY: docs docs: ## Build trimesh's sphinx docs DOCKER_BUILDKIT=1 \ docker build \ --target docs \ --progress=plain \ --output html \ . .PHONY: bash bash: build ## Start a bash terminal in the image. docker run -it $(TAG_LATEST) /bin/bash .PHONY: publish-docker publish-docker: build ## Publish Docker images. docker push $(TAG_LATEST) docker push $(TAG_VERSION) docker push $(TAG_GIT_SHA) trimesh-4.5.1/README.md000066400000000000000000000333671470574263400145030ustar00rootroot00000000000000[![trimesh](https://trimesh.org/_static/images/logotype-a.svg)](http://trimesh.org) ----------- [![Github Actions](https://github.com/mikedh/trimesh/workflows/Release%20Trimesh/badge.svg)](https://github.com/mikedh/trimesh/actions) [![codecov](https://codecov.io/gh/mikedh/trimesh/branch/main/graph/badge.svg?token=4PVRQXyl2h)](https://codecov.io/gh/mikedh/trimesh) [![Docker Image Version (latest by date)](https://img.shields.io/docker/v/trimesh/trimesh?label=docker&sort=semver)](https://hub.docker.com/r/trimesh/trimesh/tags) [![PyPI version](https://badge.fury.io/py/trimesh.svg)](https://badge.fury.io/py/trimesh) Trimesh is a pure Python 3.7+ library for loading and using [triangular meshes](https://en.wikipedia.org/wiki/Triangle_mesh) with an emphasis on watertight surfaces. The goal of the library is to provide a full featured and well tested Trimesh object which allows for easy manipulation and analysis, in the style of the Polygon object in the [Shapely library](https://github.com/Toblerity/Shapely). The API is mostly stable, but this should not be relied on and is not guaranteed: install a specific version if you plan on deploying something using trimesh. Pull requests are appreciated and responded to promptly! If you'd like to contribute, here is an [up to date list of potential enhancements](https://github.com/mikedh/trimesh/issues/1557) although things not on that list are also welcome. Here's a quick [development and contributing guide.](https://trimesh.org/contributing.html) ## Basic Installation Keeping `trimesh` easy to install is a core goal, thus the *only* hard dependency is [numpy](http://www.numpy.org/). Installing other packages adds functionality but is not required. For the easiest install with just numpy, `pip` can generally install `trimesh` cleanly on Windows, Linux, and OSX: ```bash pip install trimesh ``` The minimal install can load many supported formats (STL, PLY, GLTF/GLB) into numpy arrays. More functionality is available when soft dependencies are installed. This includes things like convex hulls (`scipy`), graph operations (`networkx`), faster ray queries (`embreex`), vector path handling (`shapely` and `rtree`), XML formats like 3DXML/XAML/3MF (`lxml`), preview windows (`pyglet`), faster cache checks (`xxhash`), etc. To install `trimesh` with the soft dependencies that generally install cleanly on Linux, OSX, and Windows using `pip`: ```bash pip install trimesh[easy] ``` Further information is available in the [advanced installation documentation](https://trimesh.org/install.html). ## Quick Start Here is an example of loading a mesh from file and colorizing its faces. Here is a nicely formatted [ipython notebook version](https://trimesh.org/quick_start.html) of this example. Also check out the [cross section example](https://trimesh.org/section.html). ```python import numpy as np import trimesh # attach to logger so trimesh messages will be printed to console trimesh.util.attach_to_log() # mesh objects can be created from existing faces and vertex data mesh = trimesh.Trimesh(vertices=[[0, 0, 0], [0, 0, 1], [0, 1, 0]], faces=[[0, 1, 2]]) # by default, Trimesh will do a light processing, which will # remove any NaN values and merge vertices that share position # if you want to not do this on load, you can pass `process=False` mesh = trimesh.Trimesh(vertices=[[0, 0, 0], [0, 0, 1], [0, 1, 0]], faces=[[0, 1, 2]], process=False) # some formats represent multiple meshes with multiple instances # the loader tries to return the datatype which makes the most sense # which will for scene-like files will return a `trimesh.Scene` object. # if you *always* want a straight `trimesh.Trimesh` you can ask the # loader to "force" the result into a mesh through concatenation mesh = trimesh.load('models/CesiumMilkTruck.glb', force='mesh') # mesh objects can be loaded from a file name or from a buffer # you can pass any of the kwargs for the `Trimesh` constructor # to `trimesh.load`, including `process=False` if you would like # to preserve the original loaded data without merging vertices # STL files will be a soup of disconnected triangles without # merging vertices however and will not register as watertight mesh = trimesh.load('../models/featuretype.STL') # is the current mesh watertight? mesh.is_watertight # what's the euler number for the mesh? mesh.euler_number # the convex hull is another Trimesh object that is available as a property # lets compare the volume of our mesh with the volume of its convex hull print(mesh.volume / mesh.convex_hull.volume) # since the mesh is watertight, it means there is a # volumetric center of mass which we can set as the origin for our mesh mesh.vertices -= mesh.center_mass # what's the moment of inertia for the mesh? mesh.moment_inertia # if there are multiple bodies in the mesh we can split the mesh by # connected components of face adjacency # since this example mesh is a single watertight body we get a list of one mesh mesh.split() # facets are groups of coplanar adjacent faces # set each facet to a random color # colors are 8 bit RGBA by default (n, 4) np.uint8 for facet in mesh.facets: mesh.visual.face_colors[facet] = trimesh.visual.random_color() # preview mesh in an opengl window if you installed pyglet and scipy with pip mesh.show() # transform method can be passed a (4, 4) matrix and will cleanly apply the transform mesh.apply_transform(trimesh.transformations.random_rotation_matrix()) # axis aligned bounding box is available mesh.bounding_box.extents # a minimum volume oriented bounding box also available # primitives are subclasses of Trimesh objects which automatically generate # faces and vertices from data stored in the 'primitive' attribute mesh.bounding_box_oriented.primitive.extents mesh.bounding_box_oriented.primitive.transform # show the mesh appended with its oriented bounding box # the bounding box is a trimesh.primitives.Box object, which subclasses # Trimesh and lazily evaluates to fill in vertices and faces when requested # (press w in viewer to see triangles) (mesh + mesh.bounding_box_oriented).show() # bounding spheres and bounding cylinders of meshes are also # available, and will be the minimum volume version of each # except in certain degenerate cases, where they will be no worse # than a least squares fit version of the primitive. print(mesh.bounding_box_oriented.volume, mesh.bounding_cylinder.volume, mesh.bounding_sphere.volume) ``` ## Features * Import meshes from binary/ASCII STL, Wavefront OBJ, ASCII OFF, binary/ASCII PLY, GLTF/GLB 2.0, 3MF, XAML, 3DXML, etc. * Import and export 2D or 3D vector paths from/to DXF or SVG files * Import geometry files using the GMSH SDK if installed (BREP, STEP, IGES, INP, BDF, etc) * Export meshes as binary STL, binary PLY, ASCII OFF, OBJ, GLTF/GLB 2.0, COLLADA, etc. * Export meshes using the GMSH SDK if installed (Abaqus INP, Nastran BDF, etc) * Preview meshes using pyglet or in- line in jupyter notebooks using three.js * Automatic hashing of numpy arrays for change tracking using MD5, zlib CRC, or xxhash * Internal caching of computed values validated from hashes * Calculate face adjacencies, face angles, vertex defects, etc. * Calculate cross sections, i.e. the slicing operation used in 3D printing * Slice meshes with one or multiple arbitrary planes and return the resulting surface * Split mesh based on face connectivity using networkx, graph-tool, or scipy.sparse * Calculate mass properties, including volume, center of mass, moment of inertia, principal components of inertia vectors and components * Repair simple problems with triangle winding, normals, and quad/tri holes * Convex hulls of meshes * Compute rotation/translation/tessellation invariant identifier and find duplicate meshes * Determine if a mesh is watertight, convex, etc. * Uniformly sample the surface of a mesh * Ray-mesh queries including location, triangle index, etc. * Boolean operations on meshes (intersection, union, difference) using Manifold3D or Blender Note that mesh booleans in general are usually slow and unreliable * Voxelize watertight meshes * Volume mesh generation (TETgen) using Gmsh SDK * Smooth watertight meshes using laplacian smoothing algorithms (Classic, Taubin, Humphrey) * Subdivide faces of a mesh * Approximate minimum volume oriented bounding boxes for meshes * Approximate minimum volume bounding spheres * Calculate nearest point on mesh surface and signed distance * Determine if a point lies inside or outside of a well constructed mesh using signed distance * Primitive objects (Box, Cylinder, Sphere, Extrusion) which are subclassed Trimesh objects and have all the same features (inertia, viewers, etc) * Simple scene graph and transform tree which can be rendered (pyglet window, three.js in a jupyter notebook, [pyrender](https://github.com/mmatl/pyrender)) or exported. * Many utility functions, like transforming points, unitizing vectors, aligning vectors, tracking numpy arrays for changes, grouping rows, etc. ## Viewer Trimesh includes an optional `pyglet` based viewer for debugging and inspecting. In the mesh view window, opened with `mesh.show()`, the following commands can be used: * `mouse click + drag` rotates the view * `ctl + mouse click + drag` pans the view * `mouse wheel` zooms * `z` returns to the base view * `w` toggles wireframe mode * `c` toggles backface culling * `g` toggles an XY grid with Z set to lowest point * `a` toggles an XYZ-RGB axis marker between: off, at world frame, or at every frame and world, and at every frame * `f` toggles between fullscreen and windowed mode * `m` maximizes the window * `q` closes the window If called from inside a `jupyter` notebook, `mesh.show()` displays an in-line preview using `three.js` to display the mesh or scene. For more complete rendering (PBR, better lighting, shaders, better off-screen support, etc) [pyrender](https://github.com/mmatl/pyrender) is designed to interoperate with `trimesh` objects. ## Projects Using Trimesh You can check out the [Github network](https://github.com/mikedh/trimesh/network/dependents) for things using trimesh. A select few: - Nvidia's [kaolin](https://github.com/NVIDIAGameWorks/kaolin) for deep learning on 3D geometry. - [Cura](https://github.com/Ultimaker/Cura), a popular slicer for 3D printing. - Berkeley's [DexNet4](https://www.youtube.com/watch?v=GBiAxoWBNho&feature=emb_logo) and related [ambidextrous.ai](https://www.ambidextrous.ai/) work with robotic grasp planning and manipulation. - Kerfed's [Kerfed's Engine](https://kerfed.com/technology) for analyzing assembly geometry for manufacturing. - [MyMiniFactory's](https://www.myminifactory.com/) P2Slice for preparing models for 3D printing. - [pyrender](https://github.com/mmatl/pyrender) A library to render scenes from Python using nice looking PBR materials. - [urdfpy](https://github.com/mmatl/urdfpy) Load URDF robot descriptions in Python. - [moderngl-window](https://github.com/moderngl/moderngl-window) A helper to create GL contexts and load meshes. - [vedo](https://github.com/marcomusy/vedo) Visualize meshes interactively (see example [gallery](https://github.com/marcomusy/vedo/tree/master/examples/other/trimesh/)). - [FSLeyes](https://fsl.fmrib.ox.ac.uk/fsl/fslwiki/FSLeyes) View MRI images and brain data. ## Which Mesh Format Should I Use? Quick recommendation: `GLB` or `PLY`. Every time you replace `OBJ` with `GLB` an angel gets its wings. If you want things like by-index faces, instancing, colors, textures, etc, `GLB` is a terrific choice. GLTF/GLB is an [extremely well specified](https://github.com/KhronosGroup/glTF/tree/master/specification/2.0) modern format that is easy and fast to parse: it has a JSON header describing data in a binary blob. It has a simple hierarchical scene graph, a great looking modern physically based material system, support in [dozens-to-hundreds of libraries](https://github.com/KhronosGroup/glTF/issues/1058), and a [John Carmack endorsment](https://www.khronos.org/news/press/significant-gltf-momentum-for-efficient-transmission-of-3d-scenes-models). Note that GLTF is a large specification, and `trimesh` only supports a subset of features: loading basic geometry is supported, NOT supported are fancier things like animations, skeletons, etc. In the wild, `STL` is perhaps the most common format. `STL` files are extremely simple: it is basically just a list of triangles. They are robust and are a good choice for basic geometry. Binary `PLY` files are a good step up, as they support indexed faces and colors. Wavefront `OBJ` is also pretty common: unfortunately OBJ doesn't have a widely accepted specification so every importer and exporter implements things slightly differently, making it tough to support. It also allows unfortunate things like arbitrary sized polygons, has a face representation which is easy to mess up, references other files for materials and textures, arbitrarily interleaves data, and is slow to parse. Give `GLB` or `PLY` a try as an alternative! ## How can I cite this library? A question that comes up pretty frequently is [how to cite the library.](https://github.com/mikedh/trimesh/issues?utf8=1&q=cite) A quick BibTex recommendation: ``` @software{trimesh, author = {{Dawson-Haggerty et al.}}, title = {trimesh}, url = {https://trimesh.org/}, version = {3.2.0}, date = {2019-12-8}, } ``` ## Containers If you want to deploy something in a container that uses trimesh automated `debian:slim-bullseye` based builds with trimesh and most dependencies are available on [Docker Hub](https://hub.docker.com/repository/docker/trimesh/trimesh) with image tags for `latest`, git short hash for the commit in `main` (i.e. `trimesh/trimesh:0c1298d`), and version (i.e. `trimesh/trimesh:3.5.27`): `docker pull trimesh/trimesh` [Here's an example](https://github.com/mikedh/trimesh/tree/main/examples/docker/render) of how to render meshes using LLVMpipe and XVFB inside a container. trimesh-4.5.1/docker/000077500000000000000000000000001470574263400144575ustar00rootroot00000000000000trimesh-4.5.1/docker/draco.bash000066400000000000000000000014741470574263400164140ustar00rootroot00000000000000#!/bin/bash # Install draco, google's mesh compression utility. set -xe # Remove temporary build directories. rm -rf /tmp/draco_build /tmp/draco_source /tmp/draco.tar.gz # Fetch the archive from github releases. wget https://github.com/google/draco/archive/1.3.5.tar.gz -O /tmp/draco.tar.gz -nv echo "a3ac692397574166ad99493ff1efcd7b5c69b580e7eb4500d5d181b2f676aa6e /tmp/draco.tar.gz" | sha256sum --check tar -xzf /tmp/draco.tar.gz --strip-components=1 --one-top-level=/tmp/draco_source # Perform the build. mkdir /tmp/draco_build cd /tmp/draco_build cmake /tmp/draco_source make -j$(nproc) # Move executables to local path. mv /tmp/draco_build/draco_encoder /usr/local/bin mv /tmp/draco_build/draco_decoder /usr/local/bin # Remove temporary build directories. rm -rf /tmp/draco_build /tmp/draco_source /tmp/draco.tar.gz trimesh-4.5.1/docker/openctm.bash000066400000000000000000000012471470574263400167670ustar00rootroot00000000000000#!/bin/bash set -xe # Remove any temporary build directories. rm -rf /tmp/ctm # Clone the most active github fork of openCTM. # Lock to a manually verified commit. CTM_COMMIT=243a343bd23bbeef8731f06ed91e3996604e1af4 wget https://github.com/Danny02/OpenCTM/archive/${CTM_COMMIT}.tar.gz -O /tmp/ctm -nv # Build the library. make -j$(nproc) -C /tmp/ctm -f Makefile.linux openctm # Copy the build ourselves, as make install tries # to copy things we haven't built and don't need. cp /tmp/ctm/lib/libopenctm.so /usr/local/lib/ cp /tmp/ctm/lib/openctm.h /usr/local/include/ cp /tmp/ctm/lib/openctmpp.h /usr/local/include/ # Remove any temporary build directories. rm -rf /tmp/ctm trimesh-4.5.1/docker/trimesh-setup000077500000000000000000000253431470574263400172250ustar00rootroot00000000000000#!/usr/bin/env python3 """ A Python 3.11 standard library only utility to help install an environment for `trimesh` in a Debian Docker image. It probably isn't useful for most people unless you are running this exact configuration. """ import argparse import json import logging import os import shutil import subprocess import sys import tarfile import tempfile from fnmatch import fnmatch from io import BytesIO # define system packages for our debian docker image # someday possibly add this to the `pyproject.toml` config # but for now store them locally in the installer script config_json = """ { "apt": { "build": [ "build-essential", "g++", "make", "git" ], "docs": [ "make", "pandoc" ], "llvmpipe": [ "libgl1-mesa-dri", "xvfb", "xauth", "ca-certificates", "freeglut3-dev" ], "test": [ "curl", "git" ], "gmsh": ["libxft2", "libxinerama-dev", "libxcursor1","libgomp1"] }, "fetch": { "gltf_validator": { "url": "https://github.com/KhronosGroup/glTF-Validator/releases/download/2.0.0-dev.3.8/gltf_validator-2.0.0-dev.3.8-linux64.tar.xz", "sha256": "374c7807e28fe481b5075f3bb271f580ddfc0af3e930a0449be94ec2c1f6f49a", "target": "$PATH", "chmod": 755, "extract_only": "gltf_validator" }, "pandoc": { "url": "https://github.com/jgm/pandoc/releases/download/3.1.1/pandoc-3.1.1-linux-amd64.tar.gz", "sha256": "52b25f0115517e32047a06d821e63729108027bd06d9605fe8eac0fa83e0bf81", "target": "$PATH", "chmod": 755, "extract_only": "pandoc" }, "binvox": { "url": "https://trimesh.s3-us-west-1.amazonaws.com/binvox", "sha256": "82ee314a75986f67f1d2b5b3ccdfb3661fe57a6b428aa0e0f798fdb3e1734fe0", "target": "$PATH", "chmod": 755 } } } """ log = logging.getLogger("trimesh") log.setLevel(logging.DEBUG) log.addHandler(logging.StreamHandler(sys.stdout)) _cwd = os.path.abspath(os.path.expanduser(os.path.dirname(__file__))) def apt(packages): """ Install a list of debian packages using suprocess to call apt-get. Parameters ------------ packages : iterable List, set, or other with package names. """ if len(packages) == 0: return # start with updating the sources log.debug(subprocess.check_output("apt-get update -qq".split()).decode("utf-8")) # the install command install = "apt-get install -qq --no-install-recommends".split() # de-duplicate package list install.extend(set(packages)) # call the install command log.debug(subprocess.check_output(install).decode("utf-8")) # delete any temporary files subprocess.check_output("rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*".split()) def argsort(items): """ A standard-library implementation of `numpy.argsort`, a way to get a list sorted by index instead of by the sorted values. Parameters -------------- item : (n,) any Items that are sortable. Returns -------------- index : int Index such `items[index] == min(items)` """ return [i for (v, i) in sorted((v, i) for (i, v) in enumerate(items))] def fetch(url, sha256): """ A simple standard-library only "fetch remote URL" function. Parameters ------------ url : str Location of remote resource. sha256: str The SHA256 hash of the resource once retrieved, will raise a `ValueError` if the hash doesn't match. Returns ------------- data : bytes Retrieved data in memory with correct hash. """ import hashlib from urllib.request import urlopen data = urlopen(url).read() hashed = hashlib.sha256(data).hexdigest() if hashed != sha256: log.error(f"`{hashed}` != `{sha256}`") raise ValueError("sha256 hash does not match!") return data def copy_to_path(file_path, prefix="~"): """ Copy an executable file onto `PATH`, typically one of the options in the current user's home directory. Parameters -------------- file_path : str Location of of file to copy into PATH. prefix : str The path prefix it is acceptable to copy into, typically `~` for `/home/{current_user}`. """ # get the full path of the requested file source = os.path.abspath(os.path.expanduser(file_path)) # get the file name file_name = os.path.split(source)[-1] # make sure the source file is readable and not empty with open(source, "rb") as f: file_data = f.read() # check for empty files if len(file_data) == 0: raise ValueError(f"empty file: {file_path}") # get all locations in PATH candidates = [ os.path.abspath(os.path.expanduser(i)) for i in os.environ["PATH"].split(":") ] # cull candidates that don't start with our prefix if prefix is not None: # expand shortcut for user's home directory prefix = os.path.abspath(os.path.expanduser(prefix)) # if we are the root user don't cull the available copy locations if not prefix.endswith("root"): # cull non-prefixed path entries candidates = [c for c in candidates if c.startswith(prefix)] # we want to encourage it to put stuff in the home directory encourage = [os.path.expanduser("~"), ".local"] # rank the candidate paths scores = [len(c) - sum(len(e) for e in encourage if e in c) for c in candidates] # try writing to the shortest paths first for index in argsort(scores): path = os.path.join(candidates[index], file_name) try: shutil.copy(source, path) print(f"wrote `{path}`") return path except BaseException: pass # none of our candidates worked raise ValueError("unable to write to file") def extract(tar, member, path, chmod): """ Extract a single member from a tarfile to a path. """ if os.path.isdir(path): return data = tar.extractfile(member=member) if not hasattr(data, "read"): return data = data.read() if len(data) == 0: return # make sure root path exists os.makedirs(os.path.dirname(path), exist_ok=True) with open(path, "wb") as f: f.write(data) if chmod is not None: # python os.chmod takes an octal value os.chmod(path, int(str(chmod), base=8)) def handle_fetch( url, sha256, target, chmod=None, extract_skip=None, extract_only=None, strip_components=0, ): """ A macro to fetch a remote resource (usually an executable) and move it somewhere on the file system. Parameters ------------ url : str A string with a remote resource. sha256 : str A hex string for the hash of the remote resource. target : str Target location on the local file system. chmod : None or int. Change permissions for extracted files. extract_skip : None or iterable Skip a certain member of the archive. extract_only : None or str Extract *only* a single file from the archive, overrides `extract_skip`. strip_components : int Strip off this many components from the file path in the archive, i.e. at `1`, `a/b/c` is extracted to `target/b/c` """ # get the raw bytes log.debug(f"fetching: `{url}`") raw = fetch(url=url, sha256=sha256) if len(raw) == 0: raise ValueError(f"{url} is empty!") # if we have an archive that tar supports if url.endswith((".tar.gz", ".tar.xz", "tar.bz2")): # mode needs to know what type of compression mode = f'r:{url.split(".")[-1]}' # get the archive tar = tarfile.open(fileobj=BytesIO(raw), mode=mode) if extract_skip is None: extract_skip = [] for member in tar.getmembers(): # final name after stripping components name = "/".join(member.name.split("/")[strip_components:]) # if any of the skip patterns match continue if any(fnmatch(name, p) for p in extract_skip): log.debug(f"skipping: `{name}`") continue if extract_only is None: path = os.path.join(target, name) log.debug(f"extracting: `{path}`") extract(tar=tar, member=member, path=path, chmod=chmod) else: name = name.split("/")[-1] if name == extract_only: if target.lower() == "$path": with tempfile.TemporaryDirectory() as D: path = os.path.join(D, name) log.debug(f"extracting `{path}`") extract(tar=tar, member=member, path=path, chmod=chmod) copy_to_path(path) return path = os.path.join(target, name) log.debug(f"extracting `{path}`") extract(tar=tar, member=member, path=path, chmod=chmod) return else: # a single file name = url.split("/")[-1].strip() if target.lower() == "$path": with tempfile.TemporaryDirectory() as D: temp_path = os.path.join(D, name) with open(temp_path, "wb") as f: f.write(raw) # move the file somewhere on the path path = copy_to_path(temp_path) else: path = target with open(path, "wb") as f: f.write(raw) # apply chmod if requested if chmod is not None: # python os.chmod takes an octal value os.chmod(path, int(str(chmod), base=8)) def load_config(): """ """ return json.loads(config_json) if __name__ == "__main__": config = load_config() options = set() for v in config.values(): options.update(v.keys()) parser = argparse.ArgumentParser(description="Install system packages for trimesh.") parser.add_argument( "--install", type=str, action="append", help=f"Install metapackages: {options}" ) args = parser.parse_args() # collect `apt-get install`-able package apt_select = [] handlers = { "fetch": lambda x: handle_fetch(**x), "apt": lambda x: apt_select.extend(x), } # allow comma delimiters and de-duplicate if args.install is None: parser.print_help() exit() else: select = set(" ".join(args.install).replace(",", " ").split()) log.debug(f'installing metapackages: `{", ".join(select)}`') for key in select: for handle_name, handler in handlers.items(): if key in config[handle_name]: handler(config[handle_name][key]) # run the apt-get install apt(apt_select) trimesh-4.5.1/docs/000077500000000000000000000000001470574263400141405ustar00rootroot00000000000000trimesh-4.5.1/docs/Makefile000066400000000000000000000031121470574263400155750ustar00rootroot00000000000000# Makefile for Sphinx documentation SPHINXOPTS ?= SPHINXBUILD ?= sphinx-build SPHINXGEN ?= sphinx-apidoc NBCONVERT ?= jupyter PYTHON ?= python PIP ?= pip BUILDDIR = built TEMPLATESDIR = templates # where to put generated RST files GENDIR = generate CONTENT = content STATICDIR = static example_notebooks := $(wildcard ../examples/*.ipynb) example_notebooks := $(filter-out ../examples/save_image.ipynb, $(example_notebooks)) example_names = $(foreach path, $(example_notebooks), $(basename $(notdir $(path)))) example_rsts = $(foreach name, $(example_names), examples.$(name).rst) html: conf.py $(CONTENT)/index.rst trimesh.rst README.rst $(example_rsts) examples.rst .deps cp -R "$(STATICDIR)" "$(GENDIR)/static" @$(SPHINXBUILD) -M html "$(GENDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O) echo "trimesh.org" > "$(BUILDDIR)/html/CNAME" touch "$(BUILDDIR)/html/.nojekyll" cp "$(STATICDIR)/favicon.ico" "$(BUILDDIR)/html/favicon.ico" || true .deps: requirements.txt $(PIP) install -r requirements.txt $(PIP) freeze > .deps mkdir -p $(GENDIR) mkdir -p $(BUILDDIR) cp conf.py $(CONTENT)/* $(GENDIR) examples.%.rst : ../examples/%.ipynb .deps $(NBCONVERT) nbconvert --execute --to rst --output-dir $(GENDIR) $< examples.rst: .deps $(PYTHON) examples.py --source=../examples --target=$(GENDIR)/examples.rst trimesh.rst: .deps $(SPHINXGEN) -eTf -t "$(TEMPLATESDIR)" -o "$(GENDIR)" ../trimesh README.rst: ../README.md .deps pandoc --from=gfm --to=rst --output="$(GENDIR)/README.rst" ../README.md clean: rm -rvf "$(BUILDDIR)" "$(GENDIR)" .deps trimesh-4.5.1/docs/conf.py000066400000000000000000000056501470574263400154450ustar00rootroot00000000000000#!/usr/bin/env python3 import os # get version from trimesh without installing import trimesh _cwd = os.path.abspath(os.path.expanduser(os.path.dirname(__file__))) def abspath(rel: str) -> str: """ Take paths relative to the current file and convert them to absolute paths. Parameters ------------ rel : str Relative path, IE '../stuff' Returns ------------- abspath : str Absolute path, IE '/home/user/stuff' """ # current working directory return os.path.abspath(os.path.join(_cwd, rel)) extensions = [ "sphinx.ext.napoleon", # numpy-style docstring "myst_parser", ] # allows markdown myst_all_links_external = True # Add any paths that contain templates here, relative to this directory. templates_path = ["_templates"] # The suffix(es) of source filenames. source_suffix = { ".rst": "restructuredtext", ".txt": "markdown", ".md": "markdown", } # The master toctree document. master_doc = "index" # General information about the project. project = "trimesh" copyright = "2022, Michael Dawson-Haggerty" author = "Michael Dawson-Haggerty" # The version info for the project you're documenting, acts as replacement for # |version| and |release|, also used in various other places throughout the # built documents. # The full version, including alpha/beta/rc tags. release = trimesh.__version__ # The language for content autogenerated by Sphinx. Refer to documentation # for a list of supported languages. # This is also used if you do content translation via gettext catalogs. # Usually you set "language" from the command line for these cases. language = "en" # List of patterns, relative to source directory, that match files and # directories to ignore when looking for source files. # This patterns also effect to html_static_path and html_extra_path exclude_patterns = ["built", "Thumbs.db", ".DS_Store"] # The name of the Pygments (syntax highlighting) style to use. pygments_style = "sphinx" # If true, `todo` and `todoList` produce output, else they produce nothing. todo_include_todos = False # -- Options for HTML output -------------------------------------- # The theme to use for HTML and HTML Help pages html_theme = "furo" # options for furo html_theme_options = {} # Add any paths that contain custom static files (such as style sheets) here, # relative to this directory. They are copied after the builtin static files, # so a file named "default.css" will overwrite the builtin "default.css". html_static_path = [abspath("static")] html_logo = "static/images/trimesh-logo.png" # custom css html_css_files = ["custom.css"] html_context = { "display_github": True, "github_user": "mikedh", "github_repo": "trimesh", "github_version": "main", "conf_py_path": "/docs/", } # Output file base name for HTML help builder. htmlhelp_basename = "trimeshdoc" autodoc_default_options = { "autosummary": True, "special-members": "__init__", } trimesh-4.5.1/docs/content/000077500000000000000000000000001470574263400156125ustar00rootroot00000000000000trimesh-4.5.1/docs/content/contributing.md000066400000000000000000000137761470574263400206610ustar00rootroot00000000000000Contributing To Trimesh ======================= Pull requests are always super welcome! Trimesh is a relatively small open source project and really benefits from the bugfixes, features, and other stuff the 100+ contributors have PR'd, so thanks! ## Developer Quick Start Here's how I set up a new environment and write functions. It's not necessary to do it this way but it does make some things easier! If you don't have a "virtual environment" solution there's plenty of ways to do this (poetry, pipenv, conda, etc.) but I just use the `venv` module built into the standard library: ``` # create the venv python -m venv ~/venv # on linux this will use this venv # every time you open a new terminal echo "source ~/venv/bin/activate" >> ~/.bashrc ``` Then when you open a new terminal you can verify it got the right environment with `which`: ``` mikedh@orion:trimesh$ which python /home/mikedh/venv/bin/python mikedh@orion:trimesh$ which pip /home/mikedh/venv/bin/pip ``` If you're planning on editing trimesh you might want to fork it via the Github interface, then install it via an editable pip install: ``` # you probably want to clone your fork git clone git@github.com:mikedh/trimesh.git # do an editable install so you can experiment cd trimesh pip install -e .[easy,test] ``` I pretty much always start with an interactive terminal (i.e. a "REPL") inside a stub function: ``` import trimesh import numpy as np def fancy_function(blah): if blah.shape != (3, 3): raise ValueError('this input was goofy!') # do some obvious operations and whatnot dots = np.dot(blah, [1,2,3]) # get a REPL inside my function so I can write each line # with the context of the function, copy paste the lines # in and at the end return the value and remove the embed from IPython import embed embed() if __name__ == '__main__': # print out all the debug messages so we can see # if there's something going on we need to look at trimesh.util.attach_to_log() # I like pyinstrument as it's a relatively low-overhead sampling # profiler and has nice looking nested print statements compared # to cProfile or others. import pyinstrument data = np.random.random((3, 3)) with pyinstrument.Profiler() as pr: result = fancy_function(data) pr.print() ``` When you remove the embed and see the profile result you can then tweak the lines that are slow before finishing the function. ### Automatic Formatting Trimesh uses `ruff` for both linting and formatting which is configured in `pyproject.toml`, you can run with: ``` ruff check --fix ruff format ``` ## Docstrings Trimesh uses the [Sphinx Numpy-style](https://www.sphinx-doc.org/en/master/usage/extensions/example_numpy.html#example-numpy) docstrings which get parsed into the API reference page. ## General Tips Python can be fast but only when you use it as little as possible. In general, if you ever have a block which loops through faces and vertices it will be basically unusable with even moderately sized meshes. All operations on face or vertex arrays should be vectorized numpy operations unless absolutely unavoidable. Profiling helps figure out what is slow, but some general advice: ### Helpful - Run your test script with `ipython -i newstuff.py` and profile with magic, i.e. `%timeit var.split()` - Use `np.fromstring`, `np.frombuffer` - Use `str.split` or `np.fromstring`: ``` In [6]: %timeit np.array(text.split(), dtype=np.float64) 1000 loops, best of 3: 209 µs per loop In [7]: %timeit np.fromstring(text, sep='\n', dtype=np.float64) 10000 loops, best of 3: 139 µs per loop ``` - Use giant format strings rather than looping, appending, or even iterator joining: ``` In [14]: array = np.random.random((10000,3)) In [15]: %timeit '\n'.join('{}/{}/{}'.format(*row) for row in array) 10 loops, best of 3: 60.3 ms per loop In [16]: %timeit ('{}/{}/{}\n' * len(array))[:-1].format(*array.flatten()) 10 loops, best of 3: 34.3 ms per loop ``` - Sometimes you can use sparse matrices to replace a loop and get a huge speedup. [Here's the same algorithm implemented two ways, looping and sparse dot products.](https://github.com/mikedh/trimesh/blob/master/trimesh/geometry.py#L186-L203) - In tight loops, `array.sum(axis=1)` often pops up as the slowest thing. This can be replaced with a dot product of ones, which are very optimized can be substantially faster: ``` In [1]: import numpy as np In [2]: a = np.random.random((10000, 3)) In [3]: %timeit a.sum(axis=1) 10000 loops, best of 3: 157 µs per loop In [4]: %timeit np.dot(a, [1,1,1]) 10000 loops, best of 3: 25.8 µs per loop ``` - If you can use it, `np.concatenate` is usually faster than `np.vstack`, `np.append`, or `np.column_stack` ``` In [3]: seq = [np.random.random((int(np.random.random() * 1000), 3)) for i in range(1000)] In [7]: %timeit np.vstack(seq) 100 loops, best of 3: 3.48 ms per loop In [8]: %timeit np.concatenate(seq) 100 loops, best of 3: 2.33 ms per loop ``` - Sometimes `np.bincount` can be used instead of `np.unique` for a substantial speedup: ``` In [45]: a = (np.random.random(1000) * 1000).astype(int) In [46]: set(np.where(np.bincount(a).astype(bool))[0]) == set(np.unique(a)) Out[46]: True In [47]: %timeit np.where(np.bincount(a).astype(bool))[0] 100000 loops, best of 3: 5.81 µs per loop In [48]: %timeit np.unique(a) 10000 loops, best of 3: 31.8 µs per loop ``` ### Try To Avoid - Looping in general, and *especially* looping on arrays that could have many elements(i.e. vertices and faces). The loop overhead is very high in Python. If necessary to loop you may find that list comprehensions are quite a bit faster (though definitely profile first!) probably for scoping reasons. - Boolean operations (i.e. intersection, difference, union) on meshes may seem like the answer, but they are nearly always flaky and slow. The best answer is usually to restructure your problem to use some form of vector checks if possible (i.e. dot products, ray tests, etc). Look at `trimesh.intersections` for an example of a problem that could have used a boolean operation but didn't. trimesh-4.5.1/docs/content/docker.md000066400000000000000000000046221470574263400174070ustar00rootroot00000000000000Writing Docker Images ======================= ### Docker Basics [Docker's install guide for Ubuntu.](https://docs.docker.com/desktop/install/ubuntu/) ### Using pip Typically when writing Dockerfiles it is a good idea to use a first-party base images (i.e. `debian:buster-slim`) as derived images can sometimes be unmaintained and unknowable black boxes. It should generally work fine to just use a first party base image and install trimesh via `pip` which always has the latest version: ``` FROM python:3.11-slim-bullseye RUN pip install trimesh[easy] ``` ### Using Prebuilt Images The `trimesh/trimesh` docker images are based on the official Python base image, currently `python:3.11-slim-bullseye`. They are built and pushed to Docker Hub automatically in Github Actions for every release. If you need some of the more demanding dependencies they can be a good option. The `trimesh/trimesh` images are pushed with three tags: `latest` (for latest :), semantic version (i.e. `3.15.5`), or git short hash (i.e. `1c6178d`). These images include `embree` and `trimesh[all]` which is run in a multi-stage build to avoid including intermediate files in the final image. They run as the non-root user `user` and the working directory is `/home/user`. A minimal docker file could look like: ``` FROM trimesh/trimesh:latest COPY requirements.txt . RUN pip install -r requirements.txt COPY app.py . CMD python app.py ``` Which you could then save as the file `Dockerfile` and build with: ``` docker build . -t example docker run -t example ``` ### Building Trimesh Images Trimesh is using a multistage build to avoid copying in things like `g++`, so you have to explicitly specify that you want to build the `output` target. You also probably need to enable BuildKit: ``` DOCKER_BUILDKIT=1 docker build --target output -t trimesh/trimesh:latest . ``` There is also a `Makefile` which enables Buildkit, tags the versioned images, and provides access to other targets like `test` and `docs`: ``` # will list the available options make help # will build and tag a `trimesh/trimesh:latest` image # and also tag it with semantic version and git hash make build # will build trimesh images and then in a different # build stage install the testing requirements and # run all of trimesh's unit tests inside the image make test # will build trimesh's docs inside the image and then # eject the results into the `./html` directory make docs ``` trimesh-4.5.1/docs/content/index.rst000066400000000000000000000010011470574263400174430ustar00rootroot00000000000000.. include:: README.rst Links ========== .. toctree:: Github Install ========== .. toctree:: :maxdepth: 2 install.md Contributing ========== .. toctree:: :maxdepth: 1 Contributing Docker ========== .. toctree:: :maxdepth: 1 Docker Examples ========== .. toctree:: :maxdepth: 1 Examples API Reference ============= .. toctree:: :maxdepth: 1 API Reference trimesh-4.5.1/docs/content/install.md000066400000000000000000000137311470574263400176070ustar00rootroot00000000000000Installation ===================== The only thing required to install `trimesh` is [numpy](http://www.numpy.org/). All other dependencies are \'soft,\' or trimesh will raise the exceptions (usually but not always an `ImportError`) at runtime if a function is called that requires a package that isn\'t installed. If you do the most basic install of `trimesh` it will only install `numpy`: ``` pip install trimesh ``` This will enable you to load most formats into numpy arrays: STL, PLY, OBJ, GLB, GLTF. If you\'d like most soft dependencies which should install cleanly on Mac, Windows, and Linux, you can use the `easy` pip extra: ``` pip install trimesh[easy] ``` Or if you want the full experience, you can try the `all` extra which includes all the testing and recommended packages: ``` pip install trimesh[all] ``` ## Conda Packages If you prefer a `conda` environment, `trimesh` is available on `conda-forge` ([trimesh-feedstock repo](https://github.com/conda-forge/trimesh-feedstock)) If you install [Miniconda](https://docs.conda.io/projects/miniconda/en/latest/) you can then run: ``` conda install -c conda-forge trimesh ``` ## Dependency Overview -------------------- Trimesh has a lot of soft-required upstream packages, and we try to make sure they're actively maintained. Here's a quick summary of what they're used for: | Package | Description | Alternatives | Level | | ------ | --------- | ---------- | ----- | | `numpy` | The base container for fast array types. | | `required` | | `scipy` | Provides convex hulls (`scipy.spatial.ConvexHull`), fast graph operations (`scipy.sparse.csgraph`), fast nearest-point queries (`scipy.spatial.cKDTree`), b-spline evaluation (`scipy.interpolate`). | | `easy` | | `lxml` | Parse XML documents. We use this over the built-in ones as it was slightly faster, and there was a format implemented which was extremely annoying to handle without the ability to get parent nodes (which `lxml` has but built-in XML doesn't). | Standard library's XML | `easy` | | `networkx` | Pure Python graph library that's reasonably fast and has a nice API. `scipy.sparse.csgraph` is way faster in most cases but is hard to understand and doesn't implement as many algorithms. | `graph-tool`, `scipy.sparse.csgraph` | `easy` | | `shapely` | Bindings to `GEOS` for 2D spatial stuff: "set-theoretic analysis and manipulation of planar features" which lets you offset, union, and query polygons. | `clipper` | `easy` | | `rtree` | Query ND rectangles with a spatial tree for a "broad phase" intersection. Used in polygon generation ("given N closed curves which curve contains the other curve?") and as the broad-phase for the built-in-numpy slow ray query engine. | `fcl` maybe? | `easy` | |`httpx`| Do network queries in `trimesh.exchange.load_remote`, will *only* make network requests when asked | `requests`, `aiohttp` | `easy`| |`sympy`| Evaluate symbolic algebra | | `recommend`| |`xxhash`| Quickly hash arrays, used for our cache checking | | `easy`| |`chardet`| When we fail to decode text as UTF-8 we then check with chardet which guesses an encoding, letting us load files even with weird encodings. | | `easy`| |`colorlog`| Printing logs with colors. | | `easy`| |`pillow`| Reading raster images for textures and render polygons into raster images. | | `easy`| |`svg.path`| Parsing SVG path strings. | | `easy`| |`jsonschema`| Validating our exports for formats like GLTF. | | `easy`| |`pycollada`| Parse `dae` files. | | `easy`| |`pyglet<2`| OpenGL bindings for our simple debug viewer. | | `recommend`| |`xatlas`| Unwrap meshes to generate UV coordinates quickly and well. | | `recommend`| |`python-fcl`| Do collision queries between meshes | | `recommend`| |`glooey`| Provide a viewer with widgets. | | `recommend`| |`meshio`| Load additional mesh formats. | | `recommend`| |`scikit-image`| Used in voxel ops | | `recommend`| |`mapbox-earcut`| Triangulate 2D polygons | `triangle` which has an unusual license | `easy`| |`psutil`| Get current memory usage, useful for checking to see if we're going to run out of memory instantiating a giant array | | `recommend`| |`ruff`| A static code analyzer and formatter that replaces `flake8` and `black`. | `flake8` | `test`| |`pytest`| A test runner. | | `test`| |`pytest-cov`| A plugin to calculate test coverage. | | `test`| |`pyinstrument`| A sampling based profiler for performance tweaking. | | `test`| |`vhacdx`| A binding for VHACD which provides convex decompositions | | `recommend`| |`manifold3d`| A binding for the Manifold mesh boolean engine | | `recommend`| |`openctm`| A binding for OpenCTM loaders enabling `.ctm` loading | | `recommend`| |`cascadio`| A binding for OpenCASCADE enabling `.STEP` loading | | `recommend`| ## Adding A Dependency If there's no way to implement something reasonably in vectorized Python or there is a mature minimal C++ or Rust implementation of something useful and complicated we may add a dependency. If it's a major, active project with few dependencies (i.e. `jinja2`) that's probably fine. Otherwise it's a lot more of a commitment than just implementing the function in Python however. An example of this is `embree`, Intel's ray check engine: it is a super complicated thing to do well and 50-100x faster than Python ray checks. There are a few projects that we've forked into the [`trimesh`](https://github.com/trimesh/) GitHub organization which you can take a look at. The general idea of the requirements for a new compiled dependency are: - is actively maintained and has an MIT/BSD compatible license. - has all source code in the repository or as a submodule, i.e. no mysterious binary blobs. - binding preferably uses [pybind11](https://pybind11.readthedocs.io/en/stable/index.html), [nanobind](https://github.com/wjakob/nanobind) or [maturin/py03](https://github.com/PyO3/maturin) for Rust projects. Cython is also OK but other options are preferable if possible. - uses `cibuildwheel` to publish releases configured in `pyproject.toml`. - has unit tests which run in CI - has minimal dependencies: ideally only `numpy`.trimesh-4.5.1/docs/content/nricp.md000066400000000000000000000373501470574263400172570ustar00rootroot00000000000000Non-Rigid Registration ===================== Mesh non-rigid registration methods are capable of aligning (*i.e.* superimposing) a *source mesh* on a *target geometry* which can be any 3D structure that enables nearest point query. In Trimesh, the target geometry can either be a mesh `trimesh.Trimesh` or a point cloud `trimesh.PointCloud`. This process is often used to build dense correspondence, needed for the creation of [3D Morphable Models](https://www.face-rec.org/algorithms/3d_morph/morphmod2.pdf). The "non-rigid" part means that the vertices of the source mesh are not scaled, rotated and translated together to match the target geometry as with [Iterative Closest Points](https://en.wikipedia.org/wiki/Iterative_closest_point) (ICP) methods. Instead, they are allowed to move *more or less independently* to land on the target geometry. Trimesh implements two mesh non-rigid registrations algorithms which are both extensions of ICP. They are called Non-Rigid ICP methods : | NRICP method | associated Trimesh function | | --- | ----------- | | Correspondence part of [Deformation Transfer for Triangle Meshes](https://people.csail.mit.edu/sumner/research/deftransfer/Sumner2004DTF.pdf)
Sumner and Popovic (2004) | `nricp_sumner` | | [Optimal Step Nonrigid ICP Algorithms for Surface Registration](http://vigir.missouri.edu/~gdesouza/Research/Conference_CDs/IEEE_CVPR_2007/data/papers/0197.pdf)
Amberg *et al.* (2007) | `nricp_amberg` | ## Deformation Transfer NRICP (`nricp_sumner`) This method was first introduced by [Allen and colleagues in 2003](https://grail.cs.washington.edu/projects/digital-human/pub/allen03space-submit.pdf) then modified and adapted by [Sumner and Popovic in 2004](https://people.csail.mit.edu/sumner/research/deftransfer/Sumner2004DTF.pdf). ### How it works Let's define the source mesh $\mathcal{S} = \{\mathbf{v}, \mathbf{f}\}$ with $\mathbf{v} \in \mathbb{R}^{n\times3}$ being its vertices positions (`Trimesh.vertices`) and $\mathbf{f} \in \mathbb{N}^{m\times3}$ its triangles vertex indices (`Trimesh.faces`). From these we also derive its triangles vertex positions $\mathbf{t} \in \mathbb{R}^{m\times3\times3}$ (`Trimesh.triangles` or `Trimesh.vertices[Trimesh.faces]`).
> This method is an iterative algorithm where we seek for deformed vertices $\tilde{\mathbf{v}}$ from underformed vertices $\mathbf{v}$ via affine transformations. At each step, we solve for $\tilde{\mathbf{v}}$ given some constraints and $\mathbf{v}$ is replaced by $\tilde{\mathbf{v}}$ for the next iteration. Set `return_records=True` to get the deformed vertices at each step. To each triangle $\mathbf{t}_i = [\mathbf{x}_1, \mathbf{x}_2, \mathbf{x}_3]_i \in \mathbb{R}^{3\times3}$ of the source mesh, a new 3D point $\mathbf{x}_4$ is added to form a tetrahedron $\mathbf{t}'_i = [\mathbf{x}_1, \mathbf{x}_2, \mathbf{x}_3, \mathbf{x}_4]_i \in \mathbb{R}^{3\times4}$, with : $$\mathbf{x}_4= \mathbf{x}_1+ \frac{(\mathbf{x}_2 −\mathbf{x}_1)×(\mathbf{x}_3 −\mathbf{x}_1)}{\sqrt{\lvert(\mathbf{x}_2 −\mathbf{x}_1)×(\mathbf{x}_3 −\mathbf{x}_1)\rvert}}$$ $\mathbf{x}_4$ is basically the point at the tip of the triangle normal starting from $\mathbf{x}_1$ Each deformed vertex $\tilde{\mathbf{v}}_i$ is computed from the vertex $\mathbf{v}_i$ via an affine transformation $\{\mathbf{T}, \mathbf{d}\}_i$ with $\mathbf{T}_i \in \mathbb{R}^{3\times3}$ being its scaling/rotational part and $\mathbf{d}_i$ being its translational part. We get $\tilde{\mathbf{v}}_i = \mathbf{T}_i\mathbf{v}_i + \mathbf{d}_i$. The main idea is to subtract $\mathbf{d}$ from the previous equation. To do this, we subtract $\mathbf{x}_1$ from each tetrahedron to obtain frames $\mathbf{V}_i$ and $\tilde{\mathbf{V}}_i \in \mathbb{R}^{3\times3}$ : $$ \begin{matrix} \mathbf{V}_i = [\mathbf{x}_2 - \mathbf{x}_1, \mathbf{x}_3 - \mathbf{x}_1, \mathbf{x}_4 - \mathbf{x}_1]_i \\ \tilde{\mathbf{V}}_i = [\tilde{\mathbf{x}}_2 - \tilde{\mathbf{x}}_1, \tilde{\mathbf{x}}_3 - \tilde{\mathbf{x}}_1, \tilde{\mathbf{x}}_4 - \tilde{\mathbf{x}}_1]_i \end{matrix} $$ Thus, $$\tilde{\mathbf{V}}_i = \mathbf{T}_i\mathbf{V}_i \implies \mathbf{T}_i = \tilde{\mathbf{V}}_i\mathbf{V}_i^{-1}$$ Now, several energies are defined to solve directly for the deformed vertices $\tilde{\mathbf{v}}$ : - The **closest valid point term** (data term) $E_C$ indicates that the position of each vertex $\tilde{\mathbf{v}}_i$ of the deformed source mesh should be equal to the closest valid point $\mathbf{c}_i$ on the target geometry. This error is weighted by the [*closest point validity weights*](#robustness-to-outliers) $\boldsymbol{\alpha}$. $$E_C = \sum\limits^n_{i=1} \boldsymbol{\alpha}_i \lVert \tilde{\mathbf{v}}_i - \mathbf{c}_i \rVert^2$$ - The **deformation identity term** $E_I$ is minimized when all the transformations $\mathbf{T}$ are equal to the identity matrix : $$E_I = \sum\limits^{\lvert T\rvert}_{i=1} \lVert \mathbf{T}_i - \mathbf{I}\rVert^2_\text{F}$$ - The **deformation smoothness term** (stiffness term) $E_S$ indicates that the transformations for adjacent triangles should be equal : $$E_S=\sum\limits^{\lvert T\rvert}_i\sum\limits_{j\in \text{adj}(i)} \lVert \mathbf{T}_i - \mathbf{T}_j\rVert^2_\text{F}$$ > The type of face adjacency is determined by the argument `face_pairs_type`, options being `'vertex'` and `'edge'`. With `face_pairs_type='edge'`, only the faces sharing an edge are considered adjacents, whereas with `face_pairs_type='vertex'`, all the faces sharing at least one vertex are considered adjacents, resulting in a stronger smoothness constraint. - The **landmark consistency term** $E_L$ indicates that the $q$ landmarks $\{f, \mathbf{b}\}$ on the deformed source mesh surface should be on their corresponding position $\mathbf{p}$ on the target geometry. $\mathbf{b}$ are the barycentric coordinates of the landmarks in their respective triangles of indices $f$. $$E_L = \sum\limits^q_{i=1} \lVert \tilde{\mathbf{t}}_{f_i} \cdot \mathbf{b}_i^\text{T} - \mathbf{p}_i \rVert^2$$ > In the original paper, the landmark target positions are a hard constraint. Here the user can decide how important the landmarks are, so an extra energy $E_L$ is added. >The source landmarks `source_landmarks` can come either as an array of vertex indices or a tuple of an array of triangle indices and an array of barycentric coordinates. The energies $E_I$ and $E_S$ depend not only on the deformed vertices $\tilde{\mathbf{v}}$ but also on the deformed frames $\tilde{\mathbf{V}}$. So we simultaneously solve for both $\tilde{\mathbf{v}}$ and the fourth vertex $\tilde{\mathbf{x}}_4$ of the deformed tetrahedrons : $$\min\limits_{\tilde{\mathbf{v}}, \tilde{\mathbf{x}}_4} E = w_CE_C + w_IE_I + w_SE_S + w_LE_L$$ Where $w_C, w_I, w_S$ and $w_L$ are weighting factors used to determine what energies are more important to minimize. The solution to this optimization is the solution to a system of linear equations : $$ \min\limits_{\tilde{\mathbf{v}}, \tilde{\mathbf{x}}_4} \begin{Vmatrix} \begin{bmatrix} w_C\mathbf{A}_C\\ w_I\mathbf{A}_I\\ w_S\mathbf{A}_S\\ w_L\mathbf{A}_L\\ \end{bmatrix} \mathbf{y}^\text{T}- \begin{bmatrix} w_C\mathbf{b}_C\\ w_I\mathbf{b}_I\\ w_S\mathbf{b}_S\\ w_L\mathbf{b}_L\\ \end{bmatrix} \end{Vmatrix}^2_\text{F} = \min\limits_{\tilde{\mathbf{v}}, \tilde{\mathbf{x}}_4} \lVert\mathbf{A}\mathbf{y}^\text{T} - \mathbf{b}\rVert^2_\text{F} $$ Where $\mathbf{y} \in \mathbb{R}^{(n+m)\times3}$ is the concatenated deformed vertices $\tilde{\mathbf{v}}$ and deformed fourth tetrahedron vertices $\tilde{\mathbf{x}}_4$, $\mathbf{A}$ is the sparse matrix that relates $\tilde{\mathbf{v}}$ to $\mathbf{c}$ and $\tilde{\mathbf{V}}$ to $\mathbf{T}$. The right hand side $\mathbf{b}$ contains the ideal vertex positions and frame transformations corresponding to each energy. This linear system is solved using LU factorization of $\mathbf{A}^\text{T}\mathbf{A}$. The deformed vertices are just the $\text{n}^\text{th}$ first rows of the solution : $$\tilde{\mathbf{v}} = \mathbf{y}_{:n}$$ Then we either start the next iteration or return the result. ### Number of iterations The number of iterations is determined by the length of the `steps` argument. `steps` should be an iterable of five floats iterables `[[wc_1, wi_1, ws_1, wl_1, wn_1], ..., [wc_n, wi_n, ws_n, wl_n, wn_n]]`. The floats should correspond to $w_C, w_I, w_S, w_L$ and $w_N$. The extra weight $w_N$ is related to outlier robustness. ### Robustness to outliers The target geometry can be noisy or incomplete which can lead to bad closest points $\mathbf{c}$. To remedy this issue, the linear equations related to $E_C$ are also weighted by *closest point validity weights*. First, if the distance to the closest point greater than the user specified threshold `distance_threshold`, the corresponding linear equations are multiplied by 0 (*i.e.* removed). Second, one may need the normals at the source mesh vertices and the normals at target geometry closest points to coincide. We use the dot product to the power $w_N$ to determine if normals are well aligned and use it to weight the linear equations. Eventually, the *closest point validity weights* are : $$ \boldsymbol{\alpha}=\left[ \begin{array}{ll} 0 & \text{where }\lVert\mathbf{v} - \mathbf{c}\rVert^2 > d_{max}\\ \max(0, (\mathbf{n}_v^\text{T}\cdot\mathbf{n}_c)^{w_N}) & \text{everywhere else}\\ \end{array} \right] $$ With $d_{max}$ being the threshold given with the argument `distance_threshold`, and $\mathbf{n}_v$ and $\mathbf{n}_c$ the normals mentioned above. ### Summary - For $w_C^i, w_I^i, w_S^i, w_L^i, w_N^i, \text{ } i \in [1, \text{nbsteps}]$ - Compute the closest points $\mathbf{c}$ - Build $\mathbf{A}_C$ and $\boldsymbol{\alpha}$ - Solve for the deformed vertices $\tilde{\mathbf{v}}$ - $\mathbf{v} ← \tilde{\mathbf{v}}$ ## Optimal Step NRICP (`nricp_amberg`) *Some notations and details are described in [Deformation Transfer NRICP section](#deformation-transfer-nricp-nricp_sumner)* Unlike Deformation Transfer where we solve directly for deformed tetrahedrons, this methods solves for affine transformations $\mathbf{X}_i$ that map each $\mathbf{v}_i$ to $\tilde{\mathbf{v}}_i$. ### How it works The vertices $\mathbf{v}$ are expressed in their homogeneous form $\mathbf{w}$: $$ \begin{matrix} \mathbf{w}_i = [x, y, z, 1]_i^\text{T} \\ \end{matrix} $$ With this formulation, the deformed vertices are $\tilde{\mathbf{v}}_i = \mathbf{w}_i^\text{T}\mathbf{X}_i$, where $\mathbf{X}_i$ are $4\times3$ matrices, enabling translation. Three energies are minimized : - The **closest valid point term** (data term) $E_C$ : $$E_C = \sum\limits^n_{i=1} \boldsymbol{\alpha}_i \lVert \mathbf{w}_i^\text{T}\mathbf{X}_i - \mathbf{c}_i \rVert^2$$ - The **deformation smoothness term** (stiffness term) $E_S$. In the following, $\mathbf{G}=[1,1,1,\gamma]$ is used to weights differences in the rotational and skew part of the deformation, and can be accessed via the argument `gamma`. Two vertices are adjacent if they share an edge. $$E_S = \sum\limits^n_{j\in\text{adj}(i)} \lVert (\mathbf{X}_i - \mathbf{X}_j) \mathbf{G} \rVert^2$$ - The **landmarks consistency term** $E_L :$ $$E_L = \sum\limits^q_{i=1} \lVert (\tilde{\mathbf{t}}_{f_i} \cdot \mathbf{b}_i^\text{T})^\text{T}\mathbf{X}_i - \mathbf{p}_i \rVert^2$$ The resulting optimization is : $$\min\limits_{\mathbf{X}} E = E_C + w_SE_S + w_LE_L$$ > Note the absence of weight for $E_C$. This is just to match how the framework is described in the paper. Optimization that be rewritten in matrix form (this is well explained in the [paper](http://vigir.missouri.edu/~gdesouza/Research/Conference_CDs/IEEE_CVPR_2007/data/papers/0197.pdf)) : $$ \min\limits_{\mathbf{X}} \begin{Vmatrix} \begin{bmatrix} \mathbf{A}_C\\ w_S\mathbf{A}_S\\ w_L\mathbf{A}_L\\ \end{bmatrix} \mathbf{X}- \begin{bmatrix} \mathbf{b}_C\\ 0\\ w_L\mathbf{b}_L\\ \end{bmatrix} \end{Vmatrix}^2_\text{F} = \min\limits_{\mathbf{X}} \lVert\mathbf{A}\mathbf{X} - \mathbf{b}\rVert^2_\text{F} $$ Where $\mathbf{A}$ is the sparse matrix that links the current vertex positions to the ideal deformed vertex positions subject to the smoothness and landmarks constraints. The system $\mathbf{A}^\text{T}\mathbf{A} = \mathbf{A}^\text{T}\mathbf{b}$ is solved for $\mathbf{X}$ and deformed vertices are computed : $\tilde{\mathbf{v}}_i = \mathbf{w}_i^\text{T}\mathbf{X}_i$. Unlike, `nricp_sumner`, the vertices are not replaced by the deformed vertices yet the deformed vertices are used to find new correspondences $\mathbf{c}$ on the target geometry. The algorithm contains one outer loop and one inner loop. The outer loop is similar to `nricp_sumner` *i.e.* an iteration over a set of weights sets. The inner loop is performed until convergence of $\mathbf{X}$ or until a max iterations threshold $N$ is reached. ### Number of iterations As with `nricp_sumner`, the `steps` arguments dictates the number of outer loop iterations performed. `steps` should be in the form `[[ws_1, wl_1, wn_1, max_iter_1], ..., [ws_n, wl_n, wn_n, max_iter_n]]`. The values should correspond to $w_S, w_L$ and $w_N$. The extra weight $w_N$ is related to outlier robustness. The last number is an integer specifying $N_i$, the number of maximum iterations in the inner loop. ### Robustness to outliers The [same implementation](#robustness-to-outliers) than `nricp_sumner` is used, with maximum distance threshold and normal weighting. ### Summary - Initialize the transformations $\mathbf{X^0}$ to the $4\times3$ identity - For $w_S^i, w_L^i, w_N^i, N_i \text{ } i \in [1, \text{nbsteps}]$ : - $j ← 0$ - While $\lVert\mathbf{X}^j - \mathbf{X}^{j-1}\rVert^2_\text{F} > \epsilon$ and $j < N_i$ : - Compute the closest points $\mathbf{c}$ to the source vertices deformed by transformations $\mathbf{X}^{j-1}$ - Compute $\boldsymbol{\alpha}$ - Solve for the current transformations $\mathbf{X}^j$ - $j ← j + 1$ > In contrast to `nricp_sumner`, the matrix $\mathbf{A}_C$ is built only once at initialization. ## Comparison of the two methods The main difference between `nricp_sumner` and `nricp_amberg` is the kind of transformations that is optimized. `nricp_sumner` involves frames with an extra vertex representing the orientation of the triangles, and solves implicitly for transformations that act on these frames. In `nricp_amberg`, per-vertex transformations are explicitly solved for which allows to construct the correspondence cost matrix $\mathbf{A}_C$ only once. As a result, `nricp_sumner` tends to output smoother results with less high frequencies. The users are advised to try both algorithms with different parameter sets, especially different `steps` arguments, and find which suits better their problem. `nricp_amberg` appears to be easier to tune, though. ## Examples An example of each method can be found in `examples/nricp.py`. ## Acknowledgments - Some implementation details of `nricp_sumner` are borrowed, adapted and optimized from the [Deformation-Transfer-for-Triangle-Meshes github repository](https://github.com/mickare/Deformation-Transfer-for-Triangle-Meshes) from the user mickare. - Some implementation details of `nricp_amberg` are borrowed, adapted and optimized from the [nonrigid_icp github repository](https://github.com/saikiran321/nonrigid_icp) from the user saikiran321. ## References - [[1999, Blanz and Vetter] A Morphable Model For The Synthesis Of 3D Faces](https://www.face-rec.org/algorithms/3d_morph/morphmod2.pdf) - [[2003, Allen et al.] The space of human body shapes: reconstruction and parameterization from range scans](https://grail.cs.washington.edu/projects/digital-human/pub/allen03space-submit.pdf) - [[2004, Sumner and Popovic] Deformation Transfer for Triangle Meshes](https://people.csail.mit.edu/sumner/research/deftransfer/Sumner2004DTF.pdf) - [[2007, Amberg et al.] Optimal Step Nonrigid ICP Algorithms for Surface Registration](http://vigir.missouri.edu/~gdesouza/Research/Conference_CDs/IEEE_CVPR_2007/data/papers/0197.pdf) trimesh-4.5.1/docs/examples.py000066400000000000000000000066151470574263400163400ustar00rootroot00000000000000""" examples.py ------------ Convert `ipynb` to a web-renderable format from the contents of `../examples/*.ipynb` """ import logging import os import sys log = logging.getLogger("trimesh") log.addHandler(logging.StreamHandler(sys.stdout)) log.setLevel(logging.DEBUG) # current working directory pwd = os.path.abspath(os.path.expanduser(os.path.dirname(__file__))) def extract_docstring(loaded): """ Given a loaded JSON `ipynb` notebook extract the docstring from the first cell and error if the first cell doesn't have a docstring. Parameters ------------ loaded : dict Loaded ipynb format. Returns ---------- doc : str Cleaned up docstring. """ source = loaded["cells"][0]["source"] assert source[0].strip() == '"""' assert source[-1].strip() == '"""' return " ".join(i.strip() for i in source[1:-1]) base = """ {title} """ def generate_index(source: str, target: str) -> str: """ Go through a directory of source `ipynb` files and write an RST index with a toctree. Also postprocesses the results of `jupyter nbconvert` """ lines = [ "Examples", "===========", "Several examples are available as rendered IPython notebooks.", "", ".. toctree::", " :maxdepth: 2", "", ] target_dir = os.path.dirname(target) for fn in os.listdir(source): if not fn.lower().endswith(".ipynb"): continue name = fn.rsplit(".")[0] title = name.replace("_", " ").title() # notebook converted to RST convert = os.path.join(target_dir, f"{name}.rst") if not os.path.exists(convert): print(f"no RST for {name}.rst") continue with open(convert) as f: doc, post = postprocess(f.read(), title=title) with open(convert, "w") as f: f.write(post) lines.append(f" {name}") # lines.append(doc) lines.append("") return "\n".join(lines) def postprocess(text: str, title: str) -> str: """ Postprocess an RST generated from `jupyter nbconvert` """ lines = str.splitlines(text) # already has a title so exit if "===" in "".join(lines[:4]): return "", text head = [] index = 0 ready = False for i, L in enumerate(lines): if "parsed-literal" in L: ready = True continue if ready: if "code::" in L: index = i break else: head.append(L) # clean up the "parsed literal" docstring = ( " ".join(" ".join(head).replace("\\n", " ").split()).strip().strip("'").strip() ) # add a title and the docstring as a header clip = f"{title}\n=============\n{docstring}\n\n" + "\n".join(lines[index:]) return docstring, clip if __name__ == "__main__": import argparse parser = argparse.ArgumentParser() parser.add_argument( "--source", type=str, help="a directory containing `ipynb` files", required=True ) parser.add_argument( "--target", type=str, help="Where the generated .rst file goes", required=True ) args = parser.parse_args() source = os.path.abspath(args.source) target = os.path.abspath(args.target) with open(target, "w") as f: f.write(generate_index(source=source, target=target)) 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CfDuXRV4hNy^` tu^@Ox6 -,@.En??ylFmYnR\P|¬IsA!5 KE; *|pمFh(,(9 @GNE过C J.US^3@D9F0cz¿x13i$YkJM G,5 ,؜3rE f 4/_X!֦p:po(ݧIG!YvD 0p:Frj]~[o*Gu*_ZXPc:IDATz]sD:H"t{J \|h@f4k{qٚ¯}ڕ ldM_]q˅ _ [A0=ojUɹٛpmq\ v%.x:8}Nw30QP"媉B$uuˆy jĔdafp׍YuF83=1ݴ+R)!Ս𥳐/!+-M@_hpۃS5Tu̽Ϲs,*}KxZU+2 *5wR_pq'֙#ƹlTvyڮrB/yl:ڒޱ5,Et>fX>[j;EU/}KZ"0)麪9O#ܦg~/wXZF/kwZ}a F-_R}wKT@}n-fduzSV`nOٷjZWmkA۪pbn9Q}\1/+ ,7_~rt 2so<AYyޚ)[֚6yk?1cvm%5/oy7֭[hOѬK21uAȟ#MGpץ [@\V<\XS~mo;}jwESoIOm:Wb47ΘqA|.?u6*fj{y` mkkkKx&!F28N GqO%lSA)7(WWm wE*D*QQ1JoT!2LTTB<_AS^gy) P@RN;k{lV/"'ﯪlhcE۲3(pDs< R 0SNSS5"t'śeS{!h@_lI9BqNTqCB'h.=(! c'\ry~efC=݌mEOQIܔٯU PU= !T0T ŨqSU/#cIl;8~%lWт̥(#@?] N(^Tبb pRsAQ@gk{EB0 siN6l( vhΘbMOR^&46ߝ8f()+g,(//\zR@|=/?=8wѤTrdS+Ǜׁc$BU);I}:Pa zς_Ӝh|kuwh5,<rzO9W:=&샨l :GO)r'qX6UiuIyyݲ!燼/^vt:-ЭUW1!JGw%KfӁ| J *3b@'LV}8FsҮJ-,}#{/w]ht|Z?f g\ַ Y1d+fKfg03U3|BQ/bݺu椽ALPx':Wg_n7Us3Oΐm E{ghݚ^ T~ټъ *+z[P1  ?$;t? :"88Qm'ݫ}jE6'M/?56$1\xYT*N0@ N][[cf64gC\prsin0pbp1(̘xĻ~0Pn j;?6(HT97;8z`ޞzsuN^CY s.qZ;0e TAƂt=EYM1n{C~_;զuUySwFGߨp7#АgX:_kkMit\|@h'Oh8N(t+a@{2)\GcNqQiHFĒ.=B5AgsAu}ZNok:8Ya(pP%@[: mu5HW;zqҖC a0/Rqe8 h ȇPd>@VMl͜ٷu^Uڒc4: yʉ)DDhj$ zt?Q'=QmUa᙭!ɽΥܞ>s?cH]k{IENDB`trimesh-4.5.1/docs/templates/000077500000000000000000000000001470574263400161365ustar00rootroot00000000000000trimesh-4.5.1/docs/templates/module.rst_t000066400000000000000000000002061470574263400204760ustar00rootroot00000000000000{{ basename | e | heading }} .. automodule:: {{ qualname }} {%- for option in automodule_options %} :{{ option }}: {%- endfor %} trimesh-4.5.1/docs/templates/package.rst_t000066400000000000000000000004341470574263400206070ustar00rootroot00000000000000{{ pkgname | e | heading }} {% if subpackages or submodules %} .. toctree:: {% for docname in (subpackages or []) + (submodules or []) %} {{ docname }} {%- endfor %} {% endif %} .. automodule:: {{ pkgname }} {%- for option in automodule_options %} :{{ option }}: {%- endfor %} trimesh-4.5.1/examples/000077500000000000000000000000001470574263400150265ustar00rootroot00000000000000trimesh-4.5.1/examples/colors.ipynb000066400000000000000000000023561470574263400174000ustar00rootroot00000000000000{ "cells": [ { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "\"\"\"\n", "A simple example of loading and displaying a mesh with face colors.\n", "\"\"\"" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "import trimesh" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "m = trimesh.load(\"../models/machinist.XAML\", process=False)" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "m.visual.kind" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "m.show()" ] } ], "metadata": { "kernelspec": { "display_name": "Python 3", "language": "python", "name": "python3" }, "language_info": { "codemirror_mode": { "name": "ipython", "version": 3 }, "file_extension": ".py", "mimetype": "text/x-python", "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", "version": "3.8.10" } }, "nbformat": 4, "nbformat_minor": 2 } trimesh-4.5.1/examples/convexify.py000066400000000000000000000023351470574263400174150ustar00rootroot00000000000000""" examples/convexify.py ------------------------ Take a mesh with multiple bodies, take the convex hull of each body, then combine them back into one mesh. Useful for generating collision models of an object. """ import numpy as np import trimesh if __name__ == "__main__": # attach to trimesh logs trimesh.util.attach_to_log() log = trimesh.util.log # load the mesh from filename # file objects are also supported mesh = trimesh.load_mesh("../models/box.STL") # split the mesh into connected components of face adjacency # splitting sometimes produces non- watertight meshes # though the splitter will try to repair single quad and # single triangle holes, in our case here we are going to be # taking convex hulls anyway so there is no reason to discard # the non- watertight bodies meshes = mesh.split(only_watertight=False) # the convex hull of every component meshes_convex = [i.convex_hull for i in meshes] # combine all components into one mesh convex_combined = np.sum(meshes_convex) log.debug("Showing original mesh") mesh.show() # open a viewer window for convexified mesh log.debug("Showing convexified mesh") convex_combined.show() trimesh-4.5.1/examples/curvature.ipynb000066400000000000000000000043031470574263400201110ustar00rootroot00000000000000{ "cells": [ { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "\"\"\"\n", "An example of the discrete gaussian curvature measure.\n", "\"\"\"" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "import matplotlib.pyplot as plt\n", "import numpy as np\n", "\n", "import trimesh\n", "from trimesh.curvature import (\n", " discrete_gaussian_curvature_measure,\n", " discrete_mean_curvature_measure,\n", " sphere_ball_intersection,\n", ")\n", "\n", "%matplotlib inline\n", "\n", "mesh = trimesh.creation.icosphere()" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "radii = np.linspace(0.1, 2.0, 10)\n", "gauss = np.array(\n", " [\n", " discrete_gaussian_curvature_measure(mesh, mesh.vertices, r)\n", " / sphere_ball_intersection(1, r)\n", " for r in radii\n", " ]\n", ")\n", "mean = np.array(\n", " [\n", " discrete_mean_curvature_measure(mesh, mesh.vertices, r)\n", " / sphere_ball_intersection(1, r)\n", " for r in radii\n", " ]\n", ")" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "plt.figure()\n", "plt.plot(radii, gauss.mean(axis=1))\n", "plt.title(\"Gaussian Curvature\")\n", "plt.show()\n", "plt.figure()\n", "plt.plot(radii, mean.mean(axis=1))\n", "plt.title(\"Mean Curvature\")\n", "plt.show();" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [] } ], "metadata": { "kernelspec": { "display_name": "Python 3", "language": "python", "name": "python3" }, "language_info": { "codemirror_mode": { "name": "ipython", "version": 3 }, "file_extension": ".py", "mimetype": "text/x-python", "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", "version": "3.8.10" } }, "nbformat": 4, "nbformat_minor": 2 } trimesh-4.5.1/examples/docker/000077500000000000000000000000001470574263400162755ustar00rootroot00000000000000trimesh-4.5.1/examples/docker/render/000077500000000000000000000000001470574263400175545ustar00rootroot00000000000000trimesh-4.5.1/examples/docker/render/Dockerfile000066400000000000000000000010711470574263400215450ustar00rootroot00000000000000FROM trimesh/trimesh:latest MAINTAINER Michael Dawson-Haggerty USER root # this is a helper script that installs the # debian packages required for offscreen rendering RUN trimesh-setup --install llvmpipe # go back to the unprivileged user USER user # Set environment variables for software rendering. ENV XVFB_WHD="1920x1080x24"\ DISPLAY=":99" \ LIBGL_ALWAYS_SOFTWARE="1" \ GALLIUM_DRIVER="llvmpipe" # copy our example file which renders a sphere COPY render.py . # run our worker script using xvfb-run CMD xvfb-run python render.pytrimesh-4.5.1/examples/docker/render/README.md000066400000000000000000000024061470574263400210350ustar00rootroot00000000000000# docker_render The `trimesh/trimesh:latest` docker images have a helper script which installs the requirements to use the [LLVMpipe](https://www.phoronix.com/scan.php?page=news_item&px=LLVMpipe-Mesa-19.0-Performance) software rasterizer and XVFB. It's not as fast as a real GPU but it can do ~30FPS with a decent CPU which for some applications is fine. The advantage of not using a GPU is so you can use it in "normal" cloud instances. Also whether `scene.save_image` is able to render anything ends up being very OS, GPU, and driver specific. With the docker images it should pretty much work on most clients. Software rendering also is way easier than configuring a GPU to be usable in a container (CUDA, EGL, etc). Take a look at the `Dockerfile`. This will render a PNG of a sphere, probably: ``` # build the image in the current directory docker build -t renderworker . # run the example # `-v`: mount the current directory as a volume # in the `/output` folder inside the image docker run -v `pwd`:/output renderworker ``` It should print a bunch of log messages, and something like `rendered bytes: 49803`. You should now see a PNG in the current directory: ``` mikedh@orbital:docker_render$ ls Dockerfile README.md output.png render.py run.bash ``` It's a sphere! trimesh-4.5.1/examples/docker/render/render.py000066400000000000000000000014171470574263400214100ustar00rootroot00000000000000from pyglet import gl import trimesh if __name__ == "__main__": # print logged messages trimesh.util.attach_to_log() # make a sphere mesh = trimesh.creation.icosphere() # get a scene object containing the mesh, this is equivalent to: # scene = trimesh.scene.Scene(mesh) scene = mesh.scene() # set a GL config that fixes a depth buffer issue in xvfb window_conf = gl.Config(double_buffer=True, depth_size=24) # run the actual render call png = scene.save_image(resolution=[1920, 1080], window_conf=window_conf) # the PNG is just bytes data trimesh.util.log.info("rendered bytes:", len(png)) # write the render to a volume we should have docker mounted with open("/output/output.png", "wb") as f: f.write(png) trimesh-4.5.1/examples/docker/render/run.bash000066400000000000000000000003571470574263400212240ustar00rootroot00000000000000set -xe # in this directory build the image with a tag docker build . -t renderworker # run the container we just built # the -v will mount the current directory # as /output inside the container docker run -v `pwd`:/output renderworker trimesh-4.5.1/examples/nearest.ipynb000066400000000000000000000050541470574263400175360ustar00rootroot00000000000000{ "cells": [ { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "\"\"\"\n", "An example showing nearest point queries, sampling the\n", "volume of box primitives generated from the oriented bounds\n", "and using PointCloud objects for visualization.\n", "\"\"\"" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "import numpy as np\n", "\n", "import trimesh" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "# load a large- ish PLY model with colors\n", "mesh = trimesh.load(\"../models/cycloidal.ply\")" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "# we can sample the volume of Box primitives\n", "points = mesh.bounding_box_oriented.sample_volume(count=10)" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "# find the closest point on the mesh to each random point\n", "(closest_points, distances, triangle_id) = mesh.nearest.on_surface(points)\n", "# distance from point to surface of meshdistances" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "# create a PointCloud object out of each (n,3) list of points\n", "cloud_original = trimesh.points.PointCloud(points)\n", "cloud_close = trimesh.points.PointCloud(closest_points)\n", "\n", "# create a unique color for each point\n", "cloud_colors = np.array([trimesh.visual.random_color() for i in points])\n", "\n", "# set the colors on the random point and its nearest point to be the same\n", "cloud_original.vertices_color = cloud_colors\n", "cloud_close.vertices_color = cloud_colors\n", "\n", "# create a scene containing the mesh and two sets of points\n", "scene = trimesh.Scene([mesh, cloud_original, cloud_close])\n", "\n", "# show the scene wusing\n", "scene.show()" ] } ], "metadata": { "kernelspec": { "display_name": "Python 3", "language": "python", "name": "python3" }, "language_info": { "codemirror_mode": { "name": "ipython", "version": 3 }, "file_extension": ".py", "mimetype": "text/x-python", "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", "version": "3.8.10" } }, "nbformat": 4, "nbformat_minor": 2 } trimesh-4.5.1/examples/nricp.py000066400000000000000000000120111470574263400165060ustar00rootroot00000000000000""" examples/nricp.py ------------------------ Register a ball to a teeth For more information, see "Amberg et al. 2007: Optimal Step Nonrigid ICP Algorithms for Surface Registration." """ import numpy as np import trimesh from trimesh.proximity import closest_point from trimesh.registration import nricp_amberg, nricp_sumner, procrustes from trimesh.triangles import points_to_barycentric def slider_closure(records, pv_mesh): """ Return a function used for a PyVista slider widget. """ def cb(value): t1 = min(int(value), len(records) - 1) t2 = min(t1 + 1, len(records) - 1) t = value - t1 pv_mesh.points = (1 - t) * records[t1] + t * records[t2] for i, pos in enumerate(pv_mesh.points[landmarks_vertex_indices[:, 0]]): p.add_mesh(pv.Sphere(target.scale / 200, pos), name=str(i), color="r") pv_mesh["distance"] = (1 - t) * distances[t1] + t * distances[t2] return cb if __name__ == "__main__": # attach to trimesh logs trimesh.util.attach_to_log() # Get two meshes that have a comparable shape source = trimesh.load_mesh("../models/reference.obj", process=False) target = trimesh.load_mesh("../models/target.obj", process=False) # Vertex indices of landmarks source / target landmarks_vertex_indices = np.array( [ [177, 1633], [181, 1561], [614, 1556], [610, 1629], [114, 315], [398, 413], [812, 412], [227, 99], [241, 87], [674, 86], [660, 98], [362, 574], [779, 573], ] ) source_markers_vertices = source.vertices[landmarks_vertex_indices[:, 0]] target_markers_vertices = target.vertices[landmarks_vertex_indices[:, 1]] T = procrustes(source_markers_vertices, target_markers_vertices)[0] source.apply_transform(T) # Just for the sake of using barycentric coordinates... use_barycentric_coordinates = True if use_barycentric_coordinates: source_markers_vertices = source.vertices[landmarks_vertex_indices[:, 0]] source_markers_tids = closest_point(source, source_markers_vertices)[2] source_markers_barys = points_to_barycentric( source.triangles[source_markers_tids], source_markers_vertices ) source_landmarks = (source_markers_tids, source_markers_barys) else: source_landmarks = landmarks_vertex_indices[:, 0] # Parameters for nricp_amberg wl = 3 max_iter = 10 wn = 0.5 steps_amberg = [ # ws, wl, wn, max_iter [0.02, wl, wn, max_iter], [0.007, wl, wn, max_iter], [0.002, wl, wn, max_iter], ] # Parameters for nricp_sumner wl = 1000 wi = 0.0001 ws = 1 wn = 1 steps_sumner = [ # wc, wi, ws, wl, wn [0, wi, ws, wl, wn], [0.1, wi, ws, wl, wn], [1, wi, ws, wl, wn], [5, wi, ws, wl, wn], [10, wi, ws, wl, wn], [50, wi, ws, wl, wn], [100, wi, ws, wl, wn], [1000, wi, ws, wl, wn], [10000, wi, ws, wl, wn], ] # Amberg et al. 2007 records_amberg = nricp_amberg( source, target, source_landmarks=source_landmarks, distance_threshold=0.05, target_positions=target_markers_vertices, steps=steps_amberg, return_records=True, ) # Sumner and Popovic 2004 records_sumner = nricp_sumner( source, target, source_landmarks=source_landmarks, distance_threshold=0.05, target_positions=target_markers_vertices, steps=steps_sumner, return_records=True, ) # Show the result try: import pyvista as pv for records, name in [ (records_amberg, "Amberg et al. 2007"), (records_sumner, "Sumner and Popovic 2004"), ]: distances = [closest_point(target, r)[1] for r in records] p = pv.Plotter() p.background_color = "w" pv_mesh = pv.wrap(source) pv_mesh["distance"] = distances[0] p.add_text(name, color=(0, 0, 0)) p.add_mesh( pv_mesh, color=(0.6, 0.6, 0.9), cmap="rainbow", clim=(0, target.scale / 100), scalars="distance", scalar_bar_args={"color": (0, 0, 0)}, ) p.add_mesh(pv.wrap(target), style="wireframe") p.add_slider_widget( slider_closure(records=records, pv_mesh=pv_mesh), rng=(0, len(records)), value=0, color="black", event_type="always", title="step", ) for pos in target_markers_vertices: p.add_mesh(pv.Sphere(target.scale / 200, pos), color="g") p.show() except ImportError: source.vertices = records_amberg[-1] source.show() source.vertices = records_sumner[-1] source.show() trimesh-4.5.1/examples/offscreen_render.py000066400000000000000000000026301470574263400207120ustar00rootroot00000000000000import numpy as np import trimesh if __name__ == "__main__": # print logged messages trimesh.util.attach_to_log() log = trimesh.util.log # load a mesh mesh = trimesh.load("../models/featuretype.STL") # get a scene object containing the mesh, this is equivalent to: # scene = trimesh.scene.Scene(mesh) scene = mesh.scene() # a 45 degree homogeneous rotation matrix around # the Y axis at the scene centroid rotate = trimesh.transformations.rotation_matrix( angle=np.radians(30.0), direction=[1, 0, 0], point=scene.centroid ) for i in range(10): trimesh.constants.log.info(f"Saving image {i}") # rotate the camera view transform camera_old, _geometry = scene.graph[scene.camera.name] camera_new = np.dot(rotate, camera_old) # apply the new transform scene.graph[scene.camera.name] = camera_new # saving an image requires an opengl context, so if -nw # is passed don't save the image try: # increment the file name file_name = "render_" + str(i) + ".png" # save a render of the object as a png png = scene.save_image(resolution=[1920, 1080], visible=True) with open(file_name, "wb") as f: f.write(png) f.close() except BaseException as E: log.debug("unable to save image", str(E)) trimesh-4.5.1/examples/outlined.py000066400000000000000000000022231470574263400172220ustar00rootroot00000000000000""" outlined.py -------------- Show a mesh with edges highlighted using GL_LINES """ import numpy as np import trimesh if __name__ == "__main__": mesh = trimesh.load("../models/featuretype.STL") # get edges we want to highlight by finding edges # that have sharp angles between adjacent faces edges = mesh.face_adjacency_edges[mesh.face_adjacency_angles > np.radians(30)] # get a Path3D object for the edges we want to highlight path = trimesh.path.Path3D( **trimesh.path.exchange.misc.edges_to_path(edges, mesh.vertices.copy()) ) # set the mesh face colors to white mesh.visual.face_colors = [255, 255, 255, 255] # create a scene with both the mesh and the outline edges scene = trimesh.Scene([mesh, path]) # set the camera resolution scene.camera.resolution = (4000, 2000) # set the camera transform to look at the mesh scene.camera_transform = scene.camera.look_at( points=mesh.vertices, rotation=trimesh.transformations.euler_matrix(np.pi / 3, 0, np.pi / 5), ) # write a PNG of the render with open("outlined.PNG", "wb") as f: f.write(scene.save_image()) trimesh-4.5.1/examples/prepare.py000066400000000000000000000076451470574263400170520ustar00rootroot00000000000000""" An example of a simple way of preparing and analyzing a model for properties of interest to 3D printing, implemented using dataclasses which can easily be used for API routes. - Volume - Oriented Bounding Box - thin regions The nominal operations flow we're using here is defined by easily serialized `dataclass` objects and goes: RawFile -> # a raw loadable file PrintCandidate -> # usable properties about the model PrintJob -> # after quantities and options are picked PrintRelease # i.e. what you would send to the machine """ import os from dataclasses import dataclass from typing import Optional import trimesh @dataclass class RawFile: # the data for the loadable file file_data: bytes # the original name of the file # the extension will be used to determine type file_name: str # the units of the file if it is in a format # that does not include units (i.e. STL files) units: Optional[str] = None @dataclass class Error: # the user-facing message message: str # a code that can be used to group problems code: str # if faces were colored to indicate the problem color: str @dataclass class PrintCandidate: # the repaired model repaired into a GLB file glb: bytes # any problems that were encountered errors: list[Error] # the volume of the mesh volume: float # the size of the axis-aligned bounding box extents: list[float] def load(raw: RawFile) -> trimesh.Trimesh: """ Load a raw file for 3D printing, collapsing meshes into a single body. """ # coerce scenes and formats with normals into a mesh mesh = trimesh.load( file_obj=trimesh.util.wrap_as_stream(raw.file_data), file_type=raw.file_name, process=True, merge_tex=True, # ignore UV coordinates merge_norm=True, # ignore vertex normals force="mesh", # concatenate into single mesh ) mesh.process(merge_tex=True, merge_norm=True) # if passed explicitly if mesh.units is None and raw.units is not None: mesh.units = raw.units # convert mesh to meters and guess as a fallback mesh.convert_units("meters", guess=True) # make sure it is using face colors mesh.visual = trimesh.visual.ColorVisuals(mesh=mesh) return mesh def prepare( mesh: trimesh.Trimesh, minimum_thickness: float = 0.0005, ) -> PrintCandidate: """ Take a raw 3D model and process it for 3D printing. """ # collect issues to report problems = [] if not mesh.fill_holes(): problems.append( Error(message="Mesh is not watertight!", code="watertight", color="#FF0000") ) # will apply "red" to broken faces trimesh.repair.broken_faces(mesh=mesh, color=[255, 0, 0, 255]) thick_bad = ( trimesh.proximity.thickness( mesh, mesh.triangles_center - mesh.face_normals * 0.001 ) < minimum_thickness ) if thick_bad.any(): mesh.visual.face_colors[thick_bad] = [0, 0, 255, 255] problems.append( Error( message="Mesh has regions below minimum thickness!", code="watertight", color="#0000FF", ) ) mesh.show() return PrintCandidate( glb=mesh.export(file_type="glb"), errors=problems, volume=mesh.volume, extents=mesh.extents, ) if __name__ == "__main__": # current working directory cwd = os.path.abspath(os.path.expanduser(os.path.dirname(__file__))) # create a raw "request" file_name = "machinist.3DXML" # file_name = 'ADIS16480.STL' file_path = os.path.join(cwd, "..", "models", file_name) with open(file_path, "rb") as f: loaded = load(raw=RawFile(file_data=f.read(), file_name=file_name, units=None)) from pyinstrument import Profiler with Profiler() as P: report = prepare(loaded) P.print() trimesh-4.5.1/examples/quick_start.ipynb000066400000000000000000000120621470574263400204230ustar00rootroot00000000000000{ "cells": [ { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "\"\"\"\n", "A simple example showing various properties of `Trimesh` objects.\n", "\"\"\"" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "import numpy as np\n", "\n", "import trimesh" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "# load a file by name or from a buffer\n", "mesh = trimesh.load_mesh(\"../models/featuretype.STL\")\n", "# to keep the raw data intact, disable any automatic processing\n", "# mesh = trimesh.load_mesh('../models/featuretype.STL', process=False)" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "# is the current mesh watertight?\n", "mesh.is_watertight" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "# what's the euler number for the mesh?\n", "mesh.euler_number" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "# the convex hull is another Trimesh object that is available as a property\n", "# lets compare the volume of our mesh with the volume of its convex hull\n", "np.divide(mesh.volume, mesh.convex_hull.volume)" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "# since the mesh is watertight, it means there is a\n", "# volumetric center of mass which we can set as the origin for our mesh\n", "mesh.vertices -= mesh.center_mass" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "# what's the moment of inertia for the mesh?\n", "mesh.moment_inertia" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "# if there are multiple bodies in the mesh we can split the mesh by\n", "# connected components of face adjacency\n", "# since this example mesh is a single watertight body we get a list of one mesh\n", "mesh.split()" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "# preview mesh in a pyglet window from a terminal, or inline in a notebook\n", "mesh.show()" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "# facets are groups of coplanar adjacent faces\n", "# set each facet to a random color\n", "# colors are 8 bit RGBA by default (n,4) np.uint8\n", "for facet in mesh.facets:\n", " mesh.visual.face_colors[facet] = trimesh.visual.random_color()" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "# transform method can be passed a (4,4) matrix and will cleanly apply the transform\n", "mesh.apply_transform(trimesh.transformations.random_rotation_matrix())" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "# an axis aligned bounding box is available\n", "mesh.bounding_box.primitive.extents" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "# a minimum volume oriented bounding box is available\n", "mesh.bounding_box_oriented.primitive.extents" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "mesh.bounding_box_oriented.primitive.transform" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "# the bounding box is a trimesh.primitives.Box object, which subclasses\n", "# Trimesh and lazily evaluates to fill in vertices and faces when requested\n", "mesh.bounding_box_oriented.show()" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "# bounding spheres and bounding cylinders of meshes are also\n", "# available, and will be the minimum volume version of each\n", "# except in certain degenerate cases, where they will be no worse\n", "# than a least squares fit version of the primitive.\n", "(\n", " mesh.bounding_box_oriented.volume,\n", " mesh.bounding_cylinder.volume,\n", " mesh.bounding_sphere.volume,\n", ")" ] } ], "metadata": { "kernelspec": { "display_name": "Python 3", "language": "python", "name": "python3" }, "language_info": { "codemirror_mode": { "name": "ipython", "version": 3 }, "file_extension": ".py", "mimetype": "text/x-python", "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", "version": "3.8.10" } }, "nbformat": 4, "nbformat_minor": 1 } trimesh-4.5.1/examples/ray.ipynb000066400000000000000000000063111470574263400166650ustar00rootroot00000000000000{ "cells": [ { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "\"\"\"\n", "An example showing simple ray-mesh queries.\n", "\"\"\"" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "import numpy as np\n", "\n", "import trimesh" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "# test on a sphere primitive\n", "mesh = trimesh.creation.icosphere()" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "# create some rays\n", "ray_origins = np.array([[0, 0, -3], [2, 2, -3]])\n", "ray_directions = np.array([[0, 0, 1], [0, 0, 1]])" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "# check out the docstring for intersects_location queries\n", "mesh.ray.intersects_location.__doc__" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "# run the mesh- ray query\n", "locations, index_ray, index_tri = mesh.ray.intersects_location(\n", " ray_origins=ray_origins, ray_directions=ray_directions\n", ")" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "# the rays hit the mesh at coordinateslocations" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "# the rays with index_ray hit the triangles stored at mesh.faces[index_tri]len(index_ray)" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "# stack rays into line segments for visualization as Path3D\n", "ray_visualize = trimesh.load_path(\n", " np.hstack((ray_origins, ray_origins + ray_directions * 5.0)).reshape(-1, 2, 3)\n", ")" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "# unmerge so viewer doesn't smooth\n", "mesh.unmerge_vertices()\n", "# make mesh white- ish\n", "mesh.visual.face_colors = [255, 255, 255, 255]\n", "mesh.visual.face_colors[index_tri] = [255, 0, 0, 255]" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "# create a visualization scene with rays, hits, and mesh\n", "scene = trimesh.Scene([mesh, ray_visualize])" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "# show the visualization\n", "scene.show()" ] } ], "metadata": { "kernelspec": { "display_name": "Python 3", "language": "python", "name": "python3" }, "language_info": { "codemirror_mode": { "name": "ipython", "version": 3 }, "file_extension": ".py", "mimetype": "text/x-python", "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", "version": "3.8.10" } }, "nbformat": 4, "nbformat_minor": 2 } trimesh-4.5.1/examples/ray.py000066400000000000000000000032101470574263400161670ustar00rootroot00000000000000""" ray.py ---------------- Do simple mesh- ray queries. Base functionality only requires numpy, but if you install `pyembree` you get the same API with a roughly 50x speedup. """ import numpy as np import trimesh if __name__ == "__main__": # test on a sphere mesh mesh = trimesh.primitives.Sphere() # create some rays ray_origins = np.array([[0, 0, -5], [2, 2, -10]]) ray_directions = np.array([[0, 0, 1], [0, 0, 1]]) """ Signature: mesh.ray.intersects_location(ray_origins, ray_directions, multiple_hits=True) Docstring: 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: (n) sequence of (m,3) intersection points index_ray: (n,) int, list of ray index index_tri: (n,) int, list of triangle (face) indexes """ # run the mesh- ray test locations, index_ray, index_tri = mesh.ray.intersects_location( ray_origins=ray_origins, ray_directions=ray_directions ) # stack rays into line segments for visualization as Path3D ray_visualize = trimesh.load_path( np.hstack((ray_origins, ray_origins + ray_directions)).reshape(-1, 2, 3) ) # make mesh transparent- ish mesh.visual.face_colors = [100, 100, 100, 100] # create a visualization scene with rays, hits, and mesh scene = trimesh.Scene([mesh, ray_visualize, trimesh.points.PointCloud(locations)]) # display the scene scene.show() trimesh-4.5.1/examples/raytrace.py000066400000000000000000000036701470574263400172200ustar00rootroot00000000000000""" raytrace.py ---------------- A very simple example of using scene cameras to generate rays for image reasons. Install `pyembree` for a speedup (600k+ rays per second) """ import numpy as np import PIL.Image import trimesh if __name__ == "__main__": # test on a simple mesh mesh = trimesh.load("../models/featuretype.STL") # scene will have automatically generated camera and lights scene = mesh.scene() # any of the automatically generated values can be overridden # set resolution, in pixels scene.camera.resolution = [640, 480] # set field of view, in degrees # make it relative to resolution so pixels per degree is same scene.camera.fov = 60 * (scene.camera.resolution / scene.camera.resolution.max()) # convert the camera to rays with one ray per pixel origins, vectors, pixels = scene.camera_rays() # do the actual ray- mesh queries points, index_ray, index_tri = mesh.ray.intersects_location( origins, vectors, multiple_hits=False ) # for each hit, find the distance along its vector depth = trimesh.util.diagonal_dot(points - origins[0], vectors[index_ray]) # find pixel locations of actual hits pixel_ray = pixels[index_ray] # create a numpy array we can turn into an image # doing it with uint8 creates an `L` mode greyscale image a = np.zeros(scene.camera.resolution, dtype=np.uint8) # scale depth against range (0.0 - 1.0) depth_float = (depth - depth.min()) / np.ptp(depth) # convert depth into 0 - 255 uint8 depth_int = (depth_float * 255).round().astype(np.uint8) # assign depth to correct pixel locations a[pixel_ray[:, 0], pixel_ray[:, 1]] = depth_int # create a PIL image from the depth queries img = PIL.Image.fromarray(a) # show the resulting image img.show() # create a raster render of the same scene using OpenGL # rendered = PIL.Image.open(trimesh.util.wrap_as_stream(scene.save_image())) trimesh-4.5.1/examples/save_image.ipynb000066400000000000000000000063661470574263400202040ustar00rootroot00000000000000{ "cells": [ { "cell_type": "code", "execution_count": null, "id": "813d2960", "metadata": {}, "outputs": [], "source": [ "\"\"\"\n", "A simple example showing how to save a 3D object as an image\n", "\"\"\"" ] }, { "cell_type": "code", "execution_count": null, "id": "183b68be", "metadata": {}, "outputs": [], "source": [ "import math\n", "\n", "import trimesh" ] }, { "cell_type": "code", "execution_count": null, "id": "ba25b4d4", "metadata": {}, "outputs": [], "source": [ "# load a file by name\n", "mesh = trimesh.load_mesh(\"../models/featuretype.STL\")" ] }, { "cell_type": "code", "execution_count": null, "id": "adb4a249", "metadata": {}, "outputs": [], "source": [ "# preview mesh in a pyglet window from a terminal, or inline in a notebook\n", "mesh.show()" ] }, { "cell_type": "code", "execution_count": null, "id": "fb628a7c", "metadata": {}, "outputs": [], "source": [ "# Create a scene\n", "scene = trimesh.Scene()" ] }, { "cell_type": "code", "execution_count": null, "id": "4dc9de77", "metadata": {}, "outputs": [], "source": [ "# Add the chosen geometry to the scene\n", "scene.add_geometry(mesh)" ] }, { "cell_type": "code", "execution_count": null, "id": "61e7427f", "metadata": {}, "outputs": [], "source": [ "# Get the bounds corners for the camera transform\n", "corners = scene.bounds_corners" ] }, { "cell_type": "code", "execution_count": null, "id": "a61704bc", "metadata": {}, "outputs": [], "source": [ "# Get isometric view\n", "r_e = trimesh.transformations.euler_matrix(\n", " math.radians(45),\n", " math.radians(45),\n", " math.radians(45),\n", " \"ryxz\",\n", ")" ] }, { "cell_type": "code", "execution_count": null, "id": "d36e4a59", "metadata": {}, "outputs": [], "source": [ "# Get camera transform to look at geometry with isometric view\n", "t_r = scene.camera.look_at(corners, rotation=r_e)" ] }, { "cell_type": "code", "execution_count": null, "id": "1f8dc471", "metadata": {}, "outputs": [], "source": [ "# Set camera transform\n", "scene.camera_transform = t_r" ] }, { "cell_type": "code", "execution_count": null, "id": "c32d0d6d", "metadata": {}, "outputs": [], "source": [ "# Render of scene as a PNG bytes\n", "png = scene.save_image()" ] }, { "cell_type": "code", "execution_count": null, "id": "2791b600", "metadata": {}, "outputs": [], "source": [ "# Write the bytes to file\n", "with open(\"../models/featuretype.png\", \"wb\") as f:\n", " f.write(png)\n", " f.close()" ] } ], "metadata": { "kernelspec": { "display_name": "Python 3 (ipykernel)", "language": "python", "name": "python3" }, "language_info": { "codemirror_mode": { "name": "ipython", "version": 3 }, "file_extension": ".py", "mimetype": "text/x-python", "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", "version": "3.9.6" } }, "nbformat": 4, "nbformat_minor": 5 } trimesh-4.5.1/examples/scan_register.py000066400000000000000000000053741470574263400202410ustar00rootroot00000000000000""" scan_register.py ------------- Create some simulated 3D scan data and register it to a "truth" mesh. """ import numpy as np import trimesh def simulated_brick(face_count, extents, noise, max_iter=10): """ Produce a mesh that is a rectangular solid with noise with a random transform. Parameters ------------- face_count : int Approximate number of faces desired extents : (n,3) float Dimensions of brick noise : float Magnitude of vertex noise to apply """ # create the mesh as a simple box mesh = trimesh.creation.box(extents=extents) # add some systematic error pre- tessellation mesh.vertices[0] += mesh.vertex_normals[0] + (noise * 2) # subdivide until we have more faces than we want for _i in range(max_iter): if len(mesh.vertices) > face_count: break mesh = mesh.subdivide() # apply tessellation and random noise mesh = mesh.permutate.noise(noise) # randomly rotation with translation transform = trimesh.transformations.random_rotation_matrix() transform[:3, 3] = (np.random.random(3) - 0.5) * 1000 mesh.apply_transform(transform) return mesh if __name__ == "__main__": # print log messages to terminal trimesh.util.attach_to_log() log = trimesh.util.log # the size of our boxes extents = [6, 12, 2] # create a simulated brick with noise and random transform scan = simulated_brick(face_count=5000, extents=extents, noise=0.05) # create a "true" mesh truth = trimesh.creation.box(extents=extents) # (4, 4) float homogeneous transform from truth to scan # this will do an ICP refinement with initial transforms # seeded by the principal components of inertia truth_to_scan, cost = truth.register(scan) log.debug( "centroid distance pre-registration:", np.linalg.norm(truth.centroid - scan.centroid), ) # apply the registration transform truth.apply_transform(truth_to_scan) log.debug( "centroid distance post-registration:", np.linalg.norm(truth.centroid - scan.centroid), ) # find the distance from the truth mesh to each scan vertex distance = truth.nearest.on_surface(scan.vertices)[1] # color the mesh by distance from truth # linear interpolation between two colors # scaled between distance.min() and distance.max() scan.visual.vertex_colors = trimesh.visual.interpolate(distance) # print some quick statistics about the mesh log.debug("distance max:", distance.max()) log.debug("distance mean:", distance.mean()) log.debug("distance STD:", distance.std()) # export result with vertex colors for meshlab scan.export("scan_new.ply") # show in a pyglet window scan.show() trimesh-4.5.1/examples/section.ipynb000066400000000000000000000102151470574263400175340ustar00rootroot00000000000000{ "cells": [ { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "\"\"\"\n", "A demonstration of mesh-plane cross-sections, commonly referred to\n", "as \"slicing\" in the context of 3D printing.\n", "\"\"\"" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "import numpy as np\n", "from shapely.geometry import LineString\n", "\n", "import trimesh\n", "\n", "%pylab inline\n", "%config InlineBackend.figure_format = 'svg'" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "# load the mesh from filename\n", "# file objects are also supported\n", "mesh = trimesh.load_mesh(\"../models/featuretype.STL\")" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "# get a single cross section of the mesh\n", "slice = mesh.section(plane_origin=mesh.centroid, plane_normal=[0, 0, 1])" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "# the section will be in the original mesh frame\n", "slice.show()" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "# we can move the 3D curve to a Path2D object easily\n", "slice_2D, to_3D = slice.to_planar()\n", "slice_2D.show()" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "# if we wanted to take a bunch of parallel slices, like for a 3D printer\n", "# we can do that easily with the section_multiplane method\n", "# we're going to slice the mesh into evenly spaced chunks along z\n", "# this takes the (2,3) bounding box and slices it into [minz, maxz]\n", "z_extents = mesh.bounds[:, 2]\n", "# slice every .125 model units (eg, inches)\n", "z_levels = np.arange(*z_extents, step=0.125)" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "# find a bunch of parallel cross sections\n", "sections = mesh.section_multiplane(\n", " plane_origin=mesh.bounds[0], plane_normal=[0, 0, 1], heights=z_levels\n", ")\n", "sections" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "# summing the array of Path2D objects will put all of the curves\n", "# into one Path2D object, which we can plot easily\n", "combined = np.sum(sections)\n", "combined.show()" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "# if we want to intersect a line with this 2D polygon, we can use shapely methods\n", "polygon = slice_2D.polygons_full[0]\n", "# intersect line with one of the polygons\n", "hits = polygon.intersection(LineString([[-4, -1], [3, 0]]))\n", "# check what class the intersection returned\n", "hits.__class__" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "# we can plot the intersection (red) and our original geometry(black and green)\n", "import matplotlib.pyplot as plt\n", "\n", "ax = plt.gca()\n", "for h in hits.geoms:\n", " ax.plot(*h.xy, color=\"r\")\n", "slice_2D.show()" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "# the medial axis is available for closed Path2D objects\n", "(slice_2D + slice_2D.medial_axis()).show()" ] } ], "metadata": { "kernelspec": { "display_name": "Python 3", "language": "python", "name": "python3" }, "language_info": { "codemirror_mode": { "name": "ipython", "version": 3 }, "file_extension": ".py", "mimetype": "text/x-python", "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", "version": "3.8.10" } }, "nbformat": 4, "nbformat_minor": 1 } trimesh-4.5.1/examples/shortest.ipynb000066400000000000000000000061261470574263400177510ustar00rootroot00000000000000{ "cells": [ { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "\"\"\"\n", "Given a mesh and two vertex indices find the shortest path\n", "between the two vertices while only traveling along edges\n", "of the mesh using a distance-weighted graph search.\n", "\"\"\"" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "import networkx as nx\n", "\n", "import trimesh" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "# test on a sphere mesh\n", "mesh = trimesh.primitives.Sphere()" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "# edges without duplication\n", "edges = mesh.edges_unique" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "# the actual length of each unique edge\n", "length = mesh.edges_unique_length" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "# create the graph with edge attributes for length\n", "g = nx.Graph()\n", "for edge, L in zip(edges, length):\n", " g.add_edge(*edge, length=L)" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "# arbitrary indices of mesh.vertices to test with\n", "start = 0\n", "end = int(len(mesh.vertices) / 2.0)" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "# run the shortest path query using length for edge weight\n", "path = nx.shortest_path(g, source=start, target=end, weight=\"length\")" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "# VISUALIZE RESULT\n", "# make the sphere white\n", "mesh.visual.face_colors = [255, 255, 255, 255]\n", "# Path3D with the path between the points\n", "path_visual = trimesh.load_path(mesh.vertices[path])" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "# create a scene with the mesh, path, and points\n", "scene = trimesh.Scene([path_visual, mesh])" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "scene.show()" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [] } ], "metadata": { "kernelspec": { "display_name": "Python 3", "language": "python", "name": "python3" }, "language_info": { "codemirror_mode": { "name": "ipython", "version": 3 }, "file_extension": ".py", "mimetype": "text/x-python", "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", "version": "3.8.10" } }, "nbformat": 4, "nbformat_minor": 2 } trimesh-4.5.1/examples/shortest.py000066400000000000000000000030371470574263400172560ustar00rootroot00000000000000""" shortest.py ---------------- Given a mesh and two vertex indices find the shortest path between the two vertices while only traveling along edges of the mesh. """ import networkx as nx import trimesh if __name__ == "__main__": # test on a sphere mesh mesh = trimesh.primitives.Sphere() # edges without duplication edges = mesh.edges_unique # the actual length of each unique edge length = mesh.edges_unique_length # create the graph with edge attributes for length g = nx.Graph() for edge, L in zip(edges, length): g.add_edge(*edge, length=L) # alternative method for weighted graph creation # you can also create the graph with from_edgelist and # a list comprehension, which is like 1.5x faster ga = nx.from_edgelist([(e[0], e[1], {"length": L}) for e, L in zip(edges, length)]) # arbitrary indices of mesh.vertices to test with start = 0 end = int(len(mesh.vertices) / 2.0) # run the shortest path query using length for edge weight path = nx.shortest_path(g, source=start, target=end, weight="length") # VISUALIZE RESULT # make the sphere transparent-ish mesh.visual.face_colors = [100, 100, 100, 100] # Path3D with the path between the points path_visual = trimesh.load_path(mesh.vertices[path]) # visualizable two points points_visual = trimesh.points.PointCloud(mesh.vertices[[start, end]]) # create a scene with the mesh, path, and points scene = trimesh.Scene([points_visual, path_visual, mesh]) scene.show(smooth=False) trimesh-4.5.1/examples/sinter.py000066400000000000000000000045661470574263400167170ustar00rootroot00000000000000""" A demo for packing a volume with multiple meshes as you might for a powder volume in a sintered printing process. """ import os import numpy as np from pyinstrument import Profiler import trimesh from trimesh.path import packing # path with our sample models models = os.path.abspath( os.path.join(os.path.expanduser(os.path.dirname(__file__)), "..", "models") ) def collect_meshes(count=None, max_size=20.0): """ Collect single body watertight meshes from our models folder. Parameters ------------ count : int or None If loaded more than this return. Returns ------------- meshes : (n,) trimesh.Trimesh Loaded single body meshes. """ meshes = [] for file_name in sorted(os.listdir(models)): try: scene = trimesh.load(os.path.join(models, file_name), force="scene") except BaseException: pass for ori in scene.geometry.values(): if ( not isinstance(ori, trimesh.Trimesh) or not ori.is_watertight or ori.volume < 0.001 or ori.extents.max() > max_size ): continue # split into single body meshes for g in ori.split(): g.visual = trimesh.visual.ColorVisuals(mesh=g) g.visual.face_colors = trimesh.visual.random_color() meshes.append(g) if count is not None and len(meshes) > count: return meshes[:count] return meshes if __name__ == "__main__": trimesh.util.attach_to_log() log = trimesh.util.log size = 10.0 # get some sample data meshes = collect_meshes(max_size=size) log.debug(f"loaded {len(meshes)} meshes") # place the meshes into the volume with Profiler() as P: placed, transforms, consume = packing.meshes(meshes, size=[size] * 3, spacing=0.1) P.log.debug(show_all=True) # none of the placed meshes should have overlapping AABB assert not packing.bounds_overlap([i.bounds for i in placed]) # show the packed result trimesh.Scene(placed).show() # concatenate them into a single mesh concat = trimesh.util.concatenate(placed) # slice the volume sections = concat.section_multiplane( plane_origin=concat.bounds[0], plane_normal=[0, 0, 1], heights=np.linspace(0.0, 10.0, 100), ) trimesh-4.5.1/examples/stl_import_with_mixed_case_names.py000066400000000000000000000004171470574263400241750ustar00rootroot00000000000000import trimesh # Load stl file with mixed case name mesh = trimesh.load_mesh("models/two_objects_mixed_case_names.stl") # Print some geometry info to test for k, v in mesh.geometry.items(): print("Sub-mesh Name:", k, "\nSub-mesh Min X value", min(v.vertices[:, 0])) trimesh-4.5.1/examples/texture.ipynb000066400000000000000000000023421470574263400175720ustar00rootroot00000000000000{ "cells": [ { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "\"\"\"\n", "Load and display a mesh with UV coordinates and texture images.\n", "\"\"\"" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "import trimesh" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "mesh = trimesh.load(\"../models/fuze.obj\")" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "mesh.show()" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "mesh.visual.uv.shape" ] } ], "metadata": { "kernelspec": { "display_name": "Python 3", "language": "python", "name": "python3" }, "language_info": { "codemirror_mode": { "name": "ipython", "version": 3 }, "file_extension": ".py", "mimetype": "text/x-python", "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", "version": "3.8.10" } }, "nbformat": 4, "nbformat_minor": 2 } trimesh-4.5.1/examples/viewcallback.py000066400000000000000000000022351470574263400200310ustar00rootroot00000000000000""" view_callback.py ------------------ Show how to pass a callback to the scene viewer for easy visualizations. """ import time import numpy as np import trimesh def sinwave(scene): """ A callback passed to a scene viewer which will update transforms in the viewer periodically. Parameters ------------- scene : trimesh.Scene Scene containing geometry """ # create an empty homogeneous transformation matrix = np.eye(4) # set Y as cos of time matrix[1][3] = np.cos(time.time()) * 2 # set Z as sin of time matrix[2][3] = np.sin(time.time()) * 3 # take one of the two spheres arbitrarily node = s.graph.nodes_geometry[0] # apply the transform to the node scene.graph.update(node, matrix=matrix) if __name__ == "__main__": # create some spheres a = trimesh.primitives.Sphere() b = trimesh.primitives.Sphere() # set some colors for the balls a.visual.face_colors = [255, 0, 0, 255] b.visual.face_colors = [0, 0, 100, 255] # create a scene with the two balls s = trimesh.Scene([a, b]) # open the scene viewer and move a ball around s.show(callback=sinwave) trimesh-4.5.1/examples/voxel.py000066400000000000000000000104111470574263400165320ustar00rootroot00000000000000import inspect import os import numpy as np import trimesh from trimesh import voxel as v from trimesh.exchange.binvox import voxelize_mesh log = trimesh.util.log dir_current = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe()))) # the absolute path for our reference models dir_models = os.path.abspath(os.path.join(dir_current, "..", "models")) def show(chair_mesh, chair_voxels, colors=(1, 1, 1, 0.3)): scene = chair_mesh.scene() scene.add_geometry(chair_voxels.as_boxes(colors=colors)) scene.show() if __name__ == "__main__": trimesh.util.attach_to_log() base_name = "chair_model" chair_mesh = trimesh.load(os.path.join(dir_models, f"{base_name}.obj")) if isinstance(chair_mesh, trimesh.scene.Scene): chair_mesh = trimesh.util.concatenate( [ trimesh.Trimesh(mesh.vertices, mesh.faces) for mesh in chair_mesh.geometry.values() ] ) binvox_path = os.path.join(dir_models, f"{base_name}.binvox") chair_voxels = trimesh.load(binvox_path) chair_voxels = v.VoxelGrid(chair_voxels.encoding.dense, chair_voxels.transform) log.debug("white: voxelized chair (binvox, exact)") show(chair_mesh, voxelize_mesh(chair_mesh, exact=True), colors=(1, 1, 1, 0.3)) log.debug("red: binvox-loaded chair") show(chair_mesh, chair_voxels, colors=(1, 0, 0, 0.3)) voxelized_chair_mesh = chair_mesh.voxelized(np.max(chair_mesh.extents) / 32) log.debug("green: voxelized chair (default).") show(chair_mesh, voxelized_chair_mesh, colors=(0, 1, 0, 0.3)) shape = (50, 17, 63) revox = chair_voxels.revoxelized(shape) log.debug("cyan: revoxelized.") show(chair_mesh, revox, colors=(0, 1, 1, 0.3)) values = chair_voxels.encoding.dense.copy() values[: values.shape[0] // 2] = 0 stripped = v.VoxelGrid(values, chair_voxels.transform.copy()).strip() log.debug("yellow: stripped halved voxel grid. Transform is updated appropriately") show(chair_mesh, stripped, colors=(1, 1, 0, 0.3)) transform = np.eye(4) transform[:3] += np.random.normal(size=(3, 4)) * 0.2 transformed_chair_mesh = chair_mesh.copy().apply_transform(transform) log.debug(f"original transform volume: {chair_voxels.element_volume!s}") chair_voxels.apply_transform(transform) log.debug(f"warped transform volume: {chair_voxels.element_volume!s}") log.debug("blue: transformed voxels") log.debug("Transformation is lazy, and each voxel is no longer a cube.") show(transformed_chair_mesh, chair_voxels, colors=(0, 0, 1, 0.3)) voxelized = chair_mesh.voxelized(pitch=0.02, method="subdivide").fill() log.debug("green: subdivided") show(chair_mesh, voxelized, colors=(0, 1, 0, 0.3)) voxelized = chair_mesh.voxelized(pitch=0.02, method="ray") log.debug("red: ray. Poor performance on thin structures") show(chair_mesh, voxelized, colors=(1, 0, 0, 0.3)) voxelized = chair_mesh.voxelized(pitch=0.02, method="binvox") log.debug("red: binvox (default). Poor performance on thin structures") show(chair_mesh, voxelized, colors=(1, 0, 0, 0.3)) voxelized = chair_mesh.voxelized(pitch=0.02, method="binvox", wireframe=True) log.debug("green: binvox (wireframe). Still doesn't capture all thin structures") show(chair_mesh, voxelized, colors=(0, 1, 0, 0.3)) voxelized = chair_mesh.voxelized(pitch=0.02, method="binvox", exact=True) log.debug("blue: binvox (exact). Does a good job") show(chair_mesh, voxelized, colors=(0, 0, 1, 0.3)) voxelized = chair_mesh.voxelized( pitch=0.02, method="binvox", exact=True, downsample_factor=2, downsample_threshold=1, ) log.debug("red: binvox (exact downsampled) surface") show(chair_mesh, voxelized, colors=(1, 0, 0, 0.3)) chair_voxels = chair_mesh.voxelized(pitch=0.02, method="binvox", exact=True) voxelized = chair_voxels.copy().fill(method="base") log.debug("blue: binvox (exact) filled (base). Gets a bit overly excited") show(chair_mesh, voxelized, colors=(0, 0, 1, 0.3)) voxelized = chair_voxels.copy().fill(method="orthographic") log.debug("green: binvox (exact) filled (orthographic).") log.debug("Doesn't do much as should be expected") show(chair_mesh, voxelized, colors=(0, 1, 0, 0.3)) trimesh-4.5.1/examples/voxel_fillers.py000066400000000000000000000020571470574263400202610ustar00rootroot00000000000000import trimesh from trimesh.voxel.morphology import fillers def show(surface, filled): """ Display a colored example. """ scene = trimesh.Scene( [surface.as_boxes(colors=(1, 0, 0, 0.3)), filled.as_boxes(colors=(0, 0, 1, 0.5))] ) scene.show() if __name__ == "__main__": trimesh.util.attach_to_log() mesh = trimesh.primitives.Sphere() # remove_internal produced unexpected results when boundary pixels # are occupied not useful very often # but handy to demonstrate filling algorithms. surface = mesh.voxelized(pitch=0.2, method="binvox", remove_internal=True) for impl in fillers: trimesh.util.log.debug(impl) show(surface, surface.copy().fill(method=impl)) filled = mesh.voxelized(pitch=0.05, method="binvox", exact=True).fill(method="holes") hollow = filled.copy().hollow() trimesh.util.log.debug("filled volume, hollow_volume") trimesh.util.log.debug(filled.volume, hollow.volume) trimesh.util.log.debug("hollow voxel (zoom in to see hollowness)") hollow.show() trimesh-4.5.1/examples/voxel_silhouette.py000066400000000000000000000031431470574263400210030ustar00rootroot00000000000000import os import numpy as np from PIL import Image import trimesh def vis(): # separate function to delay plt import import matplotlib.pyplot as plt _, (ax0, ax1, ax2) = plt.subplots(1, 3) ax0.imshow(image) ax1.imshow(sil) sil_image = image.copy() sil_image[np.logical_not(sil)] = 0 ax2.imshow(sil_image) plt.show() if __name__ == "__main__": trimesh.util.attach_to_log() log = trimesh.util.log resolution = 256 fov = 60.0 path = os.path.realpath( os.path.join(os.path.dirname(__file__), "..", "models", "bunny.ply") ) mesh = trimesh.load(path) scene = mesh.scene() camera = scene.camera camera.fov = (fov,) * 2 camera.resolution = (resolution,) * 2 origins, rays, px = scene.camera_rays() origin = origins[0] rays = rays.reshape((resolution, resolution, 3)) offset = mesh.vertices - origin # dists is vertices projected onto central ray dists = np.dot(offset, rays[rays.shape[0] // 2, rays.shape[1] // 2]) closest = np.min(dists) farthest = np.max(dists) z = np.linspace(closest, farthest, resolution) log.debug(f"z range: {closest:f}, {farthest:f}") vox = mesh.voxelized(1.0 / resolution, method="binvox") coords = np.expand_dims(rays, axis=-2) * np.expand_dims(z, axis=-1) coords += origin frust_vox_dense = vox.is_filled(coords) sil = np.any(frust_vox_dense, axis=-1) sil = sil.T # change to image ordering (y, x) image = np.array( Image.open(trimesh.util.wrap_as_stream(scene.save_image(resolution=None))) ) image = image[..., :3] vis() trimesh-4.5.1/examples/widget.py000066400000000000000000000107031470574263400166640ustar00rootroot00000000000000""" Glooey widget example. Only runs with python>=3.6 and pyglet<=1.5.27 (because of Glooey). """ import io import pathlib import glooey import numpy as np import PIL.Image import pyglet import trimesh import trimesh.transformations as tf import trimesh.viewer here = pathlib.Path(__file__).resolve().parent def create_scene(): """ Create a scene with a Fuze bottle, some cubes, and an axis. Returns ---------- scene : trimesh.Scene Object with geometry """ scene = trimesh.Scene() # plane geom = trimesh.creation.box((0.5, 0.5, 0.01)) geom.apply_translation((0, 0, -0.005)) geom.visual.face_colors = (0.6, 0.6, 0.6) scene.add_geometry(geom) # axis geom = trimesh.creation.axis(0.02) scene.add_geometry(geom) box_size = 0.1 # box1 geom = trimesh.creation.box((box_size,) * 3) geom.visual.face_colors = np.random.uniform(0, 1, (len(geom.faces), 3)) transform = tf.translation_matrix([0.1, 0.1, box_size / 2]) scene.add_geometry(geom, transform=transform) # box2 geom = trimesh.creation.box((box_size,) * 3) geom.visual.face_colors = np.random.uniform(0, 1, (len(geom.faces), 3)) transform = tf.translation_matrix([-0.1, 0.1, box_size / 2]) scene.add_geometry(geom, transform=transform) # fuze geom = trimesh.load(str(here / "../models/fuze.obj")) transform = tf.translation_matrix([-0.1, -0.1, 0]) scene.add_geometry(geom, transform=transform) # sphere geom = trimesh.creation.icosphere(radius=0.05) geom.visual.face_colors = np.random.uniform(0, 1, (len(geom.faces), 3)) transform = tf.translation_matrix([0.1, -0.1, box_size / 2]) scene.add_geometry(geom, transform=transform) return scene class Application: """ Example application that includes moving camera, scene and image update. """ def __init__(self): # create window with padding self.width, self.height = 480 * 3, 360 window = self._create_window(width=self.width, height=self.height) gui = glooey.Gui(window) hbox = glooey.HBox() hbox.set_padding(5) # scene widget for changing camera location scene = create_scene() self.scene_widget1 = trimesh.viewer.SceneWidget(scene) self.scene_widget1._angles = [np.deg2rad(45), 0, 0] hbox.add(self.scene_widget1) # scene widget for changing scene scene = trimesh.Scene() geom = trimesh.path.creation.box_outline((0.6, 0.6, 0.6)) scene.add_geometry(geom) self.scene_widget2 = trimesh.viewer.SceneWidget(scene) hbox.add(self.scene_widget2) # integrate with other widget than SceneWidget self.image_widget = glooey.Image() hbox.add(self.image_widget) gui.add(hbox) pyglet.clock.schedule_interval(self.callback, 1.0 / 20) pyglet.app.run() def callback(self, dt): # change camera location self.scene_widget1._angles[2] += np.deg2rad(1) self.scene_widget1.scene.set_camera(self.scene_widget1._angles) # change scene if len(self.scene_widget2.scene.graph.nodes) < 100: geom = trimesh.creation.icosphere(radius=0.01) geom.visual.face_colors = np.random.uniform(0, 1, (3,)) geom.apply_translation(np.random.uniform(-0.3, 0.3, (3,))) self.scene_widget2.scene.add_geometry(geom) self.scene_widget2._draw() # change image image = np.random.randint( 0, 255, (self.height - 10, self.width // 3 - 10, 3), dtype=np.uint8 ) with io.BytesIO() as f: PIL.Image.fromarray(image).save(f, format="JPEG") self.image_widget.image = pyglet.image.load(filename=None, file=f) def _create_window(self, width, height): try: config = pyglet.gl.Config( sample_buffers=1, samples=4, depth_size=24, double_buffer=True ) window = pyglet.window.Window(config=config, width=width, height=height) except pyglet.window.NoSuchConfigException: config = pyglet.gl.Config(double_buffer=True) window = pyglet.window.Window(config=config, width=width, height=height) @window.event def on_key_press(symbol, modifiers): if modifiers == 0: if symbol == pyglet.window.key.Q: window.close() return window if __name__ == "__main__": np.random.seed(0) Application() trimesh-4.5.1/models/000077500000000000000000000000001470574263400144735ustar00rootroot00000000000000trimesh-4.5.1/models/1002_tray_bottom.STL000066400000000000000000047320601470574263400201000ustar00rootroot00000000000000solid 1002_tray_bottom facet normal 0.000000e+000 1.000000e+000 0.000000e+000 outer loop vertex 1.018757e+002 3.175000e+000 -1.431162e+001 vertex 1.016000e+002 3.175000e+000 -1.428750e+001 vertex 1.040257e+002 3.175000e+000 -7.143750e+000 endloop endfacet facet normal 0.000000e+000 1.000000e+000 0.000000e+000 outer loop vertex 1.029748e+002 3.175000e+000 -3.389313e+002 vertex 1.028161e+002 3.175000e+000 -3.387046e+002 vertex 1.040257e+002 3.175000e+000 -3.255918e+002 endloop endfacet facet normal 0.000000e+000 1.000000e+000 0.000000e+000 outer loop vertex 0.000000e+000 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Center ____ _ ____ _ ____ _ ____ _ ____ _ ____ 72 65 73 4 40 0.4 49 0.25 74 0 49 -0.05 74 0 49 0.05 74 0 49 -0.05 74 0 0 LTYPE 5 42 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 CENTERX2 70 0 3 Center (2x) ________ __ ________ __ _____ 72 65 73 4 40 0.8 49 0.5 74 0 49 -0.1 74 0 49 0.1 74 0 49 -0.1 74 0 0 LTYPE 5 43 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DOT2 70 0 3 Dot (.5x) ........................................ 72 65 73 2 40 0.025 49 0.0 74 0 49 -0.025 74 0 0 ENDTAB 0 TABLE 2 LAYER 5 2 330 0 100 AcDbSymbolTable 70 1 0 LAYER 5 10 330 2 100 AcDbSymbolTableRecord 100 AcDbLayerTableRecord 2 0 70 0 62 7 6 Continuous 370 -3 390 F 0 ENDTAB 0 TABLE 2 STYLE 5 3 330 0 100 AcDbSymbolTable 70 1 0 STYLE 5 11 330 3 100 AcDbSymbolTableRecord 100 AcDbTextStyleTableRecord 2 Standard 70 0 40 0.0 41 1.0 50 0.0 71 0 42 0.1377952756 3 txt 4 0 ENDTAB 0 TABLE 2 VIEW 5 6 330 0 100 AcDbSymbolTable 70 0 0 ENDTAB 0 TABLE 2 UCS 5 7 330 0 100 AcDbSymbolTable 70 0 0 ENDTAB 0 TABLE 2 APPID 5 9 330 0 100 AcDbSymbolTable 70 1 0 APPID 5 12 330 9 100 AcDbSymbolTableRecord 100 AcDbRegAppTableRecord 2 ACAD 70 0 0 ENDTAB 0 TABLE 2 DIMSTYLE 5 A 330 0 100 AcDbSymbolTable 70 1 100 AcDbDimStyleTable 0 DIMSTYLE 105 27 330 A 100 AcDbSymbolTableRecord 100 AcDbDimStyleTableRecord 2 Standard 70 0 178 0 340 11 0 ENDTAB 0 TABLE 2 BLOCK_RECORD 5 1 330 0 100 AcDbSymbolTable 70 1 0 BLOCK_RECORD 5 1F 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Model_Space 340 22 0 BLOCK_RECORD 5 1B 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Paper_Space 340 1E 0 BLOCK_RECORD 5 23 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Paper_Space0 340 26 0 ENDTAB 0 ENDSEC 0 SECTION 2 BLOCKS 0 BLOCK 5 20 330 1F 100 AcDbEntity 8 0 100 AcDbBlockBegin 2 *Model_Space 70 0 10 0.0 20 0.0 30 0.0 3 *Model_Space 1 0 ENDBLK 5 21 330 1F 100 AcDbEntity 8 0 100 AcDbBlockEnd 0 BLOCK 5 1C 330 1B 100 AcDbEntity 67 1 8 0 100 AcDbBlockBegin 2 *Paper_Space 70 0 10 0.0 20 0.0 30 0.0 3 *Paper_Space 1 0 ENDBLK 5 1D 330 1B 100 AcDbEntity 67 1 8 0 100 AcDbBlockEnd 0 BLOCK 5 24 330 23 100 AcDbEntity 8 0 100 AcDbBlockBegin 2 *Paper_Space0 70 0 10 0.0 20 0.0 30 0.0 3 *Paper_Space0 1 0 ENDBLK 5 25 330 23 100 AcDbEntity 8 0 100 AcDbBlockEnd 0 ENDSEC 0 SECTION 2 ENTITIES 0 CIRCLE 5 44 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 24.8194063371 20 24.0326548421 30 0.0 40 0.0625 0 CIRCLE 5 45 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 18.8194063371 20 24.0326548421 30 0.0 40 0.0625 0 ARC 5 46 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 21.6694063371 20 16.8826548421 30 0.0 40 0.1000000000000014 100 AcDbArc 50 180.0 51 270.0 0 LINE 5 47 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbLine 10 21.6694063371 20 16.7826548421 30 0.0 11 21.9694063371 21 16.7826548421 31 0.0 0 ARC 5 48 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 21.9694063371 20 16.8826548421 30 0.0 40 0.0999999999999979 100 AcDbArc 50 270.0 51 0.0 0 LINE 5 49 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbLine 10 22.0694063371 20 16.8826548421 30 0.0 11 22.0694063371 21 18.4326548421 31 0.0 0 ARC 5 4A 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 21.9694063371 20 18.4326548421 30 0.0 40 0.0999999999999979 100 AcDbArc 50 0.0 51 90.0 0 LINE 5 4B 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbLine 10 21.6694063371 20 18.5326548421 30 0.0 11 21.9694063371 21 18.5326548421 31 0.0 0 ARC 5 4C 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 21.6694063371 20 18.4326548421 30 0.0 40 0.1000000000000014 100 AcDbArc 50 90.0 51 180.0 0 LINE 5 4D 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbLine 10 21.5694063371 20 16.8826548421 30 0.0 11 21.5694063371 21 18.4326548421 31 0.0 0 CIRCLE 5 4E 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 18.8194063371 20 12.4615024194 30 0.0 40 0.1284999999999954 0 ARC 5 4F 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 18.3841272062 20 10.8139048421 30 0.0 40 0.1562500000000018 100 AcDbArc 50 225.0 51 270.0 0 LINE 5 50 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbLine 10 14.8651709025 20 14.1118902767 30 0.0 11 18.2736417717 21 10.7034194076 31 0.0 0 ARC 5 51 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 14.9756563371 20 14.2223757112 30 0.0 40 0.1562500000000013 100 AcDbArc 50 180.0 51 225.0 0 LINE 5 52 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbLine 10 14.8194063371 20 21.092933973 30 0.0 11 14.8194063371 21 14.2223757112 31 0.0 0 ARC 5 53 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 14.9756563371 20 21.092933973 30 0.0 40 0.15625 100 AcDbArc 50 135.0 51 180.0 0 LINE 5 54 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbLine 10 18.2736417717 20 24.6118902767 30 0.0 11 14.8651709025 21 21.2034194076 31 0.0 0 ARC 5 55 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 18.3841272062 20 24.5014048421 30 0.0 40 0.1562500000000036 100 AcDbArc 50 90.0 51 135.0 0 LINE 5 56 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbLine 10 25.254685468 20 24.6576548421 30 0.0 11 18.3841272062 21 24.6576548421 31 0.0 0 ARC 5 57 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 25.254685468 20 24.5014048421 30 0.0 40 0.1562500000000036 100 AcDbArc 50 45.0 51 90.0 0 LINE 5 58 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbLine 10 28.7736417717 20 21.2034194076 30 0.0 11 25.3651709025 21 24.6118902767 31 0.0 0 ARC 5 59 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 28.6631563371 20 21.092933973 30 0.0 40 0.1562500000000036 100 AcDbArc 50 0.0 51 45.0 0 LINE 5 5A 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbLine 10 28.8194063371 20 14.2223757112 30 0.0 11 28.8194063371 21 21.092933973 31 0.0 0 ARC 5 5B 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 28.6631563371 20 14.2223757112 30 0.0 40 0.1562500000000013 100 AcDbArc 50 315.0 51 0.0 0 LINE 5 5C 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbLine 10 25.3651709025 20 10.7034194076 30 0.0 11 28.7736417717 21 14.1118902767 31 0.0 0 ARC 5 5D 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 25.254685468 20 10.8139048421 30 0.0 40 0.1562500000000018 100 AcDbArc 50 270.0 51 315.0 0 LINE 5 5E 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbLine 10 18.3841272062 20 10.6576548421 30 0.0 11 25.254685468 21 10.6576548421 31 0.0 0 CIRCLE 5 5F 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 27.8194063371 20 17.6576548421 30 0.0 40 0.1285000000000025 0 CIRCLE 5 60 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 18.8194063371 20 22.8538072648 30 0.0 40 0.1284999999999989 0 CIRCLE 5 61 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 22.6194063371 20 18.4576548421 30 0.0 40 0.0444999999999993 0 CIRCLE 5 62 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 22.6194063371 20 16.8576548421 30 0.0 40 0.0444999999999993 0 CIRCLE 5 63 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 21.0194063371 20 16.8576548421 30 0.0 40 0.0444999999999993 0 CIRCLE 5 64 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 21.0194063371 20 18.4576548421 30 0.0 40 0.0444999999999993 0 CIRCLE 5 65 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 25.3194063371 20 17.6576548421 30 0.0 40 0.0747500000000016 0 CIRCLE 5 66 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 20.0694063371 20 20.6887437554 30 0.0 40 0.0747499999999945 0 CIRCLE 5 67 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 20.0694063371 20 14.6265659289 30 0.0 40 0.0747499999999892 0 CIRCLE 5 68 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 26.4444063371 20 13.0326548421 30 0.0 40 0.1796875000000018 0 CIRCLE 5 69 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 17.1944063371 20 13.0326548421 30 0.0 40 0.1796875000000018 0 CIRCLE 5 6A 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 26.4444063371 20 22.2826548421 30 0.0 40 0.1796874999999964 0 CIRCLE 5 6B 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 17.1944063371 20 22.2826548421 30 0.0 40 0.1796874999999964 0 CIRCLE 5 6C 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 18.8194063371 20 11.2826548421 30 0.0 40 0.0625 0 CIRCLE 5 6D 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 24.8194063371 20 11.2826548421 30 0.0 40 0.0625 0 CIRCLE 5 6E 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 25.8194063371 20 21.6576548421 30 0.0 40 0.097999999999999 0 CIRCLE 5 6F 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 17.8194063371 20 21.6576548421 30 0.0 40 0.097999999999999 0 CIRCLE 5 70 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 25.8194063371 20 13.6576548421 30 0.0 40 0.0980000000000008 0 CIRCLE 5 71 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 17.8194063371 20 13.6576548421 30 0.0 40 0.0980000000000008 0 ENDSEC 0 SECTION 2 OBJECTS 0 DICTIONARY 5 C 330 0 100 AcDbDictionary 281 1 3 ACAD_GROUP 350 D 3 ACAD_LAYOUT 350 1A 3 ACAD_MLINESTYLE 350 17 3 ACAD_PLOTSETTINGS 350 19 3 ACAD_PLOTSTYLENAME 350 E 0 DICTIONARY 5 D 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 0 DICTIONARY 5 1A 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 Layout1 350 1E 3 Layout2 350 26 3 Model 350 22 0 DICTIONARY 5 17 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 Standard 350 18 0 DICTIONARY 5 19 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 0 ACDBDICTIONARYWDFLT 5 E 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 Normal 350 F 100 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17 0.0 27 1.0 37 0.0 76 0 330 23 0 LAYOUT 5 22 102 {ACAD_REACTORS 330 1A 102 } 330 1A 100 AcDbPlotSettings 1 2 none_device 4 6 40 0.0 41 0.0 42 0.0 43 0.0 44 0.0 45 0.0 46 0.0 47 0.0 48 0.0 49 0.0 140 0.0 141 0.0 142 1.0 143 1.0 70 1712 72 0 73 0 74 0 7 75 0 147 1.0 148 0.0 149 0.0 100 AcDbLayout 1 Model 70 1 71 0 10 0.0 20 0.0 11 46.811023622 21 33.1102362205 12 0.0 22 0.0 32 0.0 14 0.0 24 0.0 34 0.0 15 46.811023622 25 33.1102362205 35 0.0 146 0.0 13 0.0 23 0.0 33 0.0 16 1.0 26 0.0 36 0.0 17 0.0 27 1.0 37 0.0 76 0 330 1F 331 29 0 MLINESTYLE 5 18 102 {ACAD_REACTORS 330 17 102 } 330 17 100 AcDbMlineStyle 2 Standard 70 0 3 62 256 51 90.0 52 90.0 71 2 49 0.5 62 256 6 BYLAYER 49 -0.5 62 256 6 BYLAYER 0 ACDBPLACEHOLDER 5 F 102 {ACAD_REACTORS 330 E 102 } 330 E 0 ENDSEC 0 EOF trimesh-4.5.1/models/2D/125_aluminum_srcMH.DXF000066400000000000000000003406121470574263400206230ustar00rootroot00000000000000 0 SECTION 2 HEADER 9 $ACADVER 1 AC1021 9 $ACADMAINTVER 70 25 9 $DWGCODEPAGE 3 ANSI_1252 9 $LASTSAVEDBY 1 mikedh 9 $INSBASE 10 0.0 20 0.0 30 0.0 9 $EXTMIN 10 0.0 20 0.0 30 0.0 9 $EXTMAX 10 48.0 20 48.0 30 0.0 9 $LIMMIN 10 0.0 20 0.0 9 $LIMMAX 10 48.0 20 48.0 9 $ORTHOMODE 70 0 9 $REGENMODE 70 1 9 $FILLMODE 70 1 9 $QTEXTMODE 70 0 9 $MIRRTEXT 70 1 9 $LTSCALE 40 1.0 9 $ATTMODE 70 1 9 $TEXTSIZE 40 0.1377952756 9 $TRACEWID 40 0.05 9 $TEXTSTYLE 7 Standard 9 $CLAYER 8 0 9 $CELTYPE 6 ByLayer 9 $CECOLOR 62 256 9 $CELTSCALE 40 1.0 9 $DISPSILH 70 0 9 $DIMSCALE 40 1.0 9 $DIMASZ 40 0.13 9 $DIMEXO 40 0.0393700787 9 $DIMDLI 40 0.38 9 $DIMRND 40 0.0 9 $DIMDLE 40 0.0 9 $DIMEXE 40 0.0393700787 9 $DIMTP 40 0.0 9 $DIMTM 40 0.0 9 $DIMTXT 40 0.1377952756 9 $DIMCEN 40 0.09 9 $DIMTSZ 40 0.0 9 $DIMTOL 70 0 9 $DIMLIM 70 0 9 $DIMTIH 70 1 9 $DIMTOH 70 1 9 $DIMSE1 70 0 9 $DIMSE2 70 0 9 $DIMTAD 70 1 9 $DIMZIN 70 0 9 $DIMBLK 1 9 $DIMASO 70 1 9 $DIMSHO 70 1 9 $DIMPOST 1 9 $DIMAPOST 1 9 $DIMALT 70 0 9 $DIMALTD 70 2 9 $DIMALTF 40 25.4 9 $DIMLFAC 40 1.0 9 $DIMTOFL 70 0 9 $DIMTVP 40 0.0 9 $DIMTIX 70 0 9 $DIMSOXD 70 0 9 $DIMSAH 70 0 9 $DIMBLK1 1 9 $DIMBLK2 1 9 $DIMSTYLE 2 Standard 9 $DIMCLRD 70 0 9 $DIMCLRE 70 0 9 $DIMCLRT 70 0 9 $DIMTFAC 40 1.0 9 $DIMGAP 40 0.06 9 $DIMJUST 70 0 9 $DIMSD1 70 0 9 $DIMSD2 70 0 9 $DIMTOLJ 70 1 9 $DIMTZIN 70 0 9 $DIMALTZ 70 0 9 $DIMALTTZ 70 0 9 $DIMUPT 70 0 9 $DIMDEC 70 2 9 $DIMTDEC 70 2 9 $DIMALTU 70 2 9 $DIMALTTD 70 2 9 $DIMTXSTY 7 Standard 9 $DIMAUNIT 70 0 9 $DIMADEC 70 2 9 $DIMALTRND 40 0.0 9 $DIMAZIN 70 0 9 $DIMDSEP 70 46 9 $DIMATFIT 70 3 9 $DIMFRAC 70 0 9 $DIMLDRBLK 1 9 $DIMLUNIT 70 2 9 $DIMLWD 70 -2 9 $DIMLWE 70 -2 9 $DIMTMOVE 70 0 9 $DIMFXL 40 1.0 9 $DIMFXLON 70 0 9 $DIMJOGANG 40 0.7853981633974483 9 $DIMTFILL 70 0 9 $DIMTFILLCLR 70 0 9 $DIMARCSYM 70 0 9 $DIMLTYPE 6 9 $DIMLTEX1 6 9 $DIMLTEX2 6 9 $LUNITS 70 2 9 $LUPREC 70 2 9 $SKETCHINC 40 0.1 9 $FILLETRAD 40 0.5 9 $AUNITS 70 0 9 $AUPREC 70 2 9 $MENU 1 . 9 $ELEVATION 40 0.0 9 $PELEVATION 40 0.0 9 $THICKNESS 40 0.0 9 $LIMCHECK 70 0 9 $CHAMFERA 40 0.5 9 $CHAMFERB 40 0.5 9 $CHAMFERC 40 1.0 9 $CHAMFERD 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90 1152 91 4 280 0 281 0 0 ENDSEC 0 SECTION 2 TABLES 0 TABLE 2 VPORT 5 8 330 0 100 AcDbSymbolTable 70 1 0 VPORT 5 29 330 8 100 AcDbSymbolTableRecord 100 AcDbViewportTableRecord 2 *Active 70 0 10 0.0 20 0.0 11 1.0 21 1.0 12 14.37984004518061 22 19.08359676417043 13 0.0 23 0.0 14 0.5 24 0.5 15 0.5 25 0.5 16 0.0 26 0.0 36 1.0 17 0.0 27 0.0 37 0.0 40 60.00000000000001 41 1.894859813084112 42 50.0 43 0.0 44 0.0 50 0.0 51 0.0 71 16 72 2000 73 1 74 3 75 0 76 0 77 0 78 0 281 0 65 1 110 0.0 120 0.0 130 0.0 111 1.0 121 0.0 131 0.0 112 0.0 122 1.0 132 0.0 79 0 146 0.0 60 3 61 5 292 1 282 1 141 0.0 142 0.0 63 250 0 ENDTAB 0 TABLE 2 LTYPE 5 5 330 0 100 AcDbSymbolTable 70 6 0 LTYPE 5 14 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ByBlock 70 0 3 72 65 73 0 40 0.0 0 LTYPE 5 15 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ByLayer 70 0 3 72 65 73 0 40 0.0 0 LTYPE 5 16 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 Continuous 70 0 3 Solid line 72 65 73 0 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AcDbSymbolTable 70 0 0 ENDTAB 0 TABLE 2 UCS 5 7 330 0 100 AcDbSymbolTable 70 0 0 ENDTAB 0 TABLE 2 APPID 5 9 330 0 100 AcDbSymbolTable 70 1 0 APPID 5 12 330 9 100 AcDbSymbolTableRecord 100 AcDbRegAppTableRecord 2 ACAD 70 0 0 ENDTAB 0 TABLE 2 DIMSTYLE 5 A 330 0 100 AcDbSymbolTable 70 2 100 AcDbDimStyleTable 0 DIMSTYLE 105 27 330 A 100 AcDbSymbolTableRecord 100 AcDbDimStyleTableRecord 2 Standard 70 0 178 0 340 11 0 DIMSTYLE 105 6E 102 {ACAD_REACTORS 330 6C 330 7A 102 } 330 A 100 AcDbSymbolTableRecord 100 AcDbDimStyleTableRecord 2 SLDDIMSTYLE0 70 0 41 0.13 44 0.0 45 0.000000001 73 0 74 0 77 1 78 12 79 3 140 0.1377952756 141 0.0 147 0.0344488189 172 1 173 1 178 0 271 2 272 2 276 2 284 12 340 6D 341 6F 343 6F 0 ENDTAB 0 TABLE 2 BLOCK_RECORD 5 1 330 0 100 AcDbSymbolTable 70 4 0 BLOCK_RECORD 5 1F 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Model_Space 340 22 70 0 280 1 281 0 0 BLOCK_RECORD 5 1B 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Paper_Space 340 1E 70 0 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$DIMBLK 1 9 $DIMASO 70 1 9 $DIMSHO 70 1 9 $DIMPOST 1 9 $DIMAPOST 1 9 $DIMALT 70 0 9 $DIMALTD 70 2 9 $DIMALTF 40 25.4 9 $DIMLFAC 40 1.0 9 $DIMTOFL 70 0 9 $DIMTVP 40 0.0 9 $DIMTIX 70 0 9 $DIMSOXD 70 0 9 $DIMSAH 70 0 9 $DIMBLK1 1 9 $DIMBLK2 1 9 $DIMSTYLE 2 Standard 9 $DIMCLRD 70 0 9 $DIMCLRE 70 0 9 $DIMCLRT 70 0 9 $DIMTFAC 40 1.0 9 $DIMGAP 40 0.06 9 $DIMJUST 70 0 9 $DIMSD1 70 0 9 $DIMSD2 70 0 9 $DIMTOLJ 70 1 9 $DIMTZIN 70 0 9 $DIMALTZ 70 0 9 $DIMALTTZ 70 0 9 $DIMUPT 70 0 9 $DIMDEC 70 2 9 $DIMTDEC 70 2 9 $DIMALTU 70 2 9 $DIMALTTD 70 2 9 $DIMTXSTY 7 Standard 9 $DIMAUNIT 70 0 9 $DIMADEC 70 2 9 $DIMALTRND 40 0.0 9 $DIMAZIN 70 0 9 $DIMDSEP 70 46 9 $DIMATFIT 70 3 9 $DIMFRAC 70 0 9 $DIMLDRBLK 1 9 $DIMLUNIT 70 2 9 $DIMLWD 70 -2 9 $DIMLWE 70 -2 9 $DIMTMOVE 70 0 9 $LUNITS 70 2 9 $LUPREC 70 2 9 $SKETCHINC 40 0.1 9 $FILLETRAD 40 0.5 9 $AUNITS 70 0 9 $AUPREC 70 2 9 $MENU 1 . 9 $ELEVATION 40 0.0 9 $PELEVATION 40 0.0 9 $THICKNESS 40 0.0 9 $LIMCHECK 70 0 9 $CHAMFERA 40 0.5 9 $CHAMFERB 40 0.5 9 $CHAMFERC 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1 9 $INSUNITS 70 1 9 $HYPERLINKBASE 1 9 $STYLESHEET 1 9 $XEDIT 290 1 9 $CEPSNTYPE 380 0 9 $PSTYLEMODE 290 1 9 $FINGERPRINTGUID 2 {C22C1588-5915-4C7B-8C3C-E9EC3F99EEAD} 9 $VERSIONGUID 2 {FAEB1C32-E019-11D5-929B-00C0DF256EC4} 9 $EXTNAMES 290 1 9 $PSVPSCALE 40 0.0 9 $OLESTARTUP 290 0 0 ENDSEC 0 SECTION 2 CLASSES 0 CLASS 1 ACDBDICTIONARYWDFLT 2 AcDbDictionaryWithDefault 3 ObjectDBX Classes 90 0 280 0 281 0 0 CLASS 1 VISUALSTYLE 2 AcDbVisualStyle 3 ObjectDBX Classes 90 4095 280 0 281 0 0 CLASS 1 MATERIAL 2 AcDbMaterial 3 ObjectDBX Classes 90 1153 280 0 281 0 0 CLASS 1 ACDBPLACEHOLDER 2 AcDbPlaceHolder 3 ObjectDBX Classes 90 0 280 0 281 0 0 CLASS 1 LAYOUT 2 AcDbLayout 3 ObjectDBX Classes 90 0 280 0 281 0 0 ENDSEC 0 SECTION 2 TABLES 0 TABLE 2 VPORT 5 8 330 0 100 AcDbSymbolTable 70 1 0 VPORT 5 29 330 8 100 AcDbSymbolTableRecord 100 AcDbViewportTableRecord 2 *Active 70 0 10 0.0 20 0.0 11 1.0 21 1.0 12 11.0 22 8.5 13 0.0 23 0.0 14 0.5 24 0.5 15 0.5 25 0.5 16 0.0 26 0.0 36 1.0 17 0.0 27 0.0 37 0.0 40 17.0 41 1.2941176471 42 50.0 43 0.0 44 0.0 50 0.0 51 0.0 71 0 72 2000 73 1 74 3 75 0 76 0 77 0 78 0 281 0 65 1 110 0.0 120 0.0 130 0.0 111 1.0 121 0.0 131 0.0 112 0.0 122 1.0 132 0.0 79 0 146 0.0 0 ENDTAB 0 TABLE 2 LTYPE 5 5 330 0 100 AcDbSymbolTable 70 6 0 LTYPE 5 14 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ByBlock 70 0 3 72 65 73 0 40 0.0 0 LTYPE 5 15 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ByLayer 70 0 3 72 65 73 0 40 0.0 0 LTYPE 5 16 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 Continuous 70 0 3 Solid line 72 65 73 0 40 0.0 0 LTYPE 5 3F 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 HIDDEN 70 0 3 Hidden __ __ __ __ __ __ __ __ __ __ __ __ __ __ 72 65 73 2 40 0.075 49 0.05 74 0 49 -0.025 74 0 0 LTYPE 5 40 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 PHANTOM 70 0 3 Phantom ______ __ __ ______ __ __ ______ 72 65 73 6 40 0.5 49 0.25 74 0 49 -0.05 74 0 49 0.05 74 0 49 -0.05 74 0 49 0.05 74 0 49 -0.05 74 0 0 LTYPE 5 41 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 CENTER 70 0 3 Center ____ _ ____ _ ____ _ ____ _ ____ _ ____ 72 65 73 4 40 0.4 49 0.25 74 0 49 -0.05 74 0 49 0.05 74 0 49 -0.05 74 0 0 LTYPE 5 42 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 CENTERX2 70 0 3 Center (2x) ________ __ ________ __ _____ 72 65 73 4 40 0.8 49 0.5 74 0 49 -0.1 74 0 49 0.1 74 0 49 -0.1 74 0 0 LTYPE 5 43 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DOT2 70 0 3 Dot (.5x) ........................................ 72 65 73 2 40 0.025 49 0.0 74 0 49 -0.025 74 0 0 ENDTAB 0 TABLE 2 LAYER 5 2 330 0 100 AcDbSymbolTable 70 2 0 LAYER 5 10 330 2 100 AcDbSymbolTableRecord 100 AcDbLayerTableRecord 2 0 70 0 62 7 6 Continuous 370 -3 390 F 0 LAYER 5 44 330 2 100 AcDbSymbolTableRecord 100 AcDbLayerTableRecord 2 FORMAT 70 0 62 7 6 Continuous 370 -3 390 F 0 ENDTAB 0 TABLE 2 STYLE 5 3 330 0 100 AcDbSymbolTable 70 1 0 STYLE 5 11 330 3 100 AcDbSymbolTableRecord 100 AcDbTextStyleTableRecord 2 Standard 70 0 40 0.0 41 1.0 50 0.0 71 0 42 0.1377952756 3 txt 4 0 ENDTAB 0 TABLE 2 VIEW 5 6 330 0 100 AcDbSymbolTable 70 0 0 ENDTAB 0 TABLE 2 UCS 5 7 330 0 100 AcDbSymbolTable 70 0 0 ENDTAB 0 TABLE 2 APPID 5 9 330 0 100 AcDbSymbolTable 70 1 0 APPID 5 12 330 9 100 AcDbSymbolTableRecord 100 AcDbRegAppTableRecord 2 ACAD 70 0 0 ENDTAB 0 TABLE 2 DIMSTYLE 5 A 330 0 100 AcDbSymbolTable 70 1 100 AcDbDimStyleTable 0 DIMSTYLE 105 27 330 A 100 AcDbSymbolTableRecord 100 AcDbDimStyleTableRecord 2 Standard 70 0 178 0 340 11 0 ENDTAB 0 TABLE 2 BLOCK_RECORD 5 1 330 0 100 AcDbSymbolTable 70 1 0 BLOCK_RECORD 5 1F 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Model_Space 340 22 0 BLOCK_RECORD 5 1B 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Paper_Space 340 1E 0 BLOCK_RECORD 5 23 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Paper_Space0 340 26 0 ENDTAB 0 ENDSEC 0 SECTION 2 BLOCKS 0 BLOCK 5 20 330 1F 100 AcDbEntity 8 0 100 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$DIMALTU 70 2 9 $DIMALTTD 70 2 9 $DIMTXSTY 7 Standard 9 $DIMAUNIT 70 0 9 $DIMADEC 70 2 9 $DIMALTRND 40 0.0 9 $DIMAZIN 70 0 9 $DIMDSEP 70 46 9 $DIMATFIT 70 3 9 $DIMFRAC 70 0 9 $DIMLDRBLK 1 9 $DIMLUNIT 70 2 9 $DIMLWD 70 -2 9 $DIMLWE 70 -2 9 $DIMTMOVE 70 0 9 $LUNITS 70 2 9 $LUPREC 70 2 9 $SKETCHINC 40 0.1 9 $FILLETRAD 40 0.5 9 $AUNITS 70 0 9 $AUPREC 70 2 9 $MENU 1 . 9 $ELEVATION 40 0.0 9 $PELEVATION 40 0.0 9 $THICKNESS 40 0.0 9 $LIMCHECK 70 0 9 $CHAMFERA 40 0.5 9 $CHAMFERB 40 0.5 9 $CHAMFERC 40 1.0 9 $CHAMFERD 40 0.0 9 $SKPOLY 70 0 9 $TDCREATE 40 2456680.603485035 9 $TDUCREATE 40 2456680.811818368 9 $TDUPDATE 40 2456680.603485347 9 $TDUUPDATE 40 2456680.811818681 9 $TDINDWG 40 0.0000000116 9 $TDUSRTIMER 40 0.0000000116 9 $USRTIMER 70 1 9 $ANGBASE 50 0.0 9 $ANGDIR 70 0 9 $PDMODE 70 0 9 $PDSIZE 40 -1.0 9 $PLINEWID 40 0.0 9 $SPLFRAME 70 0 9 $SPLINETYPE 70 6 9 $SPLINESEGS 70 8 9 $HANDSEED 5 AF 9 $SURFTAB1 70 6 9 $SURFTAB2 70 6 9 $SURFTYPE 70 6 9 $SURFU 70 6 9 $SURFV 70 6 9 $UCSBASE 2 9 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$PINSBASE 10 0.0 20 0.0 30 0.0 9 $PLIMCHECK 70 0 9 $PEXTMIN 10 1.0000000000E+20 20 1.0000000000E+20 30 1.0000000000E+20 9 $PEXTMAX 10 -1.0000000000E+20 20 -1.0000000000E+20 30 -1.0000000000E+20 9 $PLIMMIN 10 0.0 20 0.0 9 $PLIMMAX 10 12.0 20 9.0 9 $UNITMODE 70 0 9 $VISRETAIN 70 1 9 $PLINEGEN 70 0 9 $PSLTSCALE 70 1 9 $TREEDEPTH 70 3020 9 $CMLSTYLE 2 Standard 9 $CMLJUST 70 0 9 $CMLSCALE 40 1.0 9 $PROXYGRAPHICS 70 1 9 $MEASUREMENT 70 0 9 $CELWEIGHT 370 -1 9 $ENDCAPS 280 0 9 $JOINSTYLE 280 0 9 $LWDISPLAY 290 1 9 $INSUNITS 70 1 9 $HYPERLINKBASE 1 9 $STYLESHEET 1 9 $XEDIT 290 1 9 $CEPSNTYPE 380 0 9 $PSTYLEMODE 290 1 9 $FINGERPRINTGUID 2 {127D0637-5E66-41E6-B13D-EADB501A2DC7} 9 $VERSIONGUID 2 {FAEB1C32-E019-11D5-929B-00C0DF256EC4} 9 $EXTNAMES 290 1 9 $PSVPSCALE 40 0.0 9 $OLESTARTUP 290 0 0 ENDSEC 0 SECTION 2 CLASSES 0 CLASS 1 ACDBDICTIONARYWDFLT 2 AcDbDictionaryWithDefault 3 ObjectDBX Classes 90 0 280 0 281 0 0 CLASS 1 VISUALSTYLE 2 AcDbVisualStyle 3 ObjectDBX Classes 90 4095 280 0 281 0 0 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ENDSEC 0 SECTION 2 OBJECTS 0 DICTIONARY 5 C 330 0 100 AcDbDictionary 281 1 3 ACAD_GROUP 350 D 3 ACAD_LAYOUT 350 1A 3 ACAD_MLINESTYLE 350 17 3 ACAD_PLOTSETTINGS 350 19 3 ACAD_PLOTSTYLENAME 350 E 0 DICTIONARY 5 D 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 0 DICTIONARY 5 1A 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 Layout1 350 1E 3 Layout2 350 26 3 Model 350 22 0 DICTIONARY 5 17 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 Standard 350 18 0 DICTIONARY 5 19 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 0 ACDBDICTIONARYWDFLT 5 E 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 Normal 350 F 100 AcDbDictionaryWithDefault 340 F 0 LAYOUT 5 1E 102 {ACAD_REACTORS 330 1A 102 } 330 1A 100 AcDbPlotSettings 1 2 none_device 4 6 40 0.0 41 0.0 42 0.0 43 0.0 44 0.0 45 0.0 46 0.0 47 0.0 48 0.0 49 0.0 140 0.0 141 0.0 142 1.0 143 1.0 70 688 72 0 73 0 74 5 7 75 16 147 1.0 148 0.0 149 0.0 100 AcDbLayout 1 Layout1 70 1 71 1 10 0.0 20 0.0 11 12.0 21 9.0 12 0.0 22 0.0 32 0.0 14 1.0000000000E+20 24 1.0000000000E+20 34 1.0000000000E+20 15 -1.0000000000E+20 25 -1.0000000000E+20 35 -1.0000000000E+20 146 0.0 13 0.0 23 0.0 33 0.0 16 1.0 26 0.0 36 0.0 17 0.0 27 1.0 37 0.0 76 0 330 1B 0 LAYOUT 5 26 102 {ACAD_REACTORS 330 1A 102 } 330 1A 100 AcDbPlotSettings 1 2 none_device 4 6 40 0.0 41 0.0 42 0.0 43 0.0 44 0.0 45 0.0 46 0.0 47 0.0 48 0.0 49 0.0 140 0.0 141 0.0 142 1.0 143 1.0 70 688 72 0 73 0 74 5 7 75 16 147 1.0 148 0.0 149 0.0 100 AcDbLayout 1 Layout2 70 1 71 2 10 0.0 20 0.0 11 0.0 21 0.0 12 0.0 22 0.0 32 0.0 14 0.0 24 0.0 34 0.0 15 0.0 25 0.0 35 0.0 146 0.0 13 0.0 23 0.0 33 0.0 16 1.0 26 0.0 36 0.0 17 0.0 27 1.0 37 0.0 76 0 330 23 0 LAYOUT 5 22 102 {ACAD_REACTORS 330 1A 102 } 330 1A 100 AcDbPlotSettings 1 2 none_device 4 6 40 0.0 41 0.0 42 0.0 43 0.0 44 0.0 45 0.0 46 0.0 47 0.0 48 0.0 49 0.0 140 0.0 141 0.0 142 1.0 143 1.0 70 1712 72 0 73 0 74 0 7 75 0 147 1.0 148 0.0 149 0.0 100 AcDbLayout 1 Model 70 1 71 0 10 0.0 20 0.0 11 22.0 21 17.0 12 0.0 22 0.0 32 0.0 14 0.0 24 0.0 34 0.0 15 22.0 25 17.0 35 0.0 146 0.0 13 0.0 23 0.0 33 0.0 16 1.0 26 0.0 36 0.0 17 0.0 27 1.0 37 0.0 76 0 330 1F 331 29 0 MLINESTYLE 5 18 102 {ACAD_REACTORS 330 17 102 } 330 17 100 AcDbMlineStyle 2 Standard 70 0 3 62 256 51 90.0 52 90.0 71 2 49 0.5 62 256 6 BYLAYER 49 -0.5 62 256 6 BYLAYER 0 ACDBPLACEHOLDER 5 F 102 {ACAD_REACTORS 330 E 102 } 330 E 0 ENDSEC 0 EOF trimesh-4.5.1/models/2D/ChuteHolderPrint.DXF000066400000000000000000002677311470574263400205460ustar00rootroot00000000000000 0 SECTION 2 HEADER 9 $ACADVER 1 AC1015 9 $ACADMAINTVER 70 6 9 $DWGCODEPAGE 3 ANSI_1252 9 $INSBASE 10 0.0 20 0.0 30 0.0 9 $EXTMIN 10 0.0 20 0.0 30 0.0 9 $EXTMAX 10 304.8 20 203.2 30 0.0 9 $LIMMIN 10 0.0 20 0.0 9 $LIMMAX 10 304.8 20 203.2 9 $ORTHOMODE 70 0 9 $REGENMODE 70 1 9 $FILLMODE 70 1 9 $QTEXTMODE 70 0 9 $MIRRTEXT 70 1 9 $LTSCALE 40 1.0 9 $ATTMODE 70 1 9 $TEXTSIZE 40 3.5 9 $TRACEWID 40 1.0 9 $TEXTSTYLE 7 Standard 9 $CLAYER 8 0 9 $CELTYPE 6 ByLayer 9 $CECOLOR 62 256 9 $CELTSCALE 40 1.0 9 $DISPSILH 70 0 9 $DIMSCALE 40 1.0 9 $DIMASZ 40 3.302 9 $DIMEXO 40 1.0 9 $DIMDLI 40 3.75 9 $DIMRND 40 0.0 9 $DIMDLE 40 0.0 9 $DIMEXE 40 1.0 9 $DIMTP 40 0.0 9 $DIMTM 40 0.0 9 $DIMTXT 40 3.5 9 $DIMCEN 40 2.5 9 $DIMTSZ 40 0.0 9 $DIMTOL 70 0 9 $DIMLIM 70 0 9 $DIMTIH 70 1 9 $DIMTOH 70 1 9 $DIMSE1 70 0 9 $DIMSE2 70 0 9 $DIMTAD 70 1 9 $DIMZIN 70 0 9 $DIMBLK 1 9 $DIMASO 70 1 9 $DIMSHO 70 1 9 $DIMPOST 1 9 $DIMAPOST 1 9 $DIMALT 70 0 9 $DIMALTD 70 3 9 $DIMALTF 40 0.0393700787 9 $DIMLFAC 40 1.0 9 $DIMTOFL 70 1 9 $DIMTVP 40 0.0 9 $DIMTIX 70 0 9 $DIMSOXD 70 0 9 $DIMSAH 70 0 9 $DIMBLK1 1 9 $DIMBLK2 1 9 $DIMSTYLE 2 ISO-25 9 $DIMCLRD 70 0 9 $DIMCLRE 70 0 9 $DIMCLRT 70 0 9 $DIMTFAC 40 1.0 9 $DIMGAP 40 1.524 9 $DIMJUST 70 0 9 $DIMSD1 70 0 9 $DIMSD2 70 0 9 $DIMTOLJ 70 0 9 $DIMTZIN 70 0 9 $DIMALTZ 70 0 9 $DIMALTTZ 70 0 9 $DIMUPT 70 0 9 $DIMDEC 70 3 9 $DIMTDEC 70 3 9 $DIMALTU 70 2 9 $DIMALTTD 70 3 9 $DIMTXSTY 7 Standard 9 $DIMAUNIT 70 0 9 $DIMADEC 70 2 9 $DIMALTRND 40 0.0 9 $DIMAZIN 70 0 9 $DIMDSEP 70 44 9 $DIMATFIT 70 3 9 $DIMFRAC 70 0 9 $DIMLDRBLK 1 9 $DIMLUNIT 70 2 9 $DIMLWD 70 -2 9 $DIMLWE 70 -2 9 $DIMTMOVE 70 0 9 $LUNITS 70 2 9 $LUPREC 70 2 9 $SKETCHINC 40 1.0 9 $FILLETRAD 40 10.0 9 $AUNITS 70 0 9 $AUPREC 70 2 9 $MENU 1 . 9 $ELEVATION 40 0.0 9 $PELEVATION 40 0.0 9 $THICKNESS 40 0.0 9 $LIMCHECK 70 0 9 $CHAMFERA 40 10.0 9 $CHAMFERB 40 10.0 9 $CHAMFERC 40 20.0 9 $CHAMFERD 40 0.0 9 $SKPOLY 70 0 9 $TDCREATE 40 2455643.413773125 9 $TDUCREATE 40 2455643.580439792 9 $TDUPDATE 40 2455643.413773137 9 $TDUUPDATE 40 2455643.580439803 9 $TDINDWG 40 0.0000000116 9 $TDUSRTIMER 40 0.0000000116 9 $USRTIMER 70 1 9 $ANGBASE 50 0.0 9 $ANGDIR 70 0 9 $PDMODE 70 0 9 $PDSIZE 40 -1.0 9 $PLINEWID 40 0.0 9 $SPLFRAME 70 0 9 $SPLINETYPE 70 6 9 $SPLINESEGS 70 8 9 $HANDSEED 5 182 9 $SURFTAB1 70 6 9 $SURFTAB2 70 6 9 $SURFTYPE 70 6 9 $SURFU 70 6 9 $SURFV 70 6 9 $UCSBASE 2 9 $UCSNAME 2 9 $UCSORG 10 0.0 20 0.0 30 0.0 9 $UCSXDIR 10 1.0 20 0.0 30 0.0 9 $UCSYDIR 10 0.0 20 1.0 30 0.0 9 $UCSORTHOREF 2 9 $UCSORTHOVIEW 70 0 9 $UCSORGTOP 10 0.0 20 0.0 30 0.0 9 $UCSORGBOTTOM 10 0.0 20 0.0 30 0.0 9 $UCSORGLEFT 10 0.0 20 0.0 30 0.0 9 $UCSORGRIGHT 10 0.0 20 0.0 30 0.0 9 $UCSORGFRONT 10 0.0 20 0.0 30 0.0 9 $UCSORGBACK 10 0.0 20 0.0 30 0.0 9 $PUCSBASE 2 9 $PUCSNAME 2 9 $PUCSORG 10 0.0 20 0.0 30 0.0 9 $PUCSXDIR 10 1.0 20 0.0 30 0.0 9 $PUCSYDIR 10 0.0 20 1.0 30 0.0 9 $PUCSORTHOREF 2 9 $PUCSORTHOVIEW 70 0 9 $PUCSORGTOP 10 0.0 20 0.0 30 0.0 9 $PUCSORGBOTTOM 10 0.0 20 0.0 30 0.0 9 $PUCSORGLEFT 10 0.0 20 0.0 30 0.0 9 $PUCSORGRIGHT 10 0.0 20 0.0 30 0.0 9 $PUCSORGFRONT 10 0.0 20 0.0 30 0.0 9 $PUCSORGBACK 10 0.0 20 0.0 30 0.0 9 $USERI1 70 0 9 $USERI2 70 0 9 $USERI3 70 0 9 $USERI4 70 0 9 $USERI5 70 0 9 $USERR1 40 0.0 9 $USERR2 40 0.0 9 $USERR3 40 0.0 9 $USERR4 40 0.0 9 $USERR5 40 0.0 9 $WORLDVIEW 70 1 9 $SHADEDGE 70 3 9 $SHADEDIF 70 70 9 $TILEMODE 70 1 9 $MAXACTVP 70 64 9 $PINSBASE 10 0.0 20 0.0 30 0.0 9 $PLIMCHECK 70 0 9 $PEXTMIN 10 1.0000000000E+20 20 1.0000000000E+20 30 1.0000000000E+20 9 $PEXTMAX 10 -1.0000000000E+20 20 -1.0000000000E+20 30 -1.0000000000E+20 9 $PLIMMIN 10 0.0 20 0.0 9 $PLIMMAX 10 420.0 20 297.0 9 $UNITMODE 70 0 9 $VISRETAIN 70 1 9 $PLINEGEN 70 0 9 $PSLTSCALE 70 1 9 $TREEDEPTH 70 3020 9 $CMLSTYLE 2 Standard 9 $CMLJUST 70 0 9 $CMLSCALE 40 20.0 9 $PROXYGRAPHICS 70 1 9 $MEASUREMENT 70 1 9 $CELWEIGHT 370 -1 9 $ENDCAPS 280 0 9 $JOINSTYLE 280 0 9 $LWDISPLAY 290 1 9 $INSUNITS 70 4 9 $HYPERLINKBASE 1 9 $STYLESHEET 1 9 $XEDIT 290 1 9 $CEPSNTYPE 380 0 9 $PSTYLEMODE 290 1 9 $FINGERPRINTGUID 2 {ACAD173B-1FBF-4308-903E-2E8652311903} 9 $VERSIONGUID 2 {FAEB1C32-E019-11D5-929B-00C0DF256EC4} 9 $EXTNAMES 290 1 9 $PSVPSCALE 40 0.0 9 $OLESTARTUP 290 0 0 ENDSEC 0 SECTION 2 CLASSES 0 CLASS 1 ACDBDICTIONARYWDFLT 2 AcDbDictionaryWithDefault 3 ObjectDBX Classes 90 0 280 0 281 0 0 CLASS 1 VISUALSTYLE 2 AcDbVisualStyle 3 ObjectDBX Classes 90 4095 280 0 281 0 0 CLASS 1 DICTIONARYVAR 2 AcDbDictionaryVar 3 ObjectDBX Classes 90 0 280 0 281 0 0 CLASS 1 ACDBPLACEHOLDER 2 AcDbPlaceHolder 3 ObjectDBX Classes 90 0 280 0 281 0 0 CLASS 1 LAYOUT 2 AcDbLayout 3 ObjectDBX Classes 90 0 280 0 281 0 0 ENDSEC 0 SECTION 2 TABLES 0 TABLE 2 VPORT 5 8 330 0 100 AcDbSymbolTable 70 1 0 VPORT 5 29 330 8 100 AcDbSymbolTableRecord 100 AcDbViewportTableRecord 2 *Active 70 0 10 0.0 20 0.0 11 1.0 21 1.0 12 152.4 22 101.6 13 0.0 23 0.0 14 10.0 24 10.0 15 10.0 25 10.0 16 0.0 26 0.0 36 1.0 17 0.0 27 0.0 37 0.0 40 203.2 41 1.5 42 50.0 43 0.0 44 0.0 50 0.0 51 0.0 71 0 72 2000 73 1 74 3 75 0 76 0 77 0 78 0 281 0 65 1 110 0.0 120 0.0 130 0.0 111 1.0 121 0.0 131 0.0 112 0.0 122 1.0 132 0.0 79 0 146 0.0 0 ENDTAB 0 TABLE 2 LTYPE 5 5 330 0 100 AcDbSymbolTable 70 6 0 LTYPE 5 14 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ByBlock 70 0 3 72 65 73 0 40 0.0 0 LTYPE 5 15 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ByLayer 70 0 3 72 65 73 0 40 0.0 0 LTYPE 5 16 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 Continuous 70 0 3 Solid line 72 65 73 0 40 0.0 0 LTYPE 5 3B 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 HIDDEN 70 0 3 Hidden __ __ __ __ __ __ __ __ __ __ __ __ __ __ 72 65 73 2 40 1.905 49 1.27 74 0 49 -0.635 74 0 0 LTYPE 5 3C 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 PHANTOM 70 0 3 Phantom ______ __ __ ______ __ __ ______ 72 65 73 6 40 12.7 49 6.35 74 0 49 -1.27 74 0 49 1.27 74 0 49 -1.27 74 0 49 1.27 74 0 49 -1.27 74 0 0 LTYPE 5 3D 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 CENTER 70 0 3 Center ____ _ ____ _ ____ _ ____ _ ____ _ ____ 72 65 73 4 40 10.16 49 6.35 74 0 49 -1.27 74 0 49 1.27 74 0 49 -1.27 74 0 0 LTYPE 5 3E 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 CENTERX2 70 0 3 Center (2x) ________ __ ________ __ _____ 72 65 73 4 40 20.32 49 12.7 74 0 49 -2.54 74 0 49 2.54 74 0 49 -2.54 74 0 0 LTYPE 5 3F 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DOT2 70 0 3 Dot (.5x) ........................................ 72 65 73 2 40 0.635 49 0.0 74 0 49 -0.635 74 0 0 ENDTAB 0 TABLE 2 LAYER 5 2 330 0 100 AcDbSymbolTable 70 1 0 LAYER 5 10 330 2 100 AcDbSymbolTableRecord 100 AcDbLayerTableRecord 2 0 70 0 62 7 6 Continuous 370 -3 390 F 0 ENDTAB 0 TABLE 2 STYLE 5 3 330 0 100 AcDbSymbolTable 70 1 0 STYLE 5 11 330 3 100 AcDbSymbolTableRecord 100 AcDbTextStyleTableRecord 2 Standard 70 0 40 0.0 41 1.0 50 0.0 71 0 42 2.5 3 txt 4 0 ENDTAB 0 TABLE 2 VIEW 5 6 330 0 100 AcDbSymbolTable 70 0 0 ENDTAB 0 TABLE 2 UCS 5 7 330 0 100 AcDbSymbolTable 70 0 0 ENDTAB 0 TABLE 2 APPID 5 9 330 0 100 AcDbSymbolTable 70 1 0 APPID 5 12 330 9 100 AcDbSymbolTableRecord 100 AcDbRegAppTableRecord 2 ACAD 70 0 0 ENDTAB 0 TABLE 2 DIMSTYLE 5 A 330 0 100 AcDbSymbolTable 70 1 100 AcDbDimStyleTable 0 DIMSTYLE 105 27 330 A 100 AcDbSymbolTableRecord 100 AcDbDimStyleTableRecord 2 ISO-25 70 0 41 2.5 42 0.625 43 3.75 44 1.25 73 0 74 0 77 1 78 8 140 2.5 141 2.5 143 0.0393700787 147 0.625 171 3 172 1 271 2 272 2 274 3 278 44 283 0 284 8 340 11 0 ENDTAB 0 TABLE 2 BLOCK_RECORD 5 1 330 0 100 AcDbSymbolTable 70 1 0 BLOCK_RECORD 5 1F 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Model_Space 340 22 0 BLOCK_RECORD 5 1B 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Paper_Space 340 1E 0 BLOCK_RECORD 5 23 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Paper_Space0 340 26 0 ENDTAB 0 ENDSEC 0 SECTION 2 BLOCKS 0 BLOCK 5 20 330 1F 100 AcDbEntity 8 0 100 AcDbBlockBegin 2 *Model_Space 70 0 10 0.0 20 0.0 30 0.0 3 *Model_Space 1 0 ENDBLK 5 21 330 1F 100 AcDbEntity 8 0 100 AcDbBlockEnd 0 BLOCK 5 1C 330 1B 100 AcDbEntity 67 1 8 0 100 AcDbBlockBegin 2 *Paper_Space 70 0 10 0.0 20 0.0 30 0.0 3 *Paper_Space 1 0 ENDBLK 5 1D 330 1B 100 AcDbEntity 67 1 8 0 100 AcDbBlockEnd 0 BLOCK 5 24 330 23 100 AcDbEntity 8 0 100 AcDbBlockBegin 2 *Paper_Space0 70 0 10 0.0 20 0.0 30 0.0 3 *Paper_Space0 1 0 ENDBLK 5 25 330 23 100 AcDbEntity 8 0 100 AcDbBlockEnd 0 ENDSEC 0 SECTION 2 ENTITIES 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0 290 0 174 0 93 1 44 0.0 173 0 291 0 45 0.0 1001 ACAD 1000 AcDbSavedByObjectVersion 1070 0 0 VISUALSTYLE 5 31 102 {ACAD_REACTORS 330 2A 102 } 330 2A 100 AcDbVisualStyle 2 3D Hidden 70 6 71 1 72 2 73 2 90 0 40 -0.6 41 -30.0 62 5 63 7 74 2 91 2 64 7 65 257 75 2 175 1 42 40.0 92 0 66 257 43 1.0 76 1 77 6 78 2 67 7 79 3 170 0 171 0 290 0 174 0 93 1 44 0.0 173 0 291 0 45 0.0 1001 ACAD 1000 AcDbSavedByObjectVersion 1070 0 0 VISUALSTYLE 5 30 102 {ACAD_REACTORS 330 2A 102 } 330 2A 100 AcDbVisualStyle 2 3dWireframe 70 5 71 0 72 2 73 0 90 0 40 -0.6 41 -30.0 62 5 63 7 74 1 91 4 64 7 65 257 75 1 175 1 42 1.0 92 0 66 257 43 1.0 76 1 77 6 78 2 67 7 79 5 170 0 171 0 290 0 174 0 93 1 44 0.0 173 0 291 0 45 0.0 1001 ACAD 1000 AcDbSavedByObjectVersion 1070 0 0 VISUALSTYLE 5 32 102 {ACAD_REACTORS 330 2A 102 } 330 2A 100 AcDbVisualStyle 2 Basic 70 7 71 1 72 0 73 1 90 0 40 -0.6 41 -30.0 62 5 63 7 74 0 91 4 64 7 65 257 75 1 175 1 42 1.0 92 8 66 7 43 1.0 76 1 77 6 78 2 67 7 79 5 170 0 171 0 290 0 174 0 93 1 44 0.0 173 0 291 1 45 0.0 1001 ACAD 1000 AcDbSavedByObjectVersion 1070 0 0 VISUALSTYLE 5 36 102 {ACAD_REACTORS 330 2A 102 } 330 2A 100 AcDbVisualStyle 2 Brighten 70 12 71 2 72 2 73 0 90 0 40 -0.6 41 -30.0 62 5 63 7 74 1 91 4 64 7 65 257 75 1 175 1 42 1.0 92 8 66 7 43 1.0 76 1 77 6 78 2 67 7 79 5 170 0 171 0 290 0 174 0 93 1 44 50.0 173 0 291 1 45 0.0 1001 ACAD 1000 AcDbSavedByObjectVersion 1070 0 0 VISUALSTYLE 5 3A 102 {ACAD_REACTORS 330 2A 102 } 330 2A 100 AcDbVisualStyle 2 ColorChange 70 16 71 2 72 2 73 3 90 0 40 -0.6 41 -30.0 62 5 63 8 74 1 91 4 64 7 65 257 75 1 175 1 42 1.0 92 8 66 8 43 1.0 76 1 77 6 78 2 67 7 79 5 170 0 171 0 290 0 174 0 93 1 44 0.0 173 0 291 1 45 0.0 1001 ACAD 1000 AcDbSavedByObjectVersion 1070 0 0 VISUALSTYLE 5 34 102 {ACAD_REACTORS 330 2A 102 } 330 2A 100 AcDbVisualStyle 2 Conceptual 70 9 71 3 72 2 73 0 90 0 40 -0.6 41 -30.0 62 5 63 7 74 2 91 2 64 7 65 257 75 1 175 1 42 40.0 92 8 66 7 43 1.0 76 1 77 6 78 2 67 7 79 3 170 0 171 0 290 0 174 0 93 1 44 0.0 173 0 291 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AcDbSavedByObjectVersion 1070 0 0 VISUALSTYLE 5 2C 102 {ACAD_REACTORS 330 2A 102 } 330 2A 100 AcDbVisualStyle 2 FlatWithEdges 70 1 71 2 72 1 73 1 90 2 40 -0.6 41 30.0 62 5 63 7 74 1 91 4 64 7 65 257 75 1 175 1 42 1.0 92 0 66 257 43 1.0 76 1 77 6 78 2 67 7 79 5 170 0 171 0 290 0 174 0 93 13 44 0.0 173 0 291 1 45 0.0 1001 ACAD 1000 AcDbSavedByObjectVersion 1070 0 0 VISUALSTYLE 5 2D 102 {ACAD_REACTORS 330 2A 102 } 330 2A 100 AcDbVisualStyle 2 Gouraud 70 2 71 2 72 2 73 1 90 2 40 -0.6 41 30.0 62 5 63 7 74 0 91 4 64 7 65 257 75 1 175 1 42 1.0 92 0 66 7 43 1.0 76 1 77 6 78 2 67 7 79 5 170 0 171 0 290 0 174 0 93 13 44 0.0 173 0 291 1 45 0.0 1001 ACAD 1000 AcDbSavedByObjectVersion 1070 0 0 VISUALSTYLE 5 2E 102 {ACAD_REACTORS 330 2A 102 } 330 2A 100 AcDbVisualStyle 2 GouraudWithEdges 70 3 71 2 72 2 73 1 90 2 40 -0.6 41 30.0 62 5 63 7 74 1 91 4 64 7 65 257 75 1 175 1 42 1.0 92 0 66 257 43 1.0 76 1 77 6 78 2 67 7 79 5 170 0 171 0 290 0 174 0 93 13 44 0.0 173 0 291 1 45 0.0 1001 ACAD 1000 AcDbSavedByObjectVersion 1070 0 0 VISUALSTYLE 5 38 102 {ACAD_REACTORS 330 2A 102 } 330 2A 100 AcDbVisualStyle 2 Linepattern 70 14 71 2 72 2 73 0 90 0 40 -0.6 41 -30.0 62 5 63 7 74 1 91 4 64 7 65 257 75 7 175 7 42 1.0 92 8 66 7 43 1.0 76 1 77 6 78 2 67 7 79 5 170 0 171 0 290 0 174 0 93 1 44 0.0 173 0 291 1 45 0.0 1001 ACAD 1000 AcDbSavedByObjectVersion 1070 0 0 VISUALSTYLE 5 33 102 {ACAD_REACTORS 330 2A 102 } 330 2A 100 AcDbVisualStyle 2 Realistic 70 8 71 2 72 2 73 0 90 0 40 -0.6 41 -30.0 62 5 63 7 74 1 91 0 64 7 65 257 75 1 175 1 42 1.0 92 8 66 8 43 1.0 76 1 77 6 78 2 67 7 79 5 170 0 171 0 290 0 174 0 93 13 44 0.0 173 0 291 0 45 0.0 1001 ACAD 1000 AcDbSavedByObjectVersion 1070 0 0 VISUALSTYLE 5 37 102 {ACAD_REACTORS 330 2A 102 } 330 2A 100 AcDbVisualStyle 2 Thicken 70 13 71 2 72 2 73 0 90 0 40 -0.6 41 -30.0 62 5 63 7 74 1 91 4 64 7 65 257 75 1 175 1 42 1.0 92 12 66 7 43 1.0 76 1 77 6 78 2 67 7 79 5 170 0 171 0 290 0 174 0 93 1 44 0.0 173 0 291 1 45 0.0 1001 ACAD 1000 AcDbSavedByObjectVersion 1070 0 0 DICTIONARYVAR 5 180 102 {ACAD_REACTORS 330 17B 102 } 330 17B 100 DictionaryVariables 280 0 1 2 0 DICTIONARYVAR 5 181 102 {ACAD_REACTORS 330 17B 102 } 330 17B 100 DictionaryVariables 280 0 1 1 0 DICTIONARYVAR 5 17F 102 {ACAD_REACTORS 330 17B 102 } 330 17B 100 DictionaryVariables 280 0 1 80.000000 0 DICTIONARYVAR 5 17E 102 {ACAD_REACTORS 330 17B 102 } 330 17B 100 DictionaryVariables 280 0 1 5.000000 0 ENDSEC 0 EOF trimesh-4.5.1/models/2D/LM2.dxf000066400000000000000000001677061470574263400160560ustar00rootroot00000000000000999 dxfrw 0.5.13 0 SECTION 2 HEADER 9 $ACADVER 1 AC1021 9 $HANDSEED 5 20000 9 $DWGCODEPAGE 3 ANSI_1250 9 $INSBASE 10 0 20 0 30 0 9 $EXTMIN 10 -246 20 -249 30 0 9 $EXTMAX 10 205 20 217 30 0 9 $LIMMIN 10 0 20 0 9 $LIMMAX 10 420 20 297 9 $ORTHOMODE 70 0 9 $LTSCALE 40 1 9 $TEXTSTYLE 7 STANDARD 9 $CLAYER 8 IZREZ 9 $DIMASZ 40 3.5 9 $DIMLFAC 40 1 9 $DIMSCALE 40 1 9 $DIMEXO 40 1 9 $DIMEXE 40 1 9 $DIMTXT 40 3.5 9 $DIMTSZ 40 0 9 $DIMAUNIT 70 0 9 $DIMADEC 70 0 9 $DIMLUNIT 70 2 9 $DIMSTYLE 2 AM_ISO 9 $DIMGAP 40 1.5 9 $DIMTIH 70 0 9 $LUNITS 70 2 9 $LUPREC 70 2 9 $AUNITS 70 0 9 $AUPREC 70 0 9 $SPLINESEGS 70 8 9 $GRIDMODE 70 1 9 $SNAPSTYLE 70 0 9 $PINSBASE 10 0 20 0 30 0 9 $PLIMMIN 10 0 20 0 9 $PLIMMAX 10 0 20 0 9 $INSUNITS 70 4 9 $PSVPSCALE 40 1 0 ENDSEC 0 SECTION 2 CLASSES 0 ENDSEC 0 SECTION 2 TABLES 0 TABLE 2 VPORT 5 8 330 0 100 AcDbSymbolTable 70 1 0 VPORT 5 31 330 2 100 AcDbSymbolTableRecord 100 AcDbViewportTableRecord 2 *ACTIVE 70 0 10 0 20 0 11 1 21 1 12 218.867807154 22 112.33281493 13 0 23 0 14 10 24 10 15 10 25 10 16 0 26 0 36 1 17 0 27 0 37 0 40 480.494556765 41 1.90497737557 42 50 43 0 44 0 50 0 51 0 71 0 72 100 73 1 74 3 75 0 76 1 77 0 78 0 281 0 65 1 110 0 120 0 130 0 111 1 121 0 131 0 112 0 122 1 132 0 79 0 146 0 348 10020 60 7 61 5 292 1 282 1 141 0 142 0 63 250 421 3358443 0 ENDTAB 0 TABLE 2 LTYPE 5 5 330 0 100 AcDbSymbolTable 70 4 0 LTYPE 5 14 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ByBlock 70 0 3 72 65 73 0 40 0 0 LTYPE 5 15 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ByLayer 70 0 3 72 65 73 0 40 0 0 LTYPE 5 16 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 Continuous 70 0 3 Solid line 72 65 73 0 40 0 0 LTYPE 5 32 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DOT 70 0 3 Dot . . . . . . . . . . . . . . . . . . . . . . 72 65 73 2 40 6.35 49 0 74 0 49 -6.35 74 0 0 LTYPE 5 33 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DOT2 70 0 3 Dot (.5x) ..................................... 72 65 73 2 40 3.175 49 0 74 0 49 -3.175 74 0 0 LTYPE 5 34 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DOTX2 70 0 3 Dot (2x) . . . . . . . . . . . . . 72 65 73 2 40 12.7 49 0 74 0 49 -12.7 74 0 0 LTYPE 5 35 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHED 70 0 3 Dot . . . . . . . . . . . . . . . . . . . . . . 72 65 73 2 40 19.05 49 12.7 74 0 49 -6.35 74 0 0 LTYPE 5 36 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHED2 70 0 3 Dashed (.5x) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 72 65 73 2 40 9.525 49 6.35 74 0 49 -3.175 74 0 0 LTYPE 5 37 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHEDX2 70 0 3 Dashed (2x) ____ ____ ____ ____ ____ ___ 72 65 73 2 40 38.1 49 25.4 74 0 49 -12.7 74 0 0 LTYPE 5 38 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHDOT 70 0 3 Dash dot __ . __ . __ . __ . __ . __ . __ . __ 72 65 73 4 40 25.4 49 12.7 74 0 49 -6.35 74 0 49 0 74 0 49 -6.35 74 0 0 LTYPE 5 39 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHDOT2 70 0 3 Dash dot (.5x) _._._._._._._._._._._._._._._. 72 65 73 4 40 12.7 49 6.35 74 0 49 -3.175 74 0 49 0 74 0 49 -3.175 74 0 0 LTYPE 5 3A 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHDOTX2 70 0 3 Dash dot (2x) ____ . ____ . ____ . ___ 72 65 73 4 40 50.8 49 25.4 74 0 49 -12.7 74 0 49 0 74 0 49 -12.7 74 0 0 LTYPE 5 3B 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DIVIDE 70 0 3 Divide ____ . . ____ . . ____ . . ____ . . ____ 72 65 73 6 40 31.75 49 12.7 74 0 49 -6.35 74 0 49 0 74 0 49 -6.35 74 0 49 0 74 0 49 -6.35 74 0 0 LTYPE 5 3C 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DIVIDE2 70 0 3 Divide (.5x) __..__..__..__..__..__..__..__.._ 72 65 73 6 40 15.875 49 6.35 74 0 49 -3.175 74 0 49 0 74 0 49 -3.175 74 0 49 0 74 0 49 -3.175 74 0 0 LTYPE 5 3D 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DIVIDEX2 70 0 3 Divide (2x) ________ . . ________ . . _ 72 65 73 6 40 63.5 49 25.4 74 0 49 -12.7 74 0 49 0 74 0 49 -12.7 74 0 49 0 74 0 49 -12.7 74 0 0 LTYPE 5 3E 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 BORDER 70 0 3 Border __ __ . __ __ . __ __ . __ __ . __ __ . 72 65 73 6 40 44.45 49 12.7 74 0 49 -6.35 74 0 49 12.7 74 0 49 -6.35 74 0 49 0 74 0 49 -6.35 74 0 0 LTYPE 5 3F 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 BORDER2 70 0 3 Border (.5x) __.__.__.__.__.__.__.__.__.__.__. 72 65 73 6 40 22.225 49 6.35 74 0 49 -3.175 74 0 49 6.35 74 0 49 -3.175 74 0 49 0 74 0 49 -3.175 74 0 0 LTYPE 5 40 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 BORDERX2 70 0 3 Border (2x) ____ ____ . ____ ____ . ___ 72 65 73 6 40 88.9 49 25.4 74 0 49 -12.7 74 0 49 25.4 74 0 49 -12.7 74 0 49 0 74 0 49 -12.7 74 0 0 LTYPE 5 41 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 CENTER 70 0 3 Center ____ _ ____ _ ____ _ ____ _ ____ _ ____ 72 65 73 4 40 50.8 49 31.75 74 0 49 -6.35 74 0 49 6.35 74 0 49 -6.35 74 0 0 LTYPE 5 42 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 CENTER2 70 0 3 Center (.5x) ___ _ ___ _ ___ _ ___ _ ___ _ ___ 72 65 73 4 40 28.575 49 19.05 74 0 49 -3.175 74 0 49 3.175 74 0 49 -3.175 74 0 0 LTYPE 5 43 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 CENTERX2 70 0 3 Center (2x) ________ __ ________ __ _____ 72 65 73 4 40 101.6 49 63.5 74 0 49 -12.7 74 0 49 12.7 74 0 49 -12.7 74 0 0 ENDTAB 0 TABLE 2 LAYER 5 2 330 0 100 AcDbSymbolTable 70 1 0 LAYER 5 10 330 2 100 AcDbSymbolTableRecord 100 AcDbLayerTableRecord 2 0 70 0 62 2 6 CONTINUOUS 370 -3 390 F 0 LAYER 5 44 330 2 100 AcDbSymbolTableRecord 100 AcDbLayerTableRecord 2 GRAVIRANJE 70 0 62 3 6 CONTINUOUS 370 -3 390 F 0 LAYER 5 45 330 2 100 AcDbSymbolTableRecord 100 AcDbLayerTableRecord 2 HOLES 70 0 62 160 6 CONTINUOUS 370 -3 390 F 0 LAYER 5 46 330 2 100 AcDbSymbolTableRecord 100 AcDbLayerTableRecord 2 IZREZ 70 0 62 7 6 CONTINUOUS 370 -3 390 F 0 ENDTAB 0 TABLE 2 STYLE 5 3 330 0 100 AcDbSymbolTable 70 3 0 STYLE 5 47 330 2 100 AcDbSymbolTableRecord 100 AcDbTextStyleTableRecord 2 standard 70 0 40 0 41 1 50 0 71 0 42 1 3 standard 4 0 ENDTAB 0 TABLE 2 VIEW 5 6 330 0 100 AcDbSymbolTable 70 0 0 ENDTAB 0 TABLE 2 UCS 5 7 330 0 100 AcDbSymbolTable 70 0 0 ENDTAB 0 TABLE 2 APPID 5 9 330 0 100 AcDbSymbolTable 70 1 0 APPID 5 12 330 9 100 AcDbSymbolTableRecord 100 AcDbRegAppTableRecord 2 ACAD 70 0 0 APPID 5 48 330 9 100 AcDbSymbolTableRecord 100 AcDbRegAppTableRecord 2 LibreCad 70 0 0 ENDTAB 0 TABLE 2 DIMSTYLE 5 A 330 0 100 AcDbSymbolTable 70 1 100 AcDbDimStyleTable 71 1 0 DIMSTYLE 105 49 330 A 100 AcDbSymbolTableRecord 100 AcDbDimStyleTableRecord 2 Standard 70 0 40 1 41 3.5 42 1 43 0.38 44 1 45 0 46 0 47 0 48 0 140 3.5 141 0.09 142 0 143 25.4 144 1 145 0 146 1 147 1.5 148 0 71 0 72 0 73 0 74 1 75 0 76 0 77 0 78 0 79 0 170 0 171 2 172 0 173 0 174 0 175 0 176 0 177 0 178 0 179 0 271 4 272 4 273 2 274 2 275 0 276 0 277 2 278 46 279 0 280 0 281 0 282 0 283 1 284 0 285 0 286 0 288 0 289 3 340 Standard 341 371 -2 372 -2 0 ENDTAB 0 TABLE 2 BLOCK_RECORD 5 1 330 0 100 AcDbSymbolTable 70 2 0 BLOCK_RECORD 5 1F 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Model_Space 70 0 280 1 281 0 0 BLOCK_RECORD 5 1E 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Paper_Space 70 0 280 1 281 0 0 BLOCK_RECORD 5 4A 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *D21 70 0 280 1 281 0 0 BLOCK_RECORD 5 4D 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *D16 70 0 280 1 281 0 0 BLOCK_RECORD 5 50 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *D3 70 0 280 1 281 0 0 BLOCK_RECORD 5 53 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *D12 70 0 280 1 281 0 0 BLOCK_RECORD 5 56 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *D18 70 0 280 1 281 0 0 BLOCK_RECORD 5 59 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *D8 70 0 280 1 281 0 0 BLOCK_RECORD 5 5C 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *D11 70 0 280 1 281 0 0 BLOCK_RECORD 5 5F 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *D2 70 0 280 1 281 0 0 BLOCK_RECORD 5 62 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *D9 70 0 280 1 281 0 0 BLOCK_RECORD 5 65 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *D22 70 0 280 1 281 0 0 BLOCK_RECORD 5 68 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *D13 70 0 280 1 281 0 0 BLOCK_RECORD 5 6B 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *D14 70 0 280 1 281 0 0 BLOCK_RECORD 5 6E 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *D17 70 0 280 1 281 0 0 BLOCK_RECORD 5 71 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *D15 70 0 280 1 281 0 0 BLOCK_RECORD 5 74 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *D6 70 0 280 1 281 0 0 BLOCK_RECORD 5 77 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *D5 70 0 280 1 281 0 0 BLOCK_RECORD 5 7A 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *D10 70 0 280 1 281 0 0 BLOCK_RECORD 5 7D 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *D20 70 0 280 1 281 0 0 BLOCK_RECORD 5 80 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *D1 70 0 280 1 281 0 0 BLOCK_RECORD 5 83 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *D7 70 0 280 1 281 0 0 BLOCK_RECORD 5 86 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *D19 70 0 280 1 281 0 0 BLOCK_RECORD 5 89 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *D4 70 0 280 1 281 0 0 BLOCK_RECORD 5 8C 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 GENAXEH 70 0 280 1 281 0 0 ENDTAB 0 ENDSEC 0 SECTION 2 BLOCKS 0 BLOCK 5 20 330 1F 100 AcDbEntity 8 0 100 AcDbBlockBegin 2 *Model_Space 70 0 10 0 20 0 30 0 3 *Model_Space 1 0 ENDBLK 5 21 330 1F 100 AcDbEntity 8 0 100 AcDbBlockEnd 0 BLOCK 5 1C 330 1B 100 AcDbEntity 8 0 100 AcDbBlockBegin 2 *Paper_Space 70 0 10 0 20 0 30 0 3 *Paper_Space 1 0 ENDBLK 5 1D 330 1F 100 AcDbEntity 8 0 100 AcDbBlockEnd 0 BLOCK 5 4B 330 4A 100 AcDbEntity 8 0 100 AcDbBlockBegin 2 *D21 70 1 10 0 20 0 3 *D21 1 0 LINE 5 8F 100 AcDbEntity 8 0 6 CONTINUOUS 62 7 370 0 100 AcDbLine 10 -41 20 199 11 -41 21 105 0 SOLID 5 90 100 AcDbEntity 8 0 6 CONTINUOUS 62 7 370 0 100 AcDbTrace 10 -41 20 199 30 0 11 -40.4172014791 21 195.5 31 0 12 -41.5827985209 22 195.5 32 0 13 -41.5827985209 23 195.5 33 0 0 SOLID 5 91 100 AcDbEntity 8 0 6 CONTINUOUS 62 7 370 0 100 AcDbTrace 10 -41 20 105 30 0 11 -41.5827985209 21 108.5 31 0 12 -40.4172014791 22 108.5 32 0 13 -40.4172014791 23 108.5 33 0 0 MTEXT 5 92 100 AcDbEntity 8 0 6 CONTINUOUS 62 7 370 0 100 AcDbMText 10 -44.25 20 152 30 0 40 3.5 41 11.2777777778 71 5 72 1 1 94.00 7 standard 210 0 220 0 230 1 50 90 73 2 44 1 0 LINE 5 93 100 AcDbEntity 8 0 6 CONTINUOUS 62 7 370 0 100 AcDbLine 10 -31 20 199 11 -42 21 199 0 LINE 5 94 100 AcDbEntity 8 0 6 CONTINUOUS 62 7 370 0 100 AcDbLine 10 -31 20 105 11 -42 21 105 0 ENDBLK 5 4C 330 4A 100 AcDbEntity 8 0 100 AcDbBlockEnd 0 BLOCK 5 4E 330 4D 100 AcDbEntity 8 0 100 AcDbBlockBegin 2 *D16 70 1 10 0 20 0 3 *D16 1 0 LINE 5 95 100 AcDbEntity 8 0 6 CONTINUOUS 62 7 370 0 100 AcDbLine 10 199 20 200 11 199 21 213 0 LINE 5 96 100 AcDbEntity 8 0 6 CONTINUOUS 62 7 370 0 100 AcDbLine 10 16 20 200 11 16 21 213 0 LINE 5 97 100 AcDbEntity 8 0 6 CONTINUOUS 62 7 370 0 100 AcDbLine 10 199 20 212 11 16 21 212 0 SOLID 5 98 100 AcDbEntity 8 0 6 CONTINUOUS 62 7 370 0 100 AcDbTrace 10 199 20 212 30 0 11 195.5 21 211.417201479 31 0 12 195.5 22 212.582798521 32 0 13 195.5 23 212.582798521 33 0 0 SOLID 5 99 100 AcDbEntity 8 0 6 CONTINUOUS 62 7 370 0 100 AcDbTrace 10 16 20 212 30 0 11 19.5 21 212.582798521 31 0 12 19.5 22 211.417201479 32 0 13 19.5 23 211.417201479 33 0 0 MTEXT 5 9A 100 AcDbEntity 8 0 6 CONTINUOUS 62 7 370 0 100 AcDbMText 10 107.5 20 215.25 30 0 40 3.5 41 12.8333333333 71 5 72 1 1 183.00 7 standard 210 0 220 0 230 1 50 360 73 2 44 1 0 ENDBLK 5 4F 330 4D 100 AcDbEntity 8 0 100 AcDbBlockEnd 0 BLOCK 5 51 330 50 100 AcDbEntity 8 0 100 AcDbBlockBegin 2 *D3 70 1 10 0 20 0 3 *D3 1 0 LINE 5 9B 100 AcDbEntity 8 0 6 CONTINUOUS 62 7 370 0 100 AcDbLine 10 -170 20 -198 11 -170 21 -198 0 LINE 5 9C 100 AcDbEntity 8 0 6 CONTINUOUS 62 7 370 0 100 AcDbLine 10 -170 20 199 11 -170 21 199 0 LINE 5 9D 100 AcDbEntity 8 0 6 CONTINUOUS 62 7 370 0 100 AcDbLine 10 -171 20 -198 11 -171 21 199 0 SOLID 5 9E 100 AcDbEntity 8 0 6 CONTINUOUS 62 7 370 0 100 AcDbTrace 10 -171 20 -198 30 0 11 -171.582798521 21 -194.5 31 0 12 -170.417201479 22 -194.5 32 0 13 -170.417201479 23 -194.5 33 0 0 SOLID 5 9F 100 AcDbEntity 8 0 6 CONTINUOUS 62 7 370 0 100 AcDbTrace 10 -171 20 199 30 0 11 -170.417201479 21 195.5 31 0 12 -171.582798521 22 195.5 32 0 13 -171.582798521 23 195.5 33 0 0 MTEXT 5 A0 100 AcDbEntity 8 0 6 CONTINUOUS 62 7 370 0 100 AcDbMText 10 -167.75 20 0.5 30 0 40 3.5 41 13.6111111111 71 5 72 1 1 397.00 7 standard 210 0 220 0 230 1 50 90 73 2 44 1 0 ENDBLK 5 52 330 50 100 AcDbEntity 8 0 100 AcDbBlockEnd 0 BLOCK 5 54 330 53 100 AcDbEntity 8 0 100 AcDbBlockBegin 2 *D12 70 1 10 0 20 0 3 *D12 1 0 LINE 5 A1 100 AcDbEntity 8 0 6 CONTINUOUS 62 7 370 0 100 AcDbLine 10 -200 20 157 11 -212 21 157 0 LINE 5 A2 100 AcDbEntity 8 0 6 CONTINUOUS 62 7 370 0 100 AcDbLine 10 -200 20 199 11 -212 21 199 0 LINE 5 A3 100 AcDbEntity 8 0 6 CONTINUOUS 62 7 370 0 100 AcDbLine 10 -211 20 157 11 -211 21 199 0 SOLID 5 A4 100 AcDbEntity 8 0 6 CONTINUOUS 62 7 370 0 100 AcDbTrace 10 -211 20 157 30 0 11 -211.582798521 21 160.5 31 0 12 -210.417201479 22 160.5 32 0 13 -210.417201479 23 160.5 33 0 0 SOLID 5 A5 100 AcDbEntity 8 0 6 CONTINUOUS 62 7 370 0 100 AcDbTrace 10 -211 20 199 30 0 11 -210.417201479 21 195.5 31 0 12 -211.582798521 22 195.5 32 0 13 -211.582798521 23 195.5 33 0 0 MTEXT 5 A6 100 AcDbEntity 8 0 6 CONTINUOUS 62 7 370 0 100 AcDbMText 10 -214.25 20 178 30 0 40 3.5 41 11.2777777778 71 5 72 1 1 42.00 7 standard 210 0 220 0 230 1 50 90 73 2 44 1 0 ENDBLK 5 55 330 53 100 AcDbEntity 8 0 100 AcDbBlockEnd 0 BLOCK 5 57 330 56 100 AcDbEntity 8 0 100 AcDbBlockBegin 2 *D18 70 1 10 0 20 0 3 *D18 1 0 LINE 5 A7 100 AcDbEntity 8 0 6 CONTINUOUS 62 7 370 0 100 AcDbLine 10 -0.6 20 173 11 -0.6 21 167 0 LINE 5 A8 100 AcDbEntity 8 0 6 CONTINUOUS 62 7 370 0 100 AcDbLine 10 2.6 20 173 11 2.6 21 167 0 LINE 5 A9 100 AcDbEntity 8 0 6 CONTINUOUS 62 7 370 0 100 AcDbLine 10 -7.6 20 168 11 9.6 21 168 0 SOLID 5 AA 100 AcDbEntity 8 0 6 CONTINUOUS 62 7 370 0 100 AcDbTrace 10 -0.6 20 168 30 0 11 -4.1 21 167.417201479 31 0 12 -4.1 22 168.582798521 32 0 13 -4.1 23 168.582798521 33 0 0 SOLID 5 AB 100 AcDbEntity 8 0 6 CONTINUOUS 62 7 370 0 100 AcDbTrace 10 2.6 20 168 30 0 11 6.1 21 168.582798521 31 0 12 6.1 22 167.417201479 32 0 13 6.1 23 167.417201479 33 0 0 MTEXT 5 AC 100 AcDbEntity 8 0 6 CONTINUOUS 62 7 370 0 100 AcDbMText 10 8.18333333333 20 171.25 30 0 40 3.5 41 8.16666666667 71 5 72 1 1 3.20 7 standard 210 0 220 0 230 1 50 0 73 2 44 1 0 ENDBLK 5 58 330 56 100 AcDbEntity 8 0 100 AcDbBlockEnd 0 BLOCK 5 5A 330 59 100 AcDbEntity 8 0 100 AcDbBlockBegin 2 *D8 70 1 10 0 20 0 3 *D8 1 0 LINE 5 AD 100 AcDbEntity 8 0 6 CONTINUOUS 62 7 370 0 100 AcDbLine 10 -65 20 178 11 -70.775 21 178 0 LINE 5 AE 100 AcDbEntity 8 0 6 CONTINUOUS 62 7 370 0 100 AcDbLine 10 -65 20 199 11 -70.775 21 199 0 LINE 5 AF 100 AcDbEntity 8 0 6 CONTINUOUS 62 7 370 0 100 AcDbLine 10 -69.775 20 178 11 -69.775 21 199 0 SOLID 5 B0 100 AcDbEntity 8 0 6 CONTINUOUS 62 7 370 0 100 AcDbTrace 10 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CIRCLE 5 158 100 AcDbEntity 8 HOLES 6 ByLayer 62 256 370 -1 100 AcDbCircle 10 -181 20 182 40 1.5 0 CIRCLE 5 159 100 AcDbEntity 8 HOLES 6 ByLayer 62 256 370 -1 100 AcDbCircle 10 -181 20 142 40 1.5 0 CIRCLE 5 15A 100 AcDbEntity 8 HOLES 6 ByLayer 62 256 370 -1 100 AcDbCircle 10 -141 20 142 40 1.5 0 CIRCLE 5 15B 100 AcDbEntity 8 HOLES 6 ByLayer 62 256 370 -1 100 AcDbCircle 10 -164 20 92 40 1.6 0 CIRCLE 5 15C 100 AcDbEntity 8 HOLES 6 ByLayer 62 256 370 -1 100 AcDbCircle 10 -158 20 92 40 1.6 0 CIRCLE 5 15D 100 AcDbEntity 8 HOLES 6 ByLayer 62 256 370 -1 100 AcDbCircle 10 -164 20 -8 40 1.6 0 CIRCLE 5 15E 100 AcDbEntity 8 HOLES 6 ByLayer 62 256 370 -1 100 AcDbCircle 10 -158 20 -8 40 1.6 0 CIRCLE 5 15F 100 AcDbEntity 8 HOLES 6 ByLayer 62 256 370 -1 100 AcDbCircle 10 -164 20 -58 40 1.6 0 CIRCLE 5 160 100 AcDbEntity 8 HOLES 6 ByLayer 62 256 370 -1 100 AcDbCircle 10 -158 20 -58 40 1.6 0 CIRCLE 5 161 100 AcDbEntity 8 HOLES 6 ByLayer 62 256 370 -1 100 AcDbCircle 10 -164 20 42 40 1.6 0 CIRCLE 5 162 100 AcDbEntity 8 HOLES 6 ByLayer 62 256 370 -1 100 AcDbCircle 10 -158 20 42 40 1.6 0 CIRCLE 5 163 100 AcDbEntity 8 HOLES 6 ByLayer 62 256 370 -1 100 AcDbCircle 10 -91 20 -181 40 1.6 0 CIRCLE 5 164 100 AcDbEntity 8 HOLES 6 ByLayer 62 256 370 -1 100 AcDbCircle 10 -91 20 -175 40 1.6 0 CIRCLE 5 165 100 AcDbEntity 8 HOLES 6 ByLayer 62 256 370 -1 100 AcDbCircle 10 9 20 -181 40 1.6 0 CIRCLE 5 166 100 AcDbEntity 8 HOLES 6 ByLayer 62 256 370 -1 100 AcDbCircle 10 9 20 -175 40 1.6 0 CIRCLE 5 167 100 AcDbEntity 8 HOLES 6 ByLayer 62 256 370 -1 100 AcDbCircle 10 109 20 -181 40 1.6 0 CIRCLE 5 168 100 AcDbEntity 8 HOLES 6 ByLayer 62 256 370 -1 100 AcDbCircle 10 109 20 -175 40 1.6 0 CIRCLE 5 169 100 AcDbEntity 8 HOLES 6 ByLayer 62 256 370 -1 100 AcDbCircle 10 59 20 -181 40 1.6 0 CIRCLE 5 16A 100 AcDbEntity 8 HOLES 6 ByLayer 62 256 370 -1 100 AcDbCircle 10 59 20 -175 40 1.6 0 CIRCLE 5 16B 100 AcDbEntity 8 HOLES 6 ByLayer 62 256 370 -1 100 AcDbCircle 10 -41 20 -181 40 1.6 0 CIRCLE 5 16C 100 AcDbEntity 8 HOLES 6 ByLayer 62 256 370 -1 100 AcDbCircle 10 -41 20 -175 40 1.6 0 CIRCLE 5 16D 100 AcDbEntity 8 HOLES 6 ByLayer 62 256 370 -1 100 AcDbCircle 10 -141 20 -181 40 1.6 0 CIRCLE 5 16E 100 AcDbEntity 8 HOLES 6 ByLayer 62 256 370 -1 100 AcDbCircle 10 -141 20 -175 40 1.6 0 CIRCLE 5 16F 100 AcDbEntity 8 HOLES 6 ByLayer 62 256 370 -1 100 AcDbCircle 10 149 20 -181 40 1.6 0 CIRCLE 5 170 100 AcDbEntity 8 HOLES 6 ByLayer 62 256 370 -1 100 AcDbCircle 10 149 20 -175 40 1.6 0 POINT 5 171 100 AcDbEntity 8 0 6 ByLayer 62 256 370 -1 100 AcDbPoint 10 179 20 179 0 POINT 5 172 100 AcDbEntity 8 0 6 ByLayer 62 256 370 -1 100 AcDbPoint 10 -179 20 -178 0 POINT 5 173 100 AcDbEntity 8 0 6 ByLayer 62 256 370 -1 100 AcDbPoint 10 179 20 -178 0 POINT 5 174 100 AcDbEntity 8 0 6 ByLayer 62 256 370 -1 100 AcDbPoint 10 -179 20 179 0 LWPOLYLINE 5 175 100 AcDbEntity 8 IZREZ 6 ByLayer 62 256 370 -1 100 AcDbPolyline 90 256 70 1 43 0 10 192 20 155.5 10 199 20 155.5 10 199 20 137 10 205 20 137 10 205 20 127 10 199 20 127 10 199 20 31 10 205 20 31 10 205 20 21 10 199 20 21 10 199 20 2.5 10 192 20 2.5 10 192 20 3.9 10 190 20 3.9 10 190 20 2.5 10 184 20 2.5 10 184 20 1 10 184 20 -0.5 10 190 20 -0.5 10 190 20 -1.9 10 192 20 -1.9 10 192 20 -0.5 10 199 20 -0.5 10 199 20 -19 10 205 20 -19 10 205 20 -29 10 199 20 -29 10 199 20 -126 10 205 20 -126 10 205 20 -136 10 199 20 -136 10 199 20 -154.5 10 192 20 -154.5 10 192 20 -153.1 10 190 20 -153.1 10 190 20 -154.5 10 184 20 -154.5 10 184 20 -156 10 184 20 -157.5 10 190 20 -157.5 10 190 20 -158.9 10 192 20 -158.9 10 192 20 -157.5 10 199 20 -157.5 10 199 20 -178.000000692 10 198.615705473 20 -181.901807119 10 197.477590385 20 -185.653669287 10 195.629391862 20 -189.111405236 10 193.142135134 20 -192.142136113 10 190.111404085 20 -194.62939263 10 186.653668008 20 -196.477590915 10 182.901805762 20 -197.615705743 10 179 20 -198 10 160.5 20 -198 10 160.5 20 -191 10 161.9 20 -191 10 161.9 20 -189 10 160.5 20 -189 10 160.5 20 -183 10 159 20 -183 10 157.5 20 -183 10 157.5 20 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-198.615705743 20 -181.901805762 10 -199 20 -178 10 -199 20 -157.5 10 -192 20 -157.5 10 -192 20 -158.9 10 -190 20 -158.9 10 -190 20 -157.5 10 -184 20 -157.5 10 -184 20 -156 10 -184 20 -154.5 10 -190 20 -154.5 10 -190 20 -153.1 10 -192 20 -153.1 10 -192 20 -154.5 10 -199 20 -154.5 10 -199 20 -136 10 -205 20 -136 10 -205 20 -126 10 -199 20 -126 10 -199 20 -29 10 -205 20 -29 10 -205 20 -19 10 -199 20 -19 10 -199 20 -0.5 10 -192 20 -0.5 10 -192 20 -1.9 10 -190 20 -1.9 10 -190 20 -0.5 10 -184 20 -0.5 10 -184 20 1 10 -184 20 2.5 10 -190 20 2.5 10 -190 20 3.9 10 -192 20 3.9 10 -192 20 2.5 10 -199 20 2.5 10 -199 20 21 10 -205 20 21 10 -205 20 31 10 -199 20 31 10 -199 20 127 10 -205 20 127 10 -205 20 137 10 -199 20 137 10 -199 20 155.5 10 -192 20 155.5 10 -192 20 154.1 10 -190 20 154.1 10 -190 20 155.5 10 -184 20 155.5 10 -184 20 157 10 -184 20 158.5 10 -190 20 158.5 10 -190 20 159.9 10 -192 20 159.9 10 -192 20 158.5 10 -199 20 158.5 10 -199 20 179.000000692 10 -198.615705473 20 182.901807119 10 -197.477590385 20 186.653669287 10 -195.629391862 20 190.111405236 10 -193.142135134 20 193.142136113 10 -190.111404085 20 195.62939263 10 -186.653668008 20 197.477590915 10 -182.901805762 20 198.615705743 10 -179 20 199 10 -160.5 20 199 10 -160.5 20 192 10 -161.9 20 192 10 -161.9 20 190 10 -160.5 20 190 10 -160.5 20 184 10 -159 20 184 10 -157.5 20 184 10 -157.5 20 190 10 -156.1 20 190 10 -156.1 20 192 10 -157.5 20 192 10 -157.5 20 199 10 -139 20 199 10 -139 20 205 10 -129 20 205 10 -129 20 199 10 -30 20 199 10 -30 20 205 10 -20 20 205 10 -20 20 199 10 -1.5 20 199 10 -1.5 20 192 10 -2.9 20 192 10 -2.9 20 190 10 -1.5 20 190 10 -1.5 20 185 10 0 20 185 10 1.5 20 185 10 1.5 20 190 10 2.9 20 190 10 2.9 20 192 10 1.5 20 192 10 1.5 20 199 10 20 20 199 10 20 20 205 10 30 20 205 10 30 20 199 10 129 20 199 10 129 20 205 10 139 20 205 10 139 20 199 10 157.5 20 199 10 157.5 20 192 10 156.1 20 192 10 156.1 20 190 10 157.5 20 190 10 157.5 20 184 10 159 20 184 10 160.5 20 184 10 160.5 20 190 10 161.9 20 190 10 161.9 20 192 10 160.5 20 192 10 160.5 20 199 10 179.000000692 20 199 10 182.901807119 20 198.615705473 10 186.653669287 20 197.477590385 10 190.111405236 20 195.629391862 10 193.142136113 20 193.142135134 10 195.62939263 20 190.111404085 10 197.477590915 20 186.653668008 10 198.615705743 20 182.901805762 10 199 20 179 10 199 20 158.5 10 192 20 158.5 10 192 20 159.9 10 190 20 159.9 10 190 20 158.5 10 184 20 158.5 10 184 20 157 10 184 20 155.5 10 190 20 155.5 10 190 20 154.1 10 192 20 154.1 0 ENDSEC 0 SECTION 2 OBJECTS 0 DICTIONARY 5 C 330 0 100 AcDbDictionary 281 1 3 ACAD_GROUP 350 D 0 DICTIONARY 5 D 330 C 100 AcDbDictionary 281 1 0 ENDSEC 0 EOF trimesh-4.5.1/models/2D/MIL.svg000066400000000000000000000336611470574263400161130ustar00rootroot00000000000000 image/svg+xml trimesh-4.5.1/models/2D/angle_test.dxf000066400000000000000000002332761470574263400176050ustar00rootroot00000000000000 0 SECTION 2 HEADER 9 $ACADVER 1 AC1027 9 $ACADMAINTVER 70 8 9 $DWGCODEPAGE 3 ANSI_1252 9 $REQUIREDVERSIONS 160 0 9 $LASTSAVEDBY 1 Michael 9 $INSBASE 10 0.0 20 0.0 30 0.0 9 $EXTMIN 10 1.000000000000000E+20 20 1.000000000000000E+20 30 1.000000000000000E+20 9 $EXTMAX 10 -1.000000000000000E+20 20 -1.000000000000000E+20 30 -1.000000000000000E+20 9 $LIMMIN 10 0.0 20 0.0 9 $LIMMAX 10 12.0 20 9.0 9 $ORTHOMODE 70 0 9 $REGENMODE 70 1 9 $FILLMODE 70 1 9 $QTEXTMODE 70 0 9 $MIRRTEXT 70 0 9 $LTSCALE 40 1.0 9 $ATTMODE 70 1 9 $TEXTSIZE 40 0.2 9 $TRACEWID 40 0.05 9 $TEXTSTYLE 7 Standard 9 $CLAYER 8 0 9 $CELTYPE 6 ByLayer 9 $CECOLOR 62 256 9 $CELTSCALE 40 1.0 9 $DISPSILH 70 0 9 $DIMSCALE 40 1.0 9 $DIMASZ 40 0.18 9 $DIMEXO 40 0.0625 9 $DIMDLI 40 0.38 9 $DIMRND 40 0.0 9 $DIMDLE 40 0.0 9 $DIMEXE 40 0.18 9 $DIMTP 40 0.0 9 $DIMTM 40 0.0 9 $DIMTXT 40 0.18 9 $DIMCEN 40 0.09 9 $DIMTSZ 40 0.0 9 $DIMTOL 70 0 9 $DIMLIM 70 0 9 $DIMTIH 70 1 9 $DIMTOH 70 1 9 $DIMSE1 70 0 9 $DIMSE2 70 0 9 $DIMTAD 70 0 9 $DIMZIN 70 0 9 $DIMBLK 1 9 $DIMASO 70 1 9 $DIMSHO 70 1 9 $DIMPOST 1 9 $DIMAPOST 1 9 $DIMALT 70 0 9 $DIMALTD 70 2 9 $DIMALTF 40 25.4 9 $DIMLFAC 40 1.0 9 $DIMTOFL 70 0 9 $DIMTVP 40 0.0 9 $DIMTIX 70 0 9 $DIMSOXD 70 0 9 $DIMSAH 70 0 9 $DIMBLK1 1 9 $DIMBLK2 1 9 $DIMSTYLE 2 Standard 9 $DIMCLRD 70 0 9 $DIMCLRE 70 0 9 $DIMCLRT 70 0 9 $DIMTFAC 40 1.0 9 $DIMGAP 40 0.09 9 $DIMJUST 70 0 9 $DIMSD1 70 0 9 $DIMSD2 70 0 9 $DIMTOLJ 70 1 9 $DIMTZIN 70 0 9 $DIMALTZ 70 0 9 $DIMALTTZ 70 0 9 $DIMUPT 70 0 9 $DIMDEC 70 4 9 $DIMTDEC 70 4 9 $DIMALTU 70 2 9 $DIMALTTD 70 2 9 $DIMTXSTY 7 Standard 9 $DIMAUNIT 70 0 9 $DIMADEC 70 0 9 $DIMALTRND 40 0.0 9 $DIMAZIN 70 0 9 $DIMDSEP 70 46 9 $DIMATFIT 70 3 9 $DIMFRAC 70 0 9 $DIMLDRBLK 1 9 $DIMLUNIT 70 2 9 $DIMLWD 70 -2 9 $DIMLWE 70 -2 9 $DIMTMOVE 70 0 9 $DIMFXL 40 1.0 9 $DIMFXLON 70 0 9 $DIMJOGANG 40 0.7853981633974483 9 $DIMTFILL 70 0 9 $DIMTFILLCLR 70 0 9 $DIMARCSYM 70 0 9 $DIMLTYPE 6 9 $DIMLTEX1 6 9 $DIMLTEX2 6 9 $DIMTXTDIRECTION 70 0 9 $LUNITS 70 2 9 $LUPREC 70 4 9 $SKETCHINC 40 0.1 9 $FILLETRAD 40 0.0 9 $AUNITS 70 0 9 $AUPREC 70 0 9 $MENU 1 . 9 $ELEVATION 40 0.0 9 $PELEVATION 40 0.0 9 $THICKNESS 40 0.0 9 $LIMCHECK 70 0 9 $CHAMFERA 40 0.0 9 $CHAMFERB 40 0.0 9 $CHAMFERC 40 0.0 9 $CHAMFERD 40 0.0 9 $SKPOLY 70 0 9 $TDCREATE 40 2452642.855050937 9 $TDUCREATE 40 2452643.063384271 9 $TDUPDATE 40 2456703.003279225 9 $TDUUPDATE 40 2456703.211612558 9 $TDINDWG 40 0.0004617361 9 $TDUSRTIMER 40 2456703.21115088 9 $USRTIMER 70 1 9 $ANGBASE 50 0.0 9 $ANGDIR 70 0 9 $PDMODE 70 0 9 $PDSIZE 40 0.0 9 $PLINEWID 40 0.0 9 $SPLFRAME 70 0 9 $SPLINETYPE 70 6 9 $SPLINESEGS 70 8 9 $HANDSEED 5 12B 9 $SURFTAB1 70 6 9 $SURFTAB2 70 6 9 $SURFTYPE 70 6 9 $SURFU 70 6 9 $SURFV 70 6 9 $UCSBASE 2 9 $UCSNAME 2 9 $UCSORG 10 0.0 20 0.0 30 0.0 9 $UCSXDIR 10 1.0 20 0.0 30 0.0 9 $UCSYDIR 10 0.0 20 1.0 30 0.0 9 $UCSORTHOREF 2 9 $UCSORTHOVIEW 70 0 9 $UCSORGTOP 10 0.0 20 0.0 30 0.0 9 $UCSORGBOTTOM 10 0.0 20 0.0 30 0.0 9 $UCSORGLEFT 10 0.0 20 0.0 30 0.0 9 $UCSORGRIGHT 10 0.0 20 0.0 30 0.0 9 $UCSORGFRONT 10 0.0 20 0.0 30 0.0 9 $UCSORGBACK 10 0.0 20 0.0 30 0.0 9 $PUCSBASE 2 9 $PUCSNAME 2 9 $PUCSORG 10 0.0 20 0.0 30 0.0 9 $PUCSXDIR 10 1.0 20 0.0 30 0.0 9 $PUCSYDIR 10 0.0 20 1.0 30 0.0 9 $PUCSORTHOREF 2 9 $PUCSORTHOVIEW 70 0 9 $PUCSORGTOP 10 0.0 20 0.0 30 0.0 9 $PUCSORGBOTTOM 10 0.0 20 0.0 30 0.0 9 $PUCSORGLEFT 10 0.0 20 0.0 30 0.0 9 $PUCSORGRIGHT 10 0.0 20 0.0 30 0.0 9 $PUCSORGFRONT 10 0.0 20 0.0 30 0.0 9 $PUCSORGBACK 10 0.0 20 0.0 30 0.0 9 $USERI1 70 0 9 $USERI2 70 0 9 $USERI3 70 0 9 $USERI4 70 0 9 $USERI5 70 0 9 $USERR1 40 0.0 9 $USERR2 40 0.0 9 $USERR3 40 0.0 9 $USERR4 40 0.0 9 $USERR5 40 0.0 9 $WORLDVIEW 70 1 9 $SHADEDGE 70 3 9 $SHADEDIF 70 70 9 $TILEMODE 70 1 9 $MAXACTVP 70 64 9 $PINSBASE 10 0.0 20 0.0 30 0.0 9 $PLIMCHECK 70 0 9 $PEXTMIN 10 0.0 20 0.0 30 0.0 9 $PEXTMAX 10 0.0 20 0.0 30 0.0 9 $PLIMMIN 10 0.0 20 0.0 9 $PLIMMAX 10 0.0 20 0.0 9 $UNITMODE 70 0 9 $VISRETAIN 70 1 9 $PLINEGEN 70 0 9 $PSLTSCALE 70 1 9 $TREEDEPTH 70 3020 9 $CMLSTYLE 2 Standard 9 $CMLJUST 70 0 9 $CMLSCALE 40 1.0 9 $PROXYGRAPHICS 70 1 9 $MEASUREMENT 70 0 9 $CELWEIGHT 370 -1 9 $ENDCAPS 280 0 9 $JOINSTYLE 280 0 9 $LWDISPLAY 290 0 9 $INSUNITS 70 1 9 $HYPERLINKBASE 1 9 $STYLESHEET 1 9 $XEDIT 290 1 9 $CEPSNTYPE 380 0 9 $PSTYLEMODE 290 1 9 $FINGERPRINTGUID 2 {FDEAD576-A652-11D2-9A35-0060089B3A3F} 9 $VERSIONGUID 2 {FBC2AE19-5C5C-49EC-81BC-71B1A3362A02} 9 $EXTNAMES 290 1 9 $PSVPSCALE 40 0.0 9 $OLESTARTUP 290 0 9 $SORTENTS 280 127 9 $INDEXCTL 280 0 9 $HIDETEXT 280 1 9 $XCLIPFRAME 280 0 9 $HALOGAP 280 0 9 $OBSCOLOR 70 257 9 $OBSLTYPE 280 0 9 $INTERSECTIONDISPLAY 280 0 9 $INTERSECTIONCOLOR 70 257 9 $DIMASSOC 280 2 9 $PROJECTNAME 1 9 $CAMERADISPLAY 290 0 9 $LENSLENGTH 40 50.0 9 $CAMERAHEIGHT 40 0.0 9 $STEPSPERSEC 40 2.0 9 $STEPSIZE 40 6.0 9 $3DDWFPREC 40 2.0 9 $PSOLWIDTH 40 0.25 9 $PSOLHEIGHT 40 4.0 9 $LOFTANG1 40 1.570796326794897 9 $LOFTANG2 40 1.570796326794897 9 $LOFTMAG1 40 0.0 9 $LOFTMAG2 40 0.0 9 $LOFTPARAM 70 7 9 $LOFTNORMALS 280 1 9 $LATITUDE 40 37.795 9 $LONGITUDE 40 -122.394 9 $NORTHDIRECTION 40 0.0 9 $TIMEZONE 70 -8000 9 $LIGHTGLYPHDISPLAY 280 1 9 $TILEMODELIGHTSYNCH 280 1 9 $CMATERIAL 347 96 9 $SOLIDHIST 280 1 9 $SHOWHIST 280 1 9 $DWFFRAME 280 2 9 $DGNFRAME 280 0 9 $REALWORLDSCALE 290 1 9 $INTERFERECOLOR 62 1 9 $CSHADOW 280 0 9 $SHADOWPLANELOCATION 40 0.0 0 ENDSEC 0 SECTION 2 CLASSES 0 CLASS 1 ACDBDICTIONARYWDFLT 2 AcDbDictionaryWithDefault 3 ObjectDBX Classes 90 0 91 5 280 0 281 0 0 CLASS 1 ACDBPLACEHOLDER 2 AcDbPlaceHolder 3 ObjectDBX Classes 90 0 91 1 280 0 281 0 0 CLASS 1 LAYOUT 2 AcDbLayout 3 ObjectDBX Classes 90 0 91 1 280 0 281 0 0 CLASS 1 DICTIONARYVAR 2 AcDbDictionaryVar 3 ObjectDBX Classes 90 0 91 4 280 0 281 0 0 CLASS 1 TABLESTYLE 2 AcDbTableStyle 3 ObjectDBX Classes 90 4095 91 5 280 0 281 0 0 CLASS 1 MATERIAL 2 AcDbMaterial 3 ObjectDBX Classes 90 1153 91 5 280 0 281 0 0 CLASS 1 VISUALSTYLE 2 AcDbVisualStyle 3 ObjectDBX Classes 90 4095 91 5 280 0 281 0 0 CLASS 1 SCALE 2 AcDbScale 3 ObjectDBX Classes 90 1153 91 5 280 0 281 0 0 CLASS 1 CELLSTYLEMAP 2 AcDbCellStyleMap 3 ObjectDBX Classes 90 1152 91 4 280 0 281 0 0 CLASS 1 RASTERVARIABLES 2 AcDbRasterVariables 3 ISM 90 0 91 5 280 0 281 0 0 CLASS 1 SUN 2 AcDbSun 3 SCENEOE 90 1153 91 5 280 0 281 0 0 ENDSEC 0 SECTION 2 TABLES 0 TABLE 2 VPORT 5 8 330 0 100 AcDbSymbolTable 70 1 0 VPORT 5 94 330 8 100 AcDbSymbolTableRecord 100 AcDbViewportTableRecord 2 *Active 70 0 10 0.0 20 0.0 11 1.0 21 1.0 12 33.66959356597982 22 24.03870295786203 13 0.0 23 0.0 14 0.5 24 0.5 15 0.5 25 0.5 16 0.0 26 0.0 36 1.0 17 -27.66959356597982 27 -19.53870295786203 37 0.0 40 11.00571428571429 41 1.11214953271028 42 50.0 43 0.0 44 0.0 50 0.0 51 0.0 71 16 72 1000 73 1 74 3 75 0 76 0 77 0 78 0 281 0 65 1 110 0.0 120 0.0 130 0.0 111 1.0 121 0.0 131 0.0 112 0.0 122 1.0 132 0.0 79 0 146 0.0 348 9F 60 2 61 5 292 1 282 1 141 0.0 142 0.0 63 250 421 3355443 361 ED 0 ENDTAB 0 TABLE 2 LTYPE 5 5 330 0 100 AcDbSymbolTable 70 1 0 LTYPE 5 14 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ByBlock 70 0 3 72 65 73 0 40 0.0 0 LTYPE 5 15 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ByLayer 70 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$UCSORTHOVIEW 70 0 9 $UCSORGTOP 10 0.0 20 0.0 30 0.0 9 $UCSORGBOTTOM 10 0.0 20 0.0 30 0.0 9 $UCSORGLEFT 10 0.0 20 0.0 30 0.0 9 $UCSORGRIGHT 10 0.0 20 0.0 30 0.0 9 $UCSORGFRONT 10 0.0 20 0.0 30 0.0 9 $UCSORGBACK 10 0.0 20 0.0 30 0.0 9 $PUCSBASE 2 9 $PUCSNAME 2 9 $PUCSORG 10 0.0 20 0.0 30 0.0 9 $PUCSXDIR 10 1.0 20 0.0 30 0.0 9 $PUCSYDIR 10 0.0 20 1.0 30 0.0 9 $PUCSORTHOREF 2 9 $PUCSORTHOVIEW 70 0 9 $PUCSORGTOP 10 0.0 20 0.0 30 0.0 9 $PUCSORGBOTTOM 10 0.0 20 0.0 30 0.0 9 $PUCSORGLEFT 10 0.0 20 0.0 30 0.0 9 $PUCSORGRIGHT 10 0.0 20 0.0 30 0.0 9 $PUCSORGFRONT 10 0.0 20 0.0 30 0.0 9 $PUCSORGBACK 10 0.0 20 0.0 30 0.0 9 $USERI1 70 0 9 $USERI2 70 0 9 $USERI3 70 0 9 $USERI4 70 0 9 $USERI5 70 0 9 $USERR1 40 0.0 9 $USERR2 40 0.0 9 $USERR3 40 0.0 9 $USERR4 40 0.0 9 $USERR5 40 0.0 9 $WORLDVIEW 70 1 9 $SHADEDGE 70 3 9 $SHADEDIF 70 70 9 $TILEMODE 70 1 9 $MAXACTVP 70 64 9 $PINSBASE 10 0.0 20 0.0 30 0.0 9 $PLIMCHECK 70 0 9 $PEXTMIN 10 1.0000000000E+20 20 1.0000000000E+20 30 1.0000000000E+20 9 $PEXTMAX 10 -1.0000000000E+20 20 -1.0000000000E+20 30 -1.0000000000E+20 9 $PLIMMIN 10 0.0 20 0.0 9 $PLIMMAX 10 12.0 20 9.0 9 $UNITMODE 70 0 9 $VISRETAIN 70 1 9 $PLINEGEN 70 0 9 $PSLTSCALE 70 1 9 $TREEDEPTH 70 3020 9 $CMLSTYLE 2 Standard 9 $CMLJUST 70 0 9 $CMLSCALE 40 1.0 9 $PROXYGRAPHICS 70 1 9 $MEASUREMENT 70 0 9 $CELWEIGHT 370 -1 9 $ENDCAPS 280 0 9 $JOINSTYLE 280 0 9 $LWDISPLAY 290 1 9 $INSUNITS 70 1 9 $HYPERLINKBASE 1 9 $STYLESHEET 1 9 $XEDIT 290 1 9 $CEPSNTYPE 380 0 9 $PSTYLEMODE 290 1 9 $FINGERPRINTGUID 2 {D03D99E3-0FFA-4A84-A148-1499807BD37B} 9 $VERSIONGUID 2 {FAEB1C32-E019-11D5-929B-00C0DF256EC4} 9 $EXTNAMES 290 1 9 $PSVPSCALE 40 0.0 9 $OLESTARTUP 290 0 0 ENDSEC 0 SECTION 2 CLASSES 0 CLASS 1 ACDBDICTIONARYWDFLT 2 AcDbDictionaryWithDefault 3 ObjectDBX Classes 90 0 280 0 281 0 0 CLASS 1 VISUALSTYLE 2 AcDbVisualStyle 3 ObjectDBX Classes 90 4095 280 0 281 0 0 CLASS 1 DICTIONARYVAR 2 AcDbDictionaryVar 3 ObjectDBX Classes 90 0 280 0 281 0 0 CLASS 1 ACDBPLACEHOLDER 2 AcDbPlaceHolder 3 ObjectDBX Classes 90 0 280 0 281 0 0 CLASS 1 LAYOUT 2 AcDbLayout 3 ObjectDBX Classes 90 0 280 0 281 0 0 ENDSEC 0 SECTION 2 TABLES 0 TABLE 2 VPORT 5 8 330 0 100 AcDbSymbolTable 70 1 0 VPORT 5 29 330 8 100 AcDbSymbolTableRecord 100 AcDbViewportTableRecord 2 *Active 70 0 10 0.0 20 0.0 11 1.0 21 1.0 12 5.5 22 4.25 13 0.0 23 0.0 14 0.5 24 0.5 15 0.5 25 0.5 16 0.0 26 0.0 36 1.0 17 0.0 27 0.0 37 0.0 40 8.5 41 1.2941176471 42 50.0 43 0.0 44 0.0 50 0.0 51 0.0 71 0 72 2000 73 1 74 3 75 0 76 0 77 0 78 0 281 0 65 1 110 0.0 120 0.0 130 0.0 111 1.0 121 0.0 131 0.0 112 0.0 122 1.0 132 0.0 79 0 146 0.0 0 ENDTAB 0 TABLE 2 LTYPE 5 5 330 0 100 AcDbSymbolTable 70 6 0 LTYPE 5 14 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ByBlock 70 0 3 72 65 73 0 40 0.0 0 LTYPE 5 15 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ByLayer 70 0 3 72 65 73 0 40 0.0 0 LTYPE 5 16 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 Continuous 70 0 3 Solid line 72 65 73 0 40 0.0 0 LTYPE 5 3B 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 HIDDEN 70 0 3 Hidden __ __ __ __ __ __ __ __ __ __ __ __ __ __ 72 65 73 2 40 0.075 49 0.05 74 0 49 -0.025 74 0 0 LTYPE 5 3C 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 PHANTOM 70 0 3 Phantom ______ __ __ ______ __ __ ______ 72 65 73 6 40 0.5 49 0.25 74 0 49 -0.05 74 0 49 0.05 74 0 49 -0.05 74 0 49 0.05 74 0 49 -0.05 74 0 0 LTYPE 5 3D 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 CENTER 70 0 3 Center ____ _ ____ _ ____ _ ____ _ ____ _ ____ 72 65 73 4 40 0.4 49 0.25 74 0 49 -0.05 74 0 49 0.05 74 0 49 -0.05 74 0 0 LTYPE 5 3E 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 CENTERX2 70 0 3 Center (2x) ________ __ ________ __ _____ 72 65 73 4 40 0.8 49 0.5 74 0 49 -0.1 74 0 49 0.1 74 0 49 -0.1 74 0 0 LTYPE 5 3F 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DOT2 70 0 3 Dot (.5x) ........................................ 72 65 73 2 40 0.025 49 0.0 74 0 49 -0.025 74 0 0 ENDTAB 0 TABLE 2 LAYER 5 2 330 0 100 AcDbSymbolTable 70 2 0 LAYER 5 10 330 2 100 AcDbSymbolTableRecord 100 AcDbLayerTableRecord 2 0 70 0 62 7 6 Continuous 370 -3 390 F 0 LAYER 5 40 330 2 100 AcDbSymbolTableRecord 100 AcDbLayerTableRecord 2 FORMAT 70 0 62 7 6 Continuous 370 -3 390 F 0 ENDTAB 0 TABLE 2 STYLE 5 3 330 0 100 AcDbSymbolTable 70 1 0 STYLE 5 11 330 3 100 AcDbSymbolTableRecord 100 AcDbTextStyleTableRecord 2 Standard 70 0 40 0.0 41 1.0 50 0.0 71 0 42 0.2 3 txt 4 0 ENDTAB 0 TABLE 2 VIEW 5 6 330 0 100 AcDbSymbolTable 70 0 0 ENDTAB 0 TABLE 2 UCS 5 7 330 0 100 AcDbSymbolTable 70 0 0 ENDTAB 0 TABLE 2 APPID 5 9 330 0 100 AcDbSymbolTable 70 1 0 APPID 5 12 330 9 100 AcDbSymbolTableRecord 100 AcDbRegAppTableRecord 2 ACAD 70 0 0 ENDTAB 0 TABLE 2 DIMSTYLE 5 A 330 0 100 AcDbSymbolTable 70 1 100 AcDbDimStyleTable 0 DIMSTYLE 105 27 330 A 100 AcDbSymbolTableRecord 100 AcDbDimStyleTableRecord 2 Standard 70 0 340 11 0 ENDTAB 0 TABLE 2 BLOCK_RECORD 5 1 330 0 100 AcDbSymbolTable 70 1 0 BLOCK_RECORD 5 1F 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Model_Space 340 22 0 BLOCK_RECORD 5 1B 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Paper_Space 340 1E 0 BLOCK_RECORD 5 23 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Paper_Space0 340 26 0 ENDTAB 0 ENDSEC 0 SECTION 2 BLOCKS 0 BLOCK 5 20 330 1F 100 AcDbEntity 8 0 100 AcDbBlockBegin 2 *Model_Space 70 0 10 0.0 20 0.0 30 0.0 3 *Model_Space 1 0 ENDBLK 5 21 330 1F 100 AcDbEntity 8 0 100 AcDbBlockEnd 0 BLOCK 5 1C 330 1B 100 AcDbEntity 67 1 8 0 100 AcDbBlockBegin 2 *Paper_Space 70 0 10 0.0 20 0.0 30 0.0 3 *Paper_Space 1 0 ENDBLK 5 1D 330 1B 100 AcDbEntity 67 1 8 0 100 AcDbBlockEnd 0 BLOCK 5 24 330 23 100 AcDbEntity 8 0 100 AcDbBlockBegin 2 *Paper_Space0 70 0 10 0.0 20 0.0 30 0.0 3 *Paper_Space0 1 0 ENDBLK 5 25 330 23 100 AcDbEntity 8 0 100 AcDbBlockEnd 0 ENDSEC 0 SECTION 2 ENTITIES 0 ARC 5 41 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 3.9935043988 20 4.5636510264 30 0.0 40 0.1250000000000004 100 AcDbArc 50 270.0 51 0.0 0 ARC 5 42 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 3.8685043988 20 4.5636510264 30 0.0 40 0.125 100 AcDbArc 50 180.0 51 270.0 0 ARC 5 43 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 3.6185043988 20 4.767809748 30 0.0 40 0.125 100 AcDbArc 50 0.0 51 39.9076881621 0 ARC 5 44 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 2.2435043988 20 6.8015226383 30 0.0 40 0.1250000000000003 100 AcDbArc 50 180.0 51 219.9076881621 0 ARC 5 45 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 2.8051615623 20 6.5196510264 30 0.0 40 0.1250000000000009 100 AcDbArc 50 90.0 51 219.9076881621 0 ARC 5 46 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 3.7435043988 20 5.3977115468 30 0.0 40 0.125 100 AcDbArc 50 219.9076881621 51 0.0 0 ARC 5 47 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 3.7435043988 20 6.5196510264 30 0.0 40 0.1250000000000009 100 AcDbArc 50 0.0 51 90.0 0 LINE 5 48 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbLine 10 2.1476195147 20 6.7213285675 30 0.0 11 3.7143892829 21 4.8480038189 31 0.0 0 CIRCLE 5 49 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 3.9310043988 20 4.7511510264 30 0.0 40 0.0404999999999998 0 CIRCLE 5 4A 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 3.9310043988 20 4.5636510264 30 0.0 40 0.0404999999999998 0 LINE 5 4B 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbLine 10 3.0185043988 20 7.1261510264 30 0.0 11 3.2185043988 21 7.1261510264 31 0.0 0 CIRCLE 5 4C 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 2.3685043988 20 7.0636510264 30 0.0 40 0.0580000000000003 0 CIRCLE 5 4D 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 3.8685043988 20 7.0636510264 30 0.0 40 0.0579999999999994 0 LINE 5 4E 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbLine 10 2.8051615623 20 6.6446510264 30 0.0 11 3.7435043988 21 6.6446510264 31 0.0 0 ARC 5 4F 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 3.0185043988 20 7.0636510264 30 0.0 40 0.0625000000000009 100 AcDbArc 50 90.0 51 270.0 0 LINE 5 50 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbLine 10 3.0185043988 20 7.0011510264 30 0.0 11 3.2185043988 21 7.0011510264 31 0.0 0 ARC 5 51 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 3.2185043988 20 7.0636510264 30 0.0 40 0.0625000000000009 100 AcDbArc 50 270.0 51 90.0 0 LINE 5 52 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbLine 10 3.6476195147 20 5.3175174759 30 0.0 11 2.7092766782 21 6.4394569555 31 0.0 0 LINE 5 53 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbLine 10 3.8685043988 20 6.5196510264 30 0.0 11 3.8685043988 21 5.3977115468 31 0.0 0 LINE 5 54 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbLine 10 2.1185043988 20 6.8015226383 30 0.0 11 2.1185043988 21 7.1886510264 31 0.0 0 LINE 5 55 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbLine 10 2.1185043988 20 7.1886510264 30 0.0 11 4.1185043988 21 7.1886510264 31 0.0 0 LINE 5 56 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbLine 10 4.1185043988 20 4.5636510264 30 0.0 11 4.1185043988 21 7.1886510264 31 0.0 0 LINE 5 57 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbLine 10 3.8685043988 20 4.4386510264 30 0.0 11 3.9935043988 21 4.4386510264 31 0.0 0 LINE 5 58 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbLine 10 3.7435043988 20 4.767809748 30 0.0 11 3.7435043988 21 4.5636510264 31 0.0 0 ARC 5 59 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 9.9276392962 20 7.0907184751 30 0.0 40 0.1000000000000005 100 AcDbArc 50 0.0 51 90.0 0 ARC 5 5A 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 4.3776392962 20 7.0907184751 30 0.0 40 0.1000000000000005 100 AcDbArc 50 90.0 51 180.0 0 CIRCLE 5 5B 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 9.5276392962 20 3.1750934751 30 0.0 40 0.0559999999999996 0 CIRCLE 5 5C 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 8.9836392962 20 3.1750934751 30 0.0 40 0.1250000000000004 0 CIRCLE 5 5D 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 7.1526392962 20 3.1750934751 30 0.0 40 0.0559999999999996 0 CIRCLE 5 5E 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 8.3401392962 20 3.1750934751 30 0.0 40 0.0560000000000009 0 CIRCLE 5 5F 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 5.9651392962 20 3.1750934751 30 0.0 40 0.0559999999999996 0 CIRCLE 5 60 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 4.7776392962 20 3.1750934751 30 0.0 40 0.0559999999999996 0 LINE 5 61 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbLine 10 4.2776392962 20 7.0907184751 30 0.0 11 4.2776392962 21 2.6907184751 31 0.0 0 LINE 5 62 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbLine 10 7.9436392962 20 5.0942184751 30 0.0 11 7.6936392962 21 5.0942184751 31 0.0 0 CIRCLE 5 63 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 9.9211392962 20 4.7980967708 30 0.0 40 0.0579999999999998 0 CIRCLE 5 64 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 9.9211392265 20 7.0850967708 30 0.0 40 0.0580000000000007 0 CIRCLE 5 65 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 4.3841392962 20 4.7972184751 30 0.0 40 0.0579999999999998 0 CIRCLE 5 66 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 4.3841392962 20 7.0842184751 30 0.0 40 0.0579999999999998 0 ARC 5 67 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 7.9436392962 20 5.0317184751 30 0.0 40 0.0625000000000009 100 AcDbArc 50 270.0 51 90.0 0 LINE 5 68 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbLine 10 7.9436392962 20 4.9692184751 30 0.0 11 7.6936392962 21 4.9692184751 31 0.0 0 ARC 5 69 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 7.6936392962 20 5.0317184751 30 0.0 40 0.0625000000000009 100 AcDbArc 50 90.0 51 270.0 0 LINE 5 6A 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbLine 10 4.2776392962 20 2.6907184751 30 0.0 11 10.0276392962 21 2.6907184751 31 0.0 0 LINE 5 6B 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbLine 10 10.0276392962 20 7.0907184751 30 0.0 11 10.0276392962 21 2.6907184751 31 0.0 0 LINE 5 6C 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbLine 10 4.3776392962 20 7.1907184751 30 0.0 11 9.9276392962 21 7.1907184751 31 0.0 0 ENDSEC 0 SECTION 2 OBJECTS 0 DICTIONARY 5 C 330 0 100 AcDbDictionary 281 1 3 ACAD_GROUP 350 D 3 ACAD_LAYOUT 350 1A 3 ACAD_MLEADERSTYLE 350 6F 3 ACAD_MLINESTYLE 350 17 3 ACAD_PLOTSETTINGS 350 19 3 ACAD_PLOTSTYLENAME 350 E 3 ACAD_VISUALSTYLE 350 2A 3 AcDbVariableDictionary 350 6D 0 DICTIONARY 5 D 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 0 DICTIONARY 5 1A 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 Layout1 350 1E 3 Layout2 350 26 3 Model 350 22 0 DICTIONARY 5 6F 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 0 DICTIONARY 5 17 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 Standard 350 18 0 DICTIONARY 5 19 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 0 ACDBDICTIONARYWDFLT 5 E 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 Normal 350 F 100 AcDbDictionaryWithDefault 340 F 0 DICTIONARY 5 2A 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 2dWireframe 350 2F 3 3D Hidden 350 31 3 3dWireframe 350 30 3 Basic 350 32 3 Brighten 350 36 3 ColorChange 350 3A 3 Conceptual 350 34 3 Dim 350 35 3 Facepattern 350 39 3 Flat 350 2B 3 FlatWithEdges 350 2C 3 Gouraud 350 2D 3 GouraudWithEdges 350 2E 3 Linepattern 350 38 3 Realistic 350 33 3 Thicken 350 37 0 DICTIONARY 5 6D 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 DIMASSOC 350 70 3 HIDETEXT 350 71 0 LAYOUT 5 1E 102 {ACAD_REACTORS 330 1A 102 } 330 1A 100 AcDbPlotSettings 1 2 none_device 4 6 40 0.0 41 0.0 42 0.0 43 0.0 44 0.0 45 0.0 46 0.0 47 0.0 48 0.0 49 0.0 140 0.0 141 0.0 142 1.0 143 1.0 70 688 72 0 73 0 74 5 7 75 16 147 1.0 148 0.0 149 0.0 100 AcDbLayout 1 Layout1 70 1 71 1 10 0.0 20 0.0 11 12.0 21 9.0 12 0.0 22 0.0 32 0.0 14 1.0000000000E+20 24 1.0000000000E+20 34 1.0000000000E+20 15 -1.0000000000E+20 25 -1.0000000000E+20 35 -1.0000000000E+20 146 0.0 13 0.0 23 0.0 33 0.0 16 1.0 26 0.0 36 0.0 17 0.0 27 1.0 37 0.0 76 0 330 1B 0 LAYOUT 5 26 102 {ACAD_REACTORS 330 1A 102 } 330 1A 100 AcDbPlotSettings 1 2 none_device 4 6 40 0.0 41 0.0 42 0.0 43 0.0 44 0.0 45 0.0 46 0.0 47 0.0 48 0.0 49 0.0 140 0.0 141 0.0 142 1.0 143 1.0 70 688 72 0 73 0 74 5 7 75 16 147 1.0 148 0.0 149 0.0 100 AcDbLayout 1 Layout2 70 1 71 2 10 0.0 20 0.0 11 0.0 21 0.0 12 0.0 22 0.0 32 0.0 14 0.0 24 0.0 34 0.0 15 0.0 25 0.0 35 0.0 146 0.0 13 0.0 23 0.0 33 0.0 16 1.0 26 0.0 36 0.0 17 0.0 27 1.0 37 0.0 76 0 330 23 0 LAYOUT 5 22 102 {ACAD_REACTORS 330 1A 102 } 330 1A 100 AcDbPlotSettings 1 2 none_device 4 6 40 0.0 41 0.0 42 0.0 43 0.0 44 0.0 45 0.0 46 0.0 47 0.0 48 0.0 49 0.0 140 0.0 141 0.0 142 1.0 143 1.0 70 1712 72 0 73 0 74 0 7 75 0 147 1.0 148 0.0 149 0.0 100 AcDbLayout 1 Model 70 1 71 0 10 0.0 20 0.0 11 11.0 21 8.5 12 0.0 22 0.0 32 0.0 14 0.0 24 0.0 34 0.0 15 11.0 25 8.5 35 0.0 146 0.0 13 0.0 23 0.0 33 0.0 16 1.0 26 0.0 36 0.0 17 0.0 27 1.0 37 0.0 76 0 330 1F 331 29 0 MLINESTYLE 5 18 102 {ACAD_REACTORS 330 17 102 } 330 17 100 AcDbMlineStyle 2 Standard 70 0 3 62 256 51 90.0 52 90.0 71 2 49 0.5 62 256 6 BYLAYER 49 -0.5 62 256 6 BYLAYER 0 ACDBPLACEHOLDER 5 F 102 {ACAD_REACTORS 330 E 102 } 330 E 0 VISUALSTYLE 5 2F 102 {ACAD_REACTORS 330 2A 102 } 330 2A 100 AcDbVisualStyle 2 2dWireframe 70 4 71 0 72 2 73 0 90 0 40 -0.6 41 -30.0 62 5 63 7 74 1 91 4 64 7 65 257 75 1 175 1 42 1.0 92 0 66 257 43 1.0 76 1 77 6 78 2 67 7 79 5 170 0 171 0 290 0 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AcDbSavedByObjectVersion 1070 0 0 VISUALSTYLE 5 38 102 {ACAD_REACTORS 330 2A 102 } 330 2A 100 AcDbVisualStyle 2 Linepattern 70 14 71 2 72 2 73 0 90 0 40 -0.6 41 -30.0 62 5 63 7 74 1 91 4 64 7 65 257 75 7 175 7 42 1.0 92 8 66 7 43 1.0 76 1 77 6 78 2 67 7 79 5 170 0 171 0 290 0 174 0 93 1 44 0.0 173 0 291 1 45 0.0 1001 ACAD 1000 AcDbSavedByObjectVersion 1070 0 0 VISUALSTYLE 5 33 102 {ACAD_REACTORS 330 2A 102 } 330 2A 100 AcDbVisualStyle 2 Realistic 70 8 71 2 72 2 73 0 90 0 40 -0.6 41 -30.0 62 5 63 7 74 1 91 0 64 7 65 257 75 1 175 1 42 1.0 92 8 66 8 43 1.0 76 1 77 6 78 2 67 7 79 5 170 0 171 0 290 0 174 0 93 13 44 0.0 173 0 291 0 45 0.0 1001 ACAD 1000 AcDbSavedByObjectVersion 1070 0 0 VISUALSTYLE 5 37 102 {ACAD_REACTORS 330 2A 102 } 330 2A 100 AcDbVisualStyle 2 Thicken 70 13 71 2 72 2 73 0 90 0 40 -0.6 41 -30.0 62 5 63 7 74 1 91 4 64 7 65 257 75 1 175 1 42 1.0 92 12 66 7 43 1.0 76 1 77 6 78 2 67 7 79 5 170 0 171 0 290 0 174 0 93 1 44 0.0 173 0 291 1 45 0.0 1001 ACAD 1000 AcDbSavedByObjectVersion 1070 0 0 DICTIONARYVAR 5 70 102 {ACAD_REACTORS 330 6D 102 } 330 6D 100 DictionaryVariables 280 0 1 2 0 DICTIONARYVAR 5 71 102 {ACAD_REACTORS 330 6D 102 } 330 6D 100 DictionaryVariables 280 0 1 1 0 ENDSEC 0 EOF trimesh-4.5.1/models/2D/broken_loop.dxf000066400000000000000000000344341470574263400177640ustar00rootroot00000000000000999 dxfrw 0.6.3 0 SECTION 2 HEADER 9 $ACADVER 1 AC1014 9 $DWGCODEPAGE 3 ANSI_1252 9 $INSBASE 10 0 20 0 30 0 9 $EXTMIN 10 0 20 0 30 0 9 $EXTMAX 10 2 20 4 30 0 9 $LIMMIN 10 0 20 0 9 $LIMMAX 10 420 20 297 9 $ORTHOMODE 70 0 9 $REGENMODE 70 1 9 $FILLMODE 70 1 9 $QTEXTMODE 70 0 9 $MIRRTEXT 70 0 9 $LTSCALE 40 1 9 $ATTMODE 70 0 9 $TEXTSIZE 40 2.5 9 $TRACEWID 40 15.68 9 $TEXTSTYLE 7 STANDARD 9 $CLAYER 8 0 9 $CELTYPE 6 BYLAYER 9 $CECOLOR 62 256 9 $CELTSCALE 40 1 9 $DISPSILH 70 0 9 $DIMSCALE 40 2.5 9 $DIMASZ 40 0.1 9 $DIMEXO 40 0.025 9 $DIMDLI 40 3.75 9 $DIMRND 40 0 9 $DIMDLE 40 0 9 $DIMEXE 40 0.05 9 $DIMTP 40 0 9 $DIMTM 40 0 9 $DIMTXT 40 0.1 9 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$AUPREC 70 2 9 $MENU 1 . 9 $ELEVATION 40 0 9 $PELEVATION 40 0 9 $THICKNESS 40 0 9 $LIMCHECK 70 0 9 $BLIPMODE 70 0 9 $CHAMFERA 40 0 9 $CHAMFERB 40 0 9 $CHAMFERC 40 0 9 $CHAMFERD 40 0 9 $SKPOLY 70 0 9 $USRTIMER 70 1 9 $ANGBASE 50 0 9 $ANGDIR 70 0 9 $PDMODE 70 34 9 $PDSIZE 40 0 9 $PLINEWID 40 0 9 $SPLFRAME 70 0 9 $SPLINETYPE 70 2 9 $SPLINESEGS 70 8 9 $HANDSEED 5 20000 9 $SURFTAB1 70 6 9 $SURFTAB2 70 6 9 $SURFTYPE 70 6 9 $SURFU 70 6 9 $SURFV 70 6 9 $UCSBASE 2 9 $UCSNAME 2 9 $UCSORG 10 0 20 0 30 0 9 $UCSXDIR 10 1 20 0 30 0 9 $UCSYDIR 10 0 20 1 30 0 9 $UCSORTHOREF 2 9 $UCSORTHOVIEW 70 0 9 $UCSORGTOP 10 0 20 0 30 0 9 $UCSORGBOTTOM 10 0 20 0 30 0 9 $UCSORGLEFT 10 0 20 0 30 0 9 $UCSORGRIGHT 10 0 20 0 30 0 9 $UCSORGFRONT 10 0 20 0 30 0 9 $UCSORGBACK 10 0 20 0 30 0 9 $PUCSBASE 2 9 $PUCSNAME 2 9 $PUCSORG 10 0 20 0 30 0 9 $PUCSXDIR 10 1 20 0 30 0 9 $PUCSYDIR 10 0 20 1 30 0 9 $PUCSORTHOREF 2 9 $PUCSORTHOVIEW 70 0 9 $PUCSORGTOP 10 0 20 0 30 0 9 $PUCSORGBOTTOM 10 0 20 0 30 0 9 $PUCSORGLEFT 10 0 20 0 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3 Dot (.15x) ..................................... 72 65 73 2 40 0.9525 49 0 74 0 49 -0.9525 74 0 0 LTYPE 5 34 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DOT2 70 0 3 Dot (.5x) ..................................... 72 65 73 2 40 3.175 49 0 74 0 49 -3.175 74 0 0 LTYPE 5 35 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DOTX2 70 0 3 Dot (2x) . . . . . . . . . . . . . 72 65 73 2 40 12.7 49 0 74 0 49 -12.7 74 0 0 LTYPE 5 36 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHED 70 0 3 Dashed _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 72 65 73 2 40 19.05 49 12.7 74 0 49 -6.35 74 0 0 LTYPE 5 37 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHEDTINY 70 0 3 Dashed (.15x) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 72 65 73 2 40 2.8575 49 1.905 74 0 49 -0.9525 74 0 0 LTYPE 5 38 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHED2 70 0 3 Dashed (.5x) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 72 65 73 2 40 9.524999999999999 49 6.35 74 0 49 -3.175 74 0 0 LTYPE 5 39 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHEDX2 70 0 3 Dashed (2x) ____ ____ ____ ____ ____ ___ 72 65 73 2 40 38.09999999999999 49 25.4 74 0 49 -12.7 74 0 0 LTYPE 5 3A 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHDOT 70 0 3 Dash dot __ . __ . __ . __ . __ . __ . __ . __ 72 65 73 4 40 25.4 49 12.7 74 0 49 -6.35 74 0 49 0 74 0 49 -6.35 74 0 0 LTYPE 5 3B 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHDOTTINY 70 0 3 Dash dot (.15x) _._._._._._._._._._._._._._._. 72 65 73 4 40 3.81 49 1.905 74 0 49 -0.9525 74 0 49 0 74 0 49 -0.9525 74 0 0 LTYPE 5 3C 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHDOT2 70 0 3 Dash dot (.5x) _._._._._._._._._._._._._._._. 72 65 73 4 40 12.7 49 6.35 74 0 49 -3.175 74 0 49 0 74 0 49 -3.175 74 0 0 LTYPE 5 3D 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHDOTX2 70 0 3 Dash dot (2x) ____ . ____ . ____ . ___ 72 65 73 4 40 50.8 49 25.4 74 0 49 -12.7 74 0 49 0 74 0 49 -12.7 74 0 0 LTYPE 5 3E 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DIVIDE 70 0 3 Divide ____ . . ____ . . ____ . . ____ . . ____ 72 65 73 6 40 31.75 49 12.7 74 0 49 -6.35 74 0 49 0 74 0 49 -6.35 74 0 49 0 74 0 49 -6.35 74 0 0 LTYPE 5 3F 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DIVIDETINY 70 0 3 Divide (.15x) __..__..__..__..__..__..__..__.._ 72 65 73 6 40 4.7625 49 1.905 74 0 49 -0.9525 74 0 49 0 74 0 49 -0.9525 74 0 49 0 74 0 49 -0.9525 74 0 0 LTYPE 5 40 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DIVIDE2 70 0 3 Divide (.5x) __..__..__..__..__..__..__..__.._ 72 65 73 6 40 15.875 49 6.35 74 0 49 -3.175 74 0 49 0 74 0 49 -3.175 74 0 49 0 74 0 49 -3.175 74 0 0 LTYPE 5 41 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DIVIDEX2 70 0 3 Divide (2x) ________ . . ________ . . _ 72 65 73 6 40 63.5 49 25.4 74 0 49 -12.7 74 0 49 0 74 0 49 -12.7 74 0 49 0 74 0 49 -12.7 74 0 0 LTYPE 5 42 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 BORDER 70 0 3 Border __ __ . __ __ . __ __ . __ __ . __ __ . 72 65 73 6 40 44.45 49 12.7 74 0 49 -6.35 74 0 49 12.7 74 0 49 -6.35 74 0 49 0 74 0 49 -6.35 74 0 0 LTYPE 5 43 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 BORDERTINY 70 0 3 Border (.15x) __.__.__.__.__.__.__.__.__.__.__. 72 65 73 6 40 6.6675 49 1.905 74 0 49 -0.9525 74 0 49 1.905 74 0 49 -0.9525 74 0 49 0 74 0 49 -0.9525 74 0 0 LTYPE 5 44 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 BORDER2 70 0 3 Border (.5x) __.__.__.__.__.__.__.__.__.__.__. 72 65 73 6 40 22.225 49 6.35 74 0 49 -3.175 74 0 49 6.35 74 0 49 -3.175 74 0 49 0 74 0 49 -3.175 74 0 0 LTYPE 5 45 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 BORDERX2 70 0 3 Border (2x) ____ ____ . ____ ____ . ___ 72 65 73 6 40 88.89999999999999 49 25.4 74 0 49 -12.7 74 0 49 25.4 74 0 49 -12.7 74 0 49 0 74 0 49 -12.7 74 0 0 LTYPE 5 46 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 CENTER 70 0 3 Center ____ _ ____ _ ____ _ ____ _ ____ _ ____ 72 65 73 4 40 50.8 49 31.75 74 0 49 -6.35 74 0 49 6.35 74 0 49 -6.35 74 0 0 LTYPE 5 47 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 CENTERTINY 70 0 3 Center (.15x) ___ _ ___ _ ___ _ ___ _ ___ _ ___ 72 65 73 4 40 7.619999999999999 49 4.7625 74 0 49 -0.9525 74 0 49 0.9525 74 0 49 -0.9525 74 0 0 LTYPE 5 48 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 CENTER2 70 0 3 Center (.5x) ___ _ ___ _ ___ _ ___ _ ___ _ ___ 72 65 73 4 40 28.575 49 19.05 74 0 49 -3.175 74 0 49 3.175 74 0 49 -3.175 74 0 0 LTYPE 5 49 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 CENTERX2 70 0 3 Center (2x) ________ __ ________ __ _____ 72 65 73 4 40 101.6 49 63.5 74 0 49 -12.7 74 0 49 12.7 74 0 49 -12.7 74 0 0 ENDTAB 0 TABLE 2 LAYER 5 2 100 AcDbSymbolTable 70 1 0 LAYER 5 10 330 2 100 AcDbSymbolTableRecord 100 AcDbLayerTableRecord 2 0 70 0 62 7 6 CONTINUOUS 370 0 390 F 0 ENDTAB 0 TABLE 2 STYLE 5 3 100 AcDbSymbolTable 70 3 0 STYLE 5 4A 330 2 100 AcDbSymbolTableRecord 100 AcDbTextStyleTableRecord 2 Standard 70 0 40 0 41 1 50 0 71 0 42 1 3 txt 4 0 ENDTAB 0 TABLE 2 VIEW 5 6 100 AcDbSymbolTable 70 0 0 ENDTAB 0 TABLE 2 UCS 5 7 100 AcDbSymbolTable 70 0 0 ENDTAB 0 TABLE 2 APPID 5 9 100 AcDbSymbolTable 70 1 0 APPID 5 12 100 AcDbSymbolTableRecord 100 AcDbRegAppTableRecord 2 ACAD 70 0 0 APPID 5 4B 100 AcDbSymbolTableRecord 100 AcDbRegAppTableRecord 2 LibreCad 70 0 0 ENDTAB 0 TABLE 2 DIMSTYLE 5 A 100 AcDbSymbolTable 70 1 0 DIMSTYLE 105 4C 330 A 100 AcDbSymbolTableRecord 100 AcDbDimStyleTableRecord 2 Standard 70 0 40 1 41 0.1 42 0.025 43 0.38 44 0.05 45 0 46 0 47 0 48 0 49 1 140 0.1 141 0.09 142 2.5 143 25.4 144 1 145 0 146 1 147 0.025 71 0 72 0 73 0 74 1 75 0 76 0 77 0 78 1 170 0 171 2 172 0 173 0 174 0 175 0 176 0 177 0 178 0 270 2 271 2 272 4 273 2 274 2 275 0 280 0 281 0 282 0 283 1 284 0 285 0 286 0 287 3 288 0 340 standard 0 ENDTAB 0 TABLE 2 BLOCK_RECORD 5 1 100 AcDbSymbolTable 70 2 0 BLOCK_RECORD 5 1F 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Model_Space 0 BLOCK_RECORD 5 1E 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Paper_Space 0 ENDTAB 0 ENDSEC 0 SECTION 2 BLOCKS 0 BLOCK 5 20 100 AcDbEntity 8 0 100 AcDbBlockBegin 2 *Model_Space 70 0 10 0 20 0 30 0 3 *Model_Space 1 0 ENDBLK 5 21 100 AcDbEntity 8 0 100 AcDbBlockEnd 0 BLOCK 5 1C 100 AcDbEntity 8 0 100 AcDbBlockBegin 2 *Paper_Space 70 0 10 0 20 0 30 0 3 *Paper_Space 1 0 ENDBLK 5 1D 100 AcDbEntity 8 0 100 AcDbBlockEnd 0 ENDSEC 0 SECTION 2 ENTITIES 0 LINE 5 4D 100 AcDbEntity 8 0 6 ByLayer 62 256 100 AcDbLine 10 1 20 0 11 2 21 0 0 LINE 5 4E 100 AcDbEntity 8 0 6 ByLayer 62 256 100 AcDbLine 10 2 20 0 11 2 21 4 0 LINE 5 4F 100 AcDbEntity 8 0 6 ByLayer 62 256 100 AcDbLine 10 2 20 4 11 0 21 4 0 LINE 5 50 100 AcDbEntity 8 0 6 ByLayer 62 256 100 AcDbLine 10 0 20 4 11 0 21 0 0 LINE 5 51 100 AcDbEntity 8 0 6 ByLayer 62 256 100 AcDbLine 10 0 20 0 11 1.1 21 0 0 ENDSEC 0 SECTION 2 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$DIMSE2 70 0 9 $DIMTAD 70 1 9 $DIMZIN 70 8 9 $DIMBLK 1 9 $DIMASO 70 1 9 $DIMSHO 70 1 9 $DIMPOST 1 9 $DIMAPOST 1 9 $DIMALT 70 0 9 $DIMALTD 70 3 9 $DIMALTF 40 0.03937 9 $DIMLFAC 40 1 9 $DIMTOFL 70 1 9 $DIMTVP 40 0 9 $DIMTIX 70 0 9 $DIMSOXD 70 0 9 $DIMSAH 70 0 9 $DIMBLK1 1 9 $DIMBLK2 1 9 $DIMSTYLE 2 STANDARD 9 $DIMCLRD 70 0 9 $DIMCLRE 70 0 9 $DIMCLRT 70 0 9 $DIMTFAC 40 1 9 $DIMGAP 40 0.025 9 $DIMJUST 70 0 9 $DIMSD1 70 0 9 $DIMSD2 70 0 9 $DIMTOLJ 70 0 9 $DIMTZIN 70 8 9 $DIMALTZ 70 0 9 $DIMALTTZ 70 0 9 $DIMUPT 70 0 9 $DIMDEC 70 2 9 $DIMTDEC 70 2 9 $DIMALTU 70 2 9 $DIMALTTD 70 3 9 $DIMTXSTY 7 STANDARD 9 $DIMAUNIT 70 0 9 $DIMADEC 70 0 9 $DIMALTRND 40 0 9 $DIMAZIN 70 0 9 $DIMDSEP 70 44 9 $DIMATFIT 70 3 9 $DIMFRAC 70 0 9 $DIMLDRBLK 1 STANDARD 9 $DIMUNIT 70 2 9 $DIMLWD 70 -2 9 $DIMLWE 70 -2 9 $DIMTMOVE 70 0 9 $LUNITS 70 2 9 $LUPREC 70 4 9 $SKETCHINC 40 1 9 $FILLETRAD 40 0 9 $AUNITS 70 0 9 $AUPREC 70 2 9 $MENU 1 . 9 $ELEVATION 40 0 9 $PELEVATION 40 0 9 $THICKNESS 40 0 9 $LIMCHECK 70 0 9 $BLIPMODE 70 0 9 $CHAMFERA 40 0 9 $CHAMFERB 40 0 9 $CHAMFERC 40 0 9 $CHAMFERD 40 0 9 $SKPOLY 70 0 9 $USRTIMER 70 1 9 $ANGBASE 50 0 9 $ANGDIR 70 0 9 $PDMODE 70 34 9 $PDSIZE 40 0 9 $PLINEWID 40 0 9 $SPLFRAME 70 0 9 $SPLINETYPE 70 2 9 $SPLINESEGS 70 8 9 $HANDSEED 5 20000 9 $SURFTAB1 70 6 9 $SURFTAB2 70 6 9 $SURFTYPE 70 6 9 $SURFU 70 6 9 $SURFV 70 6 9 $UCSBASE 2 9 $UCSNAME 2 9 $UCSORG 10 0 20 0 30 0 9 $UCSXDIR 10 1 20 0 30 0 9 $UCSYDIR 10 0 20 1 30 0 9 $UCSORTHOREF 2 9 $UCSORTHOVIEW 70 0 9 $UCSORGTOP 10 0 20 0 30 0 9 $UCSORGBOTTOM 10 0 20 0 30 0 9 $UCSORGLEFT 10 0 20 0 30 0 9 $UCSORGRIGHT 10 0 20 0 30 0 9 $UCSORGFRONT 10 0 20 0 30 0 9 $UCSORGBACK 10 0 20 0 30 0 9 $PUCSBASE 2 9 $PUCSNAME 2 9 $PUCSORG 10 0 20 0 30 0 9 $PUCSXDIR 10 1 20 0 30 0 9 $PUCSYDIR 10 0 20 1 30 0 9 $PUCSORTHOREF 2 9 $PUCSORTHOVIEW 70 0 9 $PUCSORGTOP 10 0 20 0 30 0 9 $PUCSORGBOTTOM 10 0 20 0 30 0 9 $PUCSORGLEFT 10 0 20 0 30 0 9 $PUCSORGRIGHT 10 0 20 0 30 0 9 $PUCSORGFRONT 10 0 20 0 30 0 9 $PUCSORGBACK 10 0 20 0 30 0 9 $USERI1 70 0 9 $USERI2 70 0 9 $USERI3 70 0 9 $USERI4 70 0 9 $USERI5 70 0 9 $USERR1 40 0 9 $USERR2 40 0 9 $USERR3 40 0 9 $USERR4 40 0 9 $USERR5 40 0 9 $WORLDVIEW 70 1 9 $SHADEDGE 70 3 9 $SHADEDIF 70 70 9 $TILEMODE 70 1 9 $MAXACTVP 70 64 9 $PINSBASE 10 0 20 0 30 0 9 $PLIMCHECK 70 0 9 $PEXTMIN 10 0 20 0 30 0 9 $PEXTMAX 10 0 20 0 30 0 9 $SNAPSTYLE 70 0 9 $PLIMMIN 10 0 20 0 9 $PLIMMAX 10 0.3255006510013021 20 0.4603509207018415 9 $UNITMODE 70 0 9 $VISRETAIN 70 1 9 $PLINEGEN 70 0 9 $PSLTSCALE 70 1 9 $TREEDEPTH 70 3020 9 $CMLSTYLE 2 Standard 9 $CMLJUST 70 0 9 $CMLSCALE 40 20 9 $PROXYGRAPHICS 70 1 9 $MEASUREMENT 70 1 9 $CELWEIGHT 370 -1 9 $ENDCAPS 280 0 9 $JOINSTYLE 280 0 9 $LWDISPLAY 290 0 9 $HYPERLINKBASE 1 9 $STYLESHEET 1 9 $XEDIT 290 1 9 $CEPSNTYPE 380 0 9 $PSTYLEMODE 290 1 9 $EXTNAMES 290 1 9 $PSVPSCALE 40 1 9 $OLESTARTUP 290 0 0 ENDSEC 0 SECTION 2 CLASSES 0 ENDSEC 0 SECTION 2 TABLES 0 TABLE 2 VPORT 5 8 100 AcDbSymbolTable 70 1 0 VPORT 5 31 330 2 100 AcDbSymbolTableRecord 100 AcDbViewportTableRecord 2 *ACTIVE 70 0 10 0 20 0 11 1 21 1 12 11.15578405019384 22 5.194227494270147 13 0 23 0 14 10 24 10 15 10 25 10 16 0 26 0 36 1 17 0 27 0 37 0 40 19.83250497812238 41 1.751700680272109 42 50 43 0 44 0 50 0 51 0 71 0 72 100 73 1 74 3 75 0 76 1 77 0 78 0 0 ENDTAB 0 TABLE 2 LTYPE 5 5 100 AcDbSymbolTable 70 4 0 LTYPE 5 14 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ByBlock 70 0 3 72 65 73 0 40 0 0 LTYPE 5 15 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ByLayer 70 0 3 72 65 73 0 40 0 0 LTYPE 5 16 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 Continuous 70 0 3 Solid line 72 65 73 0 40 0 0 LTYPE 5 32 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DOT 70 0 3 Dot . . . . . . . . . . . . . . . . . . . . . . 72 65 73 2 40 6.35 49 0 74 0 49 -6.35 74 0 0 LTYPE 5 33 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DOTTINY 70 0 3 Dot (.15x) ..................................... 72 65 73 2 40 0.9525 49 0 74 0 49 -0.9525 74 0 0 LTYPE 5 34 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DOT2 70 0 3 Dot (.5x) ..................................... 72 65 73 2 40 3.175 49 0 74 0 49 -3.175 74 0 0 LTYPE 5 35 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DOTX2 70 0 3 Dot (2x) . . . . . . . . . . . . . 72 65 73 2 40 12.7 49 0 74 0 49 -12.7 74 0 0 LTYPE 5 36 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHED 70 0 3 Dashed _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 72 65 73 2 40 19.05 49 12.7 74 0 49 -6.35 74 0 0 LTYPE 5 37 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHEDTINY 70 0 3 Dashed (.15x) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 72 65 73 2 40 2.8575 49 1.905 74 0 49 -0.9525 74 0 0 LTYPE 5 38 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHED2 70 0 3 Dashed (.5x) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 72 65 73 2 40 9.524999999999999 49 6.35 74 0 49 -3.175 74 0 0 LTYPE 5 39 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHEDX2 70 0 3 Dashed (2x) ____ ____ ____ ____ ____ ___ 72 65 73 2 40 38.09999999999999 49 25.4 74 0 49 -12.7 74 0 0 LTYPE 5 3A 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHDOT 70 0 3 Dash dot __ . __ . __ . __ . __ . __ . __ . __ 72 65 73 4 40 25.4 49 12.7 74 0 49 -6.35 74 0 49 0 74 0 49 -6.35 74 0 0 LTYPE 5 3B 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHDOTTINY 70 0 3 Dash dot (.15x) _._._._._._._._._._._._._._._. 72 65 73 4 40 3.81 49 1.905 74 0 49 -0.9525 74 0 49 0 74 0 49 -0.9525 74 0 0 LTYPE 5 3C 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHDOT2 70 0 3 Dash dot (.5x) _._._._._._._._._._._._._._._. 72 65 73 4 40 12.7 49 6.35 74 0 49 -3.175 74 0 49 0 74 0 49 -3.175 74 0 0 LTYPE 5 3D 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHDOTX2 70 0 3 Dash dot (2x) ____ . ____ . ____ . ___ 72 65 73 4 40 50.8 49 25.4 74 0 49 -12.7 74 0 49 0 74 0 49 -12.7 74 0 0 LTYPE 5 3E 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DIVIDE 70 0 3 Divide ____ . . ____ . . ____ . . ____ . . ____ 72 65 73 6 40 31.75 49 12.7 74 0 49 -6.35 74 0 49 0 74 0 49 -6.35 74 0 49 0 74 0 49 -6.35 74 0 0 LTYPE 5 3F 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DIVIDETINY 70 0 3 Divide (.15x) __..__..__..__..__..__..__..__.._ 72 65 73 6 40 4.7625 49 1.905 74 0 49 -0.9525 74 0 49 0 74 0 49 -0.9525 74 0 49 0 74 0 49 -0.9525 74 0 0 LTYPE 5 40 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DIVIDE2 70 0 3 Divide (.5x) __..__..__..__..__..__..__..__.._ 72 65 73 6 40 15.875 49 6.35 74 0 49 -3.175 74 0 49 0 74 0 49 -3.175 74 0 49 0 74 0 49 -3.175 74 0 0 LTYPE 5 41 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DIVIDEX2 70 0 3 Divide (2x) ________ . . ________ . . _ 72 65 73 6 40 63.5 49 25.4 74 0 49 -12.7 74 0 49 0 74 0 49 -12.7 74 0 49 0 74 0 49 -12.7 74 0 0 LTYPE 5 42 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 BORDER 70 0 3 Border __ __ . __ __ . __ __ . __ __ . __ __ . 72 65 73 6 40 44.45 49 12.7 74 0 49 -6.35 74 0 49 12.7 74 0 49 -6.35 74 0 49 0 74 0 49 -6.35 74 0 0 LTYPE 5 43 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 BORDERTINY 70 0 3 Border (.15x) __.__.__.__.__.__.__.__.__.__.__. 72 65 73 6 40 6.6675 49 1.905 74 0 49 -0.9525 74 0 49 1.905 74 0 49 -0.9525 74 0 49 0 74 0 49 -0.9525 74 0 0 LTYPE 5 44 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 BORDER2 70 0 3 Border (.5x) __.__.__.__.__.__.__.__.__.__.__. 72 65 73 6 40 22.225 49 6.35 74 0 49 -3.175 74 0 49 6.35 74 0 49 -3.175 74 0 49 0 74 0 49 -3.175 74 0 0 LTYPE 5 45 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 BORDERX2 70 0 3 Border (2x) ____ ____ . ____ ____ . ___ 72 65 73 6 40 88.89999999999999 49 25.4 74 0 49 -12.7 74 0 49 25.4 74 0 49 -12.7 74 0 49 0 74 0 49 -12.7 74 0 0 LTYPE 5 46 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 CENTER 70 0 3 Center ____ _ ____ _ ____ _ ____ _ ____ _ ____ 72 65 73 4 40 50.8 49 31.75 74 0 49 -6.35 74 0 49 6.35 74 0 49 -6.35 74 0 0 LTYPE 5 47 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 CENTERTINY 70 0 3 Center (.15x) ___ _ ___ _ ___ _ ___ _ ___ _ ___ 72 65 73 4 40 7.619999999999999 49 4.7625 74 0 49 -0.9525 74 0 49 0.9525 74 0 49 -0.9525 74 0 0 LTYPE 5 48 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 CENTER2 70 0 3 Center (.5x) ___ _ ___ _ ___ _ ___ _ ___ _ ___ 72 65 73 4 40 28.575 49 19.05 74 0 49 -3.175 74 0 49 3.175 74 0 49 -3.175 74 0 0 LTYPE 5 49 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 CENTERX2 70 0 3 Center (2x) ________ __ ________ __ _____ 72 65 73 4 40 101.6 49 63.5 74 0 49 -12.7 74 0 49 12.7 74 0 49 -12.7 74 0 0 ENDTAB 0 TABLE 2 LAYER 5 2 100 AcDbSymbolTable 70 1 0 LAYER 5 10 330 2 100 AcDbSymbolTableRecord 100 AcDbLayerTableRecord 2 0 70 0 62 7 6 CONTINUOUS 370 0 390 F 0 ENDTAB 0 TABLE 2 STYLE 5 3 100 AcDbSymbolTable 70 3 0 STYLE 5 4A 330 2 100 AcDbSymbolTableRecord 100 AcDbTextStyleTableRecord 2 Standard 70 0 40 0 41 1 50 0 71 0 42 1 3 txt 4 0 ENDTAB 0 TABLE 2 VIEW 5 6 100 AcDbSymbolTable 70 0 0 ENDTAB 0 TABLE 2 UCS 5 7 100 AcDbSymbolTable 70 0 0 ENDTAB 0 TABLE 2 APPID 5 9 100 AcDbSymbolTable 70 1 0 APPID 5 12 100 AcDbSymbolTableRecord 100 AcDbRegAppTableRecord 2 ACAD 70 0 0 APPID 5 4B 100 AcDbSymbolTableRecord 100 AcDbRegAppTableRecord 2 LibreCad 70 0 0 ENDTAB 0 TABLE 2 DIMSTYLE 5 A 100 AcDbSymbolTable 70 1 0 DIMSTYLE 105 4C 330 A 100 AcDbSymbolTableRecord 100 AcDbDimStyleTableRecord 2 Standard 70 0 40 1 41 0.1 42 0.025 43 0.38 44 0.05 45 0 46 0 47 0 48 0 49 1 140 0.1 141 0.09 142 2.5 143 25.4 144 1 145 0 146 1 147 0.025 71 0 72 0 73 0 74 1 75 0 76 0 77 0 78 1 170 0 171 2 172 0 173 0 174 0 175 0 176 0 177 0 178 0 270 2 271 2 272 4 273 2 274 2 275 0 280 0 281 0 282 0 283 1 284 0 285 0 286 0 287 3 288 0 340 standard 0 ENDTAB 0 TABLE 2 BLOCK_RECORD 5 1 100 AcDbSymbolTable 70 2 0 BLOCK_RECORD 5 1F 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Model_Space 0 BLOCK_RECORD 5 1E 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Paper_Space 0 ENDTAB 0 ENDSEC 0 SECTION 2 BLOCKS 0 BLOCK 5 20 100 AcDbEntity 8 0 100 AcDbBlockBegin 2 *Model_Space 70 0 10 0 20 0 30 0 3 *Model_Space 1 0 ENDBLK 5 21 100 AcDbEntity 8 0 100 AcDbBlockEnd 0 BLOCK 5 1C 100 AcDbEntity 8 0 100 AcDbBlockBegin 2 *Paper_Space 70 0 10 0 20 0 30 0 3 *Paper_Space 1 0 ENDBLK 5 1D 100 AcDbEntity 8 0 100 AcDbBlockEnd 0 ENDSEC 0 SECTION 2 ENTITIES 0 LINE 5 4D 100 AcDbEntity 8 0 6 ByLayer 62 256 100 AcDbLine 10 1 20 0 11 2 21 0 0 LINE 5 4E 100 AcDbEntity 8 0 6 ByLayer 62 256 100 AcDbLine 10 2 20 0 11 2 21 4 0 LINE 5 4F 100 AcDbEntity 8 0 6 ByLayer 62 256 100 AcDbLine 10 0 20 4 11 0 21 0 0 LINE 5 50 100 AcDbEntity 8 0 6 ByLayer 62 256 100 AcDbLine 10 0 20 0 11 1.25 21 0 0 LINE 5 51 100 AcDbEntity 8 0 6 ByLayer 62 256 100 AcDbLine 10 0 20 4 11 1.96 21 4 0 ENDSEC 0 SECTION 2 OBJECTS 0 DICTIONARY 5 C 100 AcDbDictionary 281 1 3 ACAD_GROUP 350 D 0 DICTIONARY 5 D 330 C 100 AcDbDictionary 281 1 0 ENDSEC 0 EOF trimesh-4.5.1/models/2D/buffer_regions.dxf000066400000000000000000001573151470574263400204560ustar00rootroot00000000000000 0 SECTION 2 HEADER 9 $ACADVER 1 AC1024 9 $ACADMAINTVER 70 6 9 $DWGCODEPAGE 3 ANSI_1252 9 $LASTSAVEDBY 1 Michael 9 $INSBASE 10 0.0 20 0.0 30 0.0 9 $EXTMIN 10 1.000000000000000E+20 20 1.000000000000000E+20 30 1.000000000000000E+20 9 $EXTMAX 10 -1.000000000000000E+20 20 -1.000000000000000E+20 30 -1.000000000000000E+20 9 $LIMMIN 10 0.0 20 0.0 9 $LIMMAX 10 12.0 20 9.0 9 $ORTHOMODE 70 0 9 $REGENMODE 70 1 9 $FILLMODE 70 1 9 $QTEXTMODE 70 0 9 $MIRRTEXT 70 0 9 $LTSCALE 40 1.0 9 $ATTMODE 70 1 9 $TEXTSIZE 40 0.2 9 $TRACEWID 40 0.05 9 $TEXTSTYLE 7 Standard 9 $CLAYER 8 0 9 $CELTYPE 6 ByLayer 9 $CECOLOR 62 256 9 $CELTSCALE 40 1.0 9 $DISPSILH 70 0 9 $DIMSCALE 40 1.0 9 $DIMASZ 40 0.18 9 $DIMEXO 40 0.0625 9 $DIMDLI 40 0.38 9 $DIMRND 40 0.0 9 $DIMDLE 40 0.0 9 $DIMEXE 40 0.18 9 $DIMTP 40 0.0 9 $DIMTM 40 0.0 9 $DIMTXT 40 0.18 9 $DIMCEN 40 0.09 9 $DIMTSZ 40 0.0 9 $DIMTOL 70 0 9 $DIMLIM 70 0 9 $DIMTIH 70 1 9 $DIMTOH 70 1 9 $DIMSE1 70 0 9 $DIMSE2 70 0 9 $DIMTAD 70 0 9 $DIMZIN 70 0 9 $DIMBLK 1 9 $DIMASO 70 1 9 $DIMSHO 70 1 9 $DIMPOST 1 9 $DIMAPOST 1 9 $DIMALT 70 0 9 $DIMALTD 70 2 9 $DIMALTF 40 25.4 9 $DIMLFAC 40 1.0 9 $DIMTOFL 70 0 9 $DIMTVP 40 0.0 9 $DIMTIX 70 0 9 $DIMSOXD 70 0 9 $DIMSAH 70 0 9 $DIMBLK1 1 9 $DIMBLK2 1 9 $DIMSTYLE 2 Standard 9 $DIMCLRD 70 0 9 $DIMCLRE 70 0 9 $DIMCLRT 70 0 9 $DIMTFAC 40 1.0 9 $DIMGAP 40 0.09 9 $DIMJUST 70 0 9 $DIMSD1 70 0 9 $DIMSD2 70 0 9 $DIMTOLJ 70 1 9 $DIMTZIN 70 0 9 $DIMALTZ 70 0 9 $DIMALTTZ 70 0 9 $DIMUPT 70 0 9 $DIMDEC 70 4 9 $DIMTDEC 70 4 9 $DIMALTU 70 2 9 $DIMALTTD 70 2 9 $DIMTXSTY 7 Standard 9 $DIMAUNIT 70 0 9 $DIMADEC 70 0 9 $DIMALTRND 40 0.0 9 $DIMAZIN 70 0 9 $DIMDSEP 70 46 9 $DIMATFIT 70 3 9 $DIMFRAC 70 0 9 $DIMLDRBLK 1 9 $DIMLUNIT 70 2 9 $DIMLWD 70 -2 9 $DIMLWE 70 -2 9 $DIMTMOVE 70 0 9 $DIMFXL 40 1.0 9 $DIMFXLON 70 0 9 $DIMJOGANG 40 0.7853981633974483 9 $DIMTFILL 70 0 9 $DIMTFILLCLR 70 0 9 $DIMARCSYM 70 0 9 $DIMLTYPE 6 9 $DIMLTEX1 6 9 $DIMLTEX2 6 9 $DIMTXTDIRECTION 70 0 9 $LUNITS 70 2 9 $LUPREC 70 4 9 $SKETCHINC 40 0.1 9 $FILLETRAD 40 0.0 9 $AUNITS 70 0 9 $AUPREC 70 0 9 $MENU 1 . 9 $ELEVATION 40 0.0 9 $PELEVATION 40 0.0 9 $THICKNESS 40 0.0 9 $LIMCHECK 70 0 9 $CHAMFERA 40 0.0 9 $CHAMFERB 40 0.0 9 $CHAMFERC 40 0.0 9 $CHAMFERD 40 0.0 9 $SKPOLY 70 0 9 $TDCREATE 40 2452642.855050937 9 $TDUCREATE 40 2452643.063384271 9 $TDUPDATE 40 2456700.982684641 9 $TDUUPDATE 40 2456701.191017975 9 $TDINDWG 40 0.0032064815 9 $TDUSRTIMER 40 2456701.187811562 9 $USRTIMER 70 1 9 $ANGBASE 50 0.0 9 $ANGDIR 70 0 9 $PDMODE 70 0 9 $PDSIZE 40 0.0 9 $PLINEWID 40 0.0 9 $SPLFRAME 70 0 9 $SPLINETYPE 70 6 9 $SPLINESEGS 70 8 9 $HANDSEED 5 132 9 $SURFTAB1 70 6 9 $SURFTAB2 70 6 9 $SURFTYPE 70 6 9 $SURFU 70 6 9 $SURFV 70 6 9 $UCSBASE 2 9 $UCSNAME 2 9 $UCSORG 10 0.0 20 0.0 30 0.0 9 $UCSXDIR 10 1.0 20 0.0 30 0.0 9 $UCSYDIR 10 0.0 20 1.0 30 0.0 9 $UCSORTHOREF 2 9 $UCSORTHOVIEW 70 0 9 $UCSORGTOP 10 0.0 20 0.0 30 0.0 9 $UCSORGBOTTOM 10 0.0 20 0.0 30 0.0 9 $UCSORGLEFT 10 0.0 20 0.0 30 0.0 9 $UCSORGRIGHT 10 0.0 20 0.0 30 0.0 9 $UCSORGFRONT 10 0.0 20 0.0 30 0.0 9 $UCSORGBACK 10 0.0 20 0.0 30 0.0 9 $PUCSBASE 2 9 $PUCSNAME 2 9 $PUCSORG 10 0.0 20 0.0 30 0.0 9 $PUCSXDIR 10 1.0 20 0.0 30 0.0 9 $PUCSYDIR 10 0.0 20 1.0 30 0.0 9 $PUCSORTHOREF 2 9 $PUCSORTHOVIEW 70 0 9 $PUCSORGTOP 10 0.0 20 0.0 30 0.0 9 $PUCSORGBOTTOM 10 0.0 20 0.0 30 0.0 9 $PUCSORGLEFT 10 0.0 20 0.0 30 0.0 9 $PUCSORGRIGHT 10 0.0 20 0.0 30 0.0 9 $PUCSORGFRONT 10 0.0 20 0.0 30 0.0 9 $PUCSORGBACK 10 0.0 20 0.0 30 0.0 9 $USERI1 70 0 9 $USERI2 70 0 9 $USERI3 70 0 9 $USERI4 70 0 9 $USERI5 70 0 9 $USERR1 40 0.0 9 $USERR2 40 0.0 9 $USERR3 40 0.0 9 $USERR4 40 0.0 9 $USERR5 40 0.0 9 $WORLDVIEW 70 1 9 $SHADEDGE 70 3 9 $SHADEDIF 70 70 9 $TILEMODE 70 1 9 $MAXACTVP 70 64 9 $PINSBASE 10 0.0 20 0.0 30 0.0 9 $PLIMCHECK 70 0 9 $PEXTMIN 10 0.0 20 0.0 30 0.0 9 $PEXTMAX 10 0.0 20 0.0 30 0.0 9 $PLIMMIN 10 0.0 20 0.0 9 $PLIMMAX 10 0.0 20 0.0 9 $UNITMODE 70 0 9 $VISRETAIN 70 1 9 $PLINEGEN 70 0 9 $PSLTSCALE 70 1 9 $TREEDEPTH 70 3020 9 $CMLSTYLE 2 Standard 9 $CMLJUST 70 0 9 $CMLSCALE 40 1.0 9 $PROXYGRAPHICS 70 1 9 $MEASUREMENT 70 0 9 $CELWEIGHT 370 -1 9 $ENDCAPS 280 0 9 $JOINSTYLE 280 0 9 $LWDISPLAY 290 0 9 $INSUNITS 70 1 9 $HYPERLINKBASE 1 9 $STYLESHEET 1 9 $XEDIT 290 1 9 $CEPSNTYPE 380 0 9 $PSTYLEMODE 290 1 9 $FINGERPRINTGUID 2 {FDEAD576-A652-11D2-9A35-0060089B3A3F} 9 $VERSIONGUID 2 {FBC2AE19-5C5C-49EC-81BC-71B1A3362A02} 9 $EXTNAMES 290 1 9 $PSVPSCALE 40 0.0 9 $OLESTARTUP 290 0 9 $SORTENTS 280 127 9 $INDEXCTL 280 0 9 $HIDETEXT 280 1 9 $XCLIPFRAME 280 0 9 $HALOGAP 280 0 9 $OBSCOLOR 70 257 9 $OBSLTYPE 280 0 9 $INTERSECTIONDISPLAY 280 0 9 $INTERSECTIONCOLOR 70 257 9 $DIMASSOC 280 2 9 $PROJECTNAME 1 9 $CAMERADISPLAY 290 0 9 $LENSLENGTH 40 50.0 9 $CAMERAHEIGHT 40 0.0 9 $STEPSPERSEC 40 2.0 9 $STEPSIZE 40 6.0 9 $3DDWFPREC 40 2.0 9 $PSOLWIDTH 40 0.25 9 $PSOLHEIGHT 40 4.0 9 $LOFTANG1 40 1.570796326794897 9 $LOFTANG2 40 1.570796326794897 9 $LOFTMAG1 40 0.0 9 $LOFTMAG2 40 0.0 9 $LOFTPARAM 70 7 9 $LOFTNORMALS 280 1 9 $LATITUDE 40 37.795 9 $LONGITUDE 40 -122.394 9 $NORTHDIRECTION 40 0.0 9 $TIMEZONE 70 -8000 9 $LIGHTGLYPHDISPLAY 280 1 9 $TILEMODELIGHTSYNCH 280 1 9 $CMATERIAL 347 96 9 $SOLIDHIST 280 1 9 $SHOWHIST 280 1 9 $DWFFRAME 280 2 9 $DGNFRAME 280 0 9 $REALWORLDSCALE 290 1 9 $INTERFERECOLOR 62 1 9 $CSHADOW 280 0 9 $SHADOWPLANELOCATION 40 0.0 0 ENDSEC 0 SECTION 2 CLASSES 0 CLASS 1 ACDBDICTIONARYWDFLT 2 AcDbDictionaryWithDefault 3 ObjectDBX Classes 90 0 91 5 280 0 281 0 0 CLASS 1 ACDBPLACEHOLDER 2 AcDbPlaceHolder 3 ObjectDBX Classes 90 0 91 1 280 0 281 0 0 CLASS 1 LAYOUT 2 AcDbLayout 3 ObjectDBX Classes 90 0 91 1 280 0 281 0 0 CLASS 1 DICTIONARYVAR 2 AcDbDictionaryVar 3 ObjectDBX Classes 90 0 91 4 280 0 281 0 0 CLASS 1 TABLESTYLE 2 AcDbTableStyle 3 ObjectDBX Classes 90 4095 91 5 280 0 281 0 0 CLASS 1 MATERIAL 2 AcDbMaterial 3 ObjectDBX Classes 90 1153 91 5 280 0 281 0 0 CLASS 1 VISUALSTYLE 2 AcDbVisualStyle 3 ObjectDBX Classes 90 4095 91 5 280 0 281 0 0 CLASS 1 SCALE 2 AcDbScale 3 ObjectDBX Classes 90 1153 91 5 280 0 281 0 0 CLASS 1 CELLSTYLEMAP 2 AcDbCellStyleMap 3 ObjectDBX Classes 90 1152 91 4 280 0 281 0 0 CLASS 1 RASTERVARIABLES 2 AcDbRasterVariables 3 ISM 90 0 91 5 280 0 281 0 0 CLASS 1 SUN 2 AcDbSun 3 SCENEOE 90 1153 91 5 280 0 281 0 0 ENDSEC 0 SECTION 2 TABLES 0 TABLE 2 VPORT 5 8 330 0 100 AcDbSymbolTable 70 1 0 VPORT 5 94 330 8 100 AcDbSymbolTableRecord 100 AcDbViewportTableRecord 2 *Active 70 0 10 0.0 20 0.0 11 1.0 21 1.0 12 33.1851677589218 22 24.48185373650773 13 0.0 23 0.0 14 0.5 24 0.5 15 0.5 25 0.5 16 0.0 26 0.0 36 1.0 17 -27.66959356597983 27 -19.53870295786202 37 0.0 40 11.00571428571428 41 1.73475935828877 42 50.0 43 0.0 44 0.0 50 0.0 51 0.0 71 16 72 1000 73 1 74 3 75 0 76 0 77 0 78 0 281 0 65 1 110 0.0 120 0.0 130 0.0 111 1.0 121 0.0 131 0.0 112 0.0 122 1.0 132 0.0 79 0 146 0.0 348 9F 60 2 61 5 292 1 282 1 141 0.0 142 0.0 63 250 421 3355443 361 ED 0 ENDTAB 0 TABLE 2 LTYPE 5 5 330 0 100 AcDbSymbolTable 70 1 0 LTYPE 5 14 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ByBlock 70 0 3 72 65 73 0 40 0.0 0 LTYPE 5 15 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ByLayer 70 0 3 72 65 73 0 40 0.0 0 LTYPE 5 16 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 Continuous 70 0 3 Solid line 72 65 73 0 40 0.0 0 ENDTAB 0 TABLE 2 LAYER 5 2 330 0 100 AcDbSymbolTable 70 1 0 LAYER 5 10 330 2 100 AcDbSymbolTableRecord 100 AcDbLayerTableRecord 2 0 70 0 62 7 6 Continuous 370 -3 390 F 347 98 0 ENDTAB 0 TABLE 2 STYLE 5 3 330 0 100 AcDbSymbolTable 70 1 0 STYLE 5 11 330 3 100 AcDbSymbolTableRecord 100 AcDbTextStyleTableRecord 2 Standard 70 0 40 0.0 41 1.0 50 0.0 71 0 42 0.2 3 arial.ttf 4 1001 ACAD 1000 Arial 1071 0 0 ENDTAB 0 TABLE 2 VIEW 5 6 330 0 100 AcDbSymbolTable 70 0 0 ENDTAB 0 TABLE 2 UCS 5 7 330 0 100 AcDbSymbolTable 70 0 0 ENDTAB 0 TABLE 2 APPID 5 9 330 0 100 AcDbSymbolTable 70 1 0 APPID 5 12 330 9 100 AcDbSymbolTableRecord 100 AcDbRegAppTableRecord 2 ACAD 70 0 0 ENDTAB 0 TABLE 2 DIMSTYLE 5 A 330 0 100 AcDbSymbolTable 70 1 100 AcDbDimStyleTable 0 DIMSTYLE 105 27 330 A 100 AcDbSymbolTableRecord 100 AcDbDimStyleTableRecord 2 Standard 70 0 178 0 340 11 0 ENDTAB 0 TABLE 2 BLOCK_RECORD 5 1 330 0 100 AcDbSymbolTable 70 1 0 BLOCK_RECORD 5 1F 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Model_Space 340 22 70 0 280 1 281 0 0 BLOCK_RECORD 5 58 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Paper_Space 340 59 70 0 280 1 281 0 0 BLOCK_RECORD 5 5D 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Paper_Space0 340 5E 70 0 280 1 281 0 0 ENDTAB 0 ENDSEC 0 SECTION 2 BLOCKS 0 BLOCK 5 20 330 1F 100 AcDbEntity 8 0 100 AcDbBlockBegin 2 *Model_Space 70 0 10 0.0 20 0.0 30 0.0 3 *Model_Space 1 *Model_Space 0 ENDBLK 5 21 330 1F 100 AcDbEntity 8 0 100 AcDbBlockEnd 0 BLOCK 5 5A 330 58 100 AcDbEntity 67 1 8 0 100 AcDbBlockBegin 2 *Paper_Space 70 0 10 0.0 20 0.0 30 0.0 3 *Paper_Space 1 *Paper_Space 0 ENDBLK 5 5B 330 58 100 AcDbEntity 67 1 8 0 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148 0.0 149 0.0 100 AcDbLayout 1 Sheet1 70 1 71 1 10 0.0 20 0.0 11 12.0 21 9.0 12 0.0 22 0.0 32 0.0 14 0.0 24 0.0 34 0.0 15 0.0 25 0.0 35 0.0 146 0.0 13 0.0 23 0.0 33 0.0 16 1.0 26 0.0 36 0.0 17 0.0 27 1.0 37 0.0 76 0 330 58 0 LAYOUT 5 5E 102 {ACAD_REACTORS 330 1A 102 } 330 1A 100 AcDbPlotSettings 1 2 None 4 6 40 0.0 41 0.0 42 0.0 43 0.0 44 0.0 45 0.0 46 0.0 47 0.0 48 0.0 49 0.0 140 0.0 141 0.0 142 1.0 143 1.0 70 688 72 0 73 0 74 5 7 75 16 76 0 77 2 78 300 147 1.0 148 0.0 149 0.0 100 AcDbLayout 1 Sheet2 70 1 71 2 10 0.0 20 0.0 11 12.0 21 9.0 12 0.0 22 0.0 32 0.0 14 0.0 24 0.0 34 0.0 15 0.0 25 0.0 35 0.0 146 0.0 13 0.0 23 0.0 33 0.0 16 1.0 26 0.0 36 0.0 17 0.0 27 1.0 37 0.0 76 0 330 5D 0 MATERIAL 5 E2 102 {ACAD_REACTORS 330 72 102 } 330 72 100 AcDbMaterial 1 ByBlock 72 1 94 127 0 MATERIAL 5 96 102 {ACAD_REACTORS 330 72 102 } 330 72 100 AcDbMaterial 1 ByLayer 72 1 94 63 0 MATERIAL 5 98 102 {ACAD_REACTORS 330 72 102 } 330 72 100 AcDbMaterial 1 Global 72 1 94 63 0 MLINESTYLE 5 18 102 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170 0 176 1 171 0 176 1 290 0 176 1 93 13 176 1 44 0.0 176 1 173 0 176 1 0 VISUALSTYLE 5 EC 102 {ACAD_REACTORS 330 99 102 } 330 99 100 AcDbVisualStyle 2 Shaded 70 27 177 2 291 0 71 2 176 1 72 2 176 1 73 1 176 1 90 2 176 1 40 0.6 176 1 41 30.0 176 1 62 5 63 7 421 16777215 176 1 74 0 176 1 91 4 176 1 64 7 176 1 65 257 176 1 75 1 176 1 175 1 176 1 42 1.0 176 1 92 8 176 1 66 257 176 1 43 1.0 176 1 76 1 176 1 77 6 176 1 78 2 176 1 67 8 425 7895160 176 1 79 3 176 1 170 0 176 1 171 0 176 1 290 0 176 1 93 5 176 1 44 0.0 176 1 173 0 176 1 0 VISUALSTYLE 5 EB 102 {ACAD_REACTORS 330 99 102 } 330 99 100 AcDbVisualStyle 2 Shaded with edges 70 26 177 2 291 0 71 2 176 1 72 2 176 1 73 1 176 1 90 2 176 1 40 0.6 176 1 41 30.0 176 1 62 5 63 7 421 16777215 176 1 74 1 176 1 91 10 176 1 64 7 176 1 65 257 176 1 75 2 176 1 175 1 176 1 42 1.0 176 1 92 8 176 1 66 257 176 1 43 1.0 176 1 76 1 176 1 77 6 176 1 78 2 176 1 67 7 176 1 79 3 176 1 170 0 176 1 171 0 176 1 290 0 176 1 93 5 176 1 44 0.0 176 1 173 0 176 1 0 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177 2 291 1 71 2 176 1 72 2 176 1 73 1 176 1 90 0 176 1 40 -0.6 176 1 41 -30.0 176 1 62 5 63 7 421 16777215 176 1 74 1 176 1 91 4 176 1 64 7 176 1 65 257 176 1 75 1 176 1 175 1 176 1 42 1.0 176 1 92 12 176 1 66 7 176 1 43 1.0 176 1 76 1 176 1 77 6 176 1 78 2 176 1 67 7 176 1 79 5 176 1 170 0 176 1 171 0 176 1 290 0 176 1 93 1 176 1 44 0.0 176 1 173 0 176 1 0 VISUALSTYLE 5 E3 102 {ACAD_REACTORS 330 99 102 } 330 99 100 AcDbVisualStyle 2 Wireframe 70 5 177 2 291 0 71 0 176 1 72 2 176 1 73 0 176 1 90 0 176 1 40 0.6 176 1 41 30.0 176 1 62 5 63 7 421 16777215 176 1 74 1 176 1 91 4 176 1 64 7 176 1 65 257 176 1 75 1 176 1 175 1 176 1 42 1.0 176 1 92 0 176 1 66 257 176 1 43 1.0 176 1 76 1 176 1 77 6 176 1 78 2 176 1 67 7 176 1 79 3 176 1 170 0 176 1 171 0 176 1 290 0 176 1 93 1 176 1 44 0.0 176 1 173 0 176 1 0 VISUALSTYLE 5 EA 102 {ACAD_REACTORS 330 99 102 } 330 99 100 AcDbVisualStyle 2 X-Ray 70 25 177 2 291 0 71 2 176 1 72 2 176 1 73 1 176 1 90 1 176 1 40 0.5 176 1 41 30.0 176 1 62 5 63 7 421 16777215 176 1 74 1 176 1 91 0 176 1 64 7 176 1 65 257 176 1 75 1 176 1 175 1 176 1 42 1.0 176 1 92 8 176 1 66 7 176 1 43 1.0 176 1 76 1 176 1 77 6 176 1 78 2 176 1 67 7 176 1 79 3 176 1 170 0 176 1 171 0 176 1 290 0 176 1 93 13 176 1 44 0.0 176 1 173 0 176 1 0 DICTIONARYVAR 5 D8 102 {ACAD_REACTORS 330 66 102 } 330 66 100 DictionaryVariables 280 0 1 1:1 0 DICTIONARYVAR 5 89 102 {ACAD_REACTORS 330 66 102 } 330 66 100 DictionaryVariables 280 0 1 Standard 0 DICTIONARYVAR 5 67 102 {ACAD_REACTORS 330 66 102 } 330 66 100 DictionaryVariables 280 0 1 2 0 DICTIONARYVAR 5 6B 102 {ACAD_REACTORS 330 66 102 } 330 66 100 DictionaryVariables 280 0 1 1 0 DICTIONARYVAR 5 DF 102 {ACAD_REACTORS 330 66 102 } 330 66 100 DictionaryVariables 280 0 1 0 0 DICTIONARYVAR 5 E0 102 {ACAD_REACTORS 330 66 102 } 330 66 100 DictionaryVariables 280 0 1 0 0 DICTIONARY 5 12F 330 87 100 AcDbDictionary 280 1 281 1 3 ACAD_ROUNDTRIP_2008_TABLESTYLE_CELLSTYLEMAP 360 130 0 CELLSTYLEMAP 5 130 102 {ACAD_REACTORS 330 12F 102 } 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CONTENTFORMAT_END 171 0 94 6 95 1 302 GRIDFORMAT 1 GRIDFORMAT_BEGIN 90 0 91 1 62 0 92 -2 340 0 93 0 40 0.045 309 GRIDFORMAT_END 95 2 302 GRIDFORMAT 1 GRIDFORMAT_BEGIN 90 0 91 1 62 0 92 -2 340 0 93 0 40 0.045 309 GRIDFORMAT_END 95 4 302 GRIDFORMAT 1 GRIDFORMAT_BEGIN 90 0 91 1 62 0 92 -2 340 0 93 0 40 0.045 309 GRIDFORMAT_END 95 8 302 GRIDFORMAT 1 GRIDFORMAT_BEGIN 90 0 91 1 62 0 92 -2 340 0 93 0 40 0.045 309 GRIDFORMAT_END 95 16 302 GRIDFORMAT 1 GRIDFORMAT_BEGIN 90 0 91 1 62 0 92 -2 340 0 93 0 40 0.045 309 GRIDFORMAT_END 95 32 302 GRIDFORMAT 1 GRIDFORMAT_BEGIN 90 0 91 1 62 0 92 -2 340 0 93 0 40 0.045 309 GRIDFORMAT_END 309 TABLEFORMAT_END 1 CELLSTYLE_BEGIN 90 3 91 2 300 _DATA 309 CELLSTYLE_END 0 ENDSEC 0 EOF trimesh-4.5.1/models/2D/calibration_pattern 2.DXF000066400000000000000000000541201470574263400214530ustar00rootroot00000000000000 0 SECTION 2 HEADER 9 $ACADVER 1 AC1015 9 $ACADMAINTVER 70 6 9 $DWGCODEPAGE 3 ANSI_1252 9 $INSBASE 10 0.0 20 0.0 30 0.0 9 $EXTMIN 10 0.0 20 0.0 30 0.0 9 $EXTMAX 10 11.0 20 8.5 30 0.0 9 $LIMMIN 10 0.0 20 0.0 9 $LIMMAX 10 11.0 20 8.5 9 $ORTHOMODE 70 0 9 $REGENMODE 70 1 9 $FILLMODE 70 1 9 $QTEXTMODE 70 0 9 $MIRRTEXT 70 1 9 $LTSCALE 40 1.0 9 $ATTMODE 70 1 9 $TEXTSIZE 40 0.125 9 $TRACEWID 40 0.05 9 $TEXTSTYLE 7 Standard 9 $CLAYER 8 0 9 $CELTYPE 6 ByLayer 9 $CECOLOR 62 256 9 $CELTSCALE 40 1.0 9 $DISPSILH 70 0 9 $DIMSCALE 40 1.0 9 $DIMASZ 40 0.13 9 $DIMEXO 40 0.05 9 $DIMDLI 40 0.38 9 $DIMRND 40 0.0 9 $DIMDLE 40 0.0 9 $DIMEXE 40 0.125 9 $DIMTP 40 0.0 9 $DIMTM 40 0.0 9 $DIMTXT 40 0.125 9 $DIMCEN 40 0.09 9 $DIMTSZ 40 0.0 9 $DIMTOL 70 0 9 $DIMLIM 70 0 9 $DIMTIH 70 1 9 $DIMTOH 70 1 9 $DIMSE1 70 0 9 $DIMSE2 70 0 9 $DIMTAD 70 0 9 $DIMZIN 70 0 9 $DIMBLK 1 9 $DIMASO 70 1 9 $DIMSHO 70 1 9 $DIMPOST 1 9 $DIMAPOST 1 9 $DIMALT 70 0 9 $DIMALTD 70 2 9 $DIMALTF 40 25.4 9 $DIMLFAC 40 1.0 9 $DIMTOFL 70 0 9 $DIMTVP 40 0.0 9 $DIMTIX 70 0 9 $DIMSOXD 70 0 9 $DIMSAH 70 0 9 $DIMBLK1 1 9 $DIMBLK2 1 9 $DIMSTYLE 2 Standard 9 $DIMCLRD 70 0 9 $DIMCLRE 70 0 9 $DIMCLRT 70 0 9 $DIMTFAC 40 1.0 9 $DIMGAP 40 0.06 9 $DIMJUST 70 0 9 $DIMSD1 70 0 9 $DIMSD2 70 0 9 $DIMTOLJ 70 1 9 $DIMTZIN 70 0 9 $DIMALTZ 70 0 9 $DIMALTTZ 70 0 9 $DIMUPT 70 0 9 $DIMDEC 70 2 9 $DIMTDEC 70 2 9 $DIMALTU 70 2 9 $DIMALTTD 70 2 9 $DIMTXSTY 7 Standard 9 $DIMAUNIT 70 0 9 $DIMADEC 70 2 9 $DIMALTRND 40 0.0 9 $DIMAZIN 70 0 9 $DIMDSEP 70 46 9 $DIMATFIT 70 3 9 $DIMFRAC 70 0 9 $DIMLDRBLK 1 9 $DIMLUNIT 70 2 9 $DIMLWD 70 -2 9 $DIMLWE 70 -2 9 $DIMTMOVE 70 0 9 $LUNITS 70 2 9 $LUPREC 70 2 9 $SKETCHINC 40 0.1 9 $FILLETRAD 40 0.5 9 $AUNITS 70 0 9 $AUPREC 70 2 9 $MENU 1 . 9 $ELEVATION 40 0.0 9 $PELEVATION 40 0.0 9 $THICKNESS 40 0.0 9 $LIMCHECK 70 0 9 $CHAMFERA 40 0.5 9 $CHAMFERB 40 0.5 9 $CHAMFERC 40 1.0 9 $CHAMFERD 40 0.0 9 $SKPOLY 70 0 9 $TDCREATE 40 2456370.679084722 9 $TDUCREATE 40 2456370.845751389 9 $TDUPDATE 40 2456370.679084803 9 $TDUUPDATE 40 2456370.84575147 9 $TDINDWG 40 0.0000000116 9 $TDUSRTIMER 40 0.0000000116 9 $USRTIMER 70 1 9 $ANGBASE 50 0.0 9 $ANGDIR 70 0 9 $PDMODE 70 0 9 $PDSIZE 40 -1.0 9 $PLINEWID 40 0.0 9 $SPLFRAME 70 0 9 $SPLINETYPE 70 6 9 $SPLINESEGS 70 8 9 $HANDSEED 5 65 9 $SURFTAB1 70 6 9 $SURFTAB2 70 6 9 $SURFTYPE 70 6 9 $SURFU 70 6 9 $SURFV 70 6 9 $UCSBASE 2 9 $UCSNAME 2 9 $UCSORG 10 0.0 20 0.0 30 0.0 9 $UCSXDIR 10 1.0 20 0.0 30 0.0 9 $UCSYDIR 10 0.0 20 1.0 30 0.0 9 $UCSORTHOREF 2 9 $UCSORTHOVIEW 70 0 9 $UCSORGTOP 10 0.0 20 0.0 30 0.0 9 $UCSORGBOTTOM 10 0.0 20 0.0 30 0.0 9 $UCSORGLEFT 10 0.0 20 0.0 30 0.0 9 $UCSORGRIGHT 10 0.0 20 0.0 30 0.0 9 $UCSORGFRONT 10 0.0 20 0.0 30 0.0 9 $UCSORGBACK 10 0.0 20 0.0 30 0.0 9 $PUCSBASE 2 9 $PUCSNAME 2 9 $PUCSORG 10 0.0 20 0.0 30 0.0 9 $PUCSXDIR 10 1.0 20 0.0 30 0.0 9 $PUCSYDIR 10 0.0 20 1.0 30 0.0 9 $PUCSORTHOREF 2 9 $PUCSORTHOVIEW 70 0 9 $PUCSORGTOP 10 0.0 20 0.0 30 0.0 9 $PUCSORGBOTTOM 10 0.0 20 0.0 30 0.0 9 $PUCSORGLEFT 10 0.0 20 0.0 30 0.0 9 $PUCSORGRIGHT 10 0.0 20 0.0 30 0.0 9 $PUCSORGFRONT 10 0.0 20 0.0 30 0.0 9 $PUCSORGBACK 10 0.0 20 0.0 30 0.0 9 $USERI1 70 0 9 $USERI2 70 0 9 $USERI3 70 0 9 $USERI4 70 0 9 $USERI5 70 0 9 $USERR1 40 0.0 9 $USERR2 40 0.0 9 $USERR3 40 0.0 9 $USERR4 40 0.0 9 $USERR5 40 0.0 9 $WORLDVIEW 70 1 9 $SHADEDGE 70 3 9 $SHADEDIF 70 70 9 $TILEMODE 70 1 9 $MAXACTVP 70 64 9 $PINSBASE 10 0.0 20 0.0 30 0.0 9 $PLIMCHECK 70 0 9 $PEXTMIN 10 1.0000000000E+20 20 1.0000000000E+20 30 1.0000000000E+20 9 $PEXTMAX 10 -1.0000000000E+20 20 -1.0000000000E+20 30 -1.0000000000E+20 9 $PLIMMIN 10 0.0 20 0.0 9 $PLIMMAX 10 12.0 20 9.0 9 $UNITMODE 70 0 9 $VISRETAIN 70 1 9 $PLINEGEN 70 0 9 $PSLTSCALE 70 1 9 $TREEDEPTH 70 3020 9 $CMLSTYLE 2 Standard 9 $CMLJUST 70 0 9 $CMLSCALE 40 1.0 9 $PROXYGRAPHICS 70 1 9 $MEASUREMENT 70 0 9 $CELWEIGHT 370 -1 9 $ENDCAPS 280 0 9 $JOINSTYLE 280 0 9 $LWDISPLAY 290 1 9 $INSUNITS 70 1 9 $HYPERLINKBASE 1 9 $STYLESHEET 1 9 $XEDIT 290 1 9 $CEPSNTYPE 380 0 9 $PSTYLEMODE 290 1 9 $FINGERPRINTGUID 2 {540005E3-F8F8-4030-AEE4-38B3C369D950} 9 $VERSIONGUID 2 {FAEB1C32-E019-11D5-929B-00C0DF256EC4} 9 $EXTNAMES 290 1 9 $PSVPSCALE 40 0.0 9 $OLESTARTUP 290 0 0 ENDSEC 0 SECTION 2 CLASSES 0 CLASS 1 ACDBDICTIONARYWDFLT 2 AcDbDictionaryWithDefault 3 ObjectDBX Classes 90 0 280 0 281 0 0 CLASS 1 VISUALSTYLE 2 AcDbVisualStyle 3 ObjectDBX Classes 90 4095 280 0 281 0 0 CLASS 1 MATERIAL 2 AcDbMaterial 3 ObjectDBX Classes 90 1153 280 0 281 0 0 CLASS 1 ACDBPLACEHOLDER 2 AcDbPlaceHolder 3 ObjectDBX Classes 90 0 280 0 281 0 0 CLASS 1 LAYOUT 2 AcDbLayout 3 ObjectDBX Classes 90 0 280 0 281 0 0 ENDSEC 0 SECTION 2 TABLES 0 TABLE 2 VPORT 5 8 330 0 100 AcDbSymbolTable 70 1 0 VPORT 5 29 330 8 100 AcDbSymbolTableRecord 100 AcDbViewportTableRecord 2 *Active 70 0 10 0.0 20 0.0 11 1.0 21 1.0 12 5.5 22 4.25 13 0.0 23 0.0 14 0.5 24 0.5 15 0.5 25 0.5 16 0.0 26 0.0 36 1.0 17 0.0 27 0.0 37 0.0 40 8.5 41 1.2941176471 42 50.0 43 0.0 44 0.0 50 0.0 51 0.0 71 0 72 2000 73 1 74 3 75 0 76 0 77 0 78 0 281 0 65 1 110 0.0 120 0.0 130 0.0 111 1.0 121 0.0 131 0.0 112 0.0 122 1.0 132 0.0 79 0 146 0.0 0 ENDTAB 0 TABLE 2 LTYPE 5 5 330 0 100 AcDbSymbolTable 70 6 0 LTYPE 5 14 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ByBlock 70 0 3 72 65 73 0 40 0.0 0 LTYPE 5 15 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ByLayer 70 0 3 72 65 73 0 40 0.0 0 LTYPE 5 16 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 Continuous 70 0 3 Solid line 72 65 73 0 40 0.0 0 LTYPE 5 3F 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 HIDDEN 70 0 3 Hidden __ __ __ __ __ __ __ __ __ __ __ __ __ __ 72 65 73 2 40 0.075 49 0.05 74 0 49 -0.025 74 0 0 LTYPE 5 40 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 PHANTOM 70 0 3 Phantom ______ __ __ ______ __ __ ______ 72 65 73 6 40 0.5 49 0.25 74 0 49 -0.05 74 0 49 0.05 74 0 49 -0.05 74 0 49 0.05 74 0 49 -0.05 74 0 0 LTYPE 5 41 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 CENTER 70 0 3 Center ____ _ ____ _ ____ _ ____ _ ____ _ ____ 72 65 73 4 40 0.4 49 0.25 74 0 49 -0.05 74 0 49 0.05 74 0 49 -0.05 74 0 0 LTYPE 5 42 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 CENTERX2 70 0 3 Center (2x) ________ __ ________ __ _____ 72 65 73 4 40 0.8 49 0.5 74 0 49 -0.1 74 0 49 0.1 74 0 49 -0.1 74 0 0 LTYPE 5 43 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DOT2 70 0 3 Dot (.5x) ........................................ 72 65 73 2 40 0.025 49 0.0 74 0 49 -0.025 74 0 0 ENDTAB 0 TABLE 2 LAYER 5 2 330 0 100 AcDbSymbolTable 70 2 0 LAYER 5 10 330 2 100 AcDbSymbolTableRecord 100 AcDbLayerTableRecord 2 0 70 0 62 7 6 Continuous 370 -3 390 F 0 LAYER 5 44 330 2 100 AcDbSymbolTableRecord 100 AcDbLayerTableRecord 2 FORMAT 70 0 62 7 6 Continuous 370 -3 390 F 0 ENDTAB 0 TABLE 2 STYLE 5 3 330 0 100 AcDbSymbolTable 70 2 0 STYLE 5 11 330 3 100 AcDbSymbolTableRecord 100 AcDbTextStyleTableRecord 2 Standard 70 0 40 0.0 41 1.0 50 0.0 71 0 42 0.125 3 txt 4 0 STYLE 5 62 330 3 100 AcDbSymbolTableRecord 100 AcDbTextStyleTableRecord 2 SLDTEXTSTYLE0 70 0 40 0.0 41 0.7 50 0.0 71 0 42 0.2 3 TXT 4 0 ENDTAB 0 TABLE 2 VIEW 5 6 330 0 100 AcDbSymbolTable 70 0 0 ENDTAB 0 TABLE 2 UCS 5 7 330 0 100 AcDbSymbolTable 70 0 0 ENDTAB 0 TABLE 2 APPID 5 9 330 0 100 AcDbSymbolTable 70 1 0 APPID 5 12 330 9 100 AcDbSymbolTableRecord 100 AcDbRegAppTableRecord 2 ACAD 70 0 0 ENDTAB 0 TABLE 2 DIMSTYLE 5 A 330 0 100 AcDbSymbolTable 70 1 100 AcDbDimStyleTable 0 DIMSTYLE 105 27 330 A 100 AcDbSymbolTableRecord 100 AcDbDimStyleTableRecord 2 Standard 70 0 178 0 340 11 0 ENDTAB 0 TABLE 2 BLOCK_RECORD 5 1 330 0 100 AcDbSymbolTable 70 1 0 BLOCK_RECORD 5 1F 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Model_Space 340 22 0 BLOCK_RECORD 5 1B 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Paper_Space 340 1E 0 BLOCK_RECORD 5 23 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Paper_Space0 340 26 0 ENDTAB 0 ENDSEC 0 SECTION 2 BLOCKS 0 BLOCK 5 20 330 1F 100 AcDbEntity 8 0 100 AcDbBlockBegin 2 *Model_Space 70 0 10 0.0 20 0.0 30 0.0 3 *Model_Space 1 0 ENDBLK 5 21 330 1F 100 AcDbEntity 8 0 100 AcDbBlockEnd 0 BLOCK 5 1C 330 1B 100 AcDbEntity 67 1 8 0 100 AcDbBlockBegin 2 *Paper_Space 70 0 10 0.0 20 0.0 30 0.0 3 *Paper_Space 1 0 ENDBLK 5 1D 330 1B 100 AcDbEntity 67 1 8 0 100 AcDbBlockEnd 0 BLOCK 5 24 330 23 100 AcDbEntity 8 0 100 AcDbBlockBegin 2 *Paper_Space0 70 0 10 0.0 20 0.0 30 0.0 3 *Paper_Space0 1 0 ENDBLK 5 25 330 23 100 AcDbEntity 8 0 100 AcDbBlockEnd 0 ENDSEC 0 SECTION 2 ENTITIES 0 ARC 5 45 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 14.1058407599 20 4.3712040521 30 0.0 40 0.1250000000000024 100 AcDbArc 50 179.2822425932 51 359.2822425932 0 ARC 5 46 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 -1.2335454703 20 0.6962040521 30 0.0 40 0.1250000000000004 100 AcDbArc 50 180.0 51 270.0 0 LINE 5 47 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbLine 10 -1.3585454703 20 0.6962040521 30 0.0 11 -1.3585454703 21 3.8212040521 31 0.0 0 ARC 5 48 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 -1.6085454703 20 3.8212040521 30 0.0 40 0.2499999999999998 100 AcDbArc 50 0.0 51 90.0 0 LINE 5 49 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbLine 10 -1.6085454703 20 4.0712040521 30 0.0 11 -1.8585454703 21 4.0712040521 31 0.0 0 ARC 5 4A 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 -1.8585454703 20 4.3212040521 30 0.0 40 0.2500000000000009 100 AcDbArc 50 180.0 51 270.0 0 ARC 5 4B 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 -1.8585454703 20 4.8212040521 30 0.0 40 0.2500000000000009 100 AcDbArc 50 90.0 51 180.0 0 ARC 5 4C 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 -1.6085454703 20 5.3212040521 30 0.0 40 0.25 100 AcDbArc 50 270.0 51 0.0 0 ARC 5 4D 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 -1.2335454703 20 8.4462040521 30 0.0 40 0.1250000000000004 100 AcDbArc 50 90.0 51 180.0 0 ARC 5 4E 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 13.5164545297 20 8.4462040521 30 0.0 40 0.125 100 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20 1.752640839038445 30 0.0 10 -0.65536011388026 20 1.7203640578211703 30 0.0 10 -0.5815189978045489 20 1.6733344770062166 30 0.0 10 -0.47863629224015825 20 1.7143251978031704 30 0.0 10 -0.45426213119369346 20 1.7838050656375553 30 0.0 10 -0.4455222591790829 20 1.8185772363864074 30 0.0 10 -0.3986775360457352 20 1.894547126657282 30 0.0 10 -0.28094326223092025 20 1.9257876754201755 30 0.0 10 -0.19281145819689516 20 1.8849065287124263 30 0.0 10 -0.14562673993402053 20 1.827142099492218 30 0.0 10 -0.10335324586830376 20 1.7946720663452933 30 0.0 10 -0.05323191011359735 20 1.8010736412336699 30 0.0 0 ENDSEC 0 EOF trimesh-4.5.1/models/2D/insert.dxf000066400000000000000000000421631470574263400167550ustar00rootroot00000000000000999 dxfrw 0.6.3 0 SECTION 2 HEADER 9 $ACADVER 1 AC1021 9 $DWGCODEPAGE 3 ANSI_1252 9 $INSBASE 10 0 20 0 30 0 9 $EXTMIN 10 0 20 0 30 0 9 $EXTMAX 10 621.75 20 534.25 30 0 9 $LIMMIN 10 0 20 0 9 $LIMMAX 10 420 20 297 9 $ORTHOMODE 70 0 9 $REGENMODE 70 1 9 $FILLMODE 70 1 9 $QTEXTMODE 70 0 9 $MIRRTEXT 70 0 9 $LTSCALE 40 1 9 $ATTMODE 70 0 9 $TEXTSIZE 40 2.5 9 $TRACEWID 40 15.68 9 $TEXTSTYLE 7 STANDARD 9 $CLAYER 8 0 9 $CELTYPE 6 BYLAYER 9 $CECOLOR 62 256 9 $CELTSCALE 40 1 9 $DISPSILH 70 0 9 $DIMSCALE 40 2.5 9 $DIMASZ 40 2.5 9 $DIMEXO 40 0.625 9 $DIMDLI 40 3.75 9 $DIMRND 40 0 9 $DIMDLE 40 0 9 $DIMEXE 40 1.25 9 $DIMTP 40 0 9 $DIMTM 40 0 9 $DIMTXT 40 2.5 9 $DIMCEN 40 2.5 9 $DIMTSZ 40 0 9 $DIMTOL 70 0 9 $DIMLIM 70 0 9 $DIMTIH 70 0 9 $DIMTOH 70 0 9 $DIMSE1 70 0 9 $DIMSE2 70 0 9 $DIMTAD 70 1 9 $DIMZIN 70 8 9 $DIMBLK 1 9 $DIMASO 70 1 9 $DIMSHO 70 1 9 $DIMPOST 1 9 $DIMAPOST 1 9 $DIMALT 70 0 9 $DIMALTD 70 3 9 $DIMALTF 40 0.03937 9 $DIMLFAC 40 1 9 $DIMTOFL 70 1 9 $DIMTVP 40 0 9 $DIMTIX 70 0 9 $DIMSOXD 70 0 9 $DIMSAH 70 0 9 $DIMBLK1 1 9 $DIMBLK2 1 9 $DIMSTYLE 2 STANDARD 9 $DIMCLRD 70 0 9 $DIMCLRE 70 0 9 $DIMCLRT 70 0 9 $DIMTFAC 40 1 9 $DIMGAP 40 0.625 9 $DIMJUST 70 0 9 $DIMSD1 70 0 9 $DIMSD2 70 0 9 $DIMTOLJ 70 0 9 $DIMTZIN 70 8 9 $DIMALTZ 70 0 9 $DIMALTTZ 70 0 9 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$PLIMMAX 10 210 20 297 9 $UNITMODE 70 0 9 $VISRETAIN 70 1 9 $PLINEGEN 70 0 9 $PSLTSCALE 70 1 9 $TREEDEPTH 70 3020 9 $CMLSTYLE 2 Standard 9 $CMLJUST 70 0 9 $CMLSCALE 40 20 9 $PROXYGRAPHICS 70 1 9 $MEASUREMENT 70 1 9 $CELWEIGHT 370 -1 9 $ENDCAPS 280 0 9 $JOINSTYLE 280 0 9 $LWDISPLAY 290 0 9 $INSUNITS 70 4 9 $HYPERLINKBASE 1 9 $STYLESHEET 1 9 $XEDIT 290 1 9 $CEPSNTYPE 380 0 9 $PSTYLEMODE 290 1 9 $EXTNAMES 290 1 9 $PSVPSCALE 40 1 9 $OLESTARTUP 290 0 9 $SORTENTS 280 127 9 $INDEXCTL 280 0 9 $HIDETEXT 280 1 9 $XCLIPFRAME 290 0 9 $HALOGAP 280 0 9 $OBSCOLOR 70 257 9 $OBSLTYPE 280 0 9 $INTERSECTIONDISPLAY 280 0 9 $INTERSECTIONCOLOR 70 257 9 $DIMASSOC 280 1 9 $PROJECTNAME 1 9 $CAMERADISPLAY 290 0 9 $LENSLENGTH 40 50 9 $CAMERAHEIGHT 40 0 9 $STEPSPERSEC 40 2 9 $STEPSIZE 40 50 9 $3DDWFPREC 40 2 9 $PSOLWIDTH 40 5 9 $PSOLHEIGHT 40 80 9 $LOFTANG1 40 1.570796326794897 9 $LOFTANG2 40 1.570796326794897 9 $LOFTMAG1 40 0 9 $LOFTMAG2 40 0 9 $LOFTPARAM 70 7 9 $LOFTNORMALS 280 1 9 $LATITUDE 40 1 9 $LONGITUDE 40 1 9 $NORTHDIRECTION 40 0 9 $TIMEZONE 70 -8000 9 $LIGHTGLYPHDISPLAY 280 1 9 $TILEMODELIGHTSYNCH 280 1 9 $SOLIDHIST 280 1 9 $SHOWHIST 280 1 9 $DWFFRAME 280 2 9 $DGNFRAME 280 0 9 $REALWORLDSCALE 290 1 9 $INTERFERECOLOR 62 1 9 $CSHADOW 280 0 9 $SHADOWPLANELOCATION 40 0 0 ENDSEC 0 SECTION 2 CLASSES 0 ENDSEC 0 SECTION 2 TABLES 0 TABLE 2 VPORT 5 8 330 0 100 AcDbSymbolTable 70 1 0 VPORT 5 31 330 2 100 AcDbSymbolTableRecord 100 AcDbViewportTableRecord 2 *ACTIVE 70 0 10 0 20 0 11 1 21 1 12 333.375 22 215 13 0 23 0 14 10 24 10 15 10 25 10 16 0 26 0 36 1 17 0 27 0 37 0 40 442.5 41 1.535028248587571 42 50 43 0 44 0 50 0 51 0 71 0 72 100 73 1 74 3 75 0 76 1 77 0 78 0 281 0 65 1 110 0 120 0 130 0 111 1 121 0 131 0 112 0 122 1 132 0 79 0 146 0 348 10020 60 7 61 5 292 1 282 1 141 0 142 0 63 250 421 3358443 0 ENDTAB 0 TABLE 2 LTYPE 5 5 330 0 100 AcDbSymbolTable 70 4 0 LTYPE 5 14 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ByBlock 70 0 3 72 65 73 0 40 0 0 LTYPE 5 15 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ByLayer 70 0 3 72 65 73 0 40 0 0 LTYPE 5 16 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 Continuous 70 0 3 Solid line 72 65 73 0 40 0 0 LTYPE 5 32 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DOT 70 0 3 Dot . . . . . . . . . . . . . . . . . . . . . . 72 65 73 2 40 6.35 49 0 74 0 49 -6.35 74 0 0 LTYPE 5 33 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DOTTINY 70 0 3 Dot (.15x) ..................................... 72 65 73 2 40 0.9525 49 0 74 0 49 -0.9525 74 0 0 LTYPE 5 34 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DOT2 70 0 3 Dot (.5x) ..................................... 72 65 73 2 40 3.175 49 0 74 0 49 -3.175 74 0 0 LTYPE 5 35 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DOTX2 70 0 3 Dot (2x) . . . . . . . . . . . . . 72 65 73 2 40 12.7 49 0 74 0 49 -12.7 74 0 0 LTYPE 5 36 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHED 70 0 3 Dashed _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 72 65 73 2 40 19.05 49 12.7 74 0 49 -6.35 74 0 0 LTYPE 5 37 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHEDTINY 70 0 3 Dashed (.15x) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 72 65 73 2 40 2.8575 49 1.905 74 0 49 -0.9525 74 0 0 LTYPE 5 38 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHED2 70 0 3 Dashed (.5x) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 72 65 73 2 40 9.524999999999999 49 6.35 74 0 49 -3.175 74 0 0 LTYPE 5 39 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHEDX2 70 0 3 Dashed (2x) ____ ____ ____ ____ ____ ___ 72 65 73 2 40 38.09999999999999 49 25.4 74 0 49 -12.7 74 0 0 LTYPE 5 3A 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHDOT 70 0 3 Dash dot __ . __ . __ . __ . __ . __ . __ . __ 72 65 73 4 40 25.4 49 12.7 74 0 49 -6.35 74 0 49 0 74 0 49 -6.35 74 0 0 LTYPE 5 3B 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHDOTTINY 70 0 3 Dash dot (.15x) _._._._._._._._._._._._._._._. 72 65 73 4 40 3.81 49 1.905 74 0 49 -0.9525 74 0 49 0 74 0 49 -0.9525 74 0 0 LTYPE 5 3C 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHDOT2 70 0 3 Dash dot (.5x) _._._._._._._._._._._._._._._. 72 65 73 4 40 12.7 49 6.35 74 0 49 -3.175 74 0 49 0 74 0 49 -3.175 74 0 0 LTYPE 5 3D 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHDOTX2 70 0 3 Dash dot (2x) ____ . ____ . ____ . ___ 72 65 73 4 40 50.8 49 25.4 74 0 49 -12.7 74 0 49 0 74 0 49 -12.7 74 0 0 LTYPE 5 3E 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DIVIDE 70 0 3 Divide ____ . . ____ . . ____ . . ____ . . ____ 72 65 73 6 40 31.75 49 12.7 74 0 49 -6.35 74 0 49 0 74 0 49 -6.35 74 0 49 0 74 0 49 -6.35 74 0 0 LTYPE 5 3F 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DIVIDETINY 70 0 3 Divide (.15x) __..__..__..__..__..__..__..__.._ 72 65 73 6 40 4.7625 49 1.905 74 0 49 -0.9525 74 0 49 0 74 0 49 -0.9525 74 0 49 0 74 0 49 -0.9525 74 0 0 LTYPE 5 40 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DIVIDE2 70 0 3 Divide (.5x) __..__..__..__..__..__..__..__.._ 72 65 73 6 40 15.875 49 6.35 74 0 49 -3.175 74 0 49 0 74 0 49 -3.175 74 0 49 0 74 0 49 -3.175 74 0 0 LTYPE 5 41 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DIVIDEX2 70 0 3 Divide (2x) ________ . . ________ . . _ 72 65 73 6 40 63.5 49 25.4 74 0 49 -12.7 74 0 49 0 74 0 49 -12.7 74 0 49 0 74 0 49 -12.7 74 0 0 LTYPE 5 42 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 BORDER 70 0 3 Border __ __ . __ __ . __ __ . __ __ . __ __ . 72 65 73 6 40 44.45 49 12.7 74 0 49 -6.35 74 0 49 12.7 74 0 49 -6.35 74 0 49 0 74 0 49 -6.35 74 0 0 LTYPE 5 43 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 BORDERTINY 70 0 3 Border (.15x) __.__.__.__.__.__.__.__.__.__.__. 72 65 73 6 40 6.6675 49 1.905 74 0 49 -0.9525 74 0 49 1.905 74 0 49 -0.9525 74 0 49 0 74 0 49 -0.9525 74 0 0 LTYPE 5 44 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 BORDER2 70 0 3 Border (.5x) __.__.__.__.__.__.__.__.__.__.__. 72 65 73 6 40 22.225 49 6.35 74 0 49 -3.175 74 0 49 6.35 74 0 49 -3.175 74 0 49 0 74 0 49 -3.175 74 0 0 LTYPE 5 45 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 BORDERX2 70 0 3 Border (2x) ____ ____ . ____ ____ . ___ 72 65 73 6 40 88.89999999999999 49 25.4 74 0 49 -12.7 74 0 49 25.4 74 0 49 -12.7 74 0 49 0 74 0 49 -12.7 74 0 0 LTYPE 5 46 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 CENTER 70 0 3 Center ____ _ ____ _ ____ _ ____ _ ____ _ ____ 72 65 73 4 40 50.8 49 31.75 74 0 49 -6.35 74 0 49 6.35 74 0 49 -6.35 74 0 0 LTYPE 5 47 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 CENTERTINY 70 0 3 Center (.15x) ___ _ ___ _ ___ _ ___ _ ___ _ ___ 72 65 73 4 40 7.619999999999999 49 4.7625 74 0 49 -0.9525 74 0 49 0.9525 74 0 49 -0.9525 74 0 0 LTYPE 5 48 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 CENTER2 70 0 3 Center (.5x) ___ _ ___ _ ___ _ ___ _ ___ _ ___ 72 65 73 4 40 28.575 49 19.05 74 0 49 -3.175 74 0 49 3.175 74 0 49 -3.175 74 0 0 LTYPE 5 49 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 CENTERX2 70 0 3 Center (2x) ________ __ ________ __ _____ 72 65 73 4 40 101.6 49 63.5 74 0 49 -12.7 74 0 49 12.7 74 0 49 -12.7 74 0 0 ENDTAB 0 TABLE 2 LAYER 5 2 330 0 100 AcDbSymbolTable 70 1 0 LAYER 5 10 330 2 100 AcDbSymbolTableRecord 100 AcDbLayerTableRecord 2 0 70 0 62 7 6 CONTINUOUS 370 0 390 F 0 ENDTAB 0 TABLE 2 STYLE 5 3 330 0 100 AcDbSymbolTable 70 3 0 STYLE 5 4A 330 2 100 AcDbSymbolTableRecord 100 AcDbTextStyleTableRecord 2 Standard 70 0 40 0 41 1 50 0 71 0 42 1 3 txt 4 0 ENDTAB 0 TABLE 2 VIEW 5 6 330 0 100 AcDbSymbolTable 70 0 0 ENDTAB 0 TABLE 2 UCS 5 7 330 0 100 AcDbSymbolTable 70 0 0 ENDTAB 0 TABLE 2 APPID 5 9 330 0 100 AcDbSymbolTable 70 1 0 APPID 5 12 330 9 100 AcDbSymbolTableRecord 100 AcDbRegAppTableRecord 2 ACAD 70 0 0 APPID 5 4B 330 9 100 AcDbSymbolTableRecord 100 AcDbRegAppTableRecord 2 LibreCad 70 0 0 ENDTAB 0 TABLE 2 DIMSTYLE 5 A 330 0 100 AcDbSymbolTable 70 1 100 AcDbDimStyleTable 71 1 0 DIMSTYLE 105 4C 330 A 100 AcDbSymbolTableRecord 100 AcDbDimStyleTableRecord 2 Standard 70 0 40 1 41 2.5 42 0.625 43 0.38 44 1.25 45 0 46 0 47 0 48 0 49 1 140 2.5 141 0.09 142 2.5 143 25.4 144 1 145 0 146 1 147 0.625 148 0 71 0 72 0 73 0 74 1 75 0 76 0 77 0 78 1 79 0 170 0 171 2 172 0 173 0 174 0 175 0 176 0 177 0 178 0 179 0 271 2 272 4 273 2 274 2 275 0 276 0 277 2 278 0 279 0 280 0 281 0 282 0 283 1 284 0 285 0 286 0 288 0 289 3 340 standard 341 371 -2 372 -2 0 ENDTAB 0 TABLE 2 BLOCK_RECORD 5 1 330 0 100 AcDbSymbolTable 70 2 0 BLOCK_RECORD 5 1F 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Model_Space 70 0 280 1 281 0 0 BLOCK_RECORD 5 1E 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Paper_Space 70 0 280 1 281 0 0 BLOCK_RECORD 5 4D 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 rect 70 0 280 1 281 0 0 BLOCK_RECORD 5 50 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 rect-0 70 0 280 1 281 0 0 ENDTAB 0 ENDSEC 0 SECTION 2 BLOCKS 0 BLOCK 5 20 330 1F 100 AcDbEntity 8 0 100 AcDbBlockBegin 2 *Model_Space 70 0 10 0 20 0 30 0 3 *Model_Space 1 0 ENDBLK 5 21 330 1F 100 AcDbEntity 8 0 100 AcDbBlockEnd 0 BLOCK 5 1C 330 1B 100 AcDbEntity 8 0 100 AcDbBlockBegin 2 *Paper_Space 70 0 10 0 20 0 30 0 3 *Paper_Space 1 0 ENDBLK 5 1D 330 1F 100 AcDbEntity 8 0 100 AcDbBlockEnd 0 BLOCK 5 4E 330 4D 100 AcDbEntity 8 0 100 AcDbBlockBegin 2 rect 70 0 10 0 20 0 3 rect 1 0 LWPOLYLINE 5 53 100 AcDbEntity 8 0 6 ByLayer 62 256 370 -1 100 AcDbPolyline 90 4 70 1 43 0 10 329.25 20 302.5 10 328.75 20 302.5 10 328.75 20 302.5 10 329.25 20 302.5 0 LWPOLYLINE 5 54 100 AcDbEntity 8 0 6 ByLayer 62 256 370 -1 100 AcDbPolyline 90 4 70 1 43 0 10 185.5 20 172.25 10 360.5 20 172.25 10 360.5 20 326.75 10 185.5 20 326.75 0 ENDBLK 5 4F 330 4D 100 AcDbEntity 8 0 100 AcDbBlockEnd 0 BLOCK 5 51 330 50 100 AcDbEntity 8 0 100 AcDbBlockBegin 2 rect-0 70 0 10 0 20 0 3 rect-0 1 0 LWPOLYLINE 5 55 100 AcDbEntity 8 0 6 ByLayer 62 256 370 -1 100 AcDbPolyline 90 4 70 1 43 0 10 329.25 20 302.5 10 328.75 20 302.5 10 328.75 20 302.5 10 329.25 20 302.5 0 LWPOLYLINE 5 56 100 AcDbEntity 8 0 6 ByLayer 62 256 370 -1 100 AcDbPolyline 90 4 70 1 43 0 10 185.5 20 172.25 10 360.5 20 172.25 10 360.5 20 326.75 10 185.5 20 326.75 0 ENDBLK 5 52 330 50 100 AcDbEntity 8 0 100 AcDbBlockEnd 0 ENDSEC 0 SECTION 2 ENTITIES 0 INSERT 5 57 100 AcDbEntity 8 0 6 ByLayer 62 256 370 -1 100 AcDbBlockReference 2 rect 10 138.25 20 39.5 30 0 41 1 42 1 43 0 50 0 70 1 71 1 44 0 45 0 0 INSERT 5 58 100 AcDbEntity 8 0 6 ByLayer 62 256 370 -1 100 AcDbBlockReference 2 rect-0 10 261.25 20 207.5 30 0 41 1 42 1 43 0 50 0 70 1 71 1 44 0 45 0 0 ENDSEC 0 SECTION 2 OBJECTS 0 DICTIONARY 5 C 330 0 100 AcDbDictionary 281 1 3 ACAD_GROUP 350 D 0 DICTIONARY 5 D 330 C 100 AcDbDictionary 281 1 0 ENDSEC 0 EOF trimesh-4.5.1/models/2D/insert_r14.dxf000066400000000000000000000366441470574263400174520ustar00rootroot00000000000000999 dxfrw 0.6.3 0 SECTION 2 HEADER 9 $ACADVER 1 AC1014 9 $DWGCODEPAGE 3 ANSI_1252 9 $INSBASE 10 0 20 0 30 0 9 $EXTMIN 10 10000000000 20 10000000000 30 0 9 $EXTMAX 10 -10000000000 20 -10000000000 30 0 9 $LIMMIN 10 0 20 0 9 $LIMMAX 10 420 20 297 9 $ORTHOMODE 70 0 9 $REGENMODE 70 1 9 $FILLMODE 70 1 9 $QTEXTMODE 70 0 9 $MIRRTEXT 70 0 9 $LTSCALE 40 1 9 $ATTMODE 70 0 9 $TEXTSIZE 40 2.5 9 $TRACEWID 40 15.68 9 $TEXTSTYLE 7 STANDARD 9 $CLAYER 8 0 9 $CELTYPE 6 BYLAYER 9 $CECOLOR 62 256 9 $CELTSCALE 40 1 9 $DISPSILH 70 0 9 $DIMSCALE 40 2.5 9 $DIMASZ 40 2.5 9 $DIMEXO 40 0.625 9 $DIMDLI 40 3.75 9 $DIMRND 40 0 9 $DIMDLE 40 0 9 $DIMEXE 40 1.25 9 $DIMTP 40 0 9 $DIMTM 40 0 9 $DIMTXT 40 2.5 9 $DIMCEN 40 2.5 9 $DIMTSZ 40 0 9 $DIMTOL 70 0 9 $DIMLIM 70 0 9 $DIMTIH 70 0 9 $DIMTOH 70 0 9 $DIMSE1 70 0 9 $DIMSE2 70 0 9 $DIMTAD 70 1 9 $DIMZIN 70 8 9 $DIMBLK 1 9 $DIMASO 70 1 9 $DIMSHO 70 1 9 $DIMPOST 1 9 $DIMAPOST 1 9 $DIMALT 70 0 9 $DIMALTD 70 3 9 $DIMALTF 40 0.03937 9 $DIMLFAC 40 1 9 $DIMTOFL 70 1 9 $DIMTVP 40 0 9 $DIMTIX 70 0 9 $DIMSOXD 70 0 9 $DIMSAH 70 0 9 $DIMBLK1 1 9 $DIMBLK2 1 9 $DIMSTYLE 2 STANDARD 9 $DIMCLRD 70 0 9 $DIMCLRE 70 0 9 $DIMCLRT 70 0 9 $DIMTFAC 40 1 9 $DIMGAP 40 0.625 9 $DIMJUST 70 0 9 $DIMSD1 70 0 9 $DIMSD2 70 0 9 $DIMTOLJ 70 0 9 $DIMTZIN 70 8 9 $DIMALTZ 70 0 9 $DIMALTTZ 70 0 9 $DIMUPT 70 0 9 $DIMDEC 70 2 9 $DIMTDEC 70 2 9 $DIMALTU 70 2 9 $DIMALTTD 70 3 9 $DIMTXSTY 7 STANDARD 9 $DIMAUNIT 70 0 9 $DIMADEC 70 0 9 $DIMALTRND 40 0 9 $DIMAZIN 70 0 9 $DIMDSEP 70 44 9 $DIMATFIT 70 3 9 $DIMFRAC 70 0 9 $DIMLDRBLK 1 STANDARD 9 $DIMUNIT 70 2 9 $DIMLWD 70 -2 9 $DIMLWE 70 -2 9 $DIMTMOVE 70 0 9 $LUNITS 70 2 9 $LUPREC 70 4 9 $SKETCHINC 40 1 9 $FILLETRAD 40 0 9 $AUNITS 70 0 9 $AUPREC 70 2 9 $MENU 1 . 9 $ELEVATION 40 0 9 $PELEVATION 40 0 9 $THICKNESS 40 0 9 $LIMCHECK 70 0 9 $BLIPMODE 70 0 9 $CHAMFERA 40 0 9 $CHAMFERB 40 0 9 $CHAMFERC 40 0 9 $CHAMFERD 40 0 9 $SKPOLY 70 0 9 $USRTIMER 70 1 9 $ANGBASE 50 0 9 $ANGDIR 70 0 9 $PDMODE 70 34 9 $PDSIZE 40 0 9 $PLINEWID 40 0 9 $SPLFRAME 70 0 9 $SPLINETYPE 70 2 9 $SPLINESEGS 70 8 9 $HANDSEED 5 20000 9 $SURFTAB1 70 6 9 $SURFTAB2 70 6 9 $SURFTYPE 70 6 9 $SURFU 70 6 9 $SURFV 70 6 9 $UCSBASE 2 9 $UCSNAME 2 9 $UCSORG 10 0 20 0 30 0 9 $UCSXDIR 10 1 20 0 30 0 9 $UCSYDIR 10 0 20 1 30 0 9 $UCSORTHOREF 2 9 $UCSORTHOVIEW 70 0 9 $UCSORGTOP 10 0 20 0 30 0 9 $UCSORGBOTTOM 10 0 20 0 30 0 9 $UCSORGLEFT 10 0 20 0 30 0 9 $UCSORGRIGHT 10 0 20 0 30 0 9 $UCSORGFRONT 10 0 20 0 30 0 9 $UCSORGBACK 10 0 20 0 30 0 9 $PUCSBASE 2 9 $PUCSNAME 2 9 $PUCSORG 10 0 20 0 30 0 9 $PUCSXDIR 10 1 20 0 30 0 9 $PUCSYDIR 10 0 20 1 30 0 9 $PUCSORTHOREF 2 9 $PUCSORTHOVIEW 70 0 9 $PUCSORGTOP 10 0 20 0 30 0 9 $PUCSORGBOTTOM 10 0 20 0 30 0 9 $PUCSORGLEFT 10 0 20 0 30 0 9 $PUCSORGRIGHT 10 0 20 0 30 0 9 $PUCSORGFRONT 10 0 20 0 30 0 9 $PUCSORGBACK 10 0 20 0 30 0 9 $USERI1 70 0 9 $USERI2 70 0 9 $USERI3 70 0 9 $USERI4 70 0 9 $USERI5 70 0 9 $USERR1 40 0 9 $USERR2 40 0 9 $USERR3 40 0 9 $USERR4 40 0 9 $USERR5 40 0 9 $WORLDVIEW 70 1 9 $SHADEDGE 70 3 9 $SHADEDIF 70 70 9 $TILEMODE 70 1 9 $MAXACTVP 70 64 9 $PINSBASE 10 0 20 0 30 0 9 $PLIMCHECK 70 0 9 $PEXTMIN 10 0 20 0 30 0 9 $PEXTMAX 10 0 20 0 30 0 9 $GRIDMODE 70 1 9 $SNAPSTYLE 70 0 9 $PLIMMIN 10 0 20 0 9 $PLIMMAX 10 210 20 297 9 $UNITMODE 70 0 9 $VISRETAIN 70 1 9 $PLINEGEN 70 0 9 $PSLTSCALE 70 1 9 $TREEDEPTH 70 3020 9 $CMLSTYLE 2 Standard 9 $CMLJUST 70 0 9 $CMLSCALE 40 20 9 $PROXYGRAPHICS 70 1 9 $MEASUREMENT 70 1 9 $CELWEIGHT 370 -1 9 $ENDCAPS 280 0 9 $JOINSTYLE 280 0 9 $LWDISPLAY 290 0 9 $HYPERLINKBASE 1 9 $STYLESHEET 1 9 $XEDIT 290 1 9 $CEPSNTYPE 380 0 9 $PSTYLEMODE 290 1 9 $EXTNAMES 290 1 9 $PSVPSCALE 40 1 9 $OLESTARTUP 290 0 0 ENDSEC 0 SECTION 2 CLASSES 0 ENDSEC 0 SECTION 2 TABLES 0 TABLE 2 VPORT 5 8 100 AcDbSymbolTable 70 1 0 VPORT 5 31 330 2 100 AcDbSymbolTableRecord 100 AcDbViewportTableRecord 2 *ACTIVE 70 0 10 0 20 0 11 1 21 1 12 334.0267857142858 22 214.5982142857144 13 0 23 0 14 10 24 10 15 10 25 10 16 0 26 0 36 1 17 0 27 0 37 0 40 1248.401785714286 41 0.5440956651718983 42 50 43 0 44 0 50 0 51 0 71 0 72 100 73 1 74 3 75 0 76 1 77 0 78 0 0 ENDTAB 0 TABLE 2 LTYPE 5 5 100 AcDbSymbolTable 70 4 0 LTYPE 5 14 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ByBlock 70 0 3 72 65 73 0 40 0 0 LTYPE 5 15 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ByLayer 70 0 3 72 65 73 0 40 0 0 LTYPE 5 16 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 Continuous 70 0 3 Solid line 72 65 73 0 40 0 0 LTYPE 5 32 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DOT 70 0 3 Dot . . . . . . . . . . . . . . . . . . . . . . 72 65 73 2 40 6.35 49 0 74 0 49 -6.35 74 0 0 LTYPE 5 33 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DOTTINY 70 0 3 Dot (.15x) ..................................... 72 65 73 2 40 0.9525 49 0 74 0 49 -0.9525 74 0 0 LTYPE 5 34 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DOT2 70 0 3 Dot (.5x) ..................................... 72 65 73 2 40 3.175 49 0 74 0 49 -3.175 74 0 0 LTYPE 5 35 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DOTX2 70 0 3 Dot (2x) . . . . . . . . . . . . . 72 65 73 2 40 12.7 49 0 74 0 49 -12.7 74 0 0 LTYPE 5 36 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHED 70 0 3 Dashed _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 72 65 73 2 40 19.05 49 12.7 74 0 49 -6.35 74 0 0 LTYPE 5 37 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHEDTINY 70 0 3 Dashed (.15x) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 72 65 73 2 40 2.8575 49 1.905 74 0 49 -0.9525 74 0 0 LTYPE 5 38 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHED2 70 0 3 Dashed (.5x) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 72 65 73 2 40 9.524999999999999 49 6.35 74 0 49 -3.175 74 0 0 LTYPE 5 39 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHEDX2 70 0 3 Dashed (2x) ____ ____ ____ ____ ____ ___ 72 65 73 2 40 38.09999999999999 49 25.4 74 0 49 -12.7 74 0 0 LTYPE 5 3A 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHDOT 70 0 3 Dash dot __ . __ . __ . __ . __ . __ . __ . __ 72 65 73 4 40 25.4 49 12.7 74 0 49 -6.35 74 0 49 0 74 0 49 -6.35 74 0 0 LTYPE 5 3B 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHDOTTINY 70 0 3 Dash dot (.15x) _._._._._._._._._._._._._._._. 72 65 73 4 40 3.81 49 1.905 74 0 49 -0.9525 74 0 49 0 74 0 49 -0.9525 74 0 0 LTYPE 5 3C 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHDOT2 70 0 3 Dash dot (.5x) _._._._._._._._._._._._._._._. 72 65 73 4 40 12.7 49 6.35 74 0 49 -3.175 74 0 49 0 74 0 49 -3.175 74 0 0 LTYPE 5 3D 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHDOTX2 70 0 3 Dash dot (2x) ____ . ____ . ____ . ___ 72 65 73 4 40 50.8 49 25.4 74 0 49 -12.7 74 0 49 0 74 0 49 -12.7 74 0 0 LTYPE 5 3E 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DIVIDE 70 0 3 Divide ____ . . ____ . . ____ . . ____ . . ____ 72 65 73 6 40 31.75 49 12.7 74 0 49 -6.35 74 0 49 0 74 0 49 -6.35 74 0 49 0 74 0 49 -6.35 74 0 0 LTYPE 5 3F 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DIVIDETINY 70 0 3 Divide (.15x) __..__..__..__..__..__..__..__.._ 72 65 73 6 40 4.7625 49 1.905 74 0 49 -0.9525 74 0 49 0 74 0 49 -0.9525 74 0 49 0 74 0 49 -0.9525 74 0 0 LTYPE 5 40 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DIVIDE2 70 0 3 Divide (.5x) __..__..__..__..__..__..__..__.._ 72 65 73 6 40 15.875 49 6.35 74 0 49 -3.175 74 0 49 0 74 0 49 -3.175 74 0 49 0 74 0 49 -3.175 74 0 0 LTYPE 5 41 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DIVIDEX2 70 0 3 Divide (2x) ________ . . ________ . . _ 72 65 73 6 40 63.5 49 25.4 74 0 49 -12.7 74 0 49 0 74 0 49 -12.7 74 0 49 0 74 0 49 -12.7 74 0 0 LTYPE 5 42 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 BORDER 70 0 3 Border __ __ . __ __ . __ __ . __ __ . __ __ . 72 65 73 6 40 44.45 49 12.7 74 0 49 -6.35 74 0 49 12.7 74 0 49 -6.35 74 0 49 0 74 0 49 -6.35 74 0 0 LTYPE 5 43 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 BORDERTINY 70 0 3 Border (.15x) __.__.__.__.__.__.__.__.__.__.__. 72 65 73 6 40 6.6675 49 1.905 74 0 49 -0.9525 74 0 49 1.905 74 0 49 -0.9525 74 0 49 0 74 0 49 -0.9525 74 0 0 LTYPE 5 44 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 BORDER2 70 0 3 Border (.5x) __.__.__.__.__.__.__.__.__.__.__. 72 65 73 6 40 22.225 49 6.35 74 0 49 -3.175 74 0 49 6.35 74 0 49 -3.175 74 0 49 0 74 0 49 -3.175 74 0 0 LTYPE 5 45 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 BORDERX2 70 0 3 Border (2x) ____ ____ . ____ ____ . ___ 72 65 73 6 40 88.89999999999999 49 25.4 74 0 49 -12.7 74 0 49 25.4 74 0 49 -12.7 74 0 49 0 74 0 49 -12.7 74 0 0 LTYPE 5 46 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 CENTER 70 0 3 Center ____ _ ____ _ ____ _ ____ _ ____ _ ____ 72 65 73 4 40 50.8 49 31.75 74 0 49 -6.35 74 0 49 6.35 74 0 49 -6.35 74 0 0 LTYPE 5 47 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 CENTERTINY 70 0 3 Center (.15x) ___ _ ___ _ ___ _ ___ _ ___ _ ___ 72 65 73 4 40 7.619999999999999 49 4.7625 74 0 49 -0.9525 74 0 49 0.9525 74 0 49 -0.9525 74 0 0 LTYPE 5 48 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 CENTER2 70 0 3 Center (.5x) ___ _ ___ _ ___ _ ___ _ ___ _ ___ 72 65 73 4 40 28.575 49 19.05 74 0 49 -3.175 74 0 49 3.175 74 0 49 -3.175 74 0 0 LTYPE 5 49 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 CENTERX2 70 0 3 Center (2x) ________ __ ________ __ _____ 72 65 73 4 40 101.6 49 63.5 74 0 49 -12.7 74 0 49 12.7 74 0 49 -12.7 74 0 0 ENDTAB 0 TABLE 2 LAYER 5 2 100 AcDbSymbolTable 70 1 0 LAYER 5 10 330 2 100 AcDbSymbolTableRecord 100 AcDbLayerTableRecord 2 0 70 0 62 7 6 CONTINUOUS 370 0 390 F 0 ENDTAB 0 TABLE 2 STYLE 5 3 100 AcDbSymbolTable 70 3 0 STYLE 5 4A 330 2 100 AcDbSymbolTableRecord 100 AcDbTextStyleTableRecord 2 Standard 70 0 40 0 41 1 50 0 71 0 42 1 3 txt 4 0 ENDTAB 0 TABLE 2 VIEW 5 6 100 AcDbSymbolTable 70 0 0 ENDTAB 0 TABLE 2 UCS 5 7 100 AcDbSymbolTable 70 0 0 ENDTAB 0 TABLE 2 APPID 5 9 100 AcDbSymbolTable 70 1 0 APPID 5 12 100 AcDbSymbolTableRecord 100 AcDbRegAppTableRecord 2 ACAD 70 0 0 APPID 5 4B 100 AcDbSymbolTableRecord 100 AcDbRegAppTableRecord 2 LibreCad 70 0 0 ENDTAB 0 TABLE 2 DIMSTYLE 5 A 100 AcDbSymbolTable 70 1 0 DIMSTYLE 105 4C 330 A 100 AcDbSymbolTableRecord 100 AcDbDimStyleTableRecord 2 Standard 70 0 40 2.5 41 2.5 42 0.625 43 0.38 44 1.25 45 0 46 0 47 0 48 0 49 1 140 2.5 141 0.09 142 0 143 25.4 144 1 145 0 146 1 147 0.625 71 0 72 0 73 0 74 1 75 0 76 0 77 0 78 8 170 0 171 2 172 0 173 0 174 0 175 0 176 0 177 0 178 0 270 2 271 2 272 4 273 2 274 2 275 0 280 0 281 0 282 0 283 1 284 0 285 0 286 0 287 3 288 0 340 STANDARD 0 ENDTAB 0 TABLE 2 BLOCK_RECORD 5 1 100 AcDbSymbolTable 70 2 0 BLOCK_RECORD 5 1F 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Model_Space 0 BLOCK_RECORD 5 1E 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Paper_Space 0 BLOCK_RECORD 5 4D 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 rect 0 BLOCK_RECORD 5 50 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 rect-0 0 ENDTAB 0 ENDSEC 0 SECTION 2 BLOCKS 0 BLOCK 5 20 100 AcDbEntity 8 0 100 AcDbBlockBegin 2 *Model_Space 70 0 10 0 20 0 30 0 3 *Model_Space 1 0 ENDBLK 5 21 100 AcDbEntity 8 0 100 AcDbBlockEnd 0 BLOCK 5 1C 100 AcDbEntity 8 0 100 AcDbBlockBegin 2 *Paper_Space 70 0 10 0 20 0 30 0 3 *Paper_Space 1 0 ENDBLK 5 1D 100 AcDbEntity 8 0 100 AcDbBlockEnd 0 BLOCK 5 4E 100 AcDbEntity 8 0 100 AcDbBlockBegin 2 rect 70 0 10 0 20 0 3 rect 1 0 LWPOLYLINE 5 53 100 AcDbEntity 8 0 6 ByLayer 62 256 100 AcDbPolyline 90 4 70 1 43 0 10 329.25 20 302.5 10 328.75 20 302.5 10 328.75 20 302.5 10 329.25 20 302.5 0 LWPOLYLINE 5 54 100 AcDbEntity 8 0 6 ByLayer 62 256 100 AcDbPolyline 90 4 70 1 43 0 10 185.5 20 172.25 10 360.5 20 172.25 10 360.5 20 326.75 10 185.5 20 326.75 0 ENDBLK 5 4F 100 AcDbEntity 8 0 100 AcDbBlockEnd 0 BLOCK 5 51 100 AcDbEntity 8 0 100 AcDbBlockBegin 2 rect-0 70 0 10 0 20 0 3 rect-0 1 0 LWPOLYLINE 5 55 100 AcDbEntity 8 0 6 ByLayer 62 256 100 AcDbPolyline 90 4 70 1 43 0 10 329.25 20 302.5 10 328.75 20 302.5 10 328.75 20 302.5 10 329.25 20 302.5 0 LWPOLYLINE 5 56 100 AcDbEntity 8 0 6 ByLayer 62 256 100 AcDbPolyline 90 4 70 1 43 0 10 185.5 20 172.25 10 360.5 20 172.25 10 360.5 20 326.75 10 185.5 20 326.75 0 ENDBLK 5 52 100 AcDbEntity 8 0 100 AcDbBlockEnd 0 ENDSEC 0 SECTION 2 ENTITIES 0 INSERT 5 57 100 AcDbEntity 8 0 6 ByLayer 62 256 100 AcDbBlockReference 2 rect 10 138.25 20 39.5 30 0 41 1 42 1 43 0 50 0 70 1 71 1 44 0 45 0 0 INSERT 5 58 100 AcDbEntity 8 0 6 ByLayer 62 256 100 AcDbBlockReference 2 rect-0 10 261.25 20 207.5 30 0 41 1 42 1 43 0 50 0 70 1 71 1 44 0 45 0 0 ENDSEC 0 SECTION 2 OBJECTS 0 DICTIONARY 5 C 100 AcDbDictionary 281 1 3 ACAD_GROUP 350 D 0 DICTIONARY 5 D 330 C 100 AcDbDictionary 281 1 0 ENDSEC 0 EOF trimesh-4.5.1/models/2D/loose.dxf000066400000000000000000000372201470574263400165700ustar00rootroot00000000000000999 dxfrw 0.6.3 0 SECTION 2 HEADER 9 $ACADVER 1 AC1021 9 $DWGCODEPAGE 3 ANSI_1252 9 $INSBASE 10 0 20 0 30 0 9 $EXTMIN 10 0 20 0 30 0 9 $EXTMAX 10 487.3705806953521 20 278.5 30 0 9 $LIMMIN 10 0 20 0 9 $LIMMAX 10 420 20 297 9 $ORTHOMODE 70 0 9 $REGENMODE 70 1 9 $FILLMODE 70 1 9 $QTEXTMODE 70 0 9 $MIRRTEXT 70 0 9 $LTSCALE 40 1 9 $ATTMODE 70 0 9 $TEXTSIZE 40 2.5 9 $TRACEWID 40 15.68 9 $TEXTSTYLE 7 STANDARD 9 $CLAYER 8 0 9 $CELTYPE 6 BYLAYER 9 $CECOLOR 62 256 9 $CELTSCALE 40 1 9 $DISPSILH 70 0 9 $DIMSCALE 40 2.5 9 $DIMASZ 40 2.5 9 $DIMEXO 40 0.625 9 $DIMDLI 40 3.75 9 $DIMRND 40 0 9 $DIMDLE 40 0 9 $DIMEXE 40 1.25 9 $DIMTP 40 0 9 $DIMTM 40 0 9 $DIMTXT 40 2.5 9 $DIMCEN 40 2.5 9 $DIMTSZ 40 0 9 $DIMTOL 70 0 9 $DIMLIM 70 0 9 $DIMTIH 70 0 9 $DIMTOH 70 0 9 $DIMSE1 70 0 9 $DIMSE2 70 0 9 $DIMTAD 70 1 9 $DIMZIN 70 8 9 $DIMBLK 1 9 $DIMASO 70 1 9 $DIMSHO 70 1 9 $DIMPOST 1 9 $DIMAPOST 1 9 $DIMALT 70 0 9 $DIMALTD 70 3 9 $DIMALTF 40 0.03937 9 $DIMLFAC 40 1 9 $DIMTOFL 70 1 9 $DIMTVP 40 0 9 $DIMTIX 70 0 9 $DIMSOXD 70 0 9 $DIMSAH 70 0 9 $DIMBLK1 1 9 $DIMBLK2 1 9 $DIMSTYLE 2 STANDARD 9 $DIMCLRD 70 0 9 $DIMCLRE 70 0 9 $DIMCLRT 70 0 9 $DIMTFAC 40 1 9 $DIMGAP 40 0.625 9 $DIMJUST 70 0 9 $DIMSD1 70 0 9 $DIMSD2 70 0 9 $DIMTOLJ 70 0 9 $DIMTZIN 70 8 9 $DIMALTZ 70 0 9 $DIMALTTZ 70 0 9 $DIMUPT 70 0 9 $DIMDEC 70 2 9 $DIMTDEC 70 2 9 $DIMALTU 70 2 9 $DIMALTTD 70 3 9 $DIMTXSTY 7 STANDARD 9 $DIMAUNIT 70 0 9 $DIMADEC 70 0 9 $DIMALTRND 40 0 9 $DIMAZIN 70 0 9 $DIMDSEP 70 44 9 $DIMATFIT 70 3 9 $DIMFRAC 70 0 9 $DIMLDRBLK 1 STANDARD 9 $DIMLUNIT 70 2 9 $DIMLWD 70 -2 9 $DIMLWE 70 -2 9 $DIMTMOVE 70 0 9 $DIMFXL 40 1 9 $DIMFXLON 70 0 9 $DIMJOGANG 40 0.7854 9 $DIMTFILL 70 0 9 $DIMTFILLCLR 70 0 9 $DIMARCSYM 70 0 9 $DIMLTYPE 6 9 $DIMLTEX1 6 9 $DIMLTEX2 6 9 $LUNITS 70 2 9 $LUPREC 70 4 9 $SKETCHINC 40 1 9 $FILLETRAD 40 0 9 $AUNITS 70 0 9 $AUPREC 70 2 9 $MENU 1 . 9 $ELEVATION 40 0 9 $PELEVATION 40 0 9 $THICKNESS 40 0 9 $LIMCHECK 70 0 9 $CHAMFERA 40 0 9 $CHAMFERB 40 0 9 $CHAMFERC 40 0 9 $CHAMFERD 40 0 9 $SKPOLY 70 0 9 $USRTIMER 70 1 9 $ANGBASE 50 0 9 $ANGDIR 70 0 9 $PDMODE 70 34 9 $PDSIZE 40 0 9 $PLINEWID 40 0 9 $SPLFRAME 70 0 9 $SPLINETYPE 70 2 9 $SPLINESEGS 70 8 9 $HANDSEED 5 20000 9 $SURFTAB1 70 6 9 $SURFTAB2 70 6 9 $SURFTYPE 70 6 9 $SURFU 70 6 9 $SURFV 70 6 9 $UCSBASE 2 9 $UCSNAME 2 9 $UCSORG 10 0 20 0 30 0 9 $UCSXDIR 10 1 20 0 30 0 9 $UCSYDIR 10 0 20 1 30 0 9 $UCSORTHOREF 2 9 $UCSORTHOVIEW 70 0 9 $UCSORGTOP 10 0 20 0 30 0 9 $UCSORGBOTTOM 10 0 20 0 30 0 9 $UCSORGLEFT 10 0 20 0 30 0 9 $UCSORGRIGHT 10 0 20 0 30 0 9 $UCSORGFRONT 10 0 20 0 30 0 9 $UCSORGBACK 10 0 20 0 30 0 9 $PUCSBASE 2 9 $PUCSNAME 2 9 $PUCSORG 10 0 20 0 30 0 9 $PUCSXDIR 10 1 20 0 30 0 9 $PUCSYDIR 10 0 20 1 30 0 9 $PUCSORTHOREF 2 9 $PUCSORTHOVIEW 70 0 9 $PUCSORGTOP 10 0 20 0 30 0 9 $PUCSORGBOTTOM 10 0 20 0 30 0 9 $PUCSORGLEFT 10 0 20 0 30 0 9 $PUCSORGRIGHT 10 0 20 0 30 0 9 $PUCSORGFRONT 10 0 20 0 30 0 9 $PUCSORGBACK 10 0 20 0 30 0 9 $USERI1 70 0 9 $USERI2 70 0 9 $USERI3 70 0 9 $USERI4 70 0 9 $USERI5 70 0 9 $USERR1 40 0 9 $USERR2 40 0 9 $USERR3 40 0 9 $USERR4 40 0 9 $USERR5 40 0 9 $WORLDVIEW 70 1 9 $SHADEDGE 70 3 9 $SHADEDIF 70 70 9 $TILEMODE 70 1 9 $MAXACTVP 70 64 9 $PINSBASE 10 0 20 0 30 0 9 $PLIMCHECK 70 0 9 $PEXTMIN 10 0 20 0 30 0 9 $PEXTMAX 10 0 20 0 30 0 9 $SNAPSTYLE 70 0 9 $PLIMMIN 10 0 20 0 9 $PLIMMAX 10 210 20 297 9 $UNITMODE 70 0 9 $VISRETAIN 70 1 9 $PLINEGEN 70 0 9 $PSLTSCALE 70 1 9 $TREEDEPTH 70 3020 9 $CMLSTYLE 2 Standard 9 $CMLJUST 70 0 9 $CMLSCALE 40 20 9 $PROXYGRAPHICS 70 1 9 $MEASUREMENT 70 1 9 $CELWEIGHT 370 -1 9 $ENDCAPS 280 0 9 $JOINSTYLE 280 0 9 $LWDISPLAY 290 0 9 $INSUNITS 70 4 9 $HYPERLINKBASE 1 9 $STYLESHEET 1 9 $XEDIT 290 1 9 $CEPSNTYPE 380 0 9 $PSTYLEMODE 290 1 9 $EXTNAMES 290 1 9 $PSVPSCALE 40 1 9 $OLESTARTUP 290 0 9 $SORTENTS 280 127 9 $INDEXCTL 280 0 9 $HIDETEXT 280 1 9 $XCLIPFRAME 290 0 9 $HALOGAP 280 0 9 $OBSCOLOR 70 257 9 $OBSLTYPE 280 0 9 $INTERSECTIONDISPLAY 280 0 9 $INTERSECTIONCOLOR 70 257 9 $DIMASSOC 280 1 9 $PROJECTNAME 1 9 $CAMERADISPLAY 290 0 9 $LENSLENGTH 40 50 9 $CAMERAHEIGHT 40 0 9 $STEPSPERSEC 40 2 9 $STEPSIZE 40 50 9 $3DDWFPREC 40 2 9 $PSOLWIDTH 40 5 9 $PSOLHEIGHT 40 80 9 $LOFTANG1 40 1.570796326794897 9 $LOFTANG2 40 1.570796326794897 9 $LOFTMAG1 40 0 9 $LOFTMAG2 40 0 9 $LOFTPARAM 70 7 9 $LOFTNORMALS 280 1 9 $LATITUDE 40 1 9 $LONGITUDE 40 1 9 $NORTHDIRECTION 40 0 9 $TIMEZONE 70 -8000 9 $LIGHTGLYPHDISPLAY 280 1 9 $TILEMODELIGHTSYNCH 280 1 9 $SOLIDHIST 280 1 9 $SHOWHIST 280 1 9 $DWFFRAME 280 2 9 $DGNFRAME 280 0 9 $REALWORLDSCALE 290 1 9 $INTERFERECOLOR 62 1 9 $CSHADOW 280 0 9 $SHADOWPLANELOCATION 40 0 0 ENDSEC 0 SECTION 2 CLASSES 0 ENDSEC 0 SECTION 2 TABLES 0 TABLE 2 VPORT 5 8 330 0 100 AcDbSymbolTable 70 1 0 VPORT 5 31 330 2 100 AcDbSymbolTableRecord 100 AcDbViewportTableRecord 2 *ACTIVE 70 0 10 0 20 0 11 1 21 1 12 366.375 22 205 13 0 23 0 14 10 24 10 15 10 25 10 16 0 26 0 36 1 17 0 27 0 37 0 40 422.5 41 1.763905325443787 42 50 43 0 44 0 50 0 51 0 71 0 72 100 73 1 74 3 75 0 76 1 77 0 78 0 281 0 65 1 110 0 120 0 130 0 111 1 121 0 131 0 112 0 122 1 132 0 79 0 146 0 348 10020 60 7 61 5 292 1 282 1 141 0 142 0 63 250 421 3358443 0 ENDTAB 0 TABLE 2 LTYPE 5 5 330 0 100 AcDbSymbolTable 70 4 0 LTYPE 5 14 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ByBlock 70 0 3 72 65 73 0 40 0 0 LTYPE 5 15 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ByLayer 70 0 3 72 65 73 0 40 0 0 LTYPE 5 16 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 Continuous 70 0 3 Solid line 72 65 73 0 40 0 0 LTYPE 5 32 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DOT 70 0 3 Dot . . . . . . . . . . . . . . . . . . . . . . 72 65 73 2 40 6.35 49 0 74 0 49 -6.35 74 0 0 LTYPE 5 33 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DOTTINY 70 0 3 Dot (.15x) ..................................... 72 65 73 2 40 0.9525 49 0 74 0 49 -0.9525 74 0 0 LTYPE 5 34 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DOT2 70 0 3 Dot (.5x) ..................................... 72 65 73 2 40 3.175 49 0 74 0 49 -3.175 74 0 0 LTYPE 5 35 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DOTX2 70 0 3 Dot (2x) . . . . . . . . . . . . . 72 65 73 2 40 12.7 49 0 74 0 49 -12.7 74 0 0 LTYPE 5 36 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHED 70 0 3 Dashed _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 72 65 73 2 40 19.05 49 12.7 74 0 49 -6.35 74 0 0 LTYPE 5 37 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHEDTINY 70 0 3 Dashed (.15x) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 72 65 73 2 40 2.8575 49 1.905 74 0 49 -0.9525 74 0 0 LTYPE 5 38 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHED2 70 0 3 Dashed (.5x) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 72 65 73 2 40 9.524999999999999 49 6.35 74 0 49 -3.175 74 0 0 LTYPE 5 39 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHEDX2 70 0 3 Dashed (2x) ____ ____ ____ ____ ____ ___ 72 65 73 2 40 38.09999999999999 49 25.4 74 0 49 -12.7 74 0 0 LTYPE 5 3A 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHDOT 70 0 3 Dash dot __ . __ . __ . __ . __ . __ . __ . __ 72 65 73 4 40 25.4 49 12.7 74 0 49 -6.35 74 0 49 0 74 0 49 -6.35 74 0 0 LTYPE 5 3B 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHDOTTINY 70 0 3 Dash dot (.15x) _._._._._._._._._._._._._._._. 72 65 73 4 40 3.81 49 1.905 74 0 49 -0.9525 74 0 49 0 74 0 49 -0.9525 74 0 0 LTYPE 5 3C 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHDOT2 70 0 3 Dash dot (.5x) _._._._._._._._._._._._._._._. 72 65 73 4 40 12.7 49 6.35 74 0 49 -3.175 74 0 49 0 74 0 49 -3.175 74 0 0 LTYPE 5 3D 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHDOTX2 70 0 3 Dash dot (2x) ____ . ____ . ____ . ___ 72 65 73 4 40 50.8 49 25.4 74 0 49 -12.7 74 0 49 0 74 0 49 -12.7 74 0 0 LTYPE 5 3E 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DIVIDE 70 0 3 Divide ____ . . ____ . . ____ . . ____ . . ____ 72 65 73 6 40 31.75 49 12.7 74 0 49 -6.35 74 0 49 0 74 0 49 -6.35 74 0 49 0 74 0 49 -6.35 74 0 0 LTYPE 5 3F 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DIVIDETINY 70 0 3 Divide (.15x) __..__..__..__..__..__..__..__.._ 72 65 73 6 40 4.7625 49 1.905 74 0 49 -0.9525 74 0 49 0 74 0 49 -0.9525 74 0 49 0 74 0 49 -0.9525 74 0 0 LTYPE 5 40 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DIVIDE2 70 0 3 Divide (.5x) __..__..__..__..__..__..__..__.._ 72 65 73 6 40 15.875 49 6.35 74 0 49 -3.175 74 0 49 0 74 0 49 -3.175 74 0 49 0 74 0 49 -3.175 74 0 0 LTYPE 5 41 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DIVIDEX2 70 0 3 Divide (2x) ________ . . ________ . . _ 72 65 73 6 40 63.5 49 25.4 74 0 49 -12.7 74 0 49 0 74 0 49 -12.7 74 0 49 0 74 0 49 -12.7 74 0 0 LTYPE 5 42 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 BORDER 70 0 3 Border __ __ . __ __ . __ __ . __ __ . __ __ . 72 65 73 6 40 44.45 49 12.7 74 0 49 -6.35 74 0 49 12.7 74 0 49 -6.35 74 0 49 0 74 0 49 -6.35 74 0 0 LTYPE 5 43 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 BORDERTINY 70 0 3 Border (.15x) __.__.__.__.__.__.__.__.__.__.__. 72 65 73 6 40 6.6675 49 1.905 74 0 49 -0.9525 74 0 49 1.905 74 0 49 -0.9525 74 0 49 0 74 0 49 -0.9525 74 0 0 LTYPE 5 44 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 BORDER2 70 0 3 Border (.5x) __.__.__.__.__.__.__.__.__.__.__. 72 65 73 6 40 22.225 49 6.35 74 0 49 -3.175 74 0 49 6.35 74 0 49 -3.175 74 0 49 0 74 0 49 -3.175 74 0 0 LTYPE 5 45 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 BORDERX2 70 0 3 Border (2x) ____ ____ . ____ ____ . ___ 72 65 73 6 40 88.89999999999999 49 25.4 74 0 49 -12.7 74 0 49 25.4 74 0 49 -12.7 74 0 49 0 74 0 49 -12.7 74 0 0 LTYPE 5 46 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 CENTER 70 0 3 Center ____ _ ____ _ ____ _ ____ _ ____ _ ____ 72 65 73 4 40 50.8 49 31.75 74 0 49 -6.35 74 0 49 6.35 74 0 49 -6.35 74 0 0 LTYPE 5 47 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 CENTERTINY 70 0 3 Center (.15x) ___ _ ___ _ ___ _ ___ _ ___ _ ___ 72 65 73 4 40 7.619999999999999 49 4.7625 74 0 49 -0.9525 74 0 49 0.9525 74 0 49 -0.9525 74 0 0 LTYPE 5 48 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 CENTER2 70 0 3 Center (.5x) ___ _ ___ _ ___ _ ___ _ ___ _ ___ 72 65 73 4 40 28.575 49 19.05 74 0 49 -3.175 74 0 49 3.175 74 0 49 -3.175 74 0 0 LTYPE 5 49 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 CENTERX2 70 0 3 Center (2x) ________ __ ________ __ _____ 72 65 73 4 40 101.6 49 63.5 74 0 49 -12.7 74 0 49 12.7 74 0 49 -12.7 74 0 0 ENDTAB 0 TABLE 2 LAYER 5 2 330 0 100 AcDbSymbolTable 70 1 0 LAYER 5 10 330 2 100 AcDbSymbolTableRecord 100 AcDbLayerTableRecord 2 0 70 0 62 7 6 CONTINUOUS 370 0 390 F 0 ENDTAB 0 TABLE 2 STYLE 5 3 330 0 100 AcDbSymbolTable 70 3 0 STYLE 5 4A 330 2 100 AcDbSymbolTableRecord 100 AcDbTextStyleTableRecord 2 Standard 70 0 40 0 41 1 50 0 71 0 42 1 3 txt 4 0 ENDTAB 0 TABLE 2 VIEW 5 6 330 0 100 AcDbSymbolTable 70 0 0 ENDTAB 0 TABLE 2 UCS 5 7 330 0 100 AcDbSymbolTable 70 0 0 ENDTAB 0 TABLE 2 APPID 5 9 330 0 100 AcDbSymbolTable 70 1 0 APPID 5 12 330 9 100 AcDbSymbolTableRecord 100 AcDbRegAppTableRecord 2 ACAD 70 0 0 APPID 5 4B 330 9 100 AcDbSymbolTableRecord 100 AcDbRegAppTableRecord 2 LibreCad 70 0 0 ENDTAB 0 TABLE 2 DIMSTYLE 5 A 330 0 100 AcDbSymbolTable 70 1 100 AcDbDimStyleTable 71 1 0 DIMSTYLE 105 4C 330 A 100 AcDbSymbolTableRecord 100 AcDbDimStyleTableRecord 2 Standard 70 0 40 1 41 2.5 42 0.625 43 0.38 44 1.25 45 0 46 0 47 0 48 0 49 1 140 2.5 141 0.09 142 2.5 143 25.4 144 1 145 0 146 1 147 0.625 148 0 71 0 72 0 73 0 74 1 75 0 76 0 77 0 78 1 79 0 170 0 171 2 172 0 173 0 174 0 175 0 176 0 177 0 178 0 179 0 271 2 272 4 273 2 274 2 275 0 276 0 277 2 278 0 279 0 280 0 281 0 282 0 283 1 284 0 285 0 286 0 288 0 289 3 340 standard 341 371 -2 372 -2 0 ENDTAB 0 TABLE 2 BLOCK_RECORD 5 1 330 0 100 AcDbSymbolTable 70 2 0 BLOCK_RECORD 5 1F 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Model_Space 70 0 280 1 281 0 0 BLOCK_RECORD 5 1E 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Paper_Space 70 0 280 1 281 0 0 ENDTAB 0 ENDSEC 0 SECTION 2 BLOCKS 0 BLOCK 5 20 330 1F 100 AcDbEntity 8 0 100 AcDbBlockBegin 2 *Model_Space 70 0 10 0 20 0 30 0 3 *Model_Space 1 0 ENDBLK 5 21 330 1F 100 AcDbEntity 8 0 100 AcDbBlockEnd 0 BLOCK 5 1C 330 1B 100 AcDbEntity 8 0 100 AcDbBlockBegin 2 *Paper_Space 70 0 10 0 20 0 30 0 3 *Paper_Space 1 0 ENDBLK 5 1D 330 1F 100 AcDbEntity 8 0 100 AcDbBlockEnd 0 ENDSEC 0 SECTION 2 ENTITIES 0 CIRCLE 5 4D 100 AcDbEntity 8 0 6 ByLayer 62 256 370 -1 100 AcDbCircle 10 400.75 20 179.25 40 86.62058069535207 0 LINE 5 4E 100 AcDbEntity 8 0 6 ByLayer 62 256 370 -1 100 AcDbLine 10 401.5 20 278.5 11 380.75 21 230.75 0 ENDSEC 0 SECTION 2 OBJECTS 0 DICTIONARY 5 C 330 0 100 AcDbDictionary 281 1 3 ACAD_GROUP 350 D 0 DICTIONARY 5 D 330 C 100 AcDbDictionary 281 1 0 ENDSEC 0 EOF trimesh-4.5.1/models/2D/polygon.svg000066400000000000000000000005001470574263400171430ustar00rootroot00000000000000trimesh-4.5.1/models/2D/single_arc.dxf000066400000000000000000000321351470574263400175550ustar00rootroot00000000000000 0 SECTION 2 HEADER 9 $ACADVER 1 AC1014 9 $ACADMAINTVER 70 9 9 $DWGCODEPAGE 3 ANSI_1252 9 $INSBASE 10 0.0 20 0.0 30 0.0 9 $EXTMIN 10 1.000000000000000E+20 20 1.000000000000000E+20 30 1.000000000000000E+20 9 $EXTMAX 10 -1.000000000000000E+20 20 -1.000000000000000E+20 30 -1.000000000000000E+20 9 $LIMMIN 10 0.0 20 0.0 9 $LIMMAX 10 12.0 20 9.0 9 $ORTHOMODE 70 0 9 $REGENMODE 70 1 9 $FILLMODE 70 1 9 $QTEXTMODE 70 0 9 $MIRRTEXT 70 0 9 $DRAGMODE 70 2 9 $LTSCALE 40 1.0 9 $OSMODE 70 511 9 $ATTMODE 70 1 9 $TEXTSIZE 40 0.2 9 $TRACEWID 40 0.05 9 $TEXTSTYLE 7 STANDARD 9 $CLAYER 8 0 9 $CELTYPE 6 BYLAYER 9 $CECOLOR 62 256 9 $CELTSCALE 40 1.0 9 $DELOBJ 70 1 9 $DISPSILH 70 0 9 $DIMSCALE 40 1.0 9 $DIMASZ 40 0.18 9 $DIMEXO 40 0.0625 9 $DIMDLI 40 0.38 9 $DIMRND 40 0.0 9 $DIMDLE 40 0.0 9 $DIMEXE 40 0.18 9 $DIMTP 40 0.0 9 $DIMTM 40 0.0 9 $DIMTXT 40 0.18 9 $DIMCEN 40 0.09 9 $DIMTSZ 40 0.0 9 $DIMTOL 70 0 9 $DIMLIM 70 0 9 $DIMTIH 70 1 9 $DIMTOH 70 1 9 $DIMSE1 70 0 9 $DIMSE2 70 0 9 $DIMTAD 70 0 9 $DIMZIN 70 0 9 $DIMBLK 1 9 $DIMASO 70 1 9 $DIMSHO 70 1 9 $DIMPOST 1 9 $DIMAPOST 1 9 $DIMALT 70 0 9 $DIMALTD 70 2 9 $DIMALTF 40 25.4 9 $DIMLFAC 40 1.0 9 $DIMTOFL 70 0 9 $DIMTVP 40 0.0 9 $DIMTIX 70 0 9 $DIMSOXD 70 0 9 $DIMSAH 70 0 9 $DIMBLK1 1 9 $DIMBLK2 1 9 $DIMSTYLE 2 STANDARD 9 $DIMCLRD 70 0 9 $DIMCLRE 70 0 9 $DIMCLRT 70 0 9 $DIMTFAC 40 1.0 9 $DIMGAP 40 0.09 9 $DIMJUST 70 0 9 $DIMSD1 70 0 9 $DIMSD2 70 0 9 $DIMTOLJ 70 1 9 $DIMTZIN 70 0 9 $DIMALTZ 70 0 9 $DIMALTTZ 70 0 9 $DIMFIT 70 3 9 $DIMUPT 70 0 9 $DIMUNIT 70 2 9 $DIMDEC 70 4 9 $DIMTDEC 70 4 9 $DIMALTU 70 2 9 $DIMALTTD 70 2 9 $DIMTXSTY 7 STANDARD 9 $DIMAUNIT 70 0 9 $LUNITS 70 2 9 $LUPREC 70 4 9 $SKETCHINC 40 0.1 9 $FILLETRAD 40 0.0 9 $AUNITS 70 0 9 $AUPREC 70 0 9 $MENU 1 . 9 $ELEVATION 40 0.0 9 $PELEVATION 40 0.0 9 $THICKNESS 40 0.0 9 $LIMCHECK 70 0 9 $CHAMFERA 40 0.0 9 $CHAMFERB 40 0.0 9 $CHAMFERC 40 0.0 9 $CHAMFERD 40 0.0 9 $SKPOLY 70 0 9 $TDCREATE 40 2452642.855050937 9 $TDUPDATE 40 2456692.997316516 9 $TDINDWG 40 0.000752662 9 $TDUSRTIMER 40 2456693.204897303 9 $USRTIMER 70 1 9 $ANGBASE 50 0.0 9 $ANGDIR 70 0 9 $PDMODE 70 0 9 $PDSIZE 40 0.0 9 $PLINEWID 40 0.0 9 $COORDS 70 1 9 $SPLFRAME 70 0 9 $SPLINETYPE 70 6 9 $SPLINESEGS 70 8 9 $ATTDIA 70 0 9 $ATTREQ 70 1 9 $HANDLING 70 1 9 $HANDSEED 5 12C 9 $SURFTAB1 70 6 9 $SURFTAB2 70 6 9 $SURFTYPE 70 6 9 $SURFU 70 6 9 $SURFV 70 6 9 $UCSNAME 2 9 $UCSORG 10 0.0 20 0.0 30 0.0 9 $UCSXDIR 10 1.0 20 0.0 30 0.0 9 $UCSYDIR 10 0.0 20 1.0 30 0.0 9 $PUCSNAME 2 9 $PUCSORG 10 0.0 20 0.0 30 0.0 9 $PUCSXDIR 10 1.0 20 0.0 30 0.0 9 $PUCSYDIR 10 0.0 20 1.0 30 0.0 9 $USERI1 70 0 9 $USERI2 70 0 9 $USERI3 70 0 9 $USERI4 70 0 9 $USERI5 70 0 9 $USERR1 40 0.0 9 $USERR2 40 0.0 9 $USERR3 40 0.0 9 $USERR4 40 0.0 9 $USERR5 40 0.0 9 $WORLDVIEW 70 1 9 $SHADEDGE 70 3 9 $SHADEDIF 70 70 9 $TILEMODE 70 1 9 $MAXACTVP 70 64 9 $PINSBASE 10 0.0 20 0.0 30 0.0 9 $PLIMCHECK 70 0 9 $PEXTMIN 10 0.0 20 0.0 30 0.0 9 $PEXTMAX 10 0.0 20 0.0 30 0.0 9 $PLIMMIN 10 0.0 20 0.0 9 $PLIMMAX 10 0.0 20 0.0 9 $UNITMODE 70 0 9 $VISRETAIN 70 1 9 $PLINEGEN 70 0 9 $PSLTSCALE 70 1 9 $TREEDEPTH 70 3020 9 $PICKSTYLE 70 1 9 $CMLSTYLE 2 STANDARD 9 $CMLJUST 70 0 9 $CMLSCALE 40 1.0 9 $PROXYGRAPHICS 70 1 9 $MEASUREMENT 70 0 0 ENDSEC 0 SECTION 2 CLASSES 0 CLASS 1 ACDBDICTIONARYWDFLT 2 AcDbDictionaryWithDefault 3 ObjectDBX Classes 90 0 280 0 281 0 0 CLASS 1 ACDBPLACEHOLDER 2 AcDbPlaceHolder 3 ObjectDBX Classes 90 0 280 0 281 0 0 CLASS 1 LAYOUT 2 AcDbLayout 3 ObjectDBX Classes 90 0 280 0 281 0 0 CLASS 1 DICTIONARYVAR 2 AcDbDictionaryVar 3 ObjectDBX Classes 90 0 280 0 281 0 0 CLASS 1 TABLESTYLE 2 AcDbTableStyle 3 ObjectDBX Classes 90 4095 280 0 281 0 0 CLASS 1 MATERIAL 2 AcDbMaterial 3 ObjectDBX Classes 90 1153 280 0 281 0 0 CLASS 1 VISUALSTYLE 2 AcDbVisualStyle 3 ObjectDBX Classes 90 4095 280 0 281 0 0 CLASS 1 SCALE 2 AcDbScale 3 ObjectDBX Classes 90 1153 280 0 281 0 0 CLASS 1 CELLSTYLEMAP 2 AcDbCellStyleMap 3 ObjectDBX Classes 90 1152 280 0 281 0 0 CLASS 1 RASTERVARIABLES 2 AcDbRasterVariables 3 ISM 90 0 280 0 281 0 0 CLASS 1 SUN 2 AcDbSun 3 SCENEOE 90 1153 280 0 281 0 0 CLASS 1 XRECORD 2 AcDbXrecord 3 ObjectDBX Classes 90 0 280 0 281 0 0 CLASS 1 LWPOLYLINE 2 AcDbPolyline 3 ObjectDBX Classes 90 0 280 0 281 1 0 CLASS 1 HATCH 2 AcDbHatch 3 ObjectDBX Classes 90 0 280 0 281 1 0 ENDSEC 0 SECTION 2 TABLES 0 TABLE 2 VPORT 5 8 330 0 100 AcDbSymbolTable 70 1 0 VPORT 5 94 330 8 100 AcDbSymbolTableRecord 100 AcDbViewportTableRecord 2 *ACTIVE 70 0 10 0.0 20 0.0 11 1.0 21 1.0 12 33.66959356597982 22 24.03870295786203 13 0.0 23 0.0 14 0.5 24 0.5 15 0.5 25 0.5 16 0.0 26 0.0 36 1.0 17 -27.66959356597982 27 -19.53870295786203 37 0.0 40 11.00571428571429 41 1.11214953271028 42 50.0 43 0.0 44 0.0 50 0.0 51 0.0 71 16 72 1000 73 1 74 3 75 0 76 0 77 0 78 0 0 ENDTAB 0 TABLE 2 LTYPE 5 5 330 0 100 AcDbSymbolTable 70 1 0 LTYPE 5 14 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 BYBLOCK 70 0 3 72 65 73 0 40 0.0 0 LTYPE 5 15 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 BYLAYER 70 0 3 72 65 73 0 40 0.0 0 LTYPE 5 16 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 CONTINUOUS 70 0 3 Solid line 72 65 73 0 40 0.0 0 ENDTAB 0 TABLE 2 LAYER 5 2 330 0 100 AcDbSymbolTable 70 1 0 LAYER 5 10 330 2 100 AcDbSymbolTableRecord 100 AcDbLayerTableRecord 2 0 70 0 62 7 6 CONTINUOUS 0 ENDTAB 0 TABLE 2 STYLE 5 3 330 0 100 AcDbSymbolTable 70 1 0 STYLE 5 11 330 3 100 AcDbSymbolTableRecord 100 AcDbTextStyleTableRecord 2 STANDARD 70 0 40 0.0 41 1.0 50 0.0 71 0 42 0.2 3 arial.ttf 4 1001 ACAD 1000 Arial 1071 0 0 ENDTAB 0 TABLE 2 VIEW 5 6 330 0 100 AcDbSymbolTable 70 0 0 ENDTAB 0 TABLE 2 UCS 5 7 330 0 100 AcDbSymbolTable 70 0 0 ENDTAB 0 TABLE 2 APPID 5 9 330 0 100 AcDbSymbolTable 70 1 0 APPID 5 12 330 9 100 AcDbSymbolTableRecord 100 AcDbRegAppTableRecord 2 ACAD 70 0 0 ENDTAB 0 TABLE 2 DIMSTYLE 5 A 330 0 100 AcDbSymbolTable 70 1 0 DIMSTYLE 105 27 330 A 100 AcDbSymbolTableRecord 100 AcDbDimStyleTableRecord 2 STANDARD 70 0 3 4 5 6 7 40 1.0 41 0.18 42 0.0625 43 0.38 44 0.18 45 0.0 46 0.0 47 0.0 48 0.0 140 0.18 141 0.09 142 0.0 143 25.4 144 1.0 145 0.0 146 1.0 147 0.09 71 0 72 0 73 1 74 1 75 0 76 0 77 0 78 0 170 0 171 2 172 0 173 0 174 0 175 0 176 0 177 0 178 0 270 2 271 4 272 4 273 2 274 2 340 11 275 0 280 0 281 0 282 0 283 1 284 0 285 0 286 0 287 3 288 0 0 ENDTAB 0 TABLE 2 BLOCK_RECORD 5 1 330 0 100 AcDbSymbolTable 70 1 0 BLOCK_RECORD 5 1F 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *MODEL_SPACE 0 BLOCK_RECORD 5 58 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *PAPER_SPACE 0 BLOCK_RECORD 5 5D 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *PAPER_SPACE0 0 ENDTAB 0 ENDSEC 0 SECTION 2 BLOCKS 0 BLOCK 5 20 330 1F 100 AcDbEntity 8 0 100 AcDbBlockBegin 2 *MODEL_SPACE 70 0 10 0.0 20 0.0 30 0.0 3 *MODEL_SPACE 1 0 ENDBLK 5 21 330 1F 100 AcDbEntity 8 0 100 AcDbBlockEnd 0 BLOCK 5 5A 330 58 100 AcDbEntity 67 1 8 0 100 AcDbBlockBegin 2 *PAPER_SPACE 70 0 10 0.0 20 0.0 30 0.0 3 *PAPER_SPACE 1 0 ENDBLK 5 5B 330 58 100 AcDbEntity 67 1 8 0 100 AcDbBlockEnd 0 BLOCK 5 5F 330 5D 100 AcDbEntity 8 0 100 AcDbBlockBegin 2 *PAPER_SPACE0 70 0 10 0.0 20 0.0 30 0.0 3 *PAPER_SPACE0 1 *PAPER_SPACE0 0 ENDBLK 5 60 330 5D 100 AcDbEntity 8 0 100 AcDbBlockEnd 0 ENDSEC 0 SECTION 2 ENTITIES 0 ARC 5 126 330 1F 100 AcDbEntity 8 0 100 AcDbCircle 10 1.0 20 4.0 30 0.0 40 1.0 100 AcDbArc 50 0.0 51 180.0 0 LINE 5 127 330 1F 100 AcDbEntity 8 0 100 AcDbLine 10 0.0 20 0.0 30 0.0 11 0.0 21 4.0 31 0.0 0 LINE 5 129 330 1F 100 AcDbEntity 8 0 100 AcDbLine 10 2.0 20 4.0 30 0.0 11 2.0 21 0.0 31 0.0 0 LINE 5 12A 330 1F 100 AcDbEntity 8 0 100 AcDbLine 10 2.0 20 0.0 30 0.0 11 0.0 21 0.0 31 0.0 0 ENDSEC 0 SECTION 2 OBJECTS 0 DICTIONARY 5 C 330 0 100 AcDbDictionary 3 ACAD_DETAILVIEWSTYLE 350 122 3 ACAD_GROUP 350 D 3 ACAD_IMAGE_VARS 350 DC 3 ACAD_MLINESTYLE 350 17 3 ACAD_SCALELIST 350 B6 3 ACAD_SECTIONVIEWSTYLE 350 123 3 ACDBVARIABLEDICTIONARY 350 66 3 APPDATA 350 E1 3 DWGPROPS 350 12B 0 DICTIONARY 5 122 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 0 DICTIONARY 5 D 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 0 RASTERVARIABLES 5 DC 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbRasterVariables 90 0 70 1 71 1 72 5 0 DICTIONARY 5 17 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 3 STANDARD 350 18 0 DICTIONARY 5 B6 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 0 DICTIONARY 5 123 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 0 DICTIONARY 5 66 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 3 DIMASSOC 350 67 3 HIDETEXT 350 6B 0 DICTIONARY 5 E1 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 0 XRECORD 5 12B 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbXrecord 1 DWGPROPS COOKIE 2 3 4 6 7 8 Michael 9 300 = 301 = 302 = 303 = 304 = 305 = 306 = 307 = 308 = 309 = 40 0.0 41 2452643.063384271 42 2456693.205649849 1 90 0 0 MLINESTYLE 5 18 102 {ACAD_REACTORS 330 17 102 } 330 17 100 AcDbMlineStyle 2 STANDARD 70 0 3 62 256 51 90.0 52 90.0 71 2 49 0.5 62 256 6 BYLAYER 49 -0.5 62 256 6 BYLAYER 0 DICTIONARYVAR 5 67 102 {ACAD_REACTORS 330 66 102 } 330 66 100 DictionaryVariables 280 0 1 2 0 DICTIONARYVAR 5 6B 102 {ACAD_REACTORS 330 66 102 } 330 66 100 DictionaryVariables 280 0 1 1 0 ENDSEC 0 EOF trimesh-4.5.1/models/2D/sliding-base.dxf000066400000000000000000000542121470574263400200100ustar00rootroot00000000000000 0 SECTION 2 HEADER 9 $ACADVER 1 AC1015 9 $ACADMAINTVER 70 6 9 $DWGCODEPAGE 3 ANSI_1252 9 $INSBASE 10 0.0 20 0.0 30 0.0 9 $EXTMIN 10 0.0 20 0.0 30 0.0 9 $EXTMAX 10 22.0 20 17.0 30 0.0 9 $LIMMIN 10 0.0 20 0.0 9 $LIMMAX 10 22.0 20 17.0 9 $ORTHOMODE 70 0 9 $REGENMODE 70 1 9 $FILLMODE 70 1 9 $QTEXTMODE 70 0 9 $MIRRTEXT 70 1 9 $LTSCALE 40 1.0 9 $ATTMODE 70 1 9 $TEXTSIZE 40 0.125 9 $TRACEWID 40 0.05 9 $TEXTSTYLE 7 Standard 9 $CLAYER 8 0 9 $CELTYPE 6 ByLayer 9 $CECOLOR 62 256 9 $CELTSCALE 40 1.0 9 $DISPSILH 70 0 9 $DIMSCALE 40 1.0 9 $DIMASZ 40 0.13 9 $DIMEXO 40 0.05 9 $DIMDLI 40 0.38 9 $DIMRND 40 0.0 9 $DIMDLE 40 0.0 9 $DIMEXE 40 0.125 9 $DIMTP 40 0.0 9 $DIMTM 40 0.0 9 $DIMTXT 40 0.125 9 $DIMCEN 40 0.09 9 $DIMTSZ 40 0.0 9 $DIMTOL 70 0 9 $DIMLIM 70 0 9 $DIMTIH 70 1 9 $DIMTOH 70 1 9 $DIMSE1 70 0 9 $DIMSE2 70 0 9 $DIMTAD 70 0 9 $DIMZIN 70 0 9 $DIMBLK 1 9 $DIMASO 70 1 9 $DIMSHO 70 1 9 $DIMPOST 1 9 $DIMAPOST 1 9 $DIMALT 70 0 9 $DIMALTD 70 2 9 $DIMALTF 40 25.4 9 $DIMLFAC 40 1.0 9 $DIMTOFL 70 0 9 $DIMTVP 40 0.0 9 $DIMTIX 70 0 9 $DIMSOXD 70 0 9 $DIMSAH 70 0 9 $DIMBLK1 1 9 $DIMBLK2 1 9 $DIMSTYLE 2 Standard 9 $DIMCLRD 70 0 9 $DIMCLRE 70 0 9 $DIMCLRT 70 0 9 $DIMTFAC 40 1.0 9 $DIMGAP 40 0.06 9 $DIMJUST 70 0 9 $DIMSD1 70 0 9 $DIMSD2 70 0 9 $DIMTOLJ 70 1 9 $DIMTZIN 70 0 9 $DIMALTZ 70 0 9 $DIMALTTZ 70 0 9 $DIMUPT 70 0 9 $DIMDEC 70 2 9 $DIMTDEC 70 2 9 $DIMALTU 70 2 9 $DIMALTTD 70 2 9 $DIMTXSTY 7 Standard 9 $DIMAUNIT 70 0 9 $DIMADEC 70 2 9 $DIMALTRND 40 0.0 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$UCSORTHOREF 2 9 $UCSORTHOVIEW 70 0 9 $UCSORGTOP 10 0.0 20 0.0 30 0.0 9 $UCSORGBOTTOM 10 0.0 20 0.0 30 0.0 9 $UCSORGLEFT 10 0.0 20 0.0 30 0.0 9 $UCSORGRIGHT 10 0.0 20 0.0 30 0.0 9 $UCSORGFRONT 10 0.0 20 0.0 30 0.0 9 $UCSORGBACK 10 0.0 20 0.0 30 0.0 9 $PUCSBASE 2 9 $PUCSNAME 2 9 $PUCSORG 10 0.0 20 0.0 30 0.0 9 $PUCSXDIR 10 1.0 20 0.0 30 0.0 9 $PUCSYDIR 10 0.0 20 1.0 30 0.0 9 $PUCSORTHOREF 2 9 $PUCSORTHOVIEW 70 0 9 $PUCSORGTOP 10 0.0 20 0.0 30 0.0 9 $PUCSORGBOTTOM 10 0.0 20 0.0 30 0.0 9 $PUCSORGLEFT 10 0.0 20 0.0 30 0.0 9 $PUCSORGRIGHT 10 0.0 20 0.0 30 0.0 9 $PUCSORGFRONT 10 0.0 20 0.0 30 0.0 9 $PUCSORGBACK 10 0.0 20 0.0 30 0.0 9 $USERI1 70 0 9 $USERI2 70 0 9 $USERI3 70 0 9 $USERI4 70 0 9 $USERI5 70 0 9 $USERR1 40 0.0 9 $USERR2 40 0.0 9 $USERR3 40 0.0 9 $USERR4 40 0.0 9 $USERR5 40 0.0 9 $WORLDVIEW 70 1 9 $SHADEDGE 70 3 9 $SHADEDIF 70 70 9 $TILEMODE 70 1 9 $MAXACTVP 70 64 9 $PINSBASE 10 0.0 20 0.0 30 0.0 9 $PLIMCHECK 70 0 9 $PEXTMIN 10 1.0000000000E+20 20 1.0000000000E+20 30 1.0000000000E+20 9 $PEXTMAX 10 -1.0000000000E+20 20 -1.0000000000E+20 30 -1.0000000000E+20 9 $PLIMMIN 10 0.0 20 0.0 9 $PLIMMAX 10 12.0 20 9.0 9 $UNITMODE 70 0 9 $VISRETAIN 70 1 9 $PLINEGEN 70 0 9 $PSLTSCALE 70 1 9 $TREEDEPTH 70 3020 9 $CMLSTYLE 2 Standard 9 $CMLJUST 70 0 9 $CMLSCALE 40 1.0 9 $PROXYGRAPHICS 70 1 9 $MEASUREMENT 70 0 9 $CELWEIGHT 370 -1 9 $ENDCAPS 280 0 9 $JOINSTYLE 280 0 9 $LWDISPLAY 290 1 9 $INSUNITS 70 1 9 $HYPERLINKBASE 1 9 $STYLESHEET 1 9 $XEDIT 290 1 9 $CEPSNTYPE 380 0 9 $PSTYLEMODE 290 1 9 $FINGERPRINTGUID 2 {99A0CB0C-8D97-430B-A5E7-4A9FD75959B9} 9 $VERSIONGUID 2 {FAEB1C32-E019-11D5-929B-00C0DF256EC4} 9 $EXTNAMES 290 1 9 $PSVPSCALE 40 0.0 9 $OLESTARTUP 290 0 0 ENDSEC 0 SECTION 2 CLASSES 0 CLASS 1 ACDBDICTIONARYWDFLT 2 AcDbDictionaryWithDefault 3 ObjectDBX Classes 90 0 280 0 281 0 0 CLASS 1 VISUALSTYLE 2 AcDbVisualStyle 3 ObjectDBX Classes 90 4095 280 0 281 0 0 CLASS 1 MATERIAL 2 AcDbMaterial 3 ObjectDBX Classes 90 1153 280 0 281 0 0 CLASS 1 ACDBPLACEHOLDER 2 AcDbPlaceHolder 3 ObjectDBX Classes 90 0 280 0 281 0 0 CLASS 1 LAYOUT 2 AcDbLayout 3 ObjectDBX Classes 90 0 280 0 281 0 0 ENDSEC 0 SECTION 2 TABLES 0 TABLE 2 VPORT 5 8 330 0 100 AcDbSymbolTable 70 1 0 VPORT 5 29 330 8 100 AcDbSymbolTableRecord 100 AcDbViewportTableRecord 2 *Active 70 0 10 0.0 20 0.0 11 1.0 21 1.0 12 11.0 22 8.5 13 0.0 23 0.0 14 0.5 24 0.5 15 0.5 25 0.5 16 0.0 26 0.0 36 1.0 17 0.0 27 0.0 37 0.0 40 17.0 41 1.2941176471 42 50.0 43 0.0 44 0.0 50 0.0 51 0.0 71 0 72 2000 73 1 74 3 75 0 76 0 77 0 78 0 281 0 65 1 110 0.0 120 0.0 130 0.0 111 1.0 121 0.0 131 0.0 112 0.0 122 1.0 132 0.0 79 0 146 0.0 0 ENDTAB 0 TABLE 2 LTYPE 5 5 330 0 100 AcDbSymbolTable 70 6 0 LTYPE 5 14 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ByBlock 70 0 3 72 65 73 0 40 0.0 0 LTYPE 5 15 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ByLayer 70 0 3 72 65 73 0 40 0.0 0 LTYPE 5 16 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 Continuous 70 0 3 Solid line 72 65 73 0 40 0.0 0 LTYPE 5 3F 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 HIDDEN 70 0 3 Hidden __ __ __ __ __ __ __ __ __ __ __ __ __ __ 72 65 73 2 40 0.075 49 0.05 74 0 49 -0.025 74 0 0 LTYPE 5 40 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 PHANTOM 70 0 3 Phantom ______ __ __ ______ __ __ ______ 72 65 73 6 40 0.5 49 0.25 74 0 49 -0.05 74 0 49 0.05 74 0 49 -0.05 74 0 49 0.05 74 0 49 -0.05 74 0 0 LTYPE 5 41 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 CENTER 70 0 3 Center ____ _ ____ _ ____ _ ____ _ ____ _ ____ 72 65 73 4 40 0.4 49 0.25 74 0 49 -0.05 74 0 49 0.05 74 0 49 -0.05 74 0 0 LTYPE 5 42 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 CENTERX2 70 0 3 Center (2x) ________ __ ________ __ _____ 72 65 73 4 40 0.8 49 0.5 74 0 49 -0.1 74 0 49 0.1 74 0 49 -0.1 74 0 0 LTYPE 5 43 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DOT2 70 0 3 Dot (.5x) ........................................ 72 65 73 2 40 0.025 49 0.0 74 0 49 -0.025 74 0 0 ENDTAB 0 TABLE 2 LAYER 5 2 330 0 100 AcDbSymbolTable 70 2 0 LAYER 5 10 330 2 100 AcDbSymbolTableRecord 100 AcDbLayerTableRecord 2 0 70 0 62 7 6 Continuous 370 -3 390 F 0 LAYER 5 44 330 2 100 AcDbSymbolTableRecord 100 AcDbLayerTableRecord 2 FORMAT 70 0 62 7 6 Continuous 370 -3 390 F 0 ENDTAB 0 TABLE 2 STYLE 5 3 330 0 100 AcDbSymbolTable 70 2 0 STYLE 5 11 330 3 100 AcDbSymbolTableRecord 100 AcDbTextStyleTableRecord 2 Standard 70 0 40 0.0 41 1.0 50 0.0 71 0 42 0.125 3 txt 4 0 STYLE 5 63 330 3 100 AcDbSymbolTableRecord 100 AcDbTextStyleTableRecord 2 SLDTEXTSTYLE0 70 0 40 0.0 41 0.7 50 0.0 71 0 42 0.2 3 TXT 4 0 ENDTAB 0 TABLE 2 VIEW 5 6 330 0 100 AcDbSymbolTable 70 0 0 ENDTAB 0 TABLE 2 UCS 5 7 330 0 100 AcDbSymbolTable 70 0 0 ENDTAB 0 TABLE 2 APPID 5 9 330 0 100 AcDbSymbolTable 70 1 0 APPID 5 12 330 9 100 AcDbSymbolTableRecord 100 AcDbRegAppTableRecord 2 ACAD 70 0 0 ENDTAB 0 TABLE 2 DIMSTYLE 5 A 330 0 100 AcDbSymbolTable 70 1 100 AcDbDimStyleTable 0 DIMSTYLE 105 27 330 A 100 AcDbSymbolTableRecord 100 AcDbDimStyleTableRecord 2 Standard 70 0 178 0 340 11 0 ENDTAB 0 TABLE 2 BLOCK_RECORD 5 1 330 0 100 AcDbSymbolTable 70 1 0 BLOCK_RECORD 5 1F 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Model_Space 340 22 0 BLOCK_RECORD 5 1B 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Paper_Space 340 1E 0 BLOCK_RECORD 5 23 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Paper_Space0 340 26 0 ENDTAB 0 ENDSEC 0 SECTION 2 BLOCKS 0 BLOCK 5 20 330 1F 100 AcDbEntity 8 0 100 AcDbBlockBegin 2 *Model_Space 70 0 10 0.0 20 0.0 30 0.0 3 *Model_Space 1 0 ENDBLK 5 21 330 1F 100 AcDbEntity 8 0 100 AcDbBlockEnd 0 BLOCK 5 1C 330 1B 100 AcDbEntity 67 1 8 0 100 AcDbBlockBegin 2 *Paper_Space 70 0 10 0.0 20 0.0 30 0.0 3 *Paper_Space 1 0 ENDBLK 5 1D 330 1B 100 AcDbEntity 67 1 8 0 100 AcDbBlockEnd 0 BLOCK 5 24 330 23 100 AcDbEntity 8 0 100 AcDbBlockBegin 2 *Paper_Space0 70 0 10 0.0 20 0.0 30 0.0 3 *Paper_Space0 1 0 ENDBLK 5 25 330 23 100 AcDbEntity 8 0 100 AcDbBlockEnd 0 ENDSEC 0 SECTION 2 ENTITIES 0 LINE 5 45 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbLine 10 6.5111914987 20 12.8223775674 30 0.0 11 6.5111914987 21 12.3223775674 31 0.0 0 ARC 5 46 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 6.0111914987 20 12.8223775674 30 0.0 40 0.5000000000000018 100 AcDbArc 50 0.0 51 90.0 0 LINE 5 47 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbLine 10 3.2069678603 20 13.3223775674 30 0.0 11 6.0111914987 21 13.3223775674 31 0.0 0 ARC 5 48 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 3.2069678603 20 12.8223775674 30 0.0 40 0.5 100 AcDbArc 50 90.0 51 180.0 0 LINE 5 49 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbLine 10 2.7069678603 20 12.3223775674 30 0.0 11 2.7069678603 21 12.8223775674 31 0.0 0 ARC 5 4A 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 4.6090796795 20 12.3223775674 30 0.0 40 1.902111819211241 100 AcDbArc 50 180.0 51 0.0 0 LINE 5 4B 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbLine 10 1.6090796795 20 9.3223775674 30 0.0 11 7.6090796795 21 9.3223775674 31 0.0 0 LINE 5 4C 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbLine 10 1.6090796795 20 9.3223775674 30 0.0 11 1.6090796795 21 14.3616068238 31 0.0 0 ARC 5 4D 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 2.1090796795 20 14.3616068238 30 0.0 40 0.5000000000000004 100 AcDbArc 50 110.8857865512 51 180.0 0 ARC 5 4E 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 4.6090796795 20 7.8098775674 30 0.0 40 7.512500000000002 100 AcDbArc 50 69.1142134488 51 110.8857865512 0 ARC 5 4F 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 7.1090796795 20 14.3616068238 30 0.0 40 0.4999999999999991 100 AcDbArc 50 0.0 51 69.1142134488 0 LINE 5 50 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbLine 10 7.6090796795 20 9.3223775674 30 0.0 11 7.6090796795 21 14.3616068238 31 0.0 0 LINE 5 51 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbLine 10 8.6166945375 20 15.5161683904 30 0.0 11 13.6166945375 21 15.5161683904 31 0.0 0 LINE 5 52 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbLine 10 13.6166945375 20 15.5161683904 30 0.0 11 13.6166945375 21 9.5761683904 31 0.0 0 LINE 5 53 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbLine 10 8.6166945375 20 9.5761683904 30 0.0 11 13.6166945375 21 9.5761683904 31 0.0 0 LINE 5 54 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbLine 10 8.6166945375 20 15.5161683904 30 0.0 11 8.6166945375 21 9.5761683904 31 0.0 0 LINE 5 55 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbLine 10 20.6253197378 20 15.4466289876 30 0.0 11 14.6253197378 21 15.4466289876 31 0.0 0 LINE 5 56 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbLine 10 20.6253197378 20 2.5066289876 30 0.0 11 20.6253197378 21 15.4466289876 31 0.0 0 LINE 5 57 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbLine 10 14.6253197378 20 2.5066289876 30 0.0 11 20.6253197378 21 2.5066289876 31 0.0 0 LINE 5 58 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbLine 10 14.6253197378 20 15.4466289876 30 0.0 11 14.6253197378 21 2.5066289876 31 0.0 0 CIRCLE 5 59 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 17.6253197378 20 5.5066289876 30 0.0 40 0.7499999999999991 0 ARC 5 5A 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 7.4758339403 20 7.6796431173 30 0.0 40 0.4999999999999991 100 AcDbArc 50 0.0 51 90.0 0 ARC 5 5B 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 2.4758339403 20 7.6796431173 30 0.0 40 0.5 100 AcDbArc 50 90.0 51 180.0 0 CIRCLE 5 5C 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 4.9758339403 20 7.1796431173 30 0.0 40 0.2579999999999991 0 CIRCLE 5 5D 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 6.9758339403 20 2.6796431173 30 0.0 40 0.2580000000000005 0 CIRCLE 5 5E 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbCircle 10 2.9758339403 20 2.6796431173 30 0.0 40 0.2579999999999996 0 LINE 5 5F 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbLine 10 7.4758339403 20 8.1796431173 30 0.0 11 2.4758339403 21 8.1796431173 31 0.0 0 LINE 5 60 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbLine 10 7.9758339403 20 1.1796431173 30 0.0 11 7.9758339403 21 7.6796431173 31 0.0 0 LINE 5 61 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbLine 10 1.9758339403 20 1.1796431173 30 0.0 11 7.9758339403 21 1.1796431173 31 0.0 0 LINE 5 62 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 15 100 AcDbLine 10 1.9758339403 20 7.6796431173 30 0.0 11 1.9758339403 21 1.1796431173 31 0.0 0 MTEXT 5 64 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 100 AcDbMText 10 0.0 20 0.8202648223 30 0.0 40 0.2941 41 0.0 71 1 72 1 1 SolidWorks Educational Edition. 7 SLDTEXTSTYLE0 73 1 44 1.0 0 MTEXT 5 65 330 1F 100 AcDbEntity 8 0 6 Continuous 62 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$DIMUPT 70 0 9 $DIMDEC 70 2 9 $DIMTDEC 70 2 9 $DIMALTU 70 2 9 $DIMALTTD 70 3 9 $DIMTXSTY 7 Standard 9 $DIMAUNIT 70 0 9 $DIMADEC 70 2 9 $DIMALTRND 40 0.0 9 $DIMAZIN 70 0 9 $DIMDSEP 70 44 9 $DIMATFIT 70 3 9 $DIMFRAC 70 0 9 $DIMLDRBLK 1 9 $DIMLUNIT 70 2 9 $DIMLWD 70 -2 9 $DIMLWE 70 -2 9 $DIMTMOVE 70 0 9 $LUNITS 70 2 9 $LUPREC 70 2 9 $SKETCHINC 40 1.0 9 $FILLETRAD 40 10.0 9 $AUNITS 70 0 9 $AUPREC 70 2 9 $MENU 1 . 9 $ELEVATION 40 0.0 9 $PELEVATION 40 0.0 9 $THICKNESS 40 0.0 9 $LIMCHECK 70 0 9 $CHAMFERA 40 0.0 9 $CHAMFERB 40 0.0 9 $CHAMFERC 40 0.0 9 $CHAMFERD 40 0.0 9 $SKPOLY 70 0 9 $TDCREATE 40 2457222.714463414 9 $TDUCREATE 40 2457222.881130081 9 $TDUPDATE 40 2457222.714463773 9 $TDUUPDATE 40 2457222.88113044 9 $TDINDWG 40 0.0000000116 9 $TDUSRTIMER 40 0.0000000116 9 $USRTIMER 70 1 9 $ANGBASE 50 0.0 9 $ANGDIR 70 0 9 $PDMODE 70 0 9 $PDSIZE 40 -1.0 9 $PLINEWID 40 0.0 9 $SPLFRAME 70 0 9 $SPLINETYPE 70 6 9 $SPLINESEGS 70 8 9 $HANDSEED 5 7D 9 $SURFTAB1 70 6 9 $SURFTAB2 70 6 9 $SURFTYPE 70 6 9 $SURFU 70 6 9 $SURFV 70 6 9 $UCSBASE 2 9 $UCSNAME 2 9 $UCSORG 10 0.0 20 0.0 30 0.0 9 $UCSXDIR 10 1.0 20 0.0 30 0.0 9 $UCSYDIR 10 0.0 20 1.0 30 0.0 9 $UCSORTHOREF 2 9 $UCSORTHOVIEW 70 0 9 $UCSORGTOP 10 0.0 20 0.0 30 0.0 9 $UCSORGBOTTOM 10 0.0 20 0.0 30 0.0 9 $UCSORGLEFT 10 0.0 20 0.0 30 0.0 9 $UCSORGRIGHT 10 0.0 20 0.0 30 0.0 9 $UCSORGFRONT 10 0.0 20 0.0 30 0.0 9 $UCSORGBACK 10 0.0 20 0.0 30 0.0 9 $PUCSBASE 2 9 $PUCSNAME 2 9 $PUCSORG 10 0.0 20 0.0 30 0.0 9 $PUCSXDIR 10 1.0 20 0.0 30 0.0 9 $PUCSYDIR 10 0.0 20 1.0 30 0.0 9 $PUCSORTHOREF 2 9 $PUCSORTHOVIEW 70 0 9 $PUCSORGTOP 10 0.0 20 0.0 30 0.0 9 $PUCSORGBOTTOM 10 0.0 20 0.0 30 0.0 9 $PUCSORGLEFT 10 0.0 20 0.0 30 0.0 9 $PUCSORGRIGHT 10 0.0 20 0.0 30 0.0 9 $PUCSORGFRONT 10 0.0 20 0.0 30 0.0 9 $PUCSORGBACK 10 0.0 20 0.0 30 0.0 9 $USERI1 70 0 9 $USERI2 70 0 9 $USERI3 70 0 9 $USERI4 70 0 9 $USERI5 70 0 9 $USERR1 40 0.0 9 $USERR2 40 0.0 9 $USERR3 40 0.0 9 $USERR4 40 0.0 9 $USERR5 40 0.0 9 $WORLDVIEW 70 1 9 $SHADEDGE 70 3 9 $SHADEDIF 70 70 9 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0.0 131 0.0 112 0.0 122 1.0 132 0.0 79 0 146 0.0 0 ENDTAB 0 TABLE 2 LTYPE 5 5 330 0 100 AcDbSymbolTable 70 6 0 LTYPE 5 14 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ByBlock 70 0 3 72 65 73 0 40 0.0 0 LTYPE 5 15 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ByLayer 70 0 3 72 65 73 0 40 0.0 0 LTYPE 5 16 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 Continuous 70 0 3 Solid line 72 65 73 0 40 0.0 0 LTYPE 5 6E 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 HIDDEN 70 0 3 Hidden __ __ __ __ __ __ __ __ __ __ __ __ __ __ 72 65 73 2 40 1.905 49 1.27 74 0 49 -0.635 74 0 0 LTYPE 5 6F 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 PHANTOM 70 0 3 Phantom ______ __ __ ______ __ __ ______ 72 65 73 6 40 12.7 49 6.35 74 0 49 -1.27 74 0 49 1.27 74 0 49 -1.27 74 0 49 1.27 74 0 49 -1.27 74 0 0 LTYPE 5 70 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 CENTER 70 0 3 Center ____ _ ____ _ ____ _ ____ _ ____ _ ____ 72 65 73 4 40 10.16 49 6.35 74 0 49 -1.27 74 0 49 1.27 74 0 49 -1.27 74 0 0 LTYPE 5 71 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 CENTERX2 70 0 3 Center (2x) ________ __ ________ __ _____ 72 65 73 4 40 20.32 49 12.7 74 0 49 -2.54 74 0 49 2.54 74 0 49 -2.54 74 0 0 LTYPE 5 72 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DOT2 70 0 3 Dot (.5x) ........................................ 72 65 73 2 40 0.635 49 0.0 74 0 49 -0.635 74 0 0 ENDTAB 0 TABLE 2 LAYER 5 2 330 0 100 AcDbSymbolTable 70 1 0 LAYER 5 10 330 2 100 AcDbSymbolTableRecord 100 AcDbLayerTableRecord 2 0 70 0 62 7 6 Continuous 370 -3 390 F 0 ENDTAB 0 TABLE 2 STYLE 5 3 330 0 100 AcDbSymbolTable 70 1 0 STYLE 5 11 330 3 100 AcDbSymbolTableRecord 100 AcDbTextStyleTableRecord 2 Standard 70 0 40 0.0 41 1.0 50 0.0 71 0 42 3.5 3 txt 4 0 ENDTAB 0 TABLE 2 VIEW 5 6 330 0 100 AcDbSymbolTable 70 0 0 ENDTAB 0 TABLE 2 UCS 5 7 330 0 100 AcDbSymbolTable 70 0 0 ENDTAB 0 TABLE 2 APPID 5 9 330 0 100 AcDbSymbolTable 70 1 0 APPID 5 12 330 9 100 AcDbSymbolTableRecord 100 AcDbRegAppTableRecord 2 ACAD 70 0 0 ENDTAB 0 TABLE 2 DIMSTYLE 5 A 330 0 100 AcDbSymbolTable 70 1 100 AcDbDimStyleTable 0 DIMSTYLE 105 27 330 A 100 AcDbSymbolTableRecord 100 AcDbDimStyleTableRecord 2 ISO-25 70 0 41 2.5 42 0.625 43 3.75 44 1.25 73 0 74 0 77 1 78 8 140 2.5 141 2.5 143 0.0393700787 147 0.625 171 3 172 1 178 0 271 2 272 2 274 3 278 44 283 0 284 8 340 11 0 ENDTAB 0 TABLE 2 BLOCK_RECORD 5 1 330 0 100 AcDbSymbolTable 70 1 0 BLOCK_RECORD 5 1F 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Model_Space 340 22 0 BLOCK_RECORD 5 1B 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Paper_Space 340 1E 0 BLOCK_RECORD 5 23 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Paper_Space0 340 26 0 ENDTAB 0 ENDSEC 0 SECTION 2 BLOCKS 0 BLOCK 5 20 330 1F 100 AcDbEntity 8 0 100 AcDbBlockBegin 2 *Model_Space 70 0 10 0.0 20 0.0 30 0.0 3 *Model_Space 1 0 ENDBLK 5 21 330 1F 100 AcDbEntity 8 0 100 AcDbBlockEnd 0 BLOCK 5 1C 330 1B 100 AcDbEntity 67 1 8 0 100 AcDbBlockBegin 2 *Paper_Space 70 0 10 0.0 20 0.0 30 0.0 3 *Paper_Space 1 0 ENDBLK 5 1D 330 1B 100 AcDbEntity 67 1 8 0 100 AcDbBlockEnd 0 BLOCK 5 24 330 23 100 AcDbEntity 8 0 100 AcDbBlockBegin 2 *Paper_Space0 70 0 10 0.0 20 0.0 30 0.0 3 *Paper_Space0 1 0 ENDBLK 5 25 330 23 100 AcDbEntity 8 0 100 AcDbBlockEnd 0 ENDSEC 0 SECTION 2 ENTITIES 0 LINE 5 73 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 0 100 AcDbLine 10 77.4697886855 20 99.5834259567 30 0.0 11 129.745608985 21 99.5834259567 31 0.0 0 LINE 5 74 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 0 100 AcDbLine 10 156.9827770383 20 33.1393926789 30 0.0 11 147.455875208 21 53.6588735441 31 0.0 0 LINE 5 75 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 0 100 AcDbLine 10 147.455875208 20 53.6588735441 30 0.0 11 188.7391164725 21 47.3076056572 31 0.0 0 LINE 5 76 330 1F 100 AcDbEntity 8 0 6 Continuous 62 7 370 0 100 AcDbLine 10 241.014936772 20 29.4751996672 30 0.0 11 216.0984242928 21 28.986640599 31 0.0 0 SPLINE 5 77 330 1F 100 AcDbEntity 8 0 6 Continuous 62 5 370 0 100 AcDbSpline 210 0.0 220 0.0 230 1.0 70 8 71 2 72 6 73 3 74 0 42 0.000000001 43 0.00000001 40 0.0 40 0.0 40 0.0 40 1.0 40 1.0 40 1.0 10 77.46978868552416 20 99.5834259567388 30 0.0 10 -3.244760530702441 20 169.5392289312641 30 0.0 10 76.73695008319471 20 108.1332096505824 30 0.0 0 SPLINE 5 78 330 1F 100 AcDbEntity 8 0 6 Continuous 62 5 370 0 100 AcDbSpline 210 0.0 220 0.0 230 1.0 70 24 71 1 72 4 73 2 74 0 42 0.000000001 43 0.00000001 40 0.0 40 0.0 40 1.0 40 1.0 10 70.38568219633946 20 154.1799018302829 30 0.0 10 76.73695008319471 20 108.1332096505824 30 0.0 0 SPLINE 5 79 330 1F 100 AcDbEntity 8 0 6 Continuous 62 5 370 0 100 AcDbSpline 210 0.0 220 0.0 230 1.0 70 8 71 3 72 24 73 20 74 0 42 0.000000001 43 0.00000001 40 0.0 40 0.0 40 0.0 40 0.0 40 0.0830662084598677 40 0.1309066767056947 40 0.1689028593573073 40 0.1963951914410504 40 0.2402010884806242 40 0.2991280569925451 40 0.3661536827889565 40 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0.0 10 183.2354042764032 20 70.84536253345682 30 0.0 10 157.5824030642501 20 116.6391146331395 30 0.0 10 140.0372748772904 20 87.86553793628707 30 0.0 10 129.745608985025 20 99.5834259567388 30 0.0 0 SPLINE 5 7A 330 1F 100 AcDbEntity 8 0 6 Continuous 62 5 370 0 100 AcDbSpline 210 0.0 220 0.0 230 1.0 70 11 71 3 72 10 73 6 74 0 42 0.000000001 43 0.00000001 40 0.0 40 0.0 40 0.0 40 0.0 40 0.3628122081558344 40 0.6586667528652446 40 1.0 40 1.0 40 1.0 40 1.0 10 59.1488236272879 20 66.8499683860233 30 0.0 10 63.13594957945645 20 81.74601110516086 30 0.0 10 127.1976134900925 20 93.70838072075942 30 0.0 10 100.1113035608609 20 12.94949403532572 30 0.0 10 55.39774078774795 20 52.83579103343166 30 0.0 10 59.1488236272879 20 66.8499683860233 30 0.0 0 SPLINE 5 7B 330 1F 100 AcDbEntity 8 0 6 Continuous 62 5 370 0 100 AcDbSpline 210 0.0 220 0.0 230 1.0 70 24 71 1 72 4 73 2 74 0 42 0.000000001 43 0.00000001 40 0.0 40 0.0 40 1.0 40 1.0 10 156.9827770382696 20 33.13939267886856 30 0.0 10 188.7391164725458 20 47.30760565723796 30 0.0 0 SPLINE 5 7C 330 1F 100 AcDbEntity 8 0 6 Continuous 62 5 370 0 100 AcDbSpline 210 0.0 220 0.0 230 1.0 70 8 71 2 72 6 73 3 74 0 42 0.000000001 43 0.00000001 40 0.0 40 0.0 40 0.0 40 1.0 40 1.0 40 1.0 10 216.0984242928453 20 28.98664059900169 30 0.0 10 231.1995698616269 20 83.49881839267738 30 0.0 10 241.0149367720466 20 29.4751996672213 30 0.0 0 ENDSEC 0 SECTION 2 OBJECTS 0 DICTIONARY 5 C 330 0 100 AcDbDictionary 281 1 3 ACAD_GROUP 350 D 3 ACAD_LAYOUT 350 1A 3 ACAD_MLINESTYLE 350 17 3 ACAD_PLOTSETTINGS 350 19 3 ACAD_PLOTSTYLENAME 350 E 3 ACAD_SCALELIST 350 47 0 DICTIONARY 5 D 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 0 DICTIONARY 5 1A 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 Layout1 350 1E 3 Layout2 350 26 3 Model 350 22 0 DICTIONARY 5 17 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 Standard 350 18 0 DICTIONARY 5 19 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 0 ACDBDICTIONARYWDFLT 5 E 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 Normal 350 F 100 AcDbDictionaryWithDefault 340 F 0 DICTIONARY 5 47 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 A0 350 48 3 A1 350 49 3 A2 350 4A 3 A3 350 4B 3 A4 350 4C 3 A5 350 4D 3 A6 350 4E 3 A7 350 4F 3 A8 350 50 3 A9 350 51 3 B0 350 52 3 B1 350 53 3 B2 350 54 3 B3 350 55 3 B4 350 56 3 B5 350 57 3 B6 350 58 3 B7 350 59 3 B8 350 5A 3 B9 350 5B 3 C0 350 5C 3 C1 350 5D 3 C2 350 5E 3 C3 350 5F 3 C4 350 60 3 C5 350 61 3 C6 350 62 3 C7 350 63 3 C8 350 64 3 C9 350 65 3 D0 350 66 3 D1 350 67 3 D2 350 68 0 LAYOUT 5 1E 102 {ACAD_REACTORS 330 1A 102 } 330 1A 100 AcDbPlotSettings 1 2 none_device 4 6 40 0.0 41 0.0 42 0.0 43 0.0 44 0.0 45 0.0 46 0.0 47 0.0 48 0.0 49 0.0 140 0.0 141 0.0 142 1.0 143 1.0 70 688 72 1 73 0 74 5 7 75 16 147 1.0 148 0.0 149 0.0 100 AcDbLayout 1 Layout1 70 1 71 1 10 0.0 20 0.0 11 420.0 21 297.0 12 0.0 22 0.0 32 0.0 14 1.0000000000E+20 24 1.0000000000E+20 34 1.0000000000E+20 15 -1.0000000000E+20 25 -1.0000000000E+20 35 -1.0000000000E+20 146 0.0 13 0.0 23 0.0 33 0.0 16 1.0 26 0.0 36 0.0 17 0.0 27 1.0 37 0.0 76 0 330 1B 0 LAYOUT 5 26 102 {ACAD_REACTORS 330 1A 102 } 330 1A 100 AcDbPlotSettings 1 2 none_device 4 6 40 0.0 41 0.0 42 0.0 43 0.0 44 0.0 45 0.0 46 0.0 47 0.0 48 0.0 49 0.0 140 0.0 141 0.0 142 1.0 143 1.0 70 688 72 1 73 0 74 5 7 75 16 147 1.0 148 0.0 149 0.0 100 AcDbLayout 1 Layout2 70 1 71 2 10 0.0 20 0.0 11 0.0 21 0.0 12 0.0 22 0.0 32 0.0 14 0.0 24 0.0 34 0.0 15 0.0 25 0.0 35 0.0 146 0.0 13 0.0 23 0.0 33 0.0 16 1.0 26 0.0 36 0.0 17 0.0 27 1.0 37 0.0 76 0 330 23 0 LAYOUT 5 22 102 {ACAD_REACTORS 330 1A 102 } 330 1A 100 AcDbPlotSettings 1 2 none_device 4 Letter_(8.50_x_11.00_Inches) 6 40 6.35 41 6.35 42 6.35000508 43 6.35000508 44 215.9 45 279.4 46 0.0 47 0.0 48 0.0 49 0.0 140 0.0 141 0.0 142 1.0 143 1.0 70 1712 72 1 73 0 74 0 7 75 0 147 1.0 148 0.0 149 0.0 100 AcDbLayout 1 Model 70 1 71 0 10 0.0 20 0.0 11 279.4 21 215.9 12 0.0 22 0.0 32 0.0 14 0.0 24 0.0 34 0.0 15 279.4 25 215.9 35 0.0 146 0.0 13 0.0 23 0.0 33 0.0 16 1.0 26 0.0 36 0.0 17 0.0 27 1.0 37 0.0 76 0 330 1F 331 29 0 MLINESTYLE 5 18 102 {ACAD_REACTORS 330 17 102 } 330 17 100 AcDbMlineStyle 2 Standard 70 0 3 62 256 51 90.0 52 90.0 71 2 49 0.5 62 256 6 BYLAYER 49 -0.5 62 256 6 BYLAYER 0 ACDBPLACEHOLDER 5 F 102 {ACAD_REACTORS 330 E 102 } 330 E 0 SCALE 5 48 102 {ACAD_REACTORS 330 47 102 } 330 47 100 AcDbScale 70 0 300 1:1 140 1.0 141 1.0 290 1 0 SCALE 5 49 102 {ACAD_REACTORS 330 47 102 } 330 47 100 AcDbScale 70 0 300 1:2 140 1.0 141 2.0 290 0 0 SCALE 5 4A 102 {ACAD_REACTORS 330 47 102 } 330 47 100 AcDbScale 70 0 300 1:4 140 1.0 141 4.0 290 0 0 SCALE 5 4B 102 {ACAD_REACTORS 330 47 102 } 330 47 100 AcDbScale 70 0 300 1:5 140 1.0 141 5.0 290 0 0 SCALE 5 4C 102 {ACAD_REACTORS 330 47 102 } 330 47 100 AcDbScale 70 0 300 1:8 140 1.0 141 8.0 290 0 0 SCALE 5 4D 102 {ACAD_REACTORS 330 47 102 } 330 47 100 AcDbScale 70 0 300 1:10 140 1.0 141 10.0 290 0 0 SCALE 5 4E 102 {ACAD_REACTORS 330 47 102 } 330 47 100 AcDbScale 70 0 300 1:16 140 1.0 141 16.0 290 0 0 SCALE 5 4F 102 {ACAD_REACTORS 330 47 102 } 330 47 100 AcDbScale 70 0 300 1:20 140 1.0 141 20.0 290 0 0 SCALE 5 50 102 {ACAD_REACTORS 330 47 102 } 330 47 100 AcDbScale 70 0 300 1:30 140 1.0 141 30.0 290 0 0 SCALE 5 51 102 {ACAD_REACTORS 330 47 102 } 330 47 100 AcDbScale 70 0 300 1:40 140 1.0 141 40.0 290 0 0 SCALE 5 52 102 {ACAD_REACTORS 330 47 102 } 330 47 100 AcDbScale 70 0 300 1:50 140 1.0 141 50.0 290 0 0 SCALE 5 53 102 {ACAD_REACTORS 330 47 102 } 330 47 100 AcDbScale 70 0 300 1:100 140 1.0 141 100.0 290 0 0 SCALE 5 54 102 {ACAD_REACTORS 330 47 102 } 330 47 100 AcDbScale 70 0 300 2:1 140 2.0 141 1.0 290 0 0 SCALE 5 55 102 {ACAD_REACTORS 330 47 102 } 330 47 100 AcDbScale 70 0 300 4:1 140 4.0 141 1.0 290 0 0 SCALE 5 56 102 {ACAD_REACTORS 330 47 102 } 330 47 100 AcDbScale 70 0 300 8:1 140 8.0 141 1.0 290 0 0 SCALE 5 57 102 {ACAD_REACTORS 330 47 102 } 330 47 100 AcDbScale 70 0 300 10:1 140 10.0 141 1.0 290 0 0 SCALE 5 58 102 {ACAD_REACTORS 330 47 102 } 330 47 100 AcDbScale 70 0 300 100:1 140 100.0 141 1.0 290 0 0 SCALE 5 59 102 {ACAD_REACTORS 330 47 102 } 330 47 100 AcDbScale 70 0 300 1/128" = 1'-0" 140 0.0078125 141 12.0 290 0 0 SCALE 5 5A 102 {ACAD_REACTORS 330 47 102 } 330 47 100 AcDbScale 70 0 300 1/64" = 1'-0" 140 0.015625 141 12.0 290 0 0 SCALE 5 5B 102 {ACAD_REACTORS 330 47 102 } 330 47 100 AcDbScale 70 0 300 1/32" = 1'-0" 140 0.03125 141 12.0 290 0 0 SCALE 5 5C 102 {ACAD_REACTORS 330 47 102 } 330 47 100 AcDbScale 70 0 300 1/16" = 1'-0" 140 0.0625 141 12.0 290 0 0 SCALE 5 5D 102 {ACAD_REACTORS 330 47 102 } 330 47 100 AcDbScale 70 0 300 3/32" = 1'-0" 140 0.09375 141 12.0 290 0 0 SCALE 5 5E 102 {ACAD_REACTORS 330 47 102 } 330 47 100 AcDbScale 70 0 300 1/8" = 1'-0" 140 0.125 141 12.0 290 0 0 SCALE 5 5F 102 {ACAD_REACTORS 330 47 102 } 330 47 100 AcDbScale 70 0 300 3/16" = 1'-0" 140 0.1875 141 12.0 290 0 0 SCALE 5 60 102 {ACAD_REACTORS 330 47 102 } 330 47 100 AcDbScale 70 0 300 1/4" = 1'-0" 140 0.25 141 12.0 290 0 0 SCALE 5 61 102 {ACAD_REACTORS 330 47 102 } 330 47 100 AcDbScale 70 0 300 3/8" = 1'-0" 140 0.375 141 12.0 290 0 0 SCALE 5 62 102 {ACAD_REACTORS 330 47 102 } 330 47 100 AcDbScale 70 0 300 1/2" = 1'-0" 140 0.5 141 12.0 290 0 0 SCALE 5 63 102 {ACAD_REACTORS 330 47 102 } 330 47 100 AcDbScale 70 0 300 3/4" = 1'-0" 140 0.75 141 12.0 290 0 0 SCALE 5 64 102 {ACAD_REACTORS 330 47 102 } 330 47 100 AcDbScale 70 0 300 1" = 1'-0" 140 1.0 141 12.0 290 0 0 SCALE 5 65 102 {ACAD_REACTORS 330 47 102 } 330 47 100 AcDbScale 70 0 300 1-1/2" = 1'-0" 140 1.5 141 12.0 290 0 0 SCALE 5 66 102 {ACAD_REACTORS 330 47 102 } 330 47 100 AcDbScale 70 0 300 3" = 1'-0" 140 3.0 141 12.0 290 0 0 SCALE 5 67 102 {ACAD_REACTORS 330 47 102 } 330 47 100 AcDbScale 70 0 300 6" = 1'-0" 140 6.0 141 12.0 290 0 0 SCALE 5 68 102 {ACAD_REACTORS 330 47 102 } 330 47 100 AcDbScale 70 0 300 1'-0" = 1'-0" 140 12.0 141 12.0 290 0 0 ENDSEC 0 EOF trimesh-4.5.1/models/2D/spline_1.dxf000066400000000000000000000301621470574263400171570ustar00rootroot000000000000000 SECTION 2 HEADER 9 $ACADVER 1 AC1006 9 $INSBASE 10 0.0 20 0.0 30 0.0 9 $INSUNITS 70 1 9 $EXTMIN 10 40.0191504178 20 17.1200701334 30 0.0 9 $EXTMAX 10 261.064596203 20 193.374856298 30 0.0 0 ENDSEC 0 SECTION 2 ENTITIES 0 LWPOLYLINE 5 139925500921168 8 0 62 0 10 121.67392842 20 20.8002646439 30 0.0 10 122.11638212 20 20.9252273612 30 0.0 10 122.552786867 20 21.0734080645 30 0.0 10 122.983452435 20 21.2441029917 30 0.0 10 123.408688603 20 21.4366083805 30 0.0 10 123.828805146 20 21.650220469 30 0.0 10 124.244111841 20 21.884235495 30 0.0 10 124.654918466 20 22.1379496963 30 0.0 10 125.061534796 20 22.410659311 30 0.0 10 125.464270609 20 22.7016605769 30 0.0 10 125.86343568 20 23.0102497319 30 0.0 10 126.259339788 20 23.3357230138 30 0.0 10 126.652292707 20 23.6773766607 30 0.0 10 127.042604216 20 24.0345069103 30 0.0 10 127.43058409 20 24.4064100006 30 0.0 10 127.816542107 20 24.7923821695 30 0.0 10 128.200788042 20 25.1917196548 30 0.0 10 128.583631673 20 25.6037186945 30 0.0 10 128.965382777 20 26.0276755265 30 0.0 10 129.346351129 20 26.4628863886 30 0.0 10 129.726846508 20 26.9086475188 30 0.0 10 130.107178688 20 27.3642551549 30 0.0 10 130.487657447 20 27.8290055349 30 0.0 10 130.868592563 20 28.3021948966 30 0.0 10 131.25029381 20 28.7831194779 30 0.0 10 131.633070966 20 29.2710755167 30 0.0 10 132.017233808 20 29.765359251 30 0.0 10 132.403092112 20 30.2652669186 30 0.0 10 132.790955656 20 30.7700947574 30 0.0 10 133.181134215 20 31.2791390054 30 0.0 10 133.573937566 20 31.7916959003 30 0.0 10 133.969621321 20 32.307073766 30 0.0 10 134.365654333 20 32.8252027427 30 0.0 10 134.755433093 20 33.3469216465 30 0.0 10 135.132031152 20 33.8731413516 30 0.0 10 135.488522062 20 34.4047727323 30 0.0 10 135.817979376 20 34.9427266627 30 0.0 10 136.113476645 20 35.4879140171 30 0.0 10 136.36808742 20 36.0412456698 30 0.0 10 136.574885255 20 36.6036324949 30 0.0 10 136.7269437 20 37.1759853668 30 0.0 10 136.817336307 20 37.7592151596 30 0.0 10 136.83913663 20 38.3542327475 30 0.0 10 136.785418218 20 38.9619490049 30 0.0 10 136.649254625 20 39.583274806 30 0.0 10 136.423719401 20 40.2191210249 30 0.0 10 136.1018861 20 40.870398536 30 0.0 10 135.676828272 20 41.5380182134 30 0.0 10 135.14161947 20 42.2228909315 30 0.0 10 134.48958493 20 42.9258579292 30 0.0 10 133.725957479 20 43.6444658904 30 0.0 10 132.872792864 20 44.3716069868 30 0.0 10 131.953418529 20 45.0998215408 30 0.0 10 130.991161916 20 45.8216498748 30 0.0 10 130.009350469 20 46.5296323111 30 0.0 10 129.031311633 20 47.2163091723 30 0.0 10 128.080372849 20 47.8742207808 30 0.0 10 127.179861563 20 48.4959074588 30 0.0 10 126.353105217 20 49.0739095288 30 0.0 10 125.623431255 20 49.6007673133 30 0.0 10 125.014167121 20 50.0690211347 30 0.0 10 124.548640257 20 50.4712113152 30 0.0 10 124.250178108 20 50.7998781774 30 0.0 10 124.142108117 20 51.0475620437 30 0.0 10 124.247757727 20 51.2068032364 30 0.0 10 124.590454383 20 51.270142078 30 0.0 10 125.193525527 20 51.2301188909 30 0.0 10 126.080298604 20 51.0792739974 30 0.0 10 127.27407346 20 50.810174587 30 0.0 10 128.76601279 20 50.4466757089 30 0.0 10 130.453146295 20 50.1042777412 30 0.0 10 132.215358455 20 49.9151731854 30 0.0 10 133.932953307 20 50.0106574724 30 0.0 10 135.515283993 20 50.4599153433 30 0.0 10 136.919112027 20 51.2307663846 30 0.0 10 138.105568795 20 52.281686846 30 0.0 10 139.03578568 20 53.5711529771 30 0.0 10 139.670894066 20 55.0576410277 30 0.0 10 139.972025339 20 56.6996272474 30 0.0 10 139.900310882 20 58.4555878858 30 0.0 10 139.416882079 20 60.2839991927 30 0.0 10 138.495273249 20 62.1423192459 30 0.0 10 137.161016961 20 63.9837375251 30 0.0 10 135.453270395 20 65.7603250488 30 0.0 10 133.411190785 20 67.4241528318 30 0.0 10 131.073935362 20 68.9272918887 30 0.0 10 128.480661357 20 70.2218132341 30 0.0 10 125.670526002 20 71.2597878826 30 0.0 10 122.682686529 20 71.9932868489 30 0.0 10 119.556300169 20 72.3743811475 30 0.0 10 116.330524155 20 72.3551417932 30 0.0 10 113.044515718 20 71.8876398005 30 0.0 10 109.739426797 20 70.9248409244 30 0.0 10 106.512546487 20 69.4448916293 30 0.0 10 103.523671495 20 67.4539766045 30 0.0 10 100.935871947 20 64.9597488534 30 0.0 10 98.9122179689 20 61.9698613791 30 0.0 10 97.6152435006 20 58.4922429168 30 0.0 10 97.1311288395 20 54.5740868249 30 0.0 10 97.3911524767 20 50.3422442347 30 0.0 10 98.3078368358 20 45.9332115265 30 0.0 10 99.7937043401 20 41.483485081 30 0.0 10 101.761277413 20 37.1295612788 30 0.0 10 104.123078479 20 33.0079365005 30 0.0 10 106.79162996 20 29.2551071266 30 0.0 10 109.67945428 20 26.0075695377 30 0.0 10 112.699073862 20 23.4018201144 30 0.0 10 115.763011131 20 21.5743552373 30 0.0 10 118.783788509 20 20.6616712869 30 0.0 10 121.67392842 20 20.8002646439 30 0.0 0 LINE 5 139925500921808 8 0 62 0 10 44.0358285905 20 53.2721402563 30 0.0 11 44.0358285905 21 35.6056266072 31 0.0 0 LWPOLYLINE 5 139925500921616 8 0 62 0 10 44.0358285905 20 35.6056266072 30 0.0 10 48.1531831178 20 35.2359084405 30 0.0 10 51.6551014634 20 35.8729595311 30 0.0 10 54.5797888808 20 37.4159543634 30 0.0 10 56.9654506235 20 39.7640674215 30 0.0 10 58.8502919451 20 42.8164731899 30 0.0 10 60.272518099 20 46.4723461528 30 0.0 10 61.2703343389 20 50.6308607945 30 0.0 10 61.8819459182 20 55.1911915994 30 0.0 10 62.1455580905 20 60.0525130517 30 0.0 10 62.0993761093 20 65.1139996357 30 0.0 10 61.7816052281 20 70.2748258357 30 0.0 10 61.2304507005 20 75.4341661361 30 0.0 10 60.4841177799 20 80.4911950211 30 0.0 10 59.5808117199 20 85.3450869751 30 0.0 10 58.5587377741 20 89.8950164823 30 0.0 10 57.456101196 20 94.040158027 30 0.0 10 56.311107239 20 97.6796860936 30 0.0 10 55.1619611568 20 100.712775166 30 0.0 10 54.0468682027 20 103.038599729 30 0.0 10 53.0040336305 20 104.556334267 30 0.0 10 52.0716626936 20 105.165153264 30 0.0 10 51.2876662246 20 104.765639473 30 0.0 10 50.6693215353 20 103.357069549 30 0.0 10 50.2000893056 20 101.100471273 30 0.0 10 49.8602957291 20 98.1718652479 30 0.0 10 49.6302669994 20 94.747272078 30 0.0 10 49.4903293103 20 91.002712366 30 0.0 10 49.4208088553 20 87.114206715 30 0.0 10 49.4020318282 20 83.2577757281 30 0.0 10 49.4143244224 20 79.6094400084 30 0.0 10 49.4380128317 20 76.3452201592 30 0.0 10 49.4534232496 20 73.6411367835 30 0.0 10 49.4408818699 20 71.6732104844 30 0.0 10 49.3819357712 20 70.6033041682 30 0.0 10 49.2722423892 20 70.4296534024 30 0.0 10 49.116523627 20 71.0453798574 30 0.0 10 48.9196507201 20 72.3418735066 30 0.0 10 48.6864949038 20 74.2105243236 30 0.0 10 48.4219274134 20 76.5427222818 30 0.0 10 48.1308194845 20 79.2298573547 30 0.0 10 47.8180423524 20 82.1633195158 30 0.0 10 47.4884672526 20 85.2344987385 30 0.0 10 47.1469654203 20 88.3347849964 30 0.0 10 46.7984080911 20 91.3555682628 30 0.0 10 46.4476665003 20 94.1882385114 30 0.0 10 46.0996118834 20 96.7241857155 30 0.0 10 45.7591154757 20 98.8547998486 30 0.0 10 45.4310485126 20 100.471470884 30 0.0 10 45.1202822296 20 101.465588796 30 0.0 10 44.831687862 20 101.728543557 30 0.0 10 44.5701366453 20 101.151725141 30 0.0 10 44.3404998148 20 99.6265235214 30 0.0 10 44.147648606 20 97.0443286717 30 0.0 10 43.9964542543 20 93.2965305655 30 0.0 10 43.891787995 20 88.274519176 30 0.0 10 43.8385210635 20 81.8696844769 30 0.0 10 43.8415246954 20 73.9734164416 30 0.0 10 43.9056701259 20 64.4771050436 30 0.0 10 44.0358285905 20 53.2721402563 30 0.0 0 ARC 8 0 62 0 40 4.87190596011 50 467.557453795 51 314.879351734 10 101.235986979 20 131.09300585 30 0.0 0 LWPOLYLINE 5 139925500920784 8 0 62 0 10 104.673683008 20 127.640801671 30 0.0 10 129.778840098 20 115.536124037 30 0.0 10 152.384473366 20 104.862067379 30 0.0 10 172.469111243 20 95.8507890359 30 0.0 10 190.011282162 20 88.7344463475 30 0.0 10 204.989514553 20 83.7451966531 30 0.0 10 217.382336846 20 81.1151972921 30 0.0 10 227.168277473 20 81.0766056038 30 0.0 10 234.326529765 20 83.8598067 30 0.0 10 238.946492538 20 89.4014438426 30 0.0 10 241.349828959 20 97.0190825539 30 0.0 10 241.887621304 20 105.951874632 30 0.0 10 240.910951845 20 115.438971874 30 0.0 10 238.770902857 20 124.719526078 30 0.0 10 235.818556613 20 133.032689043 30 0.0 10 232.404995388 20 139.617612565 30 0.0 10 228.880907215 20 143.714960808 30 0.0 10 225.499007472 20 144.941235166 30 0.0 10 222.285890697 20 143.780369197 30 0.0 10 219.236353544 20 140.838277712 30 0.0 10 216.34519267 20 136.720875525 30 0.0 10 213.607204731 20 132.034077449 30 0.0 10 211.017186382 20 127.383798298 30 0.0 10 208.569934281 20 123.375952883 30 0.0 10 206.260245081 20 120.616456018 30 0.0 10 204.082894986 20 119.709668263 30 0.0 10 202.028705132 20 120.959433066 30 0.0 10 200.079852752 20 124.012804579 30 0.0 10 198.217372951 20 128.430054867 30 0.0 10 196.422300833 20 133.771455997 30 0.0 10 194.675671505 20 139.597280036 30 0.0 10 192.958520072 20 145.467799049 30 0.0 10 191.251881638 20 150.943285103 30 0.0 10 189.536791308 20 155.584010265 30 0.0 10 187.794284189 20 158.9502466 30 0.0 10 186.005753543 20 160.611455867 30 0.0 10 184.165342794 20 160.464245116 30 0.0 10 182.283109779 20 158.813555699 30 0.0 10 180.370113115 20 155.990007014 30 0.0 10 178.437411416 20 152.32421846 30 0.0 10 176.496063297 20 148.146809435 30 0.0 10 174.557127374 20 143.788399339 30 0.0 10 172.631662261 20 139.579607568 30 0.0 10 170.730726575 20 135.851053523 30 0.0 10 168.865378929 20 132.933356602 30 0.0 10 167.046667148 20 131.156759991 30 0.0 10 165.281648499 20 130.712391278 30 0.0 10 163.567444657 20 131.44501139 30 0.0 10 161.899656905 20 133.146378476 30 0.0 10 160.273886525 20 135.608250683 30 0.0 10 158.685734798 20 138.622386162 30 0.0 10 157.130803007 20 141.980543058 30 0.0 10 155.604692434 20 145.474479523 30 0.0 10 154.10300436 20 148.895953703 30 0.0 10 152.621340067 20 152.036723748 30 0.0 10 151.155300837 20 154.688547806 30 0.0 10 149.700487953 20 156.643184025 30 0.0 10 148.252502695 20 157.692390554 30 0.0 10 146.807566154 20 157.650065085 30 0.0 10 145.368257989 20 156.557233883 30 0.0 10 143.940890919 20 154.588268302 30 0.0 10 142.531825214 20 151.919238192 30 0.0 10 141.147421142 20 148.726213402 30 0.0 10 139.794038972 20 145.18526378 30 0.0 10 138.478038975 20 141.472459177 30 0.0 10 137.205781418 20 137.763869441 30 0.0 10 135.983626571 20 134.235564421 30 0.0 10 134.817934703 20 131.063613967 30 0.0 10 133.715066083 20 128.424087927 30 0.0 10 132.681362083 20 126.492684433 30 0.0 10 131.719295274 20 125.368998107 30 0.0 10 130.822772875 20 124.98413401 30 0.0 10 129.984553394 20 125.246600728 30 0.0 10 129.197395335 20 126.064906843 30 0.0 10 128.454057205 20 127.347560938 30 0.0 10 127.747297508 20 129.003071597 30 0.0 10 127.069874752 20 130.939947404 30 0.0 10 126.41454744 20 133.06669694 30 0.0 10 125.774074079 20 135.29182879 30 0.0 10 125.141213174 20 137.523851537 30 0.0 10 124.508723232 20 139.671273765 30 0.0 10 123.870474641 20 141.656404674 30 0.0 10 123.225519235 20 143.465865151 30 0.0 10 122.574416988 20 145.104995 30 0.0 10 121.917728044 20 146.579136147 30 0.0 10 121.256012547 20 147.893630517 30 0.0 10 120.589830642 20 149.053820035 30 0.0 10 119.919742474 20 150.065046628 30 0.0 10 119.246308186 20 150.932652219 30 0.0 10 118.570087924 20 151.661978735 30 0.0 10 117.891641831 20 152.2583681 30 0.0 10 117.211530053 20 152.727162241 30 0.0 10 116.530312732 20 153.073703082 30 0.0 10 115.848550015 20 153.303332549 30 0.0 10 115.166802045 20 153.421392567 30 0.0 10 114.485628966 20 153.433225062 30 0.0 10 113.805590924 20 153.344171958 30 0.0 10 113.127248063 20 153.159575182 30 0.0 10 112.451160526 20 152.884776658 30 0.0 10 111.777888459 20 152.525118312 30 0.0 10 111.107992005 20 152.085942069 30 0.0 10 110.44203131 20 151.572589855 30 0.0 10 109.780566518 20 150.990403594 30 0.0 10 109.124157773 20 150.344725213 30 0.0 10 108.473365219 20 149.640896636 30 0.0 10 107.828749001 20 148.884259789 30 0.0 10 107.190869264 20 148.080156598 30 0.0 10 106.560286151 20 147.233928987 30 0.0 10 105.937559808 20 146.350918881 30 0.0 10 105.323250378 20 145.436468207 30 0.0 10 104.717918007 20 144.49591889 30 0.0 10 104.122122838 20 143.534612855 30 0.0 10 103.536425016 20 142.557892026 30 0.0 10 102.961384685 20 141.571098331 30 0.0 10 102.39756199 20 140.579573693 30 0.0 10 101.845517075 20 139.588660039 30 0.0 10 101.305810085 20 138.603699293 30 0.0 10 100.779001163 20 137.630033381 30 0.0 10 100.265650456 20 136.673004228 30 0.0 10 99.7663181059 20 135.73795376 30 0.0 0 ENDSEC 0 EOF trimesh-4.5.1/models/2D/text.dxf000066400000000000000000000341171470574263400164350ustar00rootroot00000000000000999 dxfrw 0.6.3 0 SECTION 2 HEADER 9 $ACADVER 1 AC1014 9 $DWGCODEPAGE 3 ANSI_1252 9 $INSBASE 10 0 20 0 30 0 9 $EXTMIN 10 -6.082779986706266 20 -3.608119707611068 30 0 9 $EXTMAX 10 5.916113320039559 20 3.547115519221767 30 0 9 $LIMMIN 10 0 20 0 9 $LIMMAX 10 420 20 297 9 $ORTHOMODE 70 0 9 $REGENMODE 70 1 9 $FILLMODE 70 1 9 $QTEXTMODE 70 0 9 $MIRRTEXT 70 0 9 $LTSCALE 40 1 9 $ATTMODE 70 0 9 $TEXTSIZE 40 2.5 9 $TRACEWID 40 15.68 9 $TEXTSTYLE 7 STANDARD 9 $CLAYER 8 0 9 $CELTYPE 6 BYLAYER 9 $CECOLOR 62 256 9 $CELTSCALE 40 1 9 $DISPSILH 70 0 9 $DIMSCALE 40 2.5 9 $DIMASZ 40 0.1 9 $DIMEXO 40 0.025 9 $DIMDLI 40 3.75 9 $DIMRND 40 0 9 $DIMDLE 40 0 9 $DIMEXE 40 0.05 9 $DIMTP 40 0 9 $DIMTM 40 0 9 $DIMTXT 40 0.1 9 $DIMCEN 40 2.5 9 $DIMTSZ 40 0 9 $DIMTOL 70 0 9 $DIMLIM 70 0 9 $DIMTIH 70 0 9 $DIMTOH 70 0 9 $DIMSE1 70 0 9 $DIMSE2 70 0 9 $DIMTAD 70 1 9 $DIMZIN 70 8 9 $DIMBLK 1 9 $DIMASO 70 1 9 $DIMSHO 70 1 9 $DIMPOST 1 9 $DIMAPOST 1 9 $DIMALT 70 0 9 $DIMALTD 70 3 9 $DIMALTF 40 0.03937 9 $DIMLFAC 40 1 9 $DIMTOFL 70 1 9 $DIMTVP 40 0 9 $DIMTIX 70 0 9 $DIMSOXD 70 0 9 $DIMSAH 70 0 9 $DIMBLK1 1 9 $DIMBLK2 1 9 $DIMSTYLE 2 STANDARD 9 $DIMCLRD 70 0 9 $DIMCLRE 70 0 9 $DIMCLRT 70 0 9 $DIMTFAC 40 1 9 $DIMGAP 40 0.025 9 $DIMJUST 70 0 9 $DIMSD1 70 0 9 $DIMSD2 70 0 9 $DIMTOLJ 70 0 9 $DIMTZIN 70 8 9 $DIMALTZ 70 0 9 $DIMALTTZ 70 0 9 $DIMUPT 70 0 9 $DIMDEC 70 2 9 $DIMTDEC 70 2 9 $DIMALTU 70 2 9 $DIMALTTD 70 3 9 $DIMTXSTY 7 STANDARD 9 $DIMAUNIT 70 0 9 $DIMADEC 70 0 9 $DIMALTRND 40 0 9 $DIMAZIN 70 0 9 $DIMDSEP 70 44 9 $DIMATFIT 70 3 9 $DIMFRAC 70 0 9 $DIMLDRBLK 1 STANDARD 9 $DIMUNIT 70 2 9 $DIMLWD 70 -2 9 $DIMLWE 70 -2 9 $DIMTMOVE 70 0 9 $LUNITS 70 2 9 $LUPREC 70 4 9 $SKETCHINC 40 1 9 $FILLETRAD 40 0 9 $AUNITS 70 0 9 $AUPREC 70 2 9 $MENU 1 . 9 $ELEVATION 40 0 9 $PELEVATION 40 0 9 $THICKNESS 40 0 9 $LIMCHECK 70 0 9 $BLIPMODE 70 0 9 $CHAMFERA 40 0 9 $CHAMFERB 40 0 9 $CHAMFERC 40 0 9 $CHAMFERD 40 0 9 $SKPOLY 70 0 9 $USRTIMER 70 1 9 $ANGBASE 50 0 9 $ANGDIR 70 0 9 $PDMODE 70 34 9 $PDSIZE 40 0 9 $PLINEWID 40 0 9 $SPLFRAME 70 0 9 $SPLINETYPE 70 2 9 $SPLINESEGS 70 8 9 $HANDSEED 5 20000 9 $SURFTAB1 70 6 9 $SURFTAB2 70 6 9 $SURFTYPE 70 6 9 $SURFU 70 6 9 $SURFV 70 6 9 $UCSBASE 2 9 $UCSNAME 2 9 $UCSORG 10 0 20 0 30 0 9 $UCSXDIR 10 1 20 0 30 0 9 $UCSYDIR 10 0 20 1 30 0 9 $UCSORTHOREF 2 9 $UCSORTHOVIEW 70 0 9 $UCSORGTOP 10 0 20 0 30 0 9 $UCSORGBOTTOM 10 0 20 0 30 0 9 $UCSORGLEFT 10 0 20 0 30 0 9 $UCSORGRIGHT 10 0 20 0 30 0 9 $UCSORGFRONT 10 0 20 0 30 0 9 $UCSORGBACK 10 0 20 0 30 0 9 $PUCSBASE 2 9 $PUCSNAME 2 9 $PUCSORG 10 0 20 0 30 0 9 $PUCSXDIR 10 1 20 0 30 0 9 $PUCSYDIR 10 0 20 1 30 0 9 $PUCSORTHOREF 2 9 $PUCSORTHOVIEW 70 0 9 $PUCSORGTOP 10 0 20 0 30 0 9 $PUCSORGBOTTOM 10 0 20 0 30 0 9 $PUCSORGLEFT 10 0 20 0 30 0 9 $PUCSORGRIGHT 10 0 20 0 30 0 9 $PUCSORGFRONT 10 0 20 0 30 0 9 $PUCSORGBACK 10 0 20 0 30 0 9 $USERI1 70 0 9 $USERI2 70 0 9 $USERI3 70 0 9 $USERI4 70 0 9 $USERI5 70 0 9 $USERR1 40 0 9 $USERR2 40 0 9 $USERR3 40 0 9 $USERR4 40 0 9 $USERR5 40 0 9 $WORLDVIEW 70 1 9 $SHADEDGE 70 3 9 $SHADEDIF 70 70 9 $TILEMODE 70 1 9 $MAXACTVP 70 64 9 $PINSBASE 10 0 20 0 30 0 9 $PLIMCHECK 70 0 9 $PEXTMIN 10 0 20 0 30 0 9 $PEXTMAX 10 0 20 0 30 0 9 $SNAPSTYLE 70 0 9 $PLIMMIN 10 0 20 0 9 $PLIMMAX 10 1.212131009518986e-09 20 1.714299570605422e-09 9 $UNITMODE 70 0 9 $VISRETAIN 70 1 9 $PLINEGEN 70 0 9 $PSLTSCALE 70 1 9 $TREEDEPTH 70 3020 9 $CMLSTYLE 2 Standard 9 $CMLJUST 70 0 9 $CMLSCALE 40 20 9 $PROXYGRAPHICS 70 1 9 $MEASUREMENT 70 1 9 $CELWEIGHT 370 -1 9 $ENDCAPS 280 0 9 $JOINSTYLE 280 0 9 $LWDISPLAY 290 0 9 $HYPERLINKBASE 1 9 $STYLESHEET 1 9 $XEDIT 290 1 9 $CEPSNTYPE 380 0 9 $PSTYLEMODE 290 1 9 $EXTNAMES 290 1 9 $PSVPSCALE 40 1 9 $OLESTARTUP 290 0 0 ENDSEC 0 SECTION 2 CLASSES 0 ENDSEC 0 SECTION 2 TABLES 0 TABLE 2 VPORT 5 8 100 AcDbSymbolTable 70 1 0 VPORT 5 31 330 2 100 AcDbSymbolTableRecord 100 AcDbViewportTableRecord 2 *ACTIVE 70 0 10 0 20 0 11 1 21 1 12 21.61564151760984 22 12.98921577434353 13 0 23 0 14 10 24 10 15 10 25 10 16 0 26 0 36 1 17 0 27 0 37 0 40 42.31410558550458 41 1.749853544229643 42 50 43 0 44 0 50 0 51 0 71 0 72 100 73 1 74 3 75 0 76 1 77 0 78 0 0 ENDTAB 0 TABLE 2 LTYPE 5 5 100 AcDbSymbolTable 70 4 0 LTYPE 5 14 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ByBlock 70 0 3 72 65 73 0 40 0 0 LTYPE 5 15 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ByLayer 70 0 3 72 65 73 0 40 0 0 LTYPE 5 16 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 Continuous 70 0 3 Solid line 72 65 73 0 40 0 0 LTYPE 5 32 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DOT 70 0 3 Dot . . . . . . . . . . . . . . . . . . . . . . 72 65 73 2 40 6.35 49 0 74 0 49 -6.35 74 0 0 LTYPE 5 33 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DOTTINY 70 0 3 Dot (.15x) ..................................... 72 65 73 2 40 0.9525 49 0 74 0 49 -0.9525 74 0 0 LTYPE 5 34 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DOT2 70 0 3 Dot (.5x) ..................................... 72 65 73 2 40 3.175 49 0 74 0 49 -3.175 74 0 0 LTYPE 5 35 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DOTX2 70 0 3 Dot (2x) . . . . . . . . . . . . . 72 65 73 2 40 12.7 49 0 74 0 49 -12.7 74 0 0 LTYPE 5 36 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHED 70 0 3 Dashed _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 72 65 73 2 40 19.05 49 12.7 74 0 49 -6.35 74 0 0 LTYPE 5 37 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHEDTINY 70 0 3 Dashed (.15x) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 72 65 73 2 40 2.8575 49 1.905 74 0 49 -0.9525 74 0 0 LTYPE 5 38 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHED2 70 0 3 Dashed (.5x) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 72 65 73 2 40 9.524999999999999 49 6.35 74 0 49 -3.175 74 0 0 LTYPE 5 39 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHEDX2 70 0 3 Dashed (2x) ____ ____ ____ ____ ____ ___ 72 65 73 2 40 38.09999999999999 49 25.4 74 0 49 -12.7 74 0 0 LTYPE 5 3A 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHDOT 70 0 3 Dash dot __ . __ . __ . __ . __ . __ . __ . __ 72 65 73 4 40 25.4 49 12.7 74 0 49 -6.35 74 0 49 0 74 0 49 -6.35 74 0 0 LTYPE 5 3B 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHDOTTINY 70 0 3 Dash dot (.15x) _._._._._._._._._._._._._._._. 72 65 73 4 40 3.81 49 1.905 74 0 49 -0.9525 74 0 49 0 74 0 49 -0.9525 74 0 0 LTYPE 5 3C 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHDOT2 70 0 3 Dash dot (.5x) _._._._._._._._._._._._._._._. 72 65 73 4 40 12.7 49 6.35 74 0 49 -3.175 74 0 49 0 74 0 49 -3.175 74 0 0 LTYPE 5 3D 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHDOTX2 70 0 3 Dash dot (2x) ____ . ____ . ____ . ___ 72 65 73 4 40 50.8 49 25.4 74 0 49 -12.7 74 0 49 0 74 0 49 -12.7 74 0 0 LTYPE 5 3E 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DIVIDE 70 0 3 Divide ____ . . ____ . . ____ . . ____ . . ____ 72 65 73 6 40 31.75 49 12.7 74 0 49 -6.35 74 0 49 0 74 0 49 -6.35 74 0 49 0 74 0 49 -6.35 74 0 0 LTYPE 5 3F 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DIVIDETINY 70 0 3 Divide (.15x) __..__..__..__..__..__..__..__.._ 72 65 73 6 40 4.7625 49 1.905 74 0 49 -0.9525 74 0 49 0 74 0 49 -0.9525 74 0 49 0 74 0 49 -0.9525 74 0 0 LTYPE 5 40 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DIVIDE2 70 0 3 Divide (.5x) __..__..__..__..__..__..__..__.._ 72 65 73 6 40 15.875 49 6.35 74 0 49 -3.175 74 0 49 0 74 0 49 -3.175 74 0 49 0 74 0 49 -3.175 74 0 0 LTYPE 5 41 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DIVIDEX2 70 0 3 Divide (2x) ________ . . ________ . . _ 72 65 73 6 40 63.5 49 25.4 74 0 49 -12.7 74 0 49 0 74 0 49 -12.7 74 0 49 0 74 0 49 -12.7 74 0 0 LTYPE 5 42 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 BORDER 70 0 3 Border __ __ . __ __ . __ __ . __ __ . __ __ . 72 65 73 6 40 44.45 49 12.7 74 0 49 -6.35 74 0 49 12.7 74 0 49 -6.35 74 0 49 0 74 0 49 -6.35 74 0 0 LTYPE 5 43 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 BORDERTINY 70 0 3 Border (.15x) __.__.__.__.__.__.__.__.__.__.__. 72 65 73 6 40 6.6675 49 1.905 74 0 49 -0.9525 74 0 49 1.905 74 0 49 -0.9525 74 0 49 0 74 0 49 -0.9525 74 0 0 LTYPE 5 44 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 BORDER2 70 0 3 Border (.5x) __.__.__.__.__.__.__.__.__.__.__. 72 65 73 6 40 22.225 49 6.35 74 0 49 -3.175 74 0 49 6.35 74 0 49 -3.175 74 0 49 0 74 0 49 -3.175 74 0 0 LTYPE 5 45 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 BORDERX2 70 0 3 Border (2x) ____ ____ . ____ ____ . ___ 72 65 73 6 40 88.89999999999999 49 25.4 74 0 49 -12.7 74 0 49 25.4 74 0 49 -12.7 74 0 49 0 74 0 49 -12.7 74 0 0 LTYPE 5 46 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 CENTER 70 0 3 Center ____ _ ____ _ ____ _ ____ _ ____ _ ____ 72 65 73 4 40 50.8 49 31.75 74 0 49 -6.35 74 0 49 6.35 74 0 49 -6.35 74 0 0 LTYPE 5 47 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 CENTERTINY 70 0 3 Center (.15x) ___ _ ___ _ ___ _ ___ _ ___ _ ___ 72 65 73 4 40 7.619999999999999 49 4.7625 74 0 49 -0.9525 74 0 49 0.9525 74 0 49 -0.9525 74 0 0 LTYPE 5 48 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 CENTER2 70 0 3 Center (.5x) ___ _ ___ _ ___ _ ___ _ ___ _ ___ 72 65 73 4 40 28.575 49 19.05 74 0 49 -3.175 74 0 49 3.175 74 0 49 -3.175 74 0 0 LTYPE 5 49 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 CENTERX2 70 0 3 Center (2x) ________ __ ________ __ _____ 72 65 73 4 40 101.6 49 63.5 74 0 49 -12.7 74 0 49 12.7 74 0 49 -12.7 74 0 0 ENDTAB 0 TABLE 2 LAYER 5 2 100 AcDbSymbolTable 70 1 0 LAYER 5 10 330 2 100 AcDbSymbolTableRecord 100 AcDbLayerTableRecord 2 0 70 0 62 7 6 CONTINUOUS 370 0 390 F 0 ENDTAB 0 TABLE 2 STYLE 5 3 100 AcDbSymbolTable 70 3 0 STYLE 5 4A 330 2 100 AcDbSymbolTableRecord 100 AcDbTextStyleTableRecord 2 Standard 70 0 40 0 41 1 50 0 71 0 42 1 3 txt 4 0 ENDTAB 0 TABLE 2 VIEW 5 6 100 AcDbSymbolTable 70 0 0 ENDTAB 0 TABLE 2 UCS 5 7 100 AcDbSymbolTable 70 0 0 ENDTAB 0 TABLE 2 APPID 5 9 100 AcDbSymbolTable 70 1 0 APPID 5 12 100 AcDbSymbolTableRecord 100 AcDbRegAppTableRecord 2 ACAD 70 0 0 APPID 5 4B 100 AcDbSymbolTableRecord 100 AcDbRegAppTableRecord 2 LibreCad 70 0 0 ENDTAB 0 TABLE 2 DIMSTYLE 5 A 100 AcDbSymbolTable 70 1 0 DIMSTYLE 105 4C 330 A 100 AcDbSymbolTableRecord 100 AcDbDimStyleTableRecord 2 Standard 70 0 40 1 41 0.1 42 0.025 43 0.38 44 0.05 45 0 46 0 47 0 48 0 49 1 140 0.1 141 0.09 142 2.5 143 25.4 144 1 145 0 146 1 147 0.025 71 0 72 0 73 0 74 1 75 0 76 0 77 0 78 1 170 0 171 2 172 0 173 0 174 0 175 0 176 0 177 0 178 0 270 2 271 2 272 4 273 2 274 2 275 0 280 0 281 0 282 0 283 1 284 0 285 0 286 0 287 3 288 0 340 standard 0 ENDTAB 0 TABLE 2 BLOCK_RECORD 5 1 100 AcDbSymbolTable 70 2 0 BLOCK_RECORD 5 1F 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Model_Space 0 BLOCK_RECORD 5 1E 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Paper_Space 0 ENDTAB 0 ENDSEC 0 SECTION 2 BLOCKS 0 BLOCK 5 20 100 AcDbEntity 8 0 100 AcDbBlockBegin 2 *Model_Space 70 0 10 0 20 0 30 0 3 *Model_Space 1 0 ENDBLK 5 21 100 AcDbEntity 8 0 100 AcDbBlockEnd 0 BLOCK 5 1C 100 AcDbEntity 8 0 100 AcDbBlockBegin 2 *Paper_Space 70 0 10 0 20 0 30 0 3 *Paper_Space 1 0 ENDBLK 5 1D 100 AcDbEntity 8 0 100 AcDbBlockEnd 0 ENDSEC 0 SECTION 2 ENTITIES 0 TEXT 5 4D 100 AcDbEntity 8 0 6 ByLayer 62 256 100 AcDbText 10 0 20 0 30 0 40 1 1 HEY WHAT's poppin 50 30 41 1 51 0 7 71 0 72 4 11 0 21 0 31 0 210 0 220 0 230 1 100 AcDbText 0 ENDSEC 0 SECTION 2 OBJECTS 0 DICTIONARY 5 C 100 AcDbDictionary 281 1 3 ACAD_GROUP 350 D 0 DICTIONARY 5 D 330 C 100 AcDbDictionary 281 1 0 ENDSEC 0 EOF trimesh-4.5.1/models/2D/tray-easy1.dxf000066400000000000000000026627221470574263400174630ustar00rootroot00000000000000 0 SECTION 2 HEADER 9 $ACADVER 1 AC1021 9 $ACADMAINTVER 70 25 9 $DWGCODEPAGE 3 ANSI_1252 9 $LASTSAVEDBY 1 Michael 9 $INSBASE 10 0.0 20 0.0 30 0.0 9 $EXTMIN 10 0.0 20 -8.3668433662 30 0.0 9 $EXTMAX 10 9.6553742398 20 10.2255272931 30 0.0 9 $LIMMIN 10 0.0 20 0.0 9 $LIMMAX 10 17.0 20 11.0 9 $ORTHOMODE 70 0 9 $REGENMODE 70 1 9 $FILLMODE 70 1 9 $QTEXTMODE 70 0 9 $MIRRTEXT 70 1 9 $LTSCALE 40 1.0 9 $ATTMODE 70 1 9 $TEXTSIZE 40 0.125 9 $TRACEWID 40 0.05 9 $TEXTSTYLE 7 Standard 9 $CLAYER 8 0 9 $CELTYPE 6 ByLayer 9 $CECOLOR 62 256 9 $CELTSCALE 40 1.0 9 $DISPSILH 70 0 9 $DIMSCALE 40 1.0 9 $DIMASZ 40 0.13 9 $DIMEXO 40 0.05 9 $DIMDLI 40 0.38 9 $DIMRND 40 0.0 9 $DIMDLE 40 0.0 9 $DIMEXE 40 0.125 9 $DIMTP 40 0.0 9 $DIMTM 40 0.0 9 $DIMTXT 40 0.125 9 $DIMCEN 40 0.09 9 $DIMTSZ 40 0.0 9 $DIMTOL 70 0 9 $DIMLIM 70 0 9 $DIMTIH 70 1 9 $DIMTOH 70 1 9 $DIMSE1 70 0 9 $DIMSE2 70 0 9 $DIMTAD 70 0 9 $DIMZIN 70 0 9 $DIMBLK 1 9 $DIMASO 70 1 9 $DIMSHO 70 1 9 $DIMPOST 1 9 $DIMAPOST 1 9 $DIMALT 70 0 9 $DIMALTD 70 2 9 $DIMALTF 40 25.4 9 $DIMLFAC 40 1.0 9 $DIMTOFL 70 0 9 $DIMTVP 40 0.0 9 $DIMTIX 70 0 9 $DIMSOXD 70 0 9 $DIMSAH 70 0 9 $DIMBLK1 1 9 $DIMBLK2 1 9 $DIMSTYLE 2 Standard 9 $DIMCLRD 70 0 9 $DIMCLRE 70 0 9 $DIMCLRT 70 0 9 $DIMTFAC 40 1.0 9 $DIMGAP 40 0.06 9 $DIMJUST 70 0 9 $DIMSD1 70 0 9 $DIMSD2 70 0 9 $DIMTOLJ 70 1 9 $DIMTZIN 70 0 9 $DIMALTZ 70 0 9 $DIMALTTZ 70 0 9 $DIMUPT 70 0 9 $DIMDEC 70 2 9 $DIMTDEC 70 2 9 $DIMALTU 70 2 9 $DIMALTTD 70 2 9 $DIMTXSTY 7 Standard 9 $DIMAUNIT 70 0 9 $DIMADEC 70 2 9 $DIMALTRND 40 0.0 9 $DIMAZIN 70 0 9 $DIMDSEP 70 46 9 $DIMATFIT 70 3 9 $DIMFRAC 70 0 9 $DIMLDRBLK 1 9 $DIMLUNIT 70 2 9 $DIMLWD 70 -2 9 $DIMLWE 70 -2 9 $DIMTMOVE 70 0 9 $DIMFXL 40 1.0 9 $DIMFXLON 70 0 9 $DIMJOGANG 40 0.7853981633974483 9 $DIMTFILL 70 0 9 $DIMTFILLCLR 70 0 9 $DIMARCSYM 70 0 9 $DIMLTYPE 6 9 $DIMLTEX1 6 9 $DIMLTEX2 6 9 $LUNITS 70 2 9 $LUPREC 70 2 9 $SKETCHINC 40 0.1 9 $FILLETRAD 40 0.5 9 $AUNITS 70 0 9 $AUPREC 70 2 9 $MENU 1 . 9 $ELEVATION 40 0.0 9 $PELEVATION 40 0.0 9 $THICKNESS 40 0.0 9 $LIMCHECK 70 0 9 $CHAMFERA 40 0.5 9 $CHAMFERB 40 0.5 9 $CHAMFERC 40 1.0 9 $CHAMFERD 40 0.0 9 $SKPOLY 70 0 9 $TDCREATE 40 2456360.50668581 9 $TDUCREATE 40 2456360.673352477 9 $TDUPDATE 40 2456517.890613831 9 $TDUUPDATE 40 2456518.057280498 9 $TDINDWG 40 0.0003400694 9 $TDUSRTIMER 40 2456518.056940532 9 $USRTIMER 70 1 9 $ANGBASE 50 0.0 9 $ANGDIR 70 0 9 $PDMODE 70 0 9 $PDSIZE 40 -1.0 9 $PLINEWID 40 0.0 9 $SPLFRAME 70 0 9 $SPLINETYPE 70 6 9 $SPLINESEGS 70 8 9 $HANDSEED 5 160E 9 $SURFTAB1 70 6 9 $SURFTAB2 70 6 9 $SURFTYPE 70 6 9 $SURFU 70 6 9 $SURFV 70 6 9 $UCSBASE 2 9 $UCSNAME 2 9 $UCSORG 10 0.0 20 0.0 30 0.0 9 $UCSXDIR 10 1.0 20 0.0 30 0.0 9 $UCSYDIR 10 0.0 20 1.0 30 0.0 9 $UCSORTHOREF 2 9 $UCSORTHOVIEW 70 0 9 $UCSORGTOP 10 0.0 20 0.0 30 0.0 9 $UCSORGBOTTOM 10 0.0 20 0.0 30 0.0 9 $UCSORGLEFT 10 0.0 20 0.0 30 0.0 9 $UCSORGRIGHT 10 0.0 20 0.0 30 0.0 9 $UCSORGFRONT 10 0.0 20 0.0 30 0.0 9 $UCSORGBACK 10 0.0 20 0.0 30 0.0 9 $PUCSBASE 2 9 $PUCSNAME 2 9 $PUCSORG 10 0.0 20 0.0 30 0.0 9 $PUCSXDIR 10 1.0 20 0.0 30 0.0 9 $PUCSYDIR 10 0.0 20 1.0 30 0.0 9 $PUCSORTHOREF 2 9 $PUCSORTHOVIEW 70 0 9 $PUCSORGTOP 10 0.0 20 0.0 30 0.0 9 $PUCSORGBOTTOM 10 0.0 20 0.0 30 0.0 9 $PUCSORGLEFT 10 0.0 20 0.0 30 0.0 9 $PUCSORGRIGHT 10 0.0 20 0.0 30 0.0 9 $PUCSORGFRONT 10 0.0 20 0.0 30 0.0 9 $PUCSORGBACK 10 0.0 20 0.0 30 0.0 9 $USERI1 70 0 9 $USERI2 70 0 9 $USERI3 70 0 9 $USERI4 70 0 9 $USERI5 70 0 9 $USERR1 40 0.0 9 $USERR2 40 0.0 9 $USERR3 40 0.0 9 $USERR4 40 0.0 9 $USERR5 40 0.0 9 $WORLDVIEW 70 1 9 $SHADEDGE 70 3 9 $SHADEDIF 70 70 9 $TILEMODE 70 0 9 $MAXACTVP 70 64 9 $PINSBASE 10 0.0 20 0.0 30 0.0 9 $PLIMCHECK 70 0 9 $PEXTMIN 10 0.9883881713 20 5.2768701187 30 0.0 9 $PEXTMAX 10 17.4728173094 20 22.6133066232 30 0.0 9 $PLIMMIN 10 -0.0116250232500465 20 -0.031000062000124 9 $PLIMMAX 10 1.291927583855168 20 0.889701779403559 9 $UNITMODE 70 0 9 $VISRETAIN 70 1 9 $PLINEGEN 70 0 9 $PSLTSCALE 70 1 9 $TREEDEPTH 70 3020 9 $CMLSTYLE 2 Standard 9 $CMLJUST 70 0 9 $CMLSCALE 40 1.0 9 $PROXYGRAPHICS 70 1 9 $MEASUREMENT 70 0 9 $CELWEIGHT 370 -1 9 $ENDCAPS 280 0 9 $JOINSTYLE 280 0 9 $LWDISPLAY 290 1 9 $INSUNITS 70 1 9 $HYPERLINKBASE 1 9 $STYLESHEET 1 9 $XEDIT 290 1 9 $CEPSNTYPE 380 0 9 $PSTYLEMODE 290 1 9 $FINGERPRINTGUID 2 {92649A38-03B5-4E62-9E16-1C400215F5A2} 9 $VERSIONGUID 2 {FAEB1C32-E019-11D5-929B-00C0DF256EC4} 9 $EXTNAMES 290 1 9 $PSVPSCALE 40 0.0 9 $OLESTARTUP 290 0 9 $SORTENTS 280 127 9 $INDEXCTL 280 0 9 $HIDETEXT 280 1 9 $XCLIPFRAME 290 0 9 $HALOGAP 280 0 9 $OBSCOLOR 70 257 9 $OBSLTYPE 280 0 9 $INTERSECTIONDISPLAY 280 0 9 $INTERSECTIONCOLOR 70 257 9 $DIMASSOC 280 2 9 $PROJECTNAME 1 9 $CAMERADISPLAY 290 0 9 $LENSLENGTH 40 50.0 9 $CAMERAHEIGHT 40 0.0 9 $STEPSPERSEC 40 2.0 9 $STEPSIZE 40 6.0 9 $3DDWFPREC 40 2.0 9 $PSOLWIDTH 40 0.25 9 $PSOLHEIGHT 40 4.0 9 $LOFTANG1 40 1.570796326794897 9 $LOFTANG2 40 1.570796326794897 9 $LOFTMAG1 40 0.0 9 $LOFTMAG2 40 0.0 9 $LOFTPARAM 70 7 9 $LOFTNORMALS 280 1 9 $LATITUDE 40 37.795 9 $LONGITUDE 40 -122.394 9 $NORTHDIRECTION 40 0.0 9 $TIMEZONE 70 -8000 9 $LIGHTGLYPHDISPLAY 280 1 9 $TILEMODELIGHTSYNCH 280 1 9 $SOLIDHIST 280 1 9 $SHOWHIST 280 1 9 $DWFFRAME 280 2 9 $DGNFRAME 280 2 9 $REALWORLDSCALE 290 1 9 $INTERFERECOLOR 62 256 9 $CSHADOW 280 0 9 $SHADOWPLANELOCATION 40 0.0 0 ENDSEC 0 SECTION 2 CLASSES 0 CLASS 1 ACDBDICTIONARYWDFLT 2 AcDbDictionaryWithDefault 3 ObjectDBX Classes 90 0 91 4 280 0 281 0 0 CLASS 1 VISUALSTYLE 2 AcDbVisualStyle 3 ObjectDBX Classes 90 4095 91 4 280 0 281 0 0 CLASS 1 MATERIAL 2 AcDbMaterial 3 ObjectDBX Classes 90 1153 91 4 280 0 281 0 0 CLASS 1 ACDBPLACEHOLDER 2 AcDbPlaceHolder 3 ObjectDBX Classes 90 0 91 1 280 0 281 0 0 CLASS 1 LAYOUT 2 AcDbLayout 3 ObjectDBX Classes 90 0 91 1 280 0 281 0 0 CLASS 1 SCALE 2 AcDbScale 3 ObjectDBX Classes 90 1153 91 4 280 0 281 0 0 CLASS 1 TABLESTYLE 2 AcDbTableStyle 3 ObjectDBX Classes 90 4095 91 4 280 0 281 0 0 CLASS 1 RASTERVARIABLES 2 AcDbRasterVariables 3 ISM 90 0 91 4 280 0 281 0 0 CLASS 1 DICTIONARYVAR 2 AcDbDictionaryVar 3 ObjectDBX Classes 90 0 91 4 280 0 281 0 0 CLASS 1 CELLSTYLEMAP 2 AcDbCellStyleMap 3 ObjectDBX Classes 90 1152 91 4 280 0 281 0 0 ENDSEC 0 SECTION 2 TABLES 0 TABLE 2 VPORT 5 8 330 0 100 AcDbSymbolTable 70 1 0 VPORT 5 29 330 8 100 AcDbSymbolTableRecord 100 AcDbViewportTableRecord 2 *Active 70 0 10 0.0 20 0.0 11 1.0 21 1.0 12 25.78774279495013 22 32.91195603076905 13 0.0 23 0.0 14 0.5 24 0.5 15 0.5 25 0.5 16 0.0 26 0.0 36 1.0 17 0.0 27 0.0 37 0.0 40 111.5123118004799 41 1.995079950799508 42 50.0 43 0.0 44 0.0 50 0.0 51 0.0 71 16 72 2000 73 1 74 3 75 0 76 0 77 0 78 0 281 0 65 1 110 0.0 120 0.0 130 0.0 111 1.0 121 0.0 131 0.0 112 0.0 122 1.0 132 0.0 79 0 146 0.0 60 3 61 5 292 1 282 1 141 0.0 142 0.0 63 256 0 ENDTAB 0 TABLE 2 LTYPE 5 5 330 0 100 AcDbSymbolTable 70 6 0 LTYPE 5 14 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ByBlock 70 0 3 72 65 73 0 40 0.0 0 LTYPE 5 15 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ByLayer 70 0 3 72 65 73 0 40 0.0 0 LTYPE 5 16 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 Continuous 70 0 3 Solid line 72 65 73 0 40 0.0 0 LTYPE 5 3F 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 HIDDEN 70 0 3 Hidden __ __ __ __ __ __ __ __ __ __ __ __ __ __ 72 65 73 2 40 0.075 49 0.05 74 0 49 -0.025 74 0 0 LTYPE 5 40 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 PHANTOM 70 0 3 Phantom ______ __ __ ______ __ __ ______ 72 65 73 6 40 0.5 49 0.25 74 0 49 -0.05 74 0 49 0.05 74 0 49 -0.05 74 0 49 0.05 74 0 49 -0.05 74 0 0 LTYPE 5 41 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 CENTER 70 0 3 Center ____ _ ____ _ ____ _ ____ _ ____ _ ____ 72 65 73 4 40 0.4 49 0.25 74 0 49 -0.05 74 0 49 0.05 74 0 49 -0.05 74 0 0 LTYPE 5 42 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 CENTERX2 70 0 3 Center (2x) ________ __ ________ __ _____ 72 65 73 4 40 0.8 49 0.5 74 0 49 -0.1 74 0 49 0.1 74 0 49 -0.1 74 0 0 LTYPE 5 43 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DOT2 70 0 3 Dot (.5x) ........................................ 72 65 73 2 40 0.025 49 0.0 74 0 49 -0.025 74 0 0 ENDTAB 0 TABLE 2 LAYER 5 2 330 0 100 AcDbSymbolTable 70 2 0 LAYER 5 10 330 2 100 AcDbSymbolTableRecord 100 AcDbLayerTableRecord 2 0 70 0 62 7 6 Continuous 370 -3 390 F 347 15E7 0 LAYER 5 44 330 2 100 AcDbSymbolTableRecord 100 AcDbLayerTableRecord 2 FORMAT 70 0 62 7 6 Continuous 370 -3 390 F 347 15E7 0 ENDTAB 0 TABLE 2 STYLE 5 3 330 0 100 AcDbSymbolTable 70 2 0 STYLE 5 11 330 3 100 AcDbSymbolTableRecord 100 AcDbTextStyleTableRecord 2 Standard 70 0 40 0.0 41 1.0 50 0.0 71 0 42 0.125 3 txt 4 0 STYLE 5 4B1 330 3 100 AcDbSymbolTableRecord 100 AcDbTextStyleTableRecord 2 SLDTEXTSTYLE0 70 0 40 0.0 41 0.7 50 0.0 71 0 42 0.2 3 TXT 4 0 ENDTAB 0 TABLE 2 VIEW 5 6 330 0 100 AcDbSymbolTable 70 0 0 ENDTAB 0 TABLE 2 UCS 5 7 330 0 100 AcDbSymbolTable 70 0 0 ENDTAB 0 TABLE 2 APPID 5 9 330 0 100 AcDbSymbolTable 70 1 0 APPID 5 12 330 9 100 AcDbSymbolTableRecord 100 AcDbRegAppTableRecord 2 ACAD 70 0 0 ENDTAB 0 TABLE 2 DIMSTYLE 5 A 330 0 100 AcDbSymbolTable 70 1 100 AcDbDimStyleTable 0 DIMSTYLE 105 27 330 A 100 AcDbSymbolTableRecord 100 AcDbDimStyleTableRecord 2 Standard 70 0 178 0 340 11 0 ENDTAB 0 TABLE 2 BLOCK_RECORD 5 1 330 0 100 AcDbSymbolTable 70 297 0 BLOCK_RECORD 5 1F 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Model_Space 340 22 70 0 280 1 281 0 0 BLOCK_RECORD 5 1B 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Paper_Space 340 1E 70 0 280 1 281 0 0 BLOCK_RECORD 5 4F1 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_0 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 4FD 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_1 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 509 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_2 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 515 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_3 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 531 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_4 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 53D 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_5 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 549 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_6 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 555 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_7 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 571 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_8 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 58F 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_9 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 5E6 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_10 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 676 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_11 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 694 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_12 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 6A0 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_13 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 6AC 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_14 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 6B8 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_15 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 7E3 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_16 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 7EF 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_17 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 7FB 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_18 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 807 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_19 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 813 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_20 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 81F 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_21 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 82B 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_22 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 837 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_23 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 843 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_24 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 84F 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_25 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 85B 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_26 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 867 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_27 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 873 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_28 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 87F 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_29 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 88B 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_30 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 897 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_31 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 8A3 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_32 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 8AF 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_33 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 8BB 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_34 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 8C7 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_35 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 8D3 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_36 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 8DF 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_37 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 8EB 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_38 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 8F7 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_39 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 903 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_40 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 90F 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_41 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 91B 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_42 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 927 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_43 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 933 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_44 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 93F 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_45 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 94B 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_46 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 957 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_47 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 963 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_48 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 96F 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_49 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 97B 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_50 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 987 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_51 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 993 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_52 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 99F 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_53 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 9AB 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_54 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 9B7 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_55 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 9C3 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_56 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 9CF 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_57 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 9DB 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_58 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 9E7 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_59 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 9F3 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_60 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 9FF 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_61 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 A0B 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_62 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 A17 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_63 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 A23 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_64 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 A2F 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_65 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 A3B 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_66 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 A47 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_67 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 A53 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_68 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 A5F 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_69 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 A6B 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_70 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 A77 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_71 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 A83 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_72 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 A8F 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_73 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 A9B 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_74 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 AA7 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_75 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 AB3 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_76 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 ABF 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_77 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 ACB 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_78 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 AD7 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_79 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 AE3 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_80 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 AEF 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_81 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 AFB 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_82 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 B07 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_83 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 B13 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_84 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 B1F 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_85 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 B2B 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_86 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 B37 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_87 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 B43 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_88 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 B4F 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_89 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 B5B 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_90 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 B67 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_91 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 B73 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_92 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 B7F 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_93 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 B8B 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_94 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 B97 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_95 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 BA3 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_96 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 BAF 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_97 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 BBB 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_98 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 BC7 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_99 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 BD3 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_100 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 BDF 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_101 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 BEB 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_102 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 BF7 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_103 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 C03 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_104 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 C0F 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_105 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 C1B 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_106 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 C27 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_107 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 C33 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_108 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 C3F 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_109 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 C4B 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_110 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 C57 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_111 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 C63 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_112 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 C6F 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_113 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 C7B 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_114 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 C87 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_115 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 C93 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_116 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 C9F 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_117 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 CAB 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_118 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 CB7 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_119 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 CC3 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_120 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 CCF 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_121 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 CDB 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_122 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 CE7 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_123 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 CF3 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_124 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 CFF 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_125 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 D0B 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_126 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 D17 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_127 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 D23 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_128 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 D2F 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_129 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 D3B 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_130 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 D47 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_131 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 D53 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_132 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 D5F 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_133 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 D6B 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_134 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 D77 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_135 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 D83 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_136 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 D8F 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_137 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 D9B 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_138 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 DA7 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_139 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 DB3 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_140 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 DBF 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_141 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 DCB 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_142 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 DD7 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_143 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 DE3 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_144 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 DEF 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_145 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 DFB 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_146 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 E07 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_147 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 E13 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_148 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 E1F 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_149 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 E2B 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_150 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 E37 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_151 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 E43 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_152 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 E4F 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_153 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 E5B 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_154 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 E67 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_155 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 E73 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_156 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 E7F 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_157 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 E8B 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_158 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 E97 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_159 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 EA3 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_160 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 EAF 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_161 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 EBB 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_162 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 EC7 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_163 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 ED3 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_164 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 EDF 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_165 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 EEB 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_166 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 EF7 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_167 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 F03 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_168 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 F0F 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_169 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 F1B 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_170 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 F27 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_171 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 F33 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_172 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 F3F 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_173 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 F4B 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_174 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 F57 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_175 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 F63 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_176 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 F6F 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_177 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 F7B 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_178 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 F87 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_179 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 F93 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_180 340 0 70 0 280 1 281 0 0 BLOCK_RECORD 5 F9F 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 SW_CENTERMARKSYMBOL_181 340 0 70 0 280 1 281 0 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2 300 _DATA 309 CELLSTYLE_END 0 ENDSEC 0 EOF trimesh-4.5.1/models/2D/tray-easy1.svg000066400000000000000000021151511470574263400174660ustar00rootroot00000000000000 image/svg+xml /media/psf/Home/Dropbox (Personal)/robotics/trimesh/models/2D/tray-easy1.dxf - scale = 21.749545 trimesh-4.5.1/models/2D/types.dxf000066400000000000000000001367221470574263400166220ustar00rootroot00000000000000 0 SECTION 2 HEADER 9 $ACADVER 1 AC1021 9 $ACADMAINTVER 70 25 9 $DWGCODEPAGE 3 ANSI_1252 9 $LASTSAVEDBY 1 mikedh 9 $INSBASE 10 0.0 20 0.0 30 0.0 9 $EXTMIN 10 -1.0 20 0.0 30 0.0 9 $EXTMAX 10 6.0 20 6.0 30 0.0 9 $LIMMIN 10 0.0 20 0.0 9 $LIMMAX 10 12.0 20 9.0 9 $ORTHOMODE 70 0 9 $REGENMODE 70 1 9 $FILLMODE 70 1 9 $QTEXTMODE 70 0 9 $MIRRTEXT 70 0 9 $LTSCALE 40 1.0 9 $ATTMODE 70 1 9 $TEXTSIZE 40 0.2 9 $TRACEWID 40 0.05 9 $TEXTSTYLE 7 Standard 9 $CLAYER 8 0 9 $CELTYPE 6 ByLayer 9 $CECOLOR 62 256 9 $CELTSCALE 40 1.0 9 $DISPSILH 70 0 9 $DIMSCALE 40 1.0 9 $DIMASZ 40 0.18 9 $DIMEXO 40 0.0625 9 $DIMDLI 40 0.38 9 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$PSOLHEIGHT 40 4.0 9 $LOFTANG1 40 1.570796326794897 9 $LOFTANG2 40 1.570796326794897 9 $LOFTMAG1 40 0.0 9 $LOFTMAG2 40 0.0 9 $LOFTPARAM 70 7 9 $LOFTNORMALS 280 1 9 $LATITUDE 40 37.795 9 $LONGITUDE 40 -122.394 9 $NORTHDIRECTION 40 0.0 9 $TIMEZONE 70 -8000 9 $LIGHTGLYPHDISPLAY 280 1 9 $TILEMODELIGHTSYNCH 280 1 9 $CMATERIAL 347 96 9 $SOLIDHIST 280 1 9 $SHOWHIST 280 1 9 $DWFFRAME 280 2 9 $DGNFRAME 280 0 9 $REALWORLDSCALE 290 1 9 $INTERFERECOLOR 62 1 9 $CSHADOW 280 0 9 $SHADOWPLANELOCATION 40 0.0 0 ENDSEC 0 SECTION 2 CLASSES 0 CLASS 1 ACDBDICTIONARYWDFLT 2 AcDbDictionaryWithDefault 3 ObjectDBX Classes 90 0 91 4 280 0 281 0 0 CLASS 1 ACDBPLACEHOLDER 2 AcDbPlaceHolder 3 ObjectDBX Classes 90 0 91 1 280 0 281 0 0 CLASS 1 LAYOUT 2 AcDbLayout 3 ObjectDBX Classes 90 0 91 1 280 0 281 0 0 CLASS 1 DICTIONARYVAR 2 AcDbDictionaryVar 3 ObjectDBX Classes 90 0 91 4 280 0 281 0 0 CLASS 1 TABLESTYLE 2 AcDbTableStyle 3 ObjectDBX Classes 90 4095 91 4 280 0 281 0 0 CLASS 1 MATERIAL 2 AcDbMaterial 3 ObjectDBX Classes 90 1153 91 4 280 0 281 0 0 CLASS 1 VISUALSTYLE 2 AcDbVisualStyle 3 ObjectDBX Classes 90 4095 91 4 280 0 281 0 0 CLASS 1 SCALE 2 AcDbScale 3 ObjectDBX Classes 90 1153 91 4 280 0 281 0 0 CLASS 1 CELLSTYLEMAP 2 AcDbCellStyleMap 3 ObjectDBX Classes 90 1152 91 4 280 0 281 0 0 CLASS 1 RASTERVARIABLES 2 AcDbRasterVariables 3 ISM 90 0 91 4 280 0 281 0 0 CLASS 1 MLEADERSTYLE 2 AcDbMLeaderStyle 3 ACDB_MLEADERSTYLE_CLASS 90 4095 91 4 280 0 281 0 0 CLASS 1 SUN 2 AcDbSun 3 SCENEOE 90 1153 91 4 280 0 281 0 0 ENDSEC 0 SECTION 2 TABLES 0 TABLE 2 VPORT 5 8 330 0 100 AcDbSymbolTable 70 1 0 VPORT 5 94 330 8 100 AcDbSymbolTableRecord 100 AcDbViewportTableRecord 2 *Active 70 0 10 0.0 20 0.0 11 1.0 21 1.0 12 33.66959356597982 22 24.03870295786203 13 0.0 23 0.0 14 0.5 24 0.5 15 0.5 25 0.5 16 0.0 26 0.0 36 1.0 17 -27.66959356597982 27 -19.53870295786203 37 0.0 40 11.00571428571429 41 1.11214953271028 42 50.0 43 0.0 44 0.0 50 0.0 51 0.0 71 16 72 1000 73 1 74 3 75 0 76 0 77 0 78 0 281 0 65 1 110 0.0 120 0.0 130 0.0 111 1.0 121 0.0 131 0.0 112 0.0 122 1.0 132 0.0 79 0 146 0.0 348 9F 60 2 61 5 292 1 282 1 141 0.0 142 0.0 63 250 421 3355443 361 EE 0 ENDTAB 0 TABLE 2 LTYPE 5 5 330 0 100 AcDbSymbolTable 70 1 0 LTYPE 5 14 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ByBlock 70 0 3 72 65 73 0 40 0.0 0 LTYPE 5 15 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ByLayer 70 0 3 72 65 73 0 40 0.0 0 LTYPE 5 16 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 Continuous 70 0 3 Solid line 72 65 73 0 40 0.0 0 ENDTAB 0 TABLE 2 LAYER 5 2 330 0 100 AcDbSymbolTable 70 1 0 LAYER 5 10 330 2 100 AcDbSymbolTableRecord 100 AcDbLayerTableRecord 2 0 70 0 62 7 6 Continuous 370 -3 390 F 347 98 0 ENDTAB 0 TABLE 2 STYLE 5 3 330 0 100 AcDbSymbolTable 70 1 0 STYLE 5 11 330 3 100 AcDbSymbolTableRecord 100 AcDbTextStyleTableRecord 2 Standard 70 0 40 0.0 41 1.0 50 0.0 71 0 42 0.2 3 txt 4 0 ENDTAB 0 TABLE 2 VIEW 5 6 330 0 100 AcDbSymbolTable 70 0 0 ENDTAB 0 TABLE 2 UCS 5 7 330 0 100 AcDbSymbolTable 70 0 0 ENDTAB 0 TABLE 2 APPID 5 9 330 0 100 AcDbSymbolTable 70 2 0 APPID 5 12 330 9 100 AcDbSymbolTableRecord 100 AcDbRegAppTableRecord 2 ACAD 70 0 0 APPID 5 F7 330 9 100 AcDbSymbolTableRecord 100 AcDbRegAppTableRecord 2 ACAD_MLEADERVER 70 0 0 ENDTAB 0 TABLE 2 DIMSTYLE 5 A 330 0 100 AcDbSymbolTable 70 1 100 AcDbDimStyleTable 0 DIMSTYLE 105 27 330 A 100 AcDbSymbolTableRecord 100 AcDbDimStyleTableRecord 2 Standard 70 0 178 0 340 11 0 ENDTAB 0 TABLE 2 BLOCK_RECORD 5 1 330 0 100 AcDbSymbolTable 70 1 0 BLOCK_RECORD 5 1F 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Model_Space 340 22 70 0 280 1 281 0 0 BLOCK_RECORD 5 58 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Paper_Space 340 59 70 0 280 1 281 0 0 BLOCK_RECORD 5 5D 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Paper_Space0 340 5E 70 0 280 1 281 0 0 ENDTAB 0 ENDSEC 0 SECTION 2 BLOCKS 0 BLOCK 5 20 330 1F 100 AcDbEntity 8 0 100 AcDbBlockBegin 2 *Model_Space 70 0 10 0.0 20 0.0 30 0.0 3 *Model_Space 1 *Model_Space 0 ENDBLK 5 21 330 1F 100 AcDbEntity 8 0 100 AcDbBlockEnd 0 BLOCK 5 5A 330 58 100 AcDbEntity 67 1 8 0 100 AcDbBlockBegin 2 *Paper_Space 70 0 10 0.0 20 0.0 30 0.0 3 *Paper_Space 1 *Paper_Space 0 ENDBLK 5 5B 330 58 100 AcDbEntity 67 1 8 0 100 AcDbBlockEnd 0 BLOCK 5 5F 330 5D 100 AcDbEntity 8 0 100 AcDbBlockBegin 2 *Paper_Space0 70 0 10 0.0 20 0.0 30 0.0 3 *Paper_Space0 1 *Paper_Space0 0 ENDBLK 5 60 330 5D 100 AcDbEntity 8 0 100 AcDbBlockEnd 0 ENDSEC 0 SECTION 2 ENTITIES 0 LINE 5 EF 330 1F 100 AcDbEntity 8 0 100 AcDbLine 10 0.0 20 0.0 30 0.0 11 1.0 21 0.0 31 0.0 0 LINE 5 F0 330 1F 100 AcDbEntity 8 0 100 AcDbLine 10 0.0 20 1.0 30 0.0 11 1.0 21 1.0 31 0.0 0 LINE 5 F1 330 1F 100 AcDbEntity 8 0 100 AcDbLine 10 1.0 20 1.0 30 0.0 11 2.0 21 3.0 31 0.0 0 LINE 5 F2 330 1F 100 AcDbEntity 8 0 100 AcDbLine 10 2.0 20 3.0 30 0.0 11 3.0 21 4.0 31 0.0 0 CIRCLE 5 F3 330 1F 100 AcDbEntity 8 0 100 AcDbCircle 10 0.0 20 5.0 30 0.0 40 1.0 0 ARC 5 F4 330 1F 100 AcDbEntity 8 0 100 AcDbCircle 10 5.0 20 4.0 30 0.0 40 1.0 100 AcDbArc 50 0.0 51 180.0 0 ENDSEC 0 SECTION 2 OBJECTS 0 DICTIONARY 5 C 330 0 100 AcDbDictionary 281 1 3 ACAD_COLOR 350 73 3 ACAD_DETAILVIEWSTYLE 350 FA 3 ACAD_GROUP 350 D 3 ACAD_IMAGE_VARS 350 DC 3 ACAD_LAYOUT 350 1A 3 ACAD_MATERIAL 350 72 3 ACAD_MLEADERSTYLE 350 B5 3 ACAD_MLINESTYLE 350 17 3 ACAD_PLOTSETTINGS 350 19 3 ACAD_PLOTSTYLENAME 350 E 3 ACAD_SCALELIST 350 B6 3 ACAD_SECTIONVIEWSTYLE 350 FB 3 ACAD_TABLESTYLE 350 86 3 ACAD_VISUALSTYLE 350 99 3 AcDbVariableDictionary 350 66 3 ACDB_RECOMPOSE_DATA 350 F8 3 APPDATA 350 E1 0 SUN 5 EE 330 94 100 AcDbSun 90 1 290 0 63 7 421 16777215 40 1.0 291 1 91 2455826 92 54000000 292 0 70 2 71 256 280 1 0 DICTIONARY 5 73 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 0 DICTIONARY 5 FA 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 0 DICTIONARY 5 D 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 0 RASTERVARIABLES 5 DC 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbRasterVariables 90 0 70 1 71 1 72 5 0 DICTIONARY 5 1A 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 Model 350 22 3 Sheet1 350 59 3 Sheet2 350 5E 0 DICTIONARY 5 72 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 ByBlock 350 E2 3 ByLayer 350 96 3 Global 350 98 0 DICTIONARY 5 B5 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 Standard 350 ED 0 DICTIONARY 5 17 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 Standard 350 18 0 DICTIONARY 5 19 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 0 ACDBDICTIONARYWDFLT 5 E 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 Normal 350 F 100 AcDbDictionaryWithDefault 340 F 0 DICTIONARY 5 B6 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 A0 350 B7 3 A1 350 B8 3 A2 350 B9 3 A3 350 BA 3 A4 350 BB 3 A5 350 BC 3 A6 350 BD 3 A7 350 BE 3 A8 350 BF 3 A9 350 C0 3 B0 350 C1 3 B1 350 C2 3 B2 350 C3 3 B3 350 C4 3 B4 350 C5 3 B5 350 C6 3 B6 350 C7 3 B7 350 C8 3 B8 350 C9 3 B9 350 CA 3 C0 350 CB 3 C1 350 CC 3 C2 350 CD 3 C3 350 CE 3 C4 350 CF 3 C5 350 D0 3 C6 350 D1 3 C7 350 D2 3 C8 350 D3 3 C9 350 D4 3 D0 350 D5 3 D1 350 D6 3 D2 350 D7 0 DICTIONARY 5 FB 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 0 DICTIONARY 5 86 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 Standard 350 87 0 DICTIONARY 5 99 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 2dWireframe 350 9F 3 3D Hidden 350 A1 3 3dWireframe 350 A0 3 Basic 350 9E 3 Brighten 350 A5 3 ColorChange 350 A9 3 Conceptual 350 A2 3 Dim 350 A4 3 EdgeColorOff 350 E7 3 Facepattern 350 A8 3 Flat 350 9A 3 FlatWithEdges 350 9B 3 Gouraud 350 9C 3 GouraudWithEdges 350 9D 3 Hidden 350 E4 3 JitterOff 350 E5 3 Linepattern 350 A7 3 OverhangOff 350 E6 3 Realistic 350 A3 3 Shaded 350 EC 3 Shaded with edges 350 EB 3 Shades of Gray 350 E8 3 Sketchy 350 E9 3 Thicken 350 A6 3 Wireframe 350 E3 3 X-Ray 350 EA 0 DICTIONARY 5 66 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 CANNOSCALE 350 D8 3 CMLEADERSTYLE 350 F9 3 CTABLESTYLE 350 89 3 DIMASSOC 350 67 3 HIDETEXT 350 6B 3 LIGHTSINBLOCKS 350 DF 3 XCLIPFRAME 350 E0 0 XRECORD 5 F8 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbXrecord 280 1 90 1 330 87 0 DICTIONARY 5 E1 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 0 LAYOUT 5 22 102 {ACAD_REACTORS 330 1A 102 } 330 1A 100 AcDbPlotSettings 1 2 none_device 4 ANSI_A_(8.50_x_11.00_Inches) 6 40 6.35 41 19.05 42 6.35 43 19.05 44 215.9 45 279.4 46 11.11250000000003 47 0.0000000000000142 48 0.0 49 0.0 140 0.0 141 0.0 142 1.0 143 1.263157894736842 70 11444 72 0 73 1 74 1 7 monochrome.ctb 75 0 76 0 77 2 78 300 147 0.7916666666666665 148 -702.8076765758875 149 -496.2830551296954 100 AcDbLayout 1 Model 70 1 71 0 10 0.0 20 0.0 11 12.0 21 9.0 12 0.0 22 0.0 32 0.0 14 -1.0 24 0.0 34 0.0 15 6.0 25 6.0 35 0.0 146 0.0 13 0.0 23 0.0 33 0.0 16 1.0 26 0.0 36 0.0 17 0.0 27 1.0 37 0.0 76 0 330 1F 331 94 0 LAYOUT 5 59 102 {ACAD_REACTORS 330 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$PLINEGEN 70 0 9 $PSLTSCALE 70 1 0 ENDSEC 0 SECTION 2 TABLES 0 TABLE 2 VPORT 70 1 0 VPORT 2 *ACTIVE 70 0 10 0.0 20 0.0 11 1.0 21 1.0 12 26.74221696850897 22 19.47779793638243 13 0.0 23 0.0 14 0.5 24 0.5 15 0.5 25 0.5 16 0.0 26 0.0 36 1.0 17 -27.66959356597984 27 -19.53870295786203 37 0.0 40 30.19080748191286 41 0.4326337169939066 42 50.0 43 0.0 44 0.0 50 0.0 51 0.0 71 16 72 1000 73 1 74 3 75 0 76 0 77 0 78 0 0 ENDTAB 0 TABLE 2 LTYPE 70 1 0 LTYPE 2 CONTINUOUS 70 0 3 Solid line 72 65 73 0 40 0.0 0 ENDTAB 0 TABLE 2 LAYER 70 1 0 LAYER 2 0 70 0 62 7 6 CONTINUOUS 0 ENDTAB 0 TABLE 2 STYLE 70 2 0 STYLE 2 STANDARD 70 0 40 0.0 41 1.0 50 0.0 71 0 42 0.2 3 arial.ttf 4 0 STYLE 2 ANNOTATIVE 70 0 40 0.0 41 1.0 50 0.0 71 0 42 0.2 3 arial.ttf 4 0 ENDTAB 0 TABLE 2 VIEW 70 0 0 ENDTAB 0 TABLE 2 UCS 70 0 0 ENDTAB 0 TABLE 2 APPID 70 2 0 APPID 2 ACAD 70 0 0 APPID 2 ACADANNOTATIVE 70 0 0 ENDTAB 0 TABLE 2 DIMSTYLE 70 2 0 DIMSTYLE 2 STANDARD 70 0 3 4 5 6 7 40 1.0 41 0.18 42 0.0625 43 0.38 44 0.18 45 0.0 46 0.0 47 0.0 48 0.0 140 0.18 141 0.09 142 0.0 143 25.4 144 1.0 145 0.0 146 1.0 147 0.09 71 0 72 0 73 1 74 1 75 0 76 0 77 0 78 0 170 0 171 2 172 0 173 0 174 0 175 0 176 0 177 0 178 0 0 DIMSTYLE 2 ANNOTATIVE 70 0 3 4 5 6 7 40 0.0 41 0.18 42 0.0625 43 0.38 44 0.18 45 0.0 46 0.0 47 0.0 48 0.0 140 0.18 141 0.09 142 0.0 143 25.4 144 1.0 145 0.0 146 1.0 147 0.09 71 0 72 0 73 1 74 1 75 0 76 0 77 0 78 0 170 0 171 2 172 0 173 0 174 0 175 0 176 0 177 0 178 0 0 ENDTAB 0 ENDSEC 0 SECTION 2 BLOCKS 0 BLOCK 8 0 2 $MODEL_SPACE 70 0 10 0.0 20 0.0 30 0.0 3 $MODEL_SPACE 1 0 ENDBLK 5 21 8 0 0 BLOCK 67 1 8 0 2 $PAPER_SPACE 70 0 10 0.0 20 0.0 30 0.0 3 $PAPER_SPACE 1 0 ENDBLK 5 5B 67 1 8 0 0 ENDSEC 0 SECTION 2 ENTITIES 0 POLYLINE 5 12A 8 0 66 1 10 0.0 20 0.0 30 0.0 70 1 0 VERTEX 5 23E 8 0 10 0.0 20 0.0 30 0.0 0 VERTEX 5 23F 8 0 10 0.0 20 0.9999999999999998 30 0.0 0 VERTEX 5 240 8 0 10 1.0 20 0.9999999999999998 30 0.0 0 VERTEX 5 241 8 0 10 1.0 20 0.0 30 0.0 0 SEQEND 5 2E4 8 0 0 CIRCLE 5 167 8 0 10 0.5 20 0.5 30 0.0 40 0.25 0 ARC 5 168 8 0 10 0.5 20 0.625 30 0.0 40 0.625 50 36.86989764584402 51 143.130102354156 0 ARC 5 169 8 0 10 3.25 20 1.25 30 0.0 40 2.850438562747845 50 142.1250163489018 51 195.2551187030578 0 POLYLINE 5 16A 8 0 66 1 10 0.0 20 0.0 30 0.0 0 VERTEX 5 242 8 0 10 -0.4151804233604739 20 -1.059059164557658 30 0.0 0 VERTEX 5 243 8 0 10 -0.3435252858628369 20 -0.9967007570716712 30 0.0 0 VERTEX 5 244 8 0 10 -0.2719577861877812 20 -0.9347422440719191 30 0.0 0 VERTEX 5 245 8 0 10 -0.2005655621578868 20 -0.873583520044636 30 0.0 0 VERTEX 5 246 8 0 10 -0.1294362515957344 20 -0.8136244794760568 30 0.0 0 VERTEX 5 247 8 0 10 -0.0586574923239054 20 -0.7552650168524159 30 0.0 0 VERTEX 5 248 8 0 10 0.0116830778350198 20 -0.6989050266599482 30 0.0 0 VERTEX 5 249 8 0 10 0.0814978210584602 20 -0.6449444033848885 30 0.0 0 VERTEX 5 24A 8 0 10 0.1506990995238354 20 -0.5937830415134709 30 0.0 0 VERTEX 5 24B 8 0 10 0.2191992754085642 20 -0.5458208355319303 30 0.0 0 VERTEX 5 24C 8 0 10 0.2869107108900661 20 -0.5014576799265013 30 0.0 0 VERTEX 5 24D 8 0 10 0.3537457681457603 20 -0.4610934691834185 30 0.0 0 VERTEX 5 24E 8 0 10 0.4196168093530659 20 -0.4251280977889165 30 0.0 0 VERTEX 5 24F 8 0 10 0.484436196689402 20 -0.39396146022923 30 0.0 0 VERTEX 5 250 8 0 10 0.5481162923321884 20 -0.3679934509905936 30 0.0 0 VERTEX 5 251 8 0 10 0.6105694584588437 20 -0.3476239645592418 30 0.0 0 VERTEX 5 252 8 0 10 0.6717080572467873 20 -0.3332528954214095 30 0.0 0 VERTEX 5 253 8 0 10 0.7314444508734388 20 -0.325280138063331 30 0.0 0 VERTEX 5 254 8 0 10 0.7896910015162166 20 -0.324105586971241 30 0.0 0 VERTEX 5 255 8 0 10 0.8463600713525403 20 -0.3301291366313742 30 0.0 0 VERTEX 5 256 8 0 10 0.9013640225598298 20 -0.3437506815299653 30 0.0 0 VERTEX 5 257 8 0 10 0.954615217315504 20 -0.3653701161532489 30 0.0 0 VERTEX 5 258 8 0 10 1.006059869230893 20 -0.3952328696964038 30 0.0 0 VERTEX 5 259 8 0 10 1.055813931431075 20 -0.4328098439457272 30 0.0 0 VERTEX 5 25A 8 0 10 1.104046446587766 20 -0.4773296912071914 30 0.0 0 VERTEX 5 25B 8 0 10 1.150926475483576 20 -0.5280209811461137 30 0.0 0 VERTEX 5 25C 8 0 10 1.196623078901115 20 -0.5841122834278119 30 0.0 0 VERTEX 5 25D 8 0 10 1.241305317622992 20 -0.6448321677176037 30 0.0 0 VERTEX 5 25E 8 0 10 1.285142252431819 20 -0.7094092036808071 30 0.0 0 VERTEX 5 25F 8 0 10 1.328302944110205 20 -0.7770719609827395 30 0.0 0 VERTEX 5 260 8 0 10 1.37095645344076 20 -0.8470490092887187 30 0.0 0 VERTEX 5 261 8 0 10 1.413271841206096 20 -0.9185689182640625 30 0.0 0 VERTEX 5 262 8 0 10 1.455418168188822 20 -0.9908602575740904 30 0.0 0 SEQEND 5 2E5 8 0 0 LINE 5 16B 8 0 10 -0.1472561459250279 20 -1.67284932740977 30 0.0 11 0.4957621199200424 21 -1.565679616435592 31 0.0 0 LINE 5 16C 8 0 10 0.4957621199200424 20 -1.565679616435592 30 0.0 11 0.6272885833883521 21 -2.174598428788879 31 0.0 0 LINE 5 16D 8 0 10 0.6272885833883521 20 -2.174598428788879 30 0.0 11 1.070581478781545 21 -1.755662285889817 31 0.0 0 LINE 5 16E 8 0 10 1.070581478781545 20 -1.755662285889817 30 0.0 11 1.070581478781545 21 -2.296382191259536 31 0.0 0 LINE 5 16F 8 0 10 1.070581478781545 20 -2.296382191259536 30 0.0 11 1.60155868315361 21 -1.857960646365169 31 0.0 0 LINE 5 170 8 0 10 1.60155868315361 20 -1.857960646365169 30 0.0 11 1.357991158212296 21 -2.744546437151554 31 0.0 0 LINE 5 171 8 0 10 1.357991158212296 20 -2.744546437151554 30 0.0 11 -0.147256145925028 21 -2.10639952180531 31 0.0 0 LINE 5 175 8 0 10 -0.7172041542877039 20 -3.109897724563526 30 0.0 11 -0.2057123519109434 21 -2.593534571687939 31 0.0 0 LINE 5 176 8 0 10 -0.2057123519109434 20 -2.593534571687939 30 0.0 11 0.2180951414869439 21 -3.207324734540052 31 0.0 0 LINE 5 177 8 0 10 0.2180951414869439 20 -3.207324734540052 30 0.0 11 -0.7172041542877039 21 -3.109897724563526 31 0.0 0 POLYLINE 5 179 8 0 66 1 10 0.0 20 0.0 30 0.0 70 1 0 VERTEX 5 263 8 0 10 -1.135298664976644 20 -5.184552823386357 30 0.0 0 VERTEX 5 264 8 0 10 -1.185989019169083 20 -5.126433215011193 30 0.0 0 VERTEX 5 265 8 0 10 -1.189650624930155 20 -5.047725622732957 30 0.0 0 VERTEX 5 266 8 0 10 -1.151387603392954 20 -4.953088182775104 30 0.0 0 VERTEX 5 267 8 0 10 -1.076304075690574 20 -4.847179031361081 30 0.0 0 VERTEX 5 268 8 0 10 -0.9695041629561059 20 -4.734656304714346 30 0.0 0 VERTEX 5 269 8 0 10 -0.8360919863226449 20 -4.620178139058349 30 0.0 0 VERTEX 5 26A 8 0 10 -0.681171666923284 20 -4.508402670616543 30 0.0 0 VERTEX 5 26B 8 0 10 -0.5098473258911157 20 -4.403988035612382 30 0.0 0 VERTEX 5 26C 8 0 10 -0.3272230843592341 20 -4.311592370269317 30 0.0 0 VERTEX 5 26D 8 0 10 -0.1384030634607317 20 -4.2358738108108 30 0.0 0 VERTEX 5 26E 8 0 10 0.0515086156712975 20 -4.181490493460286 30 0.0 0 VERTEX 5 26F 8 0 10 0.2374078319037612 20 -4.153100554441226 30 0.0 0 VERTEX 5 270 8 0 10 0.4141904641035654 20 -4.155362129977075 30 0.0 0 VERTEX 5 271 8 0 10 0.5769129891736557 20 -4.192646653899319 30 0.0 0 VERTEX 5 272 8 0 10 0.7243009466466751 20 -4.262775485965395 30 0.0 0 VERTEX 5 273 8 0 10 0.8587352729998394 20 -4.357044308076168 30 0.0 0 VERTEX 5 274 8 0 10 0.9827547695974481 20 -4.466466979005326 30 0.0 0 VERTEX 5 275 8 0 10 1.098898237803801 20 -4.58205735752656 30 0.0 0 VERTEX 5 276 8 0 10 1.209704478983196 20 -4.694829302413559 30 0.0 0 VERTEX 5 277 8 0 10 1.317712294499933 20 -4.795796672440019 30 0.0 0 VERTEX 5 278 8 0 10 1.425460485718312 20 -4.875973326379623 30 0.0 0 VERTEX 5 279 8 0 10 1.535487854002631 20 -4.926373123006066 30 0.0 0 VERTEX 5 27A 8 0 10 1.650333200717189 20 -4.938009921093037 30 0.0 0 VERTEX 5 27B 8 0 10 1.772416180093892 20 -4.902234525110405 30 0.0 0 VERTEX 5 27C 8 0 10 1.899697544087676 20 -4.823007425566606 30 0.0 0 VERTEX 5 27D 8 0 10 2.024443882931543 20 -4.720392087896748 30 0.0 0 VERTEX 5 27E 8 0 10 2.138550947431958 20 -4.615500703982243 30 0.0 0 VERTEX 5 27F 8 0 10 2.233914488395385 20 -4.529445465704503 30 0.0 0 VERTEX 5 280 8 0 10 2.302776279492456 20 -4.482464773390215 30 0.0 0 VERTEX 5 281 8 0 10 2.342860711995093 20 -4.480952089779743 30 0.0 0 VERTEX 5 282 8 0 10 2.356274398373434 20 -4.520234707511706 30 0.0 0 VERTEX 5 283 8 0 10 2.345246426418716 20 -4.595330639369776 30 0.0 0 VERTEX 5 284 8 0 10 2.312005883922176 20 -4.701257898137622 30 0.0 0 VERTEX 5 285 8 0 10 2.25878185867505 20 -4.833034496598914 30 0.0 0 VERTEX 5 286 8 0 10 2.187803438468574 20 -4.985678447537321 30 0.0 0 VERTEX 5 287 8 0 10 2.101299711093986 20 -5.154207763736515 30 0.0 0 VERTEX 5 288 8 0 10 2.00149976434252 20 -5.333640457980164 30 0.0 0 VERTEX 5 289 8 0 10 1.890632686005416 20 -5.51899454305194 30 0.0 0 VERTEX 5 28A 8 0 10 1.770927563873907 20 -5.705288031735509 30 0.0 0 VERTEX 5 28B 8 0 10 1.644613485739233 20 -5.887538936814546 30 0.0 0 VERTEX 5 28C 8 0 10 1.513919539392629 20 -6.060765271072717 30 0.0 0 VERTEX 5 28D 8 0 10 1.381074812625331 20 -6.219985047293694 30 0.0 0 VERTEX 5 28E 8 0 10 1.248308393228576 20 -6.360216278261148 30 0.0 0 VERTEX 5 28F 8 0 10 1.1178493689936 20 -6.476476976758742 30 0.0 0 VERTEX 5 290 8 0 10 0.9919268277116411 20 -6.563785155570155 30 0.0 0 VERTEX 5 291 8 0 10 0.8727698571739347 20 -6.617158827479052 30 0.0 0 VERTEX 5 292 8 0 10 0.7624916488575251 20 -6.631900700981922 30 0.0 0 VERTEX 5 293 8 0 10 0.6610598988234544 20 -6.608583827735556 30 0.0 0 VERTEX 5 294 8 0 10 0.5665512617429911 20 -6.552426544108192 30 0.0 0 VERTEX 5 295 8 0 10 0.4769776411634444 20 -6.46880624560226 30 0.0 0 VERTEX 5 296 8 0 10 0.3903509406321237 20 -6.363100327720189 30 0.0 0 VERTEX 5 297 8 0 10 0.3046830636963386 20 -6.240686185964408 30 0.0 0 VERTEX 5 298 8 0 10 0.2179859139033982 20 -6.106941215837346 30 0.0 0 VERTEX 5 299 8 0 10 0.1282713948006121 20 -5.967242812841436 30 0.0 0 VERTEX 5 29A 8 0 10 0.0335514099352895 20 -5.826968372479103 30 0.0 0 VERTEX 5 29B 8 0 10 -0.0681621371452601 20 -5.69149529025278 30 0.0 0 VERTEX 5 29C 8 0 10 -0.1788573428937281 20 -5.566200961664894 30 0.0 0 VERTEX 5 29D 8 0 10 -0.3005223037628046 20 -5.456462782217876 30 0.0 0 VERTEX 5 29E 8 0 10 -0.4351451162051801 20 -5.367658147414154 30 0.0 0 VERTEX 5 29F 8 0 10 -0.5846363478981476 20 -5.305085489818322 30 0.0 0 VERTEX 5 2A0 8 0 10 -0.7447117626677457 20 -5.267733843853253 30 0.0 0 VERTEX 5 2A1 8 0 10 -0.9004738525986404 20 -5.243782643087544 30 0.0 0 VERTEX 5 2A2 8 0 10 -1.035982769448912 20 -5.220349699079232 30 0.0 0 SEQEND 5 2E6 8 0 0 POLYLINE 5 17A 8 0 66 1 10 0.0 20 0.0 30 0.0 0 VERTEX 5 2A3 8 0 10 -0.6748121985226609 20 2.999547557682159 30 0.0 0 VERTEX 5 2A4 8 0 10 -1.095950246047453 20 2.865802459863755 30 0.0 0 VERTEX 5 2A5 8 0 10 -1.505202534118431 20 2.731378135877095 30 0.0 0 VERTEX 5 2A6 8 0 10 -1.890683303281783 20 2.595595359553917 30 0.0 0 VERTEX 5 2A7 8 0 10 -2.240506794083695 20 2.457774904725964 30 0.0 0 VERTEX 5 2A8 8 0 10 -2.542787247070355 20 2.317237545224978 30 0.0 0 VERTEX 5 2A9 8 0 10 -2.785638902787949 20 2.173304054882701 30 0.0 0 VERTEX 5 2AA 8 0 10 -2.957176001782664 20 2.025295207530873 30 0.0 0 VERTEX 5 2AB 8 0 10 -3.045512784600687 20 1.872531777001238 30 0.0 0 VERTEX 5 2AC 8 0 10 -3.038763491788204 20 1.714334537125537 30 0.0 0 VERTEX 5 2AD 8 0 10 -2.925363296974791 20 1.550043495405867 30 0.0 0 VERTEX 5 2AE 8 0 10 -2.711348014080393 20 1.380053473979954 30 0.0 0 VERTEX 5 2AF 8 0 10 -2.429122945882412 20 1.20633963083251 30 0.0 0 VERTEX 5 2B0 8 0 10 -2.113258450799926 20 1.031006876749287 30 0.0 0 VERTEX 5 2B1 8 0 10 -1.798324887252018 20 0.8561601225160395 30 0.0 0 VERTEX 5 2B2 8 0 10 -1.518892613657767 20 0.6839042789185198 30 0.0 0 VERTEX 5 2B3 8 0 10 -1.309531988436254 20 0.5163442567424807 30 0.0 0 VERTEX 5 2B4 8 0 10 -1.204813370006558 20 0.3555849667736756 30 0.0 0 VERTEX 5 2B5 8 0 10 -1.238685122585805 20 0.2037008090697415 30 0.0 0 VERTEX 5 2B6 8 0 10 -1.414480919012411 20 0.0612644389420163 30 0.0 0 VERTEX 5 2B7 8 0 10 -1.691581285072406 20 -0.0733075253083901 30 0.0 0 VERTEX 5 2B8 8 0 10 -2.025967205216848 20 -0.2017652233357717 30 0.0 0 VERTEX 5 2B9 8 0 10 -2.373619663896796 20 -0.3258587947944221 30 0.0 0 VERTEX 5 2BA 8 0 10 -2.690519645563309 20 -0.4473383793386351 30 0.0 0 VERTEX 5 2BB 8 0 10 -2.932648134667444 20 -0.5679541166227047 30 0.0 0 VERTEX 5 2BC 8 0 10 -3.055986115660262 20 -0.6894561463009242 30 0.0 0 VERTEX 5 2BD 8 0 10 -3.02554048599887 20 -0.8134321519807887 30 0.0 0 VERTEX 5 2BE 8 0 10 -2.859667743438246 20 -0.9405095858608596 30 0.0 0 VERTEX 5 2BF 8 0 10 -2.596255108777966 20 -1.070964369601478 30 0.0 0 VERTEX 5 2C0 8 0 10 -2.273219065063062 20 -1.205071898176243 30 0.0 0 VERTEX 5 2C1 8 0 10 -1.928476095338567 20 -1.343107566558752 30 0.0 0 VERTEX 5 2C2 8 0 10 -1.599942682649515 20 -1.485346769722605 30 0.0 0 VERTEX 5 2C3 8 0 10 -1.325535310040935 20 -1.632064902641399 30 0.0 0 VERTEX 5 2C4 8 0 10 -1.143170460557863 20 -1.783537360288734 30 0.0 0 VERTEX 5 2C5 8 0 10 -1.082946059584026 20 -1.939936293066267 30 0.0 0 VERTEX 5 2C6 8 0 10 -1.136826794430071 20 -2.100930299440366 30 0.0 0 VERTEX 5 2C7 8 0 10 -1.285169075906938 20 -2.266034689817106 30 0.0 0 VERTEX 5 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9 $DIMEXE 40 0.18 9 $DIMTP 40 0.0 9 $DIMTM 40 0.0 9 $DIMTXT 40 0.18 9 $DIMCEN 40 0.09 9 $DIMTSZ 40 0.0 9 $DIMTOL 70 0 9 $DIMLIM 70 0 9 $DIMTIH 70 1 9 $DIMTOH 70 1 9 $DIMSE1 70 0 9 $DIMSE2 70 0 9 $DIMTAD 70 0 9 $DIMZIN 70 0 9 $DIMBLK 1 9 $DIMASO 70 1 9 $DIMSHO 70 1 9 $DIMPOST 1 9 $DIMAPOST 1 9 $DIMALT 70 0 9 $DIMALTD 70 2 9 $DIMALTF 40 25.4 9 $DIMLFAC 40 1.0 9 $DIMTOFL 70 0 9 $DIMTVP 40 0.0 9 $DIMTIX 70 0 9 $DIMSOXD 70 0 9 $DIMSAH 70 0 9 $DIMBLK1 1 9 $DIMBLK2 1 9 $DIMSTYLE 2 Standard 9 $DIMCLRD 70 0 9 $DIMCLRE 70 0 9 $DIMCLRT 70 0 9 $DIMTFAC 40 1.0 9 $DIMGAP 40 0.09 9 $DIMJUST 70 0 9 $DIMSD1 70 0 9 $DIMSD2 70 0 9 $DIMTOLJ 70 1 9 $DIMTZIN 70 0 9 $DIMALTZ 70 0 9 $DIMALTTZ 70 0 9 $DIMUPT 70 0 9 $DIMDEC 70 4 9 $DIMTDEC 70 4 9 $DIMALTU 70 2 9 $DIMALTTD 70 2 9 $DIMTXSTY 7 Standard 9 $DIMAUNIT 70 0 9 $DIMADEC 70 0 9 $DIMALTRND 40 0.0 9 $DIMAZIN 70 0 9 $DIMDSEP 70 46 9 $DIMATFIT 70 3 9 $DIMFRAC 70 0 9 $DIMLDRBLK 1 9 $DIMLUNIT 70 2 9 $DIMLWD 70 -2 9 $DIMLWE 70 -2 9 $DIMTMOVE 70 0 9 $LUNITS 70 2 9 $LUPREC 70 4 9 $SKETCHINC 40 0.1 9 $FILLETRAD 40 0.0 9 $AUNITS 70 0 9 $AUPREC 70 0 9 $MENU 1 . 9 $ELEVATION 40 0.0 9 $PELEVATION 40 0.0 9 $THICKNESS 40 0.0 9 $LIMCHECK 70 0 9 $CHAMFERA 40 0.0 9 $CHAMFERB 40 0.0 9 $CHAMFERC 40 0.0 9 $CHAMFERD 40 0.0 9 $SKPOLY 70 0 9 $TDCREATE 40 2452642.855050937 9 $TDUCREATE 40 2452643.063384271 9 $TDUPDATE 40 2458328.04439868 9 $TDUUPDATE 40 2458328.252732014 9 $TDINDWG 40 0.0000000347 9 $TDUSRTIMER 40 0.0242853356 9 $USRTIMER 70 1 9 $ANGBASE 50 0.0 9 $ANGDIR 70 0 9 $PDMODE 70 0 9 $PDSIZE 40 0.0 9 $PLINEWID 40 0.0 9 $SPLFRAME 70 0 9 $SPLINETYPE 70 6 9 $SPLINESEGS 70 8 9 $HANDSEED 5 2F2 9 $SURFTAB1 70 6 9 $SURFTAB2 70 6 9 $SURFTYPE 70 6 9 $SURFU 70 6 9 $SURFV 70 6 9 $UCSBASE 2 9 $UCSNAME 2 9 $UCSORG 10 0.0 20 0.0 30 0.0 9 $UCSXDIR 10 1.0 20 0.0 30 0.0 9 $UCSYDIR 10 0.0 20 1.0 30 0.0 9 $UCSORTHOREF 2 9 $UCSORTHOVIEW 70 0 9 $UCSORGTOP 10 0.0 20 0.0 30 0.0 9 $UCSORGBOTTOM 10 0.0 20 0.0 30 0.0 9 $UCSORGLEFT 10 0.0 20 0.0 30 0.0 9 $UCSORGRIGHT 10 0.0 20 0.0 30 0.0 9 $UCSORGFRONT 10 0.0 20 0.0 30 0.0 9 $UCSORGBACK 10 0.0 20 0.0 30 0.0 9 $PUCSBASE 2 9 $PUCSNAME 2 9 $PUCSORG 10 0.0 20 0.0 30 0.0 9 $PUCSXDIR 10 1.0 20 0.0 30 0.0 9 $PUCSYDIR 10 0.0 20 1.0 30 0.0 9 $PUCSORTHOREF 2 9 $PUCSORTHOVIEW 70 0 9 $PUCSORGTOP 10 0.0 20 0.0 30 0.0 9 $PUCSORGBOTTOM 10 0.0 20 0.0 30 0.0 9 $PUCSORGLEFT 10 0.0 20 0.0 30 0.0 9 $PUCSORGRIGHT 10 0.0 20 0.0 30 0.0 9 $PUCSORGFRONT 10 0.0 20 0.0 30 0.0 9 $PUCSORGBACK 10 0.0 20 0.0 30 0.0 9 $USERI1 70 0 9 $USERI2 70 0 9 $USERI3 70 0 9 $USERI4 70 0 9 $USERI5 70 0 9 $USERR1 40 0.0 9 $USERR2 40 0.0 9 $USERR3 40 0.0 9 $USERR4 40 0.0 9 $USERR5 40 0.0 9 $WORLDVIEW 70 1 9 $SHADEDGE 70 3 9 $SHADEDIF 70 70 9 $TILEMODE 70 1 9 $MAXACTVP 70 64 9 $PINSBASE 10 0.0 20 0.0 30 0.0 9 $PLIMCHECK 70 0 9 $PEXTMIN 10 0.0 20 0.0 30 0.0 9 $PEXTMAX 10 0.0 20 0.0 30 0.0 9 $PLIMMIN 10 0.0 20 0.0 9 $PLIMMAX 10 0.0 20 0.0 9 $UNITMODE 70 0 9 $VISRETAIN 70 1 9 $PLINEGEN 70 0 9 $PSLTSCALE 70 1 9 $TREEDEPTH 70 3020 9 $CMLSTYLE 2 Standard 9 $CMLJUST 70 0 9 $CMLSCALE 40 1.0 9 $PROXYGRAPHICS 70 1 9 $MEASUREMENT 70 0 9 $CELWEIGHT 370 -1 9 $ENDCAPS 280 0 9 $JOINSTYLE 280 0 9 $LWDISPLAY 290 0 9 $INSUNITS 70 1 9 $HYPERLINKBASE 1 9 $STYLESHEET 1 9 $XEDIT 290 1 9 $CEPSNTYPE 380 0 9 $PSTYLEMODE 290 1 9 $FINGERPRINTGUID 2 {FDEAD576-A652-11D2-9A35-0060089B3A3F} 9 $VERSIONGUID 2 {FBC2AE19-5C5C-49EC-81BC-71B1A3362A02} 9 $EXTNAMES 290 1 9 $PSVPSCALE 40 0.0 9 $OLESTARTUP 290 0 0 ENDSEC 0 SECTION 2 CLASSES 0 CLASS 1 ACDBDICTIONARYWDFLT 2 AcDbDictionaryWithDefault 3 ObjectDBX Classes 90 0 280 0 281 0 0 CLASS 1 ACDBPLACEHOLDER 2 AcDbPlaceHolder 3 ObjectDBX Classes 90 0 280 0 281 0 0 CLASS 1 LAYOUT 2 AcDbLayout 3 ObjectDBX Classes 90 0 280 0 281 0 0 CLASS 1 DICTIONARYVAR 2 AcDbDictionaryVar 3 ObjectDBX Classes 90 0 280 0 281 0 0 CLASS 1 TABLESTYLE 2 AcDbTableStyle 3 ObjectDBX Classes 90 4095 280 0 281 0 0 CLASS 1 MATERIAL 2 AcDbMaterial 3 ObjectDBX Classes 90 1153 280 0 281 0 0 CLASS 1 VISUALSTYLE 2 AcDbVisualStyle 3 ObjectDBX Classes 90 4095 280 0 281 0 0 CLASS 1 SCALE 2 AcDbScale 3 ObjectDBX Classes 90 1153 280 0 281 0 0 CLASS 1 CELLSTYLEMAP 2 AcDbCellStyleMap 3 ObjectDBX Classes 90 1152 280 0 281 0 0 CLASS 1 RASTERVARIABLES 2 AcDbRasterVariables 3 ISM 90 0 280 0 281 0 0 CLASS 1 SUN 2 AcDbSun 3 SCENEOE 90 1153 280 0 281 0 0 CLASS 1 MLEADERSTYLE 2 AcDbMLeaderStyle 3 ACDB_MLEADERSTYLE_CLASS 90 4095 280 0 281 0 0 CLASS 1 XRECORD 2 AcDbXrecord 3 ObjectDBX Classes 90 0 280 0 281 0 0 CLASS 1 LWPOLYLINE 2 AcDbPolyline 3 ObjectDBX Classes 90 0 280 0 281 1 0 CLASS 1 HATCH 2 AcDbHatch 3 ObjectDBX Classes 90 0 280 0 281 1 0 ENDSEC 0 SECTION 2 TABLES 0 TABLE 2 VPORT 5 8 330 0 100 AcDbSymbolTable 70 1 0 VPORT 5 94 330 8 100 AcDbSymbolTableRecord 100 AcDbViewportTableRecord 2 *Active 70 0 10 0.0 20 0.0 11 1.0 21 1.0 12 26.74221696850897 22 19.47779793638243 13 0.0 23 0.0 14 0.5 24 0.5 15 0.5 25 0.5 16 0.0 26 0.0 36 1.0 17 -27.66959356597984 27 -19.53870295786203 37 0.0 40 30.19080748191286 41 0.4326337169939066 42 50.0 43 0.0 44 0.0 50 0.0 51 0.0 71 16 72 1000 73 1 74 3 75 0 76 0 77 0 78 0 281 0 65 1 110 0.0 120 0.0 130 0.0 111 1.0 121 0.0 131 0.0 112 0.0 122 1.0 132 0.0 79 0 146 0.0 0 ENDTAB 0 TABLE 2 LTYPE 5 5 330 0 100 AcDbSymbolTable 70 1 0 LTYPE 5 14 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ByBlock 70 0 3 72 65 73 0 40 0.0 0 LTYPE 5 15 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ByLayer 70 0 3 72 65 73 0 40 0.0 0 LTYPE 5 16 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 Continuous 70 0 3 Solid line 72 65 73 0 40 0.0 0 ENDTAB 0 TABLE 2 LAYER 5 2 330 0 100 AcDbSymbolTable 70 1 0 LAYER 5 10 330 2 100 AcDbSymbolTableRecord 100 AcDbLayerTableRecord 2 0 70 0 62 7 6 Continuous 370 -3 390 F 0 ENDTAB 0 TABLE 2 STYLE 5 3 330 0 100 AcDbSymbolTable 70 2 0 STYLE 5 11 330 3 100 AcDbSymbolTableRecord 100 AcDbTextStyleTableRecord 2 Standard 70 0 40 0.0 41 1.0 50 0.0 71 0 42 0.2 3 arial.ttf 4 1001 ACAD 1000 Arial 1071 0 0 STYLE 5 125 330 3 100 AcDbSymbolTableRecord 100 AcDbTextStyleTableRecord 2 Annotative 70 0 40 0.0 41 1.0 50 0.0 71 0 42 0.2 3 arial.ttf 4 1001 ACAD 1000 Arial 1071 0 1001 AcadAnnotative 1000 AnnotativeData 1002 { 1070 1 1070 1 1002 } 0 ENDTAB 0 TABLE 2 VIEW 5 6 330 0 100 AcDbSymbolTable 70 0 0 ENDTAB 0 TABLE 2 UCS 5 7 330 0 100 AcDbSymbolTable 70 0 0 ENDTAB 0 TABLE 2 APPID 5 9 330 0 100 AcDbSymbolTable 70 2 0 APPID 5 12 330 9 100 AcDbSymbolTableRecord 100 AcDbRegAppTableRecord 2 ACAD 70 0 0 APPID 5 126 330 9 100 AcDbSymbolTableRecord 100 AcDbRegAppTableRecord 2 AcadAnnotative 70 0 0 ENDTAB 0 TABLE 2 DIMSTYLE 5 A 330 0 100 AcDbSymbolTable 70 2 100 AcDbDimStyleTable 0 DIMSTYLE 105 27 330 A 100 AcDbSymbolTableRecord 100 AcDbDimStyleTableRecord 2 Standard 70 0 178 0 340 11 0 DIMSTYLE 105 127 330 A 100 AcDbSymbolTableRecord 100 AcDbDimStyleTableRecord 2 Annotative 70 0 40 0.0 178 0 340 11 1001 AcadAnnotative 1000 AnnotativeData 1002 { 1070 1 1070 1 1002 } 0 ENDTAB 0 TABLE 2 BLOCK_RECORD 5 1 330 0 100 AcDbSymbolTable 70 1 0 BLOCK_RECORD 5 1F 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Model_Space 340 22 0 BLOCK_RECORD 5 58 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Paper_Space 340 59 0 BLOCK_RECORD 5 5D 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Paper_Space0 340 5E 0 ENDTAB 0 ENDSEC 0 SECTION 2 BLOCKS 0 BLOCK 5 20 330 1F 100 AcDbEntity 8 0 100 AcDbBlockBegin 2 *Model_Space 70 0 10 0.0 20 0.0 30 0.0 3 *Model_Space 1 0 ENDBLK 5 21 330 1F 100 AcDbEntity 8 0 100 AcDbBlockEnd 0 BLOCK 5 5A 330 58 100 AcDbEntity 67 1 8 0 100 AcDbBlockBegin 2 *Paper_Space 70 0 10 0.0 20 0.0 30 0.0 3 *Paper_Space 1 0 ENDBLK 5 5B 330 58 100 AcDbEntity 67 1 8 0 100 AcDbBlockEnd 0 BLOCK 5 5F 330 5D 100 AcDbEntity 8 0 100 AcDbBlockBegin 2 *Paper_Space0 70 0 10 0.0 20 0.0 30 0.0 3 *Paper_Space0 1 0 ENDBLK 5 60 330 5D 100 AcDbEntity 8 0 100 AcDbBlockEnd 0 ENDSEC 0 SECTION 2 ENTITIES 0 LWPOLYLINE 5 12A 330 1F 100 AcDbEntity 8 0 100 AcDbPolyline 90 4 70 1 43 0.0 10 0.0 20 0.0 10 0.0 20 0.9999999999999998 10 1.0 20 0.9999999999999998 10 1.0 20 0.0 0 CIRCLE 5 167 330 1F 100 AcDbEntity 8 0 100 AcDbCircle 10 0.5 20 0.5 30 0.0 40 0.25 0 ARC 5 168 330 1F 100 AcDbEntity 8 0 100 AcDbCircle 10 0.5 20 0.625 30 0.0 40 0.625 100 AcDbArc 50 36.86989764584402 51 143.130102354156 0 ARC 5 169 330 1F 100 AcDbEntity 8 0 100 AcDbCircle 10 3.25 20 1.25 30 0.0 40 2.850438562747845 100 AcDbArc 50 142.1250163489018 51 195.2551187030578 0 SPLINE 5 16A 330 1F 100 AcDbEntity 8 0 100 AcDbSpline 210 0.0 220 0.0 230 1.0 70 1064 71 3 72 9 73 5 74 3 42 0.000000001 43 0.0000000001 44 0.0 40 0.0 40 0.0 40 0.0 40 0.0 40 1.538051296566081 40 2.335347183687379 40 2.335347183687379 40 2.335347183687379 40 2.335347183687379 10 -0.4151804233604739 20 -1.059059164557658 30 0.0 10 0.0883015686312684 20 -0.6205213637576867 30 0.0 10 0.8527788358462045 20 0.0453459062905917 30 0.0 10 1.302039104492855 20 -0.7271331447224565 30 0.0 10 1.455418168188822 20 -0.9908602575740904 30 0.0 11 -0.4151804233604739 21 -1.059059164557658 31 0.0 11 0.9585404173085401 21 -0.3673273937243249 31 0.0 11 1.455418168188822 21 -0.9908602575740904 31 0.0 0 LINE 5 16B 330 1F 100 AcDbEntity 8 0 100 AcDbLine 10 -0.1472561459250279 20 -1.67284932740977 30 0.0 11 0.4957621199200424 21 -1.565679616435592 31 0.0 0 LINE 5 16C 330 1F 100 AcDbEntity 8 0 100 AcDbLine 10 0.4957621199200424 20 -1.565679616435592 30 0.0 11 0.6272885833883521 21 -2.174598428788879 31 0.0 0 LINE 5 16D 330 1F 100 AcDbEntity 8 0 100 AcDbLine 10 0.6272885833883521 20 -2.174598428788879 30 0.0 11 1.070581478781545 21 -1.755662285889817 31 0.0 0 LINE 5 16E 330 1F 100 AcDbEntity 8 0 100 AcDbLine 10 1.070581478781545 20 -1.755662285889817 30 0.0 11 1.070581478781545 21 -2.296382191259536 31 0.0 0 LINE 5 16F 330 1F 100 AcDbEntity 8 0 100 AcDbLine 10 1.070581478781545 20 -2.296382191259536 30 0.0 11 1.60155868315361 21 -1.857960646365169 31 0.0 0 LINE 5 170 330 1F 100 AcDbEntity 8 0 100 AcDbLine 10 1.60155868315361 20 -1.857960646365169 30 0.0 11 1.357991158212296 21 -2.744546437151554 31 0.0 0 LINE 5 171 330 1F 100 AcDbEntity 8 0 100 AcDbLine 10 1.357991158212296 20 -2.744546437151554 30 0.0 11 -0.147256145925028 21 -2.10639952180531 31 0.0 0 LINE 5 175 330 1F 100 AcDbEntity 8 0 100 AcDbLine 10 -0.7172041542877039 20 -3.109897724563526 30 0.0 11 -0.2057123519109434 21 -2.593534571687939 31 0.0 0 LINE 5 176 330 1F 100 AcDbEntity 8 0 100 AcDbLine 10 -0.2057123519109434 20 -2.593534571687939 30 0.0 11 0.2180951414869439 21 -3.207324734540052 31 0.0 0 LINE 5 177 330 1F 100 AcDbEntity 8 0 100 AcDbLine 10 0.2180951414869439 20 -3.207324734540052 30 0.0 11 -0.7172041542877039 21 -3.109897724563526 31 0.0 0 SPLINE 5 179 330 1F 100 AcDbEntity 8 0 100 AcDbSpline 210 0.0 220 0.0 230 1.0 70 1067 71 3 72 13 73 9 74 7 42 0.000000001 43 0.0000000001 44 0.0 40 0.0 40 0.0 40 0.0 40 0.0 40 1.9225113422958 40 3.360265606758616 40 4.046860115652172 40 6.615797578603358 40 8.503236241709848 40 9.11509365122363 40 9.11509365122363 40 9.11509365122363 40 9.11509365122363 10 -1.135298664976644 20 -5.184552823386357 30 0.0 10 -1.476839932054117 20 -4.976346816997665 30 0.0 10 0.6933965948434737 20 -3.272375518465274 30 0.0 10 1.433830295746211 20 -5.424947301661069 30 0.0 10 3.018639792331153 20 -3.572852803680145 30 0.0 10 0.5999523680431931 20 -8.242281734217539 30 0.0 10 0.0724465206984408 20 -5.204275996902797 30 0.0 10 -1.026599927903641 20 -5.250816353234804 30 0.0 10 -1.135298664976644 20 -5.184552823386357 30 0.0 11 -1.135298664976644 21 -5.184552823386357 31 0.0 11 0.4973351706329325 21 -4.16938947688553 31 0.0 11 1.721810547340114 21 -4.922912785628411 31 0.0 11 2.266021825876639 21 -4.504288725215701 31 0.0 11 0.8217688174527835 21 -6.628805831810213 31 0.0 11 -0.5387593788885294 21 -5.320605643020488 31 0.0 11 -1.135298664976644 21 -5.184552823386357 31 0.0 0 SPLINE 5 17A 330 1F 100 AcDbEntity 8 0 100 AcDbSpline 210 0.0 220 0.0 230 1.0 70 1064 71 3 72 13 73 9 74 7 42 0.000000001 43 0.0000000001 44 0.0 40 0.0 40 0.0 40 0.0 40 0.0 40 2.690473908577286 40 4.91554053553455 40 7.003237863743617 40 9.215221413063865 40 11.9890994298189 40 17.83630882482168 40 17.83630882482168 40 17.83630882482168 40 17.83630882482168 10 -0.6748121985226609 20 2.999547557682159 30 0.0 10 -2.036398131611446 20 2.569523608990628 30 0.0 10 -4.524038255299083 20 1.783862709509311 30 0.0 10 0.4079557244657449 20 0.1801399025116883 30 0.0 10 -4.734702936511616 20 -0.6951810363053812 30 0.0 10 0.6860352663255553 20 -1.830916668457324 30 0.0 10 -6.364407142616306 20 -4.155340729059665 30 0.0 10 -1.914075266320932 20 -6.040759610350885 30 0.0 10 1.104340058231364 20 -7.319535531491186 30 0.0 11 -0.6748121985226609 21 2.999547557682159 31 0.0 11 -2.977244530792576 21 1.607622556809893 31 0.0 11 -1.208557875548868 21 0.2575599619788962 31 0.0 11 -3.060969342875118 21 -0.7052753769703406 31 0.0 11 -1.135298664976644 21 -1.793697934043391 31 0.0 11 -3.322609380633063 21 -3.499590980225192 31 0.0 11 1.104340058231364 21 -7.319535531491186 31 0.0 0 ENDSEC 0 SECTION 2 OBJECTS 0 DICTIONARY 5 C 330 0 100 AcDbDictionary 281 1 3 ACAD_DETAILVIEWSTYLE 350 122 3 ACAD_GROUP 350 D 3 ACAD_IMAGE_VARS 350 DC 3 ACAD_LAYOUT 350 1A 3 ACAD_MLINESTYLE 350 17 3 ACAD_PLOTSETTINGS 350 19 3 ACAD_PLOTSTYLENAME 350 E 3 ACAD_SCALELIST 350 B6 3 ACAD_SECTIONVIEWSTYLE 350 123 3 AcDbVariableDictionary 350 66 3 APPDATA 350 E1 3 DWGPROPS 350 2F1 0 DICTIONARY 5 122 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 0 DICTIONARY 5 D 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 0 RASTERVARIABLES 5 DC 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbRasterVariables 90 0 70 1 71 1 72 5 0 DICTIONARY 5 1A 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 Model 350 22 3 Sheet1 350 59 3 Sheet2 350 5E 0 DICTIONARY 5 17 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 Standard 350 18 0 DICTIONARY 5 19 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 0 ACDBDICTIONARYWDFLT 5 E 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 Normal 350 F 100 AcDbDictionaryWithDefault 340 F 0 DICTIONARY 5 B6 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 A0 350 B7 3 A1 350 B8 3 A2 350 B9 3 A3 350 BA 3 A4 350 BB 3 A5 350 BC 3 A6 350 BD 3 A7 350 BE 3 A8 350 BF 3 A9 350 C0 3 B0 350 C1 3 B1 350 C2 3 B2 350 C3 3 B3 350 C4 3 B4 350 C5 3 B5 350 C6 3 B6 350 C7 3 B7 350 C8 3 B8 350 C9 3 B9 350 CA 3 C0 350 CB 3 C1 350 CC 3 C2 350 CD 3 C3 350 CE 3 C4 350 CF 3 C5 350 D0 3 C6 350 D1 3 C7 350 D2 3 C8 350 D3 3 C9 350 D4 3 D0 350 D5 3 D1 350 D6 3 D2 350 D7 0 DICTIONARY 5 123 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 0 DICTIONARY 5 66 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 DIMASSOC 350 67 3 HIDETEXT 350 6B 0 DICTIONARY 5 E1 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 0 XRECORD 5 2F1 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbXrecord 280 1 1 DWGPROPS COOKIE 2 3 4 6 7 8 9 300 = 301 = 302 = 303 = 304 = 305 = 306 = 307 = 308 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$DIMGAP 40 0.09 9 $DIMJUST 70 0 9 $DIMSD1 70 0 9 $DIMSD2 70 0 9 $DIMTOLJ 70 1 9 $DIMTZIN 70 0 9 $DIMALTZ 70 0 9 $DIMALTTZ 70 0 9 $DIMUPT 70 0 9 $DIMDEC 70 4 9 $DIMTDEC 70 4 9 $DIMALTU 70 2 9 $DIMALTTD 70 2 9 $DIMTXSTY 7 Standard 9 $DIMAUNIT 70 0 9 $DIMADEC 70 0 9 $DIMALTRND 40 0.0 9 $DIMAZIN 70 0 9 $DIMDSEP 70 46 9 $DIMATFIT 70 3 9 $DIMFRAC 70 0 9 $DIMLDRBLK 1 9 $DIMLUNIT 70 2 9 $DIMLWD 70 -2 9 $DIMLWE 70 -2 9 $DIMTMOVE 70 0 9 $LUNITS 70 2 9 $LUPREC 70 4 9 $SKETCHINC 40 0.1 9 $FILLETRAD 40 0.0 9 $AUNITS 70 0 9 $AUPREC 70 0 9 $MENU 1 . 9 $ELEVATION 40 0.0 9 $PELEVATION 40 0.0 9 $THICKNESS 40 0.0 9 $LIMCHECK 70 0 9 $CHAMFERA 40 0.0 9 $CHAMFERB 40 0.0 9 $CHAMFERC 40 0.0 9 $CHAMFERD 40 0.0 9 $SKPOLY 70 0 9 $TDCREATE 40 2452642.855050937 9 $TDUCREATE 40 2452643.063384271 9 $TDUPDATE 40 2458328.044488137 9 $TDUUPDATE 40 2458328.25282147 9 $TDINDWG 40 0.0000000463 9 $TDUSRTIMER 40 0.0243748032 9 $USRTIMER 70 1 9 $ANGBASE 50 0.0 9 $ANGDIR 70 0 9 $PDMODE 70 0 9 $PDSIZE 40 0.0 9 $PLINEWID 40 0.0 9 $SPLFRAME 70 0 9 $SPLINETYPE 70 6 9 $SPLINESEGS 70 8 9 $HANDSEED 5 2F7 9 $SURFTAB1 70 6 9 $SURFTAB2 70 6 9 $SURFTYPE 70 6 9 $SURFU 70 6 9 $SURFV 70 6 9 $UCSBASE 2 9 $UCSNAME 2 9 $UCSORG 10 0.0 20 0.0 30 0.0 9 $UCSXDIR 10 1.0 20 0.0 30 0.0 9 $UCSYDIR 10 0.0 20 1.0 30 0.0 9 $UCSORTHOREF 2 9 $UCSORTHOVIEW 70 0 9 $UCSORGTOP 10 0.0 20 0.0 30 0.0 9 $UCSORGBOTTOM 10 0.0 20 0.0 30 0.0 9 $UCSORGLEFT 10 0.0 20 0.0 30 0.0 9 $UCSORGRIGHT 10 0.0 20 0.0 30 0.0 9 $UCSORGFRONT 10 0.0 20 0.0 30 0.0 9 $UCSORGBACK 10 0.0 20 0.0 30 0.0 9 $PUCSBASE 2 9 $PUCSNAME 2 9 $PUCSORG 10 0.0 20 0.0 30 0.0 9 $PUCSXDIR 10 1.0 20 0.0 30 0.0 9 $PUCSYDIR 10 0.0 20 1.0 30 0.0 9 $PUCSORTHOREF 2 9 $PUCSORTHOVIEW 70 0 9 $PUCSORGTOP 10 0.0 20 0.0 30 0.0 9 $PUCSORGBOTTOM 10 0.0 20 0.0 30 0.0 9 $PUCSORGLEFT 10 0.0 20 0.0 30 0.0 9 $PUCSORGRIGHT 10 0.0 20 0.0 30 0.0 9 $PUCSORGFRONT 10 0.0 20 0.0 30 0.0 9 $PUCSORGBACK 10 0.0 20 0.0 30 0.0 9 $USERI1 70 0 9 $USERI2 70 0 9 $USERI3 70 0 9 $USERI4 70 0 9 $USERI5 70 0 9 $USERR1 40 0.0 9 $USERR2 40 0.0 9 $USERR3 40 0.0 9 $USERR4 40 0.0 9 $USERR5 40 0.0 9 $WORLDVIEW 70 1 9 $SHADEDGE 70 3 9 $SHADEDIF 70 70 9 $TILEMODE 70 1 9 $MAXACTVP 70 64 9 $PINSBASE 10 0.0 20 0.0 30 0.0 9 $PLIMCHECK 70 0 9 $PEXTMIN 10 0.0 20 0.0 30 0.0 9 $PEXTMAX 10 0.0 20 0.0 30 0.0 9 $PLIMMIN 10 0.0 20 0.0 9 $PLIMMAX 10 0.0 20 0.0 9 $UNITMODE 70 0 9 $VISRETAIN 70 1 9 $PLINEGEN 70 0 9 $PSLTSCALE 70 1 9 $TREEDEPTH 70 3020 9 $CMLSTYLE 2 Standard 9 $CMLJUST 70 0 9 $CMLSCALE 40 1.0 9 $PROXYGRAPHICS 70 1 9 $MEASUREMENT 70 0 9 $CELWEIGHT 370 -1 9 $ENDCAPS 280 0 9 $JOINSTYLE 280 0 9 $LWDISPLAY 290 0 9 $INSUNITS 70 1 9 $HYPERLINKBASE 1 9 $STYLESHEET 1 9 $XEDIT 290 1 9 $CEPSNTYPE 380 0 9 $PSTYLEMODE 290 1 9 $FINGERPRINTGUID 2 {FDEAD576-A652-11D2-9A35-0060089B3A3F} 9 $VERSIONGUID 2 {FBC2AE19-5C5C-49EC-81BC-71B1A3362A02} 9 $EXTNAMES 290 1 9 $PSVPSCALE 40 0.0 9 $OLESTARTUP 290 0 9 $SORTENTS 280 127 9 $INDEXCTL 280 0 9 $HIDETEXT 280 1 9 $XCLIPFRAME 290 0 9 $HALOGAP 280 0 9 $OBSCOLOR 70 257 9 $OBSLTYPE 280 0 9 $INTERSECTIONDISPLAY 280 0 9 $INTERSECTIONCOLOR 70 257 9 $DIMASSOC 280 2 9 $PROJECTNAME 1 0 ENDSEC 0 SECTION 2 CLASSES 0 CLASS 1 ACDBDICTIONARYWDFLT 2 AcDbDictionaryWithDefault 3 ObjectDBX Classes 90 0 91 5 280 0 281 0 0 CLASS 1 ACDBPLACEHOLDER 2 AcDbPlaceHolder 3 ObjectDBX Classes 90 0 91 1 280 0 281 0 0 CLASS 1 LAYOUT 2 AcDbLayout 3 ObjectDBX Classes 90 0 91 1 280 0 281 0 0 CLASS 1 DICTIONARYVAR 2 AcDbDictionaryVar 3 ObjectDBX Classes 90 0 91 5 280 0 281 0 0 CLASS 1 TABLESTYLE 2 AcDbTableStyle 3 ObjectDBX Classes 90 4095 91 5 280 0 281 0 0 CLASS 1 MATERIAL 2 AcDbMaterial 3 ObjectDBX Classes 90 1153 91 5 280 0 281 0 0 CLASS 1 VISUALSTYLE 2 AcDbVisualStyle 3 ObjectDBX Classes 90 4095 91 5 280 0 281 0 0 CLASS 1 SCALE 2 AcDbScale 3 ObjectDBX Classes 90 1153 91 5 280 0 281 0 0 CLASS 1 CELLSTYLEMAP 2 AcDbCellStyleMap 3 ObjectDBX Classes 90 1152 91 5 280 0 281 0 0 CLASS 1 RASTERVARIABLES 2 AcDbRasterVariables 3 ISM 90 0 91 5 280 0 281 0 0 CLASS 1 SUN 2 AcDbSun 3 SCENEOE 90 1153 91 5 280 0 281 0 0 CLASS 1 MLEADERSTYLE 2 AcDbMLeaderStyle 3 ACDB_MLEADERSTYLE_CLASS 90 4095 91 5 280 0 281 0 0 CLASS 1 XRECORD 2 AcDbXrecord 3 ObjectDBX Classes 90 0 91 1 280 0 281 0 0 CLASS 1 LWPOLYLINE 2 AcDbPolyline 3 ObjectDBX Classes 90 0 91 1 280 0 281 1 0 CLASS 1 HATCH 2 AcDbHatch 3 ObjectDBX Classes 90 0 91 1 280 0 281 1 0 ENDSEC 0 SECTION 2 TABLES 0 TABLE 2 VPORT 5 8 330 0 100 AcDbSymbolTable 70 1 0 VPORT 5 94 330 8 100 AcDbSymbolTableRecord 100 AcDbViewportTableRecord 2 *Active 70 0 10 0.0 20 0.0 11 1.0 21 1.0 12 26.74221696850897 22 19.47779793638243 13 0.0 23 0.0 14 0.5 24 0.5 15 0.5 25 0.5 16 0.0 26 0.0 36 1.0 17 -27.66959356597984 27 -19.53870295786203 37 0.0 40 30.19080748191286 41 0.4326337169939066 42 50.0 43 0.0 44 0.0 50 0.0 51 0.0 71 16 72 1000 73 1 74 3 75 0 76 0 77 0 78 0 281 0 65 1 110 0.0 120 0.0 130 0.0 111 1.0 121 0.0 131 0.0 112 0.0 122 1.0 132 0.0 79 0 146 0.0 0 ENDTAB 0 TABLE 2 LTYPE 5 5 330 0 100 AcDbSymbolTable 70 1 0 LTYPE 5 14 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ByBlock 70 0 3 72 65 73 0 40 0.0 0 LTYPE 5 15 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ByLayer 70 0 3 72 65 73 0 40 0.0 0 LTYPE 5 16 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 Continuous 70 0 3 Solid line 72 65 73 0 40 0.0 0 ENDTAB 0 TABLE 2 LAYER 5 2 330 0 100 AcDbSymbolTable 70 1 0 LAYER 5 10 330 2 100 AcDbSymbolTableRecord 100 AcDbLayerTableRecord 2 0 70 0 62 7 6 Continuous 370 -3 390 F 0 ENDTAB 0 TABLE 2 STYLE 5 3 330 0 100 AcDbSymbolTable 70 2 0 STYLE 5 11 330 3 100 AcDbSymbolTableRecord 100 AcDbTextStyleTableRecord 2 Standard 70 0 40 0.0 41 1.0 50 0.0 71 0 42 0.2 3 arial.ttf 4 1001 ACAD 1000 Arial 1071 0 0 STYLE 5 125 330 3 100 AcDbSymbolTableRecord 100 AcDbTextStyleTableRecord 2 Annotative 70 0 40 0.0 41 1.0 50 0.0 71 0 42 0.2 3 arial.ttf 4 1001 ACAD 1000 Arial 1071 0 1001 AcadAnnotative 1000 AnnotativeData 1002 { 1070 1 1070 1 1002 } 0 ENDTAB 0 TABLE 2 VIEW 5 6 330 0 100 AcDbSymbolTable 70 0 0 ENDTAB 0 TABLE 2 UCS 5 7 330 0 100 AcDbSymbolTable 70 0 0 ENDTAB 0 TABLE 2 APPID 5 9 330 0 100 AcDbSymbolTable 70 3 0 APPID 5 12 330 9 100 AcDbSymbolTableRecord 100 AcDbRegAppTableRecord 2 ACAD 70 0 0 APPID 5 126 330 9 100 AcDbSymbolTableRecord 100 AcDbRegAppTableRecord 2 AcadAnnotative 70 0 0 APPID 5 2F5 330 9 100 AcDbSymbolTableRecord 100 AcDbRegAppTableRecord 2 ACAD_MLEADERVER 70 0 0 ENDTAB 0 TABLE 2 DIMSTYLE 5 A 330 0 100 AcDbSymbolTable 70 2 100 AcDbDimStyleTable 0 DIMSTYLE 105 27 330 A 100 AcDbSymbolTableRecord 100 AcDbDimStyleTableRecord 2 Standard 70 0 178 0 340 11 0 DIMSTYLE 105 127 330 A 100 AcDbSymbolTableRecord 100 AcDbDimStyleTableRecord 2 Annotative 70 0 40 0.0 178 0 340 11 1001 AcadAnnotative 1000 AnnotativeData 1002 { 1070 1 1070 1 1002 } 0 ENDTAB 0 TABLE 2 BLOCK_RECORD 5 1 330 0 100 AcDbSymbolTable 70 1 0 BLOCK_RECORD 5 1F 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Model_Space 340 22 0 BLOCK_RECORD 5 58 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Paper_Space 340 59 0 BLOCK_RECORD 5 5D 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Paper_Space0 340 5E 0 ENDTAB 0 ENDSEC 0 SECTION 2 BLOCKS 0 BLOCK 5 20 330 1F 100 AcDbEntity 8 0 100 AcDbBlockBegin 2 *Model_Space 70 0 10 0.0 20 0.0 30 0.0 3 *Model_Space 1 0 ENDBLK 5 21 330 1F 100 AcDbEntity 8 0 100 AcDbBlockEnd 0 BLOCK 5 5A 330 58 100 AcDbEntity 67 1 8 0 100 AcDbBlockBegin 2 *Paper_Space 70 0 10 0.0 20 0.0 30 0.0 3 *Paper_Space 1 0 ENDBLK 5 5B 330 58 100 AcDbEntity 67 1 8 0 100 AcDbBlockEnd 0 BLOCK 5 5F 330 5D 100 AcDbEntity 8 0 100 AcDbBlockBegin 2 *Paper_Space0 70 0 10 0.0 20 0.0 30 0.0 3 *Paper_Space0 1 0 ENDBLK 5 60 330 5D 100 AcDbEntity 8 0 100 AcDbBlockEnd 0 ENDSEC 0 SECTION 2 ENTITIES 0 LWPOLYLINE 5 12A 330 1F 100 AcDbEntity 8 0 100 AcDbPolyline 90 4 70 1 43 0.0 10 0.0 20 0.0 10 0.0 20 0.9999999999999998 10 1.0 20 0.9999999999999998 10 1.0 20 0.0 0 CIRCLE 5 167 330 1F 100 AcDbEntity 8 0 100 AcDbCircle 10 0.5 20 0.5 30 0.0 40 0.25 0 ARC 5 168 330 1F 100 AcDbEntity 8 0 100 AcDbCircle 10 0.5 20 0.625 30 0.0 40 0.625 100 AcDbArc 50 36.86989764584402 51 143.130102354156 0 ARC 5 169 330 1F 100 AcDbEntity 8 0 100 AcDbCircle 10 3.25 20 1.25 30 0.0 40 2.850438562747845 100 AcDbArc 50 142.1250163489018 51 195.2551187030578 0 SPLINE 5 16A 330 1F 100 AcDbEntity 8 0 100 AcDbSpline 210 0.0 220 0.0 230 1.0 70 1064 71 3 72 9 73 5 74 3 42 0.000000001 43 0.0000000001 44 0.0 40 0.0 40 0.0 40 0.0 40 0.0 40 1.538051296566081 40 2.335347183687379 40 2.335347183687379 40 2.335347183687379 40 2.335347183687379 10 -0.4151804233604739 20 -1.059059164557658 30 0.0 10 0.0883015686312684 20 -0.6205213637576867 30 0.0 10 0.8527788358462045 20 0.0453459062905917 30 0.0 10 1.302039104492855 20 -0.7271331447224565 30 0.0 10 1.455418168188822 20 -0.9908602575740904 30 0.0 11 -0.4151804233604739 21 -1.059059164557658 31 0.0 11 0.9585404173085401 21 -0.3673273937243249 31 0.0 11 1.455418168188822 21 -0.9908602575740904 31 0.0 0 LINE 5 16B 330 1F 100 AcDbEntity 8 0 100 AcDbLine 10 -0.1472561459250279 20 -1.67284932740977 30 0.0 11 0.4957621199200424 21 -1.565679616435592 31 0.0 0 LINE 5 16C 330 1F 100 AcDbEntity 8 0 100 AcDbLine 10 0.4957621199200424 20 -1.565679616435592 30 0.0 11 0.6272885833883521 21 -2.174598428788879 31 0.0 0 LINE 5 16D 330 1F 100 AcDbEntity 8 0 100 AcDbLine 10 0.6272885833883521 20 -2.174598428788879 30 0.0 11 1.070581478781545 21 -1.755662285889817 31 0.0 0 LINE 5 16E 330 1F 100 AcDbEntity 8 0 100 AcDbLine 10 1.070581478781545 20 -1.755662285889817 30 0.0 11 1.070581478781545 21 -2.296382191259536 31 0.0 0 LINE 5 16F 330 1F 100 AcDbEntity 8 0 100 AcDbLine 10 1.070581478781545 20 -2.296382191259536 30 0.0 11 1.60155868315361 21 -1.857960646365169 31 0.0 0 LINE 5 170 330 1F 100 AcDbEntity 8 0 100 AcDbLine 10 1.60155868315361 20 -1.857960646365169 30 0.0 11 1.357991158212296 21 -2.744546437151554 31 0.0 0 LINE 5 171 330 1F 100 AcDbEntity 8 0 100 AcDbLine 10 1.357991158212296 20 -2.744546437151554 30 0.0 11 -0.147256145925028 21 -2.10639952180531 31 0.0 0 LINE 5 175 330 1F 100 AcDbEntity 8 0 100 AcDbLine 10 -0.7172041542877039 20 -3.109897724563526 30 0.0 11 -0.2057123519109434 21 -2.593534571687939 31 0.0 0 LINE 5 176 330 1F 100 AcDbEntity 8 0 100 AcDbLine 10 -0.2057123519109434 20 -2.593534571687939 30 0.0 11 0.2180951414869439 21 -3.207324734540052 31 0.0 0 LINE 5 177 330 1F 100 AcDbEntity 8 0 100 AcDbLine 10 0.2180951414869439 20 -3.207324734540052 30 0.0 11 -0.7172041542877039 21 -3.109897724563526 31 0.0 0 SPLINE 5 179 330 1F 100 AcDbEntity 8 0 100 AcDbSpline 210 0.0 220 0.0 230 1.0 70 1067 71 3 72 13 73 9 74 7 42 0.000000001 43 0.0000000001 44 0.0 40 0.0 40 0.0 40 0.0 40 0.0 40 1.9225113422958 40 3.360265606758616 40 4.046860115652172 40 6.615797578603358 40 8.503236241709848 40 9.11509365122363 40 9.11509365122363 40 9.11509365122363 40 9.11509365122363 10 -1.135298664976644 20 -5.184552823386357 30 0.0 10 -1.476839932054117 20 -4.976346816997665 30 0.0 10 0.6933965948434737 20 -3.272375518465274 30 0.0 10 1.433830295746211 20 -5.424947301661069 30 0.0 10 3.018639792331153 20 -3.572852803680145 30 0.0 10 0.5999523680431931 20 -8.242281734217539 30 0.0 10 0.0724465206984408 20 -5.204275996902797 30 0.0 10 -1.026599927903641 20 -5.250816353234804 30 0.0 10 -1.135298664976644 20 -5.184552823386357 30 0.0 11 -1.135298664976644 21 -5.184552823386357 31 0.0 11 0.4973351706329325 21 -4.16938947688553 31 0.0 11 1.721810547340114 21 -4.922912785628411 31 0.0 11 2.266021825876639 21 -4.504288725215701 31 0.0 11 0.8217688174527835 21 -6.628805831810213 31 0.0 11 -0.5387593788885294 21 -5.320605643020488 31 0.0 11 -1.135298664976644 21 -5.184552823386357 31 0.0 0 SPLINE 5 17A 330 1F 100 AcDbEntity 8 0 100 AcDbSpline 210 0.0 220 0.0 230 1.0 70 1064 71 3 72 13 73 9 74 7 42 0.000000001 43 0.0000000001 44 0.0 40 0.0 40 0.0 40 0.0 40 0.0 40 2.690473908577286 40 4.91554053553455 40 7.003237863743617 40 9.215221413063865 40 11.9890994298189 40 17.83630882482168 40 17.83630882482168 40 17.83630882482168 40 17.83630882482168 10 -0.6748121985226609 20 2.999547557682159 30 0.0 10 -2.036398131611446 20 2.569523608990628 30 0.0 10 -4.524038255299083 20 1.783862709509311 30 0.0 10 0.4079557244657449 20 0.1801399025116883 30 0.0 10 -4.734702936511616 20 -0.6951810363053812 30 0.0 10 0.6860352663255553 20 -1.830916668457324 30 0.0 10 -6.364407142616306 20 -4.155340729059665 30 0.0 10 -1.914075266320932 20 -6.040759610350885 30 0.0 10 1.104340058231364 20 -7.319535531491186 30 0.0 11 -0.6748121985226609 21 2.999547557682159 31 0.0 11 -2.977244530792576 21 1.607622556809893 31 0.0 11 -1.208557875548868 21 0.2575599619788962 31 0.0 11 -3.060969342875118 21 -0.7052753769703406 31 0.0 11 -1.135298664976644 21 -1.793697934043391 31 0.0 11 -3.322609380633063 21 -3.499590980225192 31 0.0 11 1.104340058231364 21 -7.319535531491186 31 0.0 0 ENDSEC 0 SECTION 2 OBJECTS 0 DICTIONARY 5 C 330 0 100 AcDbDictionary 281 1 3 ACAD_COLOR 350 73 3 ACAD_DETAILVIEWSTYLE 350 122 3 ACAD_GROUP 350 D 3 ACAD_IMAGE_VARS 350 DC 3 ACAD_LAYOUT 350 1A 3 ACAD_MATERIAL 350 72 3 ACAD_MLEADERSTYLE 350 B5 3 ACAD_MLINESTYLE 350 17 3 ACAD_PLOTSETTINGS 350 19 3 ACAD_PLOTSTYLENAME 350 E 3 ACAD_SCALELIST 350 B6 3 ACAD_SECTIONVIEWSTYLE 350 123 3 ACAD_TABLESTYLE 350 86 3 ACDB_RECOMPOSE_DATA 350 2F6 3 AcDbVariableDictionary 350 66 3 APPDATA 350 E1 0 DICTIONARY 5 73 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 0 DICTIONARY 5 122 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 0 DICTIONARY 5 D 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 0 RASTERVARIABLES 5 DC 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbRasterVariables 90 0 70 1 71 1 72 5 0 DICTIONARY 5 1A 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 Model 350 22 3 Sheet1 350 59 3 Sheet2 350 5E 0 DICTIONARY 5 72 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 ByBlock 350 E2 3 ByLayer 350 96 3 Global 350 98 0 DICTIONARY 5 B5 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 Annotative 350 129 3 Standard 350 124 0 DICTIONARY 5 17 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 Standard 350 18 0 DICTIONARY 5 19 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 0 ACDBDICTIONARYWDFLT 5 E 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 Normal 350 F 100 AcDbDictionaryWithDefault 340 F 0 DICTIONARY 5 B6 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 A0 350 B7 3 A1 350 B8 3 A2 350 B9 3 A3 350 BA 3 A4 350 BB 3 A5 350 BC 3 A6 350 BD 3 A7 350 BE 3 A8 350 BF 3 A9 350 C0 3 B0 350 C1 3 B1 350 C2 3 B2 350 C3 3 B3 350 C4 3 B4 350 C5 3 B5 350 C6 3 B6 350 C7 3 B7 350 C8 3 B8 350 C9 3 B9 350 CA 3 C0 350 CB 3 C1 350 CC 3 C2 350 CD 3 C3 350 CE 3 C4 350 CF 3 C5 350 D0 3 C6 350 D1 3 C7 350 D2 3 C8 350 D3 3 C9 350 D4 3 D0 350 D5 3 D1 350 D6 3 D2 350 D7 0 DICTIONARY 5 123 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 0 DICTIONARY 5 86 102 {ACAD_REACTORS 330 C 102 } 330 C 100 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0.0 36 0.0 17 0.0 27 1.0 37 0.0 76 0 330 58 0 LAYOUT 5 5E 102 {ACAD_REACTORS 330 1A 102 } 330 1A 100 AcDbPlotSettings 1 2 None 4 6 40 0.0 41 0.0 42 0.0 43 0.0 44 0.0 45 0.0 46 0.0 47 0.0 48 0.0 49 0.0 140 0.0 141 0.0 142 1.0 143 1.0 70 688 72 0 73 0 74 5 7 75 16 76 0 77 2 78 300 147 1.0 148 0.0 149 0.0 100 AcDbLayout 1 Sheet2 70 1 71 2 10 0.0 20 0.0 11 12.0 21 9.0 12 0.0 22 0.0 32 0.0 14 0.0 24 0.0 34 0.0 15 0.0 25 0.0 35 0.0 146 0.0 13 0.0 23 0.0 33 0.0 16 1.0 26 0.0 36 0.0 17 0.0 27 1.0 37 0.0 76 0 330 5D 0 MATERIAL 5 E2 102 {ACAD_REACTORS 330 72 102 } 330 72 100 AcDbMaterial 1 ByBlock 72 1 94 127 0 MATERIAL 5 96 102 {ACAD_REACTORS 330 72 102 } 330 72 100 AcDbMaterial 1 ByLayer 72 1 94 63 0 MATERIAL 5 98 102 {ACAD_REACTORS 330 72 102 } 330 72 100 AcDbMaterial 1 Global 72 1 94 63 0 MLEADERSTYLE 5 129 102 {ACAD_REACTORS 330 B5 102 } 330 B5 100 AcDbMLeaderStyle 170 2 171 1 172 0 90 2 40 0.0 41 0.0 173 1 91 -1056964608 340 14 92 -2 290 1 42 0.09 291 1 43 0.36 3 Annotative 341 0 44 0.18 300 342 11 174 1 178 1 175 1 176 0 93 -1056964608 45 0.18 292 0 297 0 46 0.18 343 0 94 -1056964608 47 1.0 49 1.0 140 1.0 293 1 141 0.0 294 1 177 0 142 1.0 295 0 296 1 143 0.125 1001 ACAD_MLEADERVER 1070 2 0 MLEADERSTYLE 5 124 102 {ACAD_REACTORS 330 B5 102 } 330 B5 100 AcDbMLeaderStyle 170 2 171 1 172 0 90 2 40 0.0 41 0.0 173 1 91 -1056964608 340 14 92 -2 290 1 42 0.09 291 1 43 0.36 3 Standard 341 0 44 0.18 300 342 11 174 1 178 6 175 1 176 0 93 -1056964608 45 0.18 292 0 297 0 46 0.18 343 0 94 -1056964608 47 1.0 49 1.0 140 1.0 293 1 141 0.0 294 1 177 0 142 1.0 295 0 296 0 143 0.125 1001 ACAD_MLEADERVER 1070 2 0 MLINESTYLE 5 18 102 {ACAD_REACTORS 330 17 102 } 330 17 100 AcDbMlineStyle 2 STANDARD 70 0 3 62 256 51 90.0 52 90.0 71 2 49 0.5 62 256 6 BYLAYER 49 -0.5 62 256 6 BYLAYER 0 ACDBPLACEHOLDER 5 F 102 {ACAD_REACTORS 330 E 102 } 330 E 0 SCALE 5 B7 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 1:1 140 1.0 141 1.0 290 1 0 SCALE 5 B8 102 {ACAD_REACTORS 330 B6 102 } 330 B6 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AcDbDimStyleTableRecord 2 Standard 70 0 178 0 340 11 0 DIMSTYLE 105 127 330 A 100 AcDbSymbolTableRecord 100 AcDbDimStyleTableRecord 2 Annotative 70 0 40 0.0 178 0 340 11 1001 AcadAnnotative 1000 AnnotativeData 1002 { 1070 1 1070 1 1002 } 0 ENDTAB 0 TABLE 2 BLOCK_RECORD 5 1 330 0 100 AcDbSymbolTable 70 1 0 BLOCK_RECORD 5 1F 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Model_Space 340 22 70 0 280 1 281 0 0 BLOCK_RECORD 5 58 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Paper_Space 340 59 70 0 280 1 281 0 0 BLOCK_RECORD 5 5D 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Paper_Space0 340 5E 70 0 280 1 281 0 0 ENDTAB 0 ENDSEC 0 SECTION 2 BLOCKS 0 BLOCK 5 20 330 1F 100 AcDbEntity 8 0 100 AcDbBlockBegin 2 *Model_Space 70 0 10 0.0 20 0.0 30 0.0 3 *Model_Space 1 0 ENDBLK 5 21 330 1F 100 AcDbEntity 8 0 100 AcDbBlockEnd 0 BLOCK 5 5A 330 58 100 AcDbEntity 67 1 8 0 100 AcDbBlockBegin 2 *Paper_Space 70 0 10 0.0 20 0.0 30 0.0 3 *Paper_Space 1 0 ENDBLK 5 5B 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CLASS 1 TABLESTYLE 2 AcDbTableStyle 3 ObjectDBX Classes 90 4095 91 5 280 0 281 0 0 CLASS 1 MATERIAL 2 AcDbMaterial 3 ObjectDBX Classes 90 1153 91 5 280 0 281 0 0 CLASS 1 VISUALSTYLE 2 AcDbVisualStyle 3 ObjectDBX Classes 90 4095 91 5 280 0 281 0 0 CLASS 1 SCALE 2 AcDbScale 3 ObjectDBX Classes 90 1153 91 5 280 0 281 0 0 CLASS 1 CELLSTYLEMAP 2 AcDbCellStyleMap 3 ObjectDBX Classes 90 1152 91 5 280 0 281 0 0 CLASS 1 RASTERVARIABLES 2 AcDbRasterVariables 3 ISM 90 0 91 5 280 0 281 0 0 CLASS 1 SUN 2 AcDbSun 3 SCENEOE 90 1153 91 5 280 0 281 0 0 CLASS 1 MLEADERSTYLE 2 AcDbMLeaderStyle 3 ACDB_MLEADERSTYLE_CLASS 90 4095 91 5 280 0 281 0 0 CLASS 1 XRECORD 2 AcDbXrecord 3 ObjectDBX Classes 90 0 91 1 280 0 281 0 0 CLASS 1 LWPOLYLINE 2 AcDbPolyline 3 ObjectDBX Classes 90 0 91 1 280 0 281 1 0 CLASS 1 HATCH 2 AcDbHatch 3 ObjectDBX Classes 90 0 91 1 280 0 281 1 0 ENDSEC 0 SECTION 2 TABLES 0 TABLE 2 VPORT 5 8 330 0 100 AcDbSymbolTable 70 1 0 VPORT 5 94 330 8 100 AcDbSymbolTableRecord 100 AcDbViewportTableRecord 2 *Active 70 0 10 0.0 20 0.0 11 1.0 21 1.0 12 26.74221696850897 22 19.47779793638243 13 0.0 23 0.0 14 0.5 24 0.5 15 0.5 25 0.5 16 0.0 26 0.0 36 1.0 17 -27.66959356597984 27 -19.53870295786203 37 0.0 40 30.19080748191286 41 0.4326337169939066 42 50.0 43 0.0 44 0.0 50 0.0 51 0.0 71 16 72 1000 73 1 74 3 75 0 76 0 77 0 78 0 281 0 65 1 110 0.0 120 0.0 130 0.0 111 1.0 121 0.0 131 0.0 112 0.0 122 1.0 132 0.0 79 0 146 0.0 348 9F 60 2 61 5 292 1 282 1 141 0.0 142 0.0 63 250 421 3355443 361 ED 0 ENDTAB 0 TABLE 2 LTYPE 5 5 330 0 100 AcDbSymbolTable 70 1 0 LTYPE 5 14 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ByBlock 70 0 3 72 65 73 0 40 0.0 0 LTYPE 5 15 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ByLayer 70 0 3 72 65 73 0 40 0.0 0 LTYPE 5 16 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 Continuous 70 0 3 Solid line 72 65 73 0 40 0.0 0 ENDTAB 0 TABLE 2 LAYER 5 2 330 0 100 AcDbSymbolTable 70 1 0 LAYER 5 10 330 2 100 AcDbSymbolTableRecord 100 AcDbLayerTableRecord 2 0 70 0 62 7 6 Continuous 370 -3 390 F 347 98 348 0 0 ENDTAB 0 TABLE 2 STYLE 5 3 330 0 100 AcDbSymbolTable 70 2 0 STYLE 5 11 330 3 100 AcDbSymbolTableRecord 100 AcDbTextStyleTableRecord 2 Standard 70 0 40 0.0 41 1.0 50 0.0 71 0 42 0.2 3 arial.ttf 4 1001 ACAD 1000 Arial 1071 0 0 STYLE 5 125 330 3 100 AcDbSymbolTableRecord 100 AcDbTextStyleTableRecord 2 Annotative 70 0 40 0.0 41 1.0 50 0.0 71 0 42 0.2 3 arial.ttf 4 1001 ACAD 1000 Arial 1071 0 1001 AcadAnnotative 1000 AnnotativeData 1002 { 1070 1 1070 1 1002 } 0 ENDTAB 0 TABLE 2 VIEW 5 6 330 0 100 AcDbSymbolTable 70 0 0 ENDTAB 0 TABLE 2 UCS 5 7 330 0 100 AcDbSymbolTable 70 0 0 ENDTAB 0 TABLE 2 APPID 5 9 330 0 100 AcDbSymbolTable 70 2 0 APPID 5 12 330 9 100 AcDbSymbolTableRecord 100 AcDbRegAppTableRecord 2 ACAD 70 0 0 APPID 5 126 330 9 100 AcDbSymbolTableRecord 100 AcDbRegAppTableRecord 2 AcadAnnotative 70 0 0 ENDTAB 0 TABLE 2 DIMSTYLE 5 A 330 0 100 AcDbSymbolTable 70 2 100 AcDbDimStyleTable 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$SPLINESEGS 70 8 9 $HANDSEED 5 15D 9 $SURFTAB1 70 6 9 $SURFTAB2 70 6 9 $SURFTYPE 70 6 9 $SURFU 70 6 9 $SURFV 70 6 9 $UCSBASE 2 9 $UCSNAME 2 9 $UCSORG 10 0.0 20 0.0 30 0.0 9 $UCSXDIR 10 1.0 20 0.0 30 0.0 9 $UCSYDIR 10 0.0 20 1.0 30 0.0 9 $UCSORTHOREF 2 9 $UCSORTHOVIEW 70 0 9 $UCSORGTOP 10 0.0 20 0.0 30 0.0 9 $UCSORGBOTTOM 10 0.0 20 0.0 30 0.0 9 $UCSORGLEFT 10 0.0 20 0.0 30 0.0 9 $UCSORGRIGHT 10 0.0 20 0.0 30 0.0 9 $UCSORGFRONT 10 0.0 20 0.0 30 0.0 9 $UCSORGBACK 10 0.0 20 0.0 30 0.0 9 $PUCSBASE 2 9 $PUCSNAME 2 9 $PUCSORG 10 0.0 20 0.0 30 0.0 9 $PUCSXDIR 10 1.0 20 0.0 30 0.0 9 $PUCSYDIR 10 0.0 20 1.0 30 0.0 9 $PUCSORTHOREF 2 9 $PUCSORTHOVIEW 70 0 9 $PUCSORGTOP 10 0.0 20 0.0 30 0.0 9 $PUCSORGBOTTOM 10 0.0 20 0.0 30 0.0 9 $PUCSORGLEFT 10 0.0 20 0.0 30 0.0 9 $PUCSORGRIGHT 10 0.0 20 0.0 30 0.0 9 $PUCSORGFRONT 10 0.0 20 0.0 30 0.0 9 $PUCSORGBACK 10 0.0 20 0.0 30 0.0 9 $USERI1 70 0 9 $USERI2 70 0 9 $USERI3 70 0 9 $USERI4 70 0 9 $USERI5 70 0 9 $USERR1 40 0.0 9 $USERR2 40 0.0 9 $USERR3 40 0.0 9 $USERR4 40 0.0 9 $USERR5 40 0.0 9 $WORLDVIEW 70 1 9 $SHADEDGE 70 3 9 $SHADEDIF 70 70 9 $TILEMODE 70 1 9 $MAXACTVP 70 64 9 $PINSBASE 10 0.0 20 0.0 30 0.0 9 $PLIMCHECK 70 0 9 $PEXTMIN 10 0.0 20 0.0 30 0.0 9 $PEXTMAX 10 0.0 20 0.0 30 0.0 9 $PLIMMIN 10 0.0 20 0.0 9 $PLIMMAX 10 0.0 20 0.0 9 $UNITMODE 70 0 9 $VISRETAIN 70 1 9 $PLINEGEN 70 0 9 $PSLTSCALE 70 1 9 $TREEDEPTH 70 3020 9 $CMLSTYLE 2 Standard 9 $CMLJUST 70 0 9 $CMLSCALE 40 1.0 9 $PROXYGRAPHICS 70 1 9 $MEASUREMENT 70 0 9 $CELWEIGHT 370 -1 9 $ENDCAPS 280 0 9 $JOINSTYLE 280 0 9 $LWDISPLAY 290 0 9 $INSUNITS 70 1 9 $HYPERLINKBASE 1 9 $STYLESHEET 1 9 $XEDIT 290 1 9 $CEPSNTYPE 380 0 9 $PSTYLEMODE 290 1 9 $FINGERPRINTGUID 2 {FDEAD576-A652-11D2-9A35-0060089B3A3F} 9 $VERSIONGUID 2 {FBC2AE19-5C5C-49EC-81BC-71B1A3362A02} 9 $EXTNAMES 290 1 9 $PSVPSCALE 40 0.0 9 $OLESTARTUP 290 0 9 $SORTENTS 280 127 9 $INDEXCTL 280 0 9 $HIDETEXT 280 1 9 $XCLIPFRAME 290 0 9 $HALOGAP 280 0 9 $OBSCOLOR 70 257 9 $OBSLTYPE 280 0 9 $INTERSECTIONDISPLAY 280 0 9 $INTERSECTIONCOLOR 70 257 9 $DIMASSOC 280 2 9 $PROJECTNAME 1 0 ENDSEC 0 SECTION 2 CLASSES 0 CLASS 1 ACDBDICTIONARYWDFLT 2 AcDbDictionaryWithDefault 3 ObjectDBX Classes 90 0 91 5 280 0 281 0 0 CLASS 1 ACDBPLACEHOLDER 2 AcDbPlaceHolder 3 ObjectDBX Classes 90 0 91 1 280 0 281 0 0 CLASS 1 LAYOUT 2 AcDbLayout 3 ObjectDBX Classes 90 0 91 1 280 0 281 0 0 CLASS 1 DICTIONARYVAR 2 AcDbDictionaryVar 3 ObjectDBX Classes 90 0 91 5 280 0 281 0 0 CLASS 1 TABLESTYLE 2 AcDbTableStyle 3 ObjectDBX Classes 90 4095 91 5 280 0 281 0 0 CLASS 1 MATERIAL 2 AcDbMaterial 3 ObjectDBX Classes 90 1153 91 5 280 0 281 0 0 CLASS 1 VISUALSTYLE 2 AcDbVisualStyle 3 ObjectDBX Classes 90 4095 91 5 280 0 281 0 0 CLASS 1 SCALE 2 AcDbScale 3 ObjectDBX Classes 90 1153 91 5 280 0 281 0 0 CLASS 1 CELLSTYLEMAP 2 AcDbCellStyleMap 3 ObjectDBX Classes 90 1152 91 5 280 0 281 0 0 CLASS 1 RASTERVARIABLES 2 AcDbRasterVariables 3 ISM 90 0 91 5 280 0 281 0 0 CLASS 1 SUN 2 AcDbSun 3 SCENEOE 90 1153 91 5 280 0 281 0 0 CLASS 1 MLEADERSTYLE 2 AcDbMLeaderStyle 3 ACDB_MLEADERSTYLE_CLASS 90 4095 91 5 280 0 281 0 0 CLASS 1 XRECORD 2 AcDbXrecord 3 ObjectDBX Classes 90 0 91 1 280 0 281 0 0 CLASS 1 LWPOLYLINE 2 AcDbPolyline 3 ObjectDBX Classes 90 0 91 1 280 0 281 1 0 CLASS 1 HATCH 2 AcDbHatch 3 ObjectDBX Classes 90 0 91 1 280 0 281 1 0 ENDSEC 0 SECTION 2 TABLES 0 TABLE 2 VPORT 5 8 330 0 100 AcDbSymbolTable 70 1 0 VPORT 5 94 330 8 100 AcDbSymbolTableRecord 100 AcDbViewportTableRecord 2 *Active 70 0 10 0.0 20 0.0 11 1.0 21 1.0 12 28.01849908241176 22 20.3372504930733 13 0.0 23 0.0 14 0.5 24 0.5 15 0.5 25 0.5 16 0.0 26 0.0 36 1.0 17 -27.66959356597984 27 -19.53870295786203 37 0.0 40 3.683832159624413 41 0.4326337169939066 42 50.0 43 0.0 44 0.0 50 0.0 51 0.0 71 16 72 1000 73 1 74 3 75 0 76 0 77 0 78 0 281 0 65 1 110 0.0 120 0.0 130 0.0 111 1.0 121 0.0 131 0.0 112 0.0 122 1.0 132 0.0 79 0 146 0.0 0 ENDTAB 0 TABLE 2 LTYPE 5 5 330 0 100 AcDbSymbolTable 70 1 0 LTYPE 5 14 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ByBlock 70 0 3 72 65 73 0 40 0.0 0 LTYPE 5 15 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ByLayer 70 0 3 72 65 73 0 40 0.0 0 LTYPE 5 16 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 Continuous 70 0 3 Solid line 72 65 73 0 40 0.0 0 ENDTAB 0 TABLE 2 LAYER 5 2 330 0 100 AcDbSymbolTable 70 1 0 LAYER 5 10 330 2 100 AcDbSymbolTableRecord 100 AcDbLayerTableRecord 2 0 70 0 62 7 6 Continuous 370 -3 390 F 0 ENDTAB 0 TABLE 2 STYLE 5 3 330 0 100 AcDbSymbolTable 70 2 0 STYLE 5 11 330 3 100 AcDbSymbolTableRecord 100 AcDbTextStyleTableRecord 2 Standard 70 0 40 0.0 41 1.0 50 0.0 71 0 42 0.2 3 arial.ttf 4 1001 ACAD 1000 Arial 1071 0 0 STYLE 5 125 330 3 100 AcDbSymbolTableRecord 100 AcDbTextStyleTableRecord 2 Annotative 70 0 40 0.0 41 1.0 50 0.0 71 0 42 0.2 3 arial.ttf 4 1001 ACAD 1000 Arial 1071 0 1001 AcadAnnotative 1000 AnnotativeData 1002 { 1070 1 1070 1 1002 } 0 ENDTAB 0 TABLE 2 VIEW 5 6 330 0 100 AcDbSymbolTable 70 0 0 ENDTAB 0 TABLE 2 UCS 5 7 330 0 100 AcDbSymbolTable 70 0 0 ENDTAB 0 TABLE 2 APPID 5 9 330 0 100 AcDbSymbolTable 70 3 0 APPID 5 12 330 9 100 AcDbSymbolTableRecord 100 AcDbRegAppTableRecord 2 ACAD 70 0 0 APPID 5 126 330 9 100 AcDbSymbolTableRecord 100 AcDbRegAppTableRecord 2 AcadAnnotative 70 0 0 APPID 5 15B 330 9 100 AcDbSymbolTableRecord 100 AcDbRegAppTableRecord 2 ACAD_MLEADERVER 70 0 0 ENDTAB 0 TABLE 2 DIMSTYLE 5 A 330 0 100 AcDbSymbolTable 70 2 100 AcDbDimStyleTable 0 DIMSTYLE 105 27 330 A 100 AcDbSymbolTableRecord 100 AcDbDimStyleTableRecord 2 Standard 70 0 178 0 340 11 0 DIMSTYLE 105 127 330 A 100 AcDbSymbolTableRecord 100 AcDbDimStyleTableRecord 2 Annotative 70 0 40 0.0 178 0 340 11 1001 AcadAnnotative 1000 AnnotativeData 1002 { 1070 1 1070 1 1002 } 0 ENDTAB 0 TABLE 2 BLOCK_RECORD 5 1 330 0 100 AcDbSymbolTable 70 1 0 BLOCK_RECORD 5 1F 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Model_Space 340 22 0 BLOCK_RECORD 5 58 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Paper_Space 340 59 0 BLOCK_RECORD 5 5D 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Paper_Space0 340 5E 0 ENDTAB 0 ENDSEC 0 SECTION 2 BLOCKS 0 BLOCK 5 20 330 1F 100 AcDbEntity 8 0 100 AcDbBlockBegin 2 *Model_Space 70 0 10 0.0 20 0.0 30 0.0 3 *Model_Space 1 0 ENDBLK 5 21 330 1F 100 AcDbEntity 8 0 100 AcDbBlockEnd 0 BLOCK 5 5A 330 58 100 AcDbEntity 67 1 8 0 100 AcDbBlockBegin 2 *Paper_Space 70 0 10 0.0 20 0.0 30 0.0 3 *Paper_Space 1 0 ENDBLK 5 5B 330 58 100 AcDbEntity 67 1 8 0 100 AcDbBlockEnd 0 BLOCK 5 5F 330 5D 100 AcDbEntity 8 0 100 AcDbBlockBegin 2 *Paper_Space0 70 0 10 0.0 20 0.0 30 0.0 3 *Paper_Space0 1 0 ENDBLK 5 60 330 5D 100 AcDbEntity 8 0 100 AcDbBlockEnd 0 ENDSEC 0 SECTION 2 ENTITIES 0 LWPOLYLINE 5 12A 330 1F 100 AcDbEntity 8 0 100 AcDbPolyline 90 4 70 1 43 0.0 10 0.0 20 0.0 10 0.0 20 0.9999999999999998 10 1.0 20 0.9999999999999998 10 1.0 20 0.0 0 ENDSEC 0 SECTION 2 OBJECTS 0 DICTIONARY 5 C 330 0 100 AcDbDictionary 281 1 3 ACAD_COLOR 350 73 3 ACAD_DETAILVIEWSTYLE 350 122 3 ACAD_GROUP 350 D 3 ACAD_IMAGE_VARS 350 DC 3 ACAD_LAYOUT 350 1A 3 ACAD_MATERIAL 350 72 3 ACAD_MLEADERSTYLE 350 B5 3 ACAD_MLINESTYLE 350 17 3 ACAD_PLOTSETTINGS 350 19 3 ACAD_PLOTSTYLENAME 350 E 3 ACAD_SCALELIST 350 B6 3 ACAD_SECTIONVIEWSTYLE 350 123 3 ACAD_TABLESTYLE 350 86 3 ACDB_RECOMPOSE_DATA 350 15C 3 AcDbVariableDictionary 350 66 3 APPDATA 350 E1 0 DICTIONARY 5 73 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 0 DICTIONARY 5 122 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 0 DICTIONARY 5 D 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 0 RASTERVARIABLES 5 DC 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbRasterVariables 90 0 70 1 71 1 72 5 0 DICTIONARY 5 1A 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 Model 350 22 3 Sheet1 350 59 3 Sheet2 350 5E 0 DICTIONARY 5 72 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 ByBlock 350 E2 3 ByLayer 350 96 3 Global 350 98 0 DICTIONARY 5 B5 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 Annotative 350 129 3 Standard 350 124 0 DICTIONARY 5 17 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 Standard 350 18 0 DICTIONARY 5 19 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 0 ACDBDICTIONARYWDFLT 5 E 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 Normal 350 F 100 AcDbDictionaryWithDefault 340 F 0 DICTIONARY 5 B6 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 A0 350 B7 3 A1 350 B8 3 A2 350 B9 3 A3 350 BA 3 A4 350 BB 3 A5 350 BC 3 A6 350 BD 3 A7 350 BE 3 A8 350 BF 3 A9 350 C0 3 B0 350 C1 3 B1 350 C2 3 B2 350 C3 3 B3 350 C4 3 B4 350 C5 3 B5 350 C6 3 B6 350 C7 3 B7 350 C8 3 B8 350 C9 3 B9 350 CA 3 C0 350 CB 3 C1 350 CC 3 C2 350 CD 3 C3 350 CE 3 C4 350 CF 3 C5 350 D0 3 C6 350 D1 3 C7 350 D2 3 C8 350 D3 3 C9 350 D4 3 D0 350 D5 3 D1 350 D6 3 D2 350 D7 0 DICTIONARY 5 123 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 0 DICTIONARY 5 86 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 Standard 350 87 0 XRECORD 5 15C 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbXrecord 280 1 90 1 330 87 0 DICTIONARY 5 66 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 CANNOSCALE 350 D8 3 CMLEADERSTYLE 350 128 3 CTABLESTYLE 350 89 3 DIMASSOC 350 67 3 HIDETEXT 350 6B 3 LIGHTSINBLOCKS 350 DF 3 XCLIPFRAME 350 E0 0 DICTIONARY 5 E1 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 0 LAYOUT 5 22 102 {ACAD_REACTORS 330 1A 102 } 330 1A 100 AcDbPlotSettings 1 2 none_device 4 ANSI_A_(8.50_x_11.00_Inches) 6 40 6.35 41 19.05 42 6.35 43 19.05 44 215.9 45 279.4 46 11.11250000000003 47 0.0000000000000142 48 0.0 49 0.0 140 0.0 141 0.0 142 1.0 143 1.263157894736842 70 11444 72 0 73 1 74 1 7 monochrome.ctb 75 0 76 0 77 2 78 300 147 0.7916666666666665 148 -702.8076765758875 149 -496.2830551296954 100 AcDbLayout 1 Model 70 1 71 0 10 0.0 20 0.0 11 12.0 21 9.0 12 0.0 22 0.0 32 0.0 14 0.0 24 0.0 34 0.0 15 1.0 25 1.0 35 0.0 146 0.0 13 0.0 23 0.0 33 0.0 16 1.0 26 0.0 36 0.0 17 0.0 27 1.0 37 0.0 76 0 330 1F 331 94 0 LAYOUT 5 59 102 {ACAD_REACTORS 330 1A 102 } 330 1A 100 AcDbPlotSettings 1 2 None 4 6 40 0.0 41 0.0 42 0.0 43 0.0 44 0.0 45 0.0 46 0.0 47 0.0 48 0.0 49 0.0 140 0.0 141 0.0 142 1.0 143 1.0 70 688 72 0 73 0 74 5 7 75 16 76 0 77 2 78 300 147 1.0 148 0.0 149 0.0 100 AcDbLayout 1 Sheet1 70 1 71 1 10 0.0 20 0.0 11 12.0 21 9.0 12 0.0 22 0.0 32 0.0 14 0.0 24 0.0 34 0.0 15 0.0 25 0.0 35 0.0 146 0.0 13 0.0 23 0.0 33 0.0 16 1.0 26 0.0 36 0.0 17 0.0 27 1.0 37 0.0 76 0 330 58 0 LAYOUT 5 5E 102 {ACAD_REACTORS 330 1A 102 } 330 1A 100 AcDbPlotSettings 1 2 None 4 6 40 0.0 41 0.0 42 0.0 43 0.0 44 0.0 45 0.0 46 0.0 47 0.0 48 0.0 49 0.0 140 0.0 141 0.0 142 1.0 143 1.0 70 688 72 0 73 0 74 5 7 75 16 76 0 77 2 78 300 147 1.0 148 0.0 149 0.0 100 AcDbLayout 1 Sheet2 70 1 71 2 10 0.0 20 0.0 11 12.0 21 9.0 12 0.0 22 0.0 32 0.0 14 0.0 24 0.0 34 0.0 15 0.0 25 0.0 35 0.0 146 0.0 13 0.0 23 0.0 33 0.0 16 1.0 26 0.0 36 0.0 17 0.0 27 1.0 37 0.0 76 0 330 5D 0 MATERIAL 5 E2 102 {ACAD_REACTORS 330 72 102 } 330 72 100 AcDbMaterial 1 ByBlock 0 MATERIAL 5 96 102 {ACAD_REACTORS 330 72 102 } 330 72 100 AcDbMaterial 1 ByLayer 0 MATERIAL 5 98 102 {ACAD_REACTORS 330 72 102 } 330 72 100 AcDbMaterial 1 Global 0 MLEADERSTYLE 5 129 102 {ACAD_REACTORS 330 B5 102 } 330 B5 100 AcDbMLeaderStyle 170 2 171 1 172 0 90 2 40 0.0 41 0.0 173 1 91 -1056964608 340 14 92 -2 290 1 42 0.09 291 1 43 0.36 3 Annotative 341 0 44 0.18 300 342 11 174 1 178 1 175 1 176 0 93 -1056964608 45 0.18 292 0 297 0 46 0.18 343 0 94 -1056964608 47 1.0 49 1.0 140 1.0 293 1 141 0.0 294 1 177 0 142 1.0 295 0 296 1 143 0.125 1001 ACAD_MLEADERVER 1070 2 0 MLEADERSTYLE 5 124 102 {ACAD_REACTORS 330 B5 102 } 330 B5 100 AcDbMLeaderStyle 170 2 171 1 172 0 90 2 40 0.0 41 0.0 173 1 91 -1056964608 340 14 92 -2 290 1 42 0.09 291 1 43 0.36 3 Standard 341 0 44 0.18 300 342 11 174 1 178 6 175 1 176 0 93 -1056964608 45 0.18 292 0 297 0 46 0.18 343 0 94 -1056964608 47 1.0 49 1.0 140 1.0 293 1 141 0.0 294 1 177 0 142 1.0 295 0 296 0 143 0.125 1001 ACAD_MLEADERVER 1070 2 0 MLINESTYLE 5 18 102 {ACAD_REACTORS 330 17 102 } 330 17 100 AcDbMlineStyle 2 STANDARD 70 0 3 62 256 51 90.0 52 90.0 71 2 49 0.5 62 256 6 BYLAYER 49 -0.5 62 256 6 BYLAYER 0 ACDBPLACEHOLDER 5 F 102 {ACAD_REACTORS 330 E 102 } 330 E 0 SCALE 5 B7 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 1:1 140 1.0 141 1.0 290 1 0 SCALE 5 B8 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 1:2 140 1.0 141 2.0 290 0 0 SCALE 5 B9 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 1:4 140 1.0 141 4.0 290 0 0 SCALE 5 BA 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 1:5 140 1.0 141 5.0 290 0 0 SCALE 5 BB 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 1:8 140 1.0 141 8.0 290 0 0 SCALE 5 BC 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 1:10 140 1.0 141 10.0 290 0 0 SCALE 5 BD 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 1:16 140 1.0 141 16.0 290 0 0 SCALE 5 BE 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 1:20 140 1.0 141 20.0 290 0 0 SCALE 5 BF 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 1:30 140 1.0 141 30.0 290 0 0 SCALE 5 C0 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 1:40 140 1.0 141 40.0 290 0 0 SCALE 5 C1 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 1:50 140 1.0 141 50.0 290 0 0 SCALE 5 C2 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 1:100 140 1.0 141 100.0 290 0 0 SCALE 5 C3 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 2:1 140 2.0 141 1.0 290 0 0 SCALE 5 C4 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 4:1 140 4.0 141 1.0 290 0 0 SCALE 5 C5 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 8:1 140 8.0 141 1.0 290 0 0 SCALE 5 C6 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 10:1 140 10.0 141 1.0 290 0 0 SCALE 5 C7 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 100:1 140 100.0 141 1.0 290 0 0 SCALE 5 C8 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 1/128" = 1'-0" 140 0.0078125 141 12.0 290 0 0 SCALE 5 C9 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 1/64" = 1'-0" 140 0.015625 141 12.0 290 0 0 SCALE 5 CA 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 1/32" = 1'-0" 140 0.03125 141 12.0 290 0 0 SCALE 5 CB 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 1/16" = 1'-0" 140 0.0625 141 12.0 290 0 0 SCALE 5 CC 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 3/32" = 1'-0" 140 0.09375 141 12.0 290 0 0 SCALE 5 CD 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 1/8" = 1'-0" 140 0.125 141 12.0 290 0 0 SCALE 5 CE 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 3/16" = 1'-0" 140 0.1875 141 12.0 290 0 0 SCALE 5 CF 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 1/4" = 1'-0" 140 0.25 141 12.0 290 0 0 SCALE 5 D0 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 3/8" = 1'-0" 140 0.375 141 12.0 290 0 0 SCALE 5 D1 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 1/2" = 1'-0" 140 0.5 141 12.0 290 0 0 SCALE 5 D2 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 3/4" = 1'-0" 140 0.75 141 12.0 290 0 0 SCALE 5 D3 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 1" = 1'-0" 140 1.0 141 12.0 290 0 0 SCALE 5 D4 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 1-1/2" = 1'-0" 140 1.5 141 12.0 290 0 0 SCALE 5 D5 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 3" = 1'-0" 140 3.0 141 12.0 290 0 0 SCALE 5 D6 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 6" = 1'-0" 140 6.0 141 12.0 290 0 0 SCALE 5 D7 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 1'-0" = 1'-0" 140 12.0 141 12.0 290 0 0 TABLESTYLE 5 87 102 {ACAD_REACTORS 330 86 102 } 102 {ACAD_XDICTIONARY 360 158 102 } 330 86 100 AcDbTableStyle 3 Standard 70 0 71 0 40 0.06 41 0.06 280 0 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$DIMADEC 70 0 9 $DIMALTRND 40 0.0 9 $DIMAZIN 70 0 9 $DIMDSEP 70 46 9 $DIMATFIT 70 3 9 $DIMFRAC 70 0 9 $DIMLDRBLK 1 9 $DIMLUNIT 70 2 9 $DIMLWD 70 -2 9 $DIMLWE 70 -2 9 $DIMTMOVE 70 0 9 $DIMFXL 40 1.0 9 $DIMFXLON 70 0 9 $DIMJOGANG 40 0.7853981633974483 9 $DIMTFILL 70 0 9 $DIMTFILLCLR 70 0 9 $DIMARCSYM 70 0 9 $DIMLTYPE 6 9 $DIMLTEX1 6 9 $DIMLTEX2 6 9 $LUNITS 70 2 9 $LUPREC 70 4 9 $SKETCHINC 40 0.1 9 $FILLETRAD 40 0.0 9 $AUNITS 70 0 9 $AUPREC 70 0 9 $MENU 1 . 9 $ELEVATION 40 0.0 9 $PELEVATION 40 0.0 9 $THICKNESS 40 0.0 9 $LIMCHECK 70 0 9 $CHAMFERA 40 0.0 9 $CHAMFERB 40 0.0 9 $CHAMFERC 40 0.0 9 $CHAMFERD 40 0.0 9 $SKPOLY 70 0 9 $TDCREATE 40 2452642.855050937 9 $TDUCREATE 40 2452643.063384271 9 $TDUPDATE 40 2458328.022741898 9 $TDUUPDATE 40 2458328.231075231 9 $TDINDWG 40 0.0000000347 9 $TDUSRTIMER 40 0.0026285532 9 $USRTIMER 70 1 9 $ANGBASE 50 0.0 9 $ANGDIR 70 0 9 $PDMODE 70 0 9 $PDSIZE 40 0.0 9 $PLINEWID 40 0.0 9 $SPLFRAME 70 0 9 $SPLINETYPE 70 6 9 $SPLINESEGS 70 8 9 $HANDSEED 5 161 9 $SURFTAB1 70 6 9 $SURFTAB2 70 6 9 $SURFTYPE 70 6 9 $SURFU 70 6 9 $SURFV 70 6 9 $UCSBASE 2 9 $UCSNAME 2 9 $UCSORG 10 0.0 20 0.0 30 0.0 9 $UCSXDIR 10 1.0 20 0.0 30 0.0 9 $UCSYDIR 10 0.0 20 1.0 30 0.0 9 $UCSORTHOREF 2 9 $UCSORTHOVIEW 70 0 9 $UCSORGTOP 10 0.0 20 0.0 30 0.0 9 $UCSORGBOTTOM 10 0.0 20 0.0 30 0.0 9 $UCSORGLEFT 10 0.0 20 0.0 30 0.0 9 $UCSORGRIGHT 10 0.0 20 0.0 30 0.0 9 $UCSORGFRONT 10 0.0 20 0.0 30 0.0 9 $UCSORGBACK 10 0.0 20 0.0 30 0.0 9 $PUCSBASE 2 9 $PUCSNAME 2 9 $PUCSORG 10 0.0 20 0.0 30 0.0 9 $PUCSXDIR 10 1.0 20 0.0 30 0.0 9 $PUCSYDIR 10 0.0 20 1.0 30 0.0 9 $PUCSORTHOREF 2 9 $PUCSORTHOVIEW 70 0 9 $PUCSORGTOP 10 0.0 20 0.0 30 0.0 9 $PUCSORGBOTTOM 10 0.0 20 0.0 30 0.0 9 $PUCSORGLEFT 10 0.0 20 0.0 30 0.0 9 $PUCSORGRIGHT 10 0.0 20 0.0 30 0.0 9 $PUCSORGFRONT 10 0.0 20 0.0 30 0.0 9 $PUCSORGBACK 10 0.0 20 0.0 30 0.0 9 $USERI1 70 0 9 $USERI2 70 0 9 $USERI3 70 0 9 $USERI4 70 0 9 $USERI5 70 0 9 $USERR1 40 0.0 9 $USERR2 40 0.0 9 $USERR3 40 0.0 9 $USERR4 40 0.0 9 $USERR5 40 0.0 9 $WORLDVIEW 70 1 9 $SHADEDGE 70 3 9 $SHADEDIF 70 70 9 $TILEMODE 70 1 9 $MAXACTVP 70 64 9 $PINSBASE 10 0.0 20 0.0 30 0.0 9 $PLIMCHECK 70 0 9 $PEXTMIN 10 0.0 20 0.0 30 0.0 9 $PEXTMAX 10 0.0 20 0.0 30 0.0 9 $PLIMMIN 10 0.0 20 0.0 9 $PLIMMAX 10 0.0 20 0.0 9 $UNITMODE 70 0 9 $VISRETAIN 70 1 9 $PLINEGEN 70 0 9 $PSLTSCALE 70 1 9 $TREEDEPTH 70 3020 9 $CMLSTYLE 2 Standard 9 $CMLJUST 70 0 9 $CMLSCALE 40 1.0 9 $PROXYGRAPHICS 70 1 9 $MEASUREMENT 70 0 9 $CELWEIGHT 370 -1 9 $ENDCAPS 280 0 9 $JOINSTYLE 280 0 9 $LWDISPLAY 290 0 9 $INSUNITS 70 1 9 $HYPERLINKBASE 1 9 $STYLESHEET 1 9 $XEDIT 290 1 9 $CEPSNTYPE 380 0 9 $PSTYLEMODE 290 1 9 $FINGERPRINTGUID 2 {FDEAD576-A652-11D2-9A35-0060089B3A3F} 9 $VERSIONGUID 2 {FBC2AE19-5C5C-49EC-81BC-71B1A3362A02} 9 $EXTNAMES 290 1 9 $PSVPSCALE 40 0.0 9 $OLESTARTUP 290 0 9 $SORTENTS 280 127 9 $INDEXCTL 280 0 9 $HIDETEXT 280 1 9 $XCLIPFRAME 290 0 9 $HALOGAP 280 0 9 $OBSCOLOR 70 257 9 $OBSLTYPE 280 0 9 $INTERSECTIONDISPLAY 280 0 9 $INTERSECTIONCOLOR 70 257 9 $DIMASSOC 280 2 9 $PROJECTNAME 1 9 $CAMERADISPLAY 290 0 9 $LENSLENGTH 40 50.0 9 $CAMERAHEIGHT 40 0.0 9 $STEPSPERSEC 40 2.0 9 $STEPSIZE 40 6.0 9 $3DDWFPREC 40 2.0 9 $PSOLWIDTH 40 0.25 9 $PSOLHEIGHT 40 4.0 9 $LOFTANG1 40 1.570796326794897 9 $LOFTANG2 40 1.570796326794897 9 $LOFTMAG1 40 0.0 9 $LOFTMAG2 40 0.0 9 $LOFTPARAM 70 7 9 $LOFTNORMALS 280 1 9 $LATITUDE 40 37.795 9 $LONGITUDE 40 -122.394 9 $NORTHDIRECTION 40 0.0 9 $TIMEZONE 70 -8000 9 $LIGHTGLYPHDISPLAY 280 1 9 $TILEMODELIGHTSYNCH 280 1 9 $CMATERIAL 347 96 9 $SOLIDHIST 280 1 9 $SHOWHIST 280 1 9 $DWFFRAME 280 2 9 $DGNFRAME 280 0 9 $REALWORLDSCALE 290 1 9 $INTERFERECOLOR 62 1 9 $CSHADOW 280 0 9 $SHADOWPLANELOCATION 40 0.0 0 ENDSEC 0 SECTION 2 CLASSES 0 CLASS 1 ACDBDICTIONARYWDFLT 2 AcDbDictionaryWithDefault 3 ObjectDBX Classes 90 0 91 5 280 0 281 0 0 CLASS 1 ACDBPLACEHOLDER 2 AcDbPlaceHolder 3 ObjectDBX Classes 90 0 91 1 280 0 281 0 0 CLASS 1 LAYOUT 2 AcDbLayout 3 ObjectDBX Classes 90 0 91 1 280 0 281 0 0 CLASS 1 DICTIONARYVAR 2 AcDbDictionaryVar 3 ObjectDBX Classes 90 0 91 5 280 0 281 0 0 CLASS 1 TABLESTYLE 2 AcDbTableStyle 3 ObjectDBX Classes 90 4095 91 5 280 0 281 0 0 CLASS 1 MATERIAL 2 AcDbMaterial 3 ObjectDBX Classes 90 1153 91 5 280 0 281 0 0 CLASS 1 VISUALSTYLE 2 AcDbVisualStyle 3 ObjectDBX Classes 90 4095 91 5 280 0 281 0 0 CLASS 1 SCALE 2 AcDbScale 3 ObjectDBX Classes 90 1153 91 5 280 0 281 0 0 CLASS 1 CELLSTYLEMAP 2 AcDbCellStyleMap 3 ObjectDBX Classes 90 1152 91 5 280 0 281 0 0 CLASS 1 RASTERVARIABLES 2 AcDbRasterVariables 3 ISM 90 0 91 5 280 0 281 0 0 CLASS 1 SUN 2 AcDbSun 3 SCENEOE 90 1153 91 5 280 0 281 0 0 CLASS 1 MLEADERSTYLE 2 AcDbMLeaderStyle 3 ACDB_MLEADERSTYLE_CLASS 90 4095 91 5 280 0 281 0 0 CLASS 1 XRECORD 2 AcDbXrecord 3 ObjectDBX Classes 90 0 91 1 280 0 281 0 0 CLASS 1 LWPOLYLINE 2 AcDbPolyline 3 ObjectDBX Classes 90 0 91 1 280 0 281 1 0 CLASS 1 HATCH 2 AcDbHatch 3 ObjectDBX Classes 90 0 91 1 280 0 281 1 0 ENDSEC 0 SECTION 2 TABLES 0 TABLE 2 VPORT 5 8 330 0 100 AcDbSymbolTable 70 1 0 VPORT 5 94 330 8 100 AcDbSymbolTableRecord 100 AcDbViewportTableRecord 2 *Active 70 0 10 0.0 20 0.0 11 1.0 21 1.0 12 28.01849908241176 22 20.3372504930733 13 0.0 23 0.0 14 0.5 24 0.5 15 0.5 25 0.5 16 0.0 26 0.0 36 1.0 17 -27.66959356597984 27 -19.53870295786203 37 0.0 40 3.683832159624413 41 0.4326337169939066 42 50.0 43 0.0 44 0.0 50 0.0 51 0.0 71 16 72 1000 73 1 74 3 75 0 76 0 77 0 78 0 281 0 65 1 110 0.0 120 0.0 130 0.0 111 1.0 121 0.0 131 0.0 112 0.0 122 1.0 132 0.0 79 0 146 0.0 348 9F 60 2 61 5 292 1 282 1 141 0.0 142 0.0 63 250 421 3355443 361 ED 0 ENDTAB 0 TABLE 2 LTYPE 5 5 330 0 100 AcDbSymbolTable 70 1 0 LTYPE 5 14 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ByBlock 70 0 3 72 65 73 0 40 0.0 0 LTYPE 5 15 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ByLayer 70 0 3 72 65 73 0 40 0.0 0 LTYPE 5 16 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 Continuous 70 0 3 Solid line 72 65 73 0 40 0.0 0 ENDTAB 0 TABLE 2 LAYER 5 2 330 0 100 AcDbSymbolTable 70 1 0 LAYER 5 10 330 2 100 AcDbSymbolTableRecord 100 AcDbLayerTableRecord 2 0 70 0 62 7 6 Continuous 370 -3 390 F 347 98 0 ENDTAB 0 TABLE 2 STYLE 5 3 330 0 100 AcDbSymbolTable 70 2 0 STYLE 5 11 330 3 100 AcDbSymbolTableRecord 100 AcDbTextStyleTableRecord 2 Standard 70 0 40 0.0 41 1.0 50 0.0 71 0 42 0.2 3 arial.ttf 4 1001 ACAD 1000 Arial 1071 0 0 STYLE 5 125 330 3 100 AcDbSymbolTableRecord 100 AcDbTextStyleTableRecord 2 Annotative 70 0 40 0.0 41 1.0 50 0.0 71 0 42 0.2 3 arial.ttf 4 1001 ACAD 1000 Arial 1071 0 1001 AcadAnnotative 1000 AnnotativeData 1002 { 1070 1 1070 1 1002 } 0 ENDTAB 0 TABLE 2 VIEW 5 6 330 0 100 AcDbSymbolTable 70 0 0 ENDTAB 0 TABLE 2 UCS 5 7 330 0 100 AcDbSymbolTable 70 0 0 ENDTAB 0 TABLE 2 APPID 5 9 330 0 100 AcDbSymbolTable 70 3 0 APPID 5 12 330 9 100 AcDbSymbolTableRecord 100 AcDbRegAppTableRecord 2 ACAD 70 0 0 APPID 5 126 330 9 100 AcDbSymbolTableRecord 100 AcDbRegAppTableRecord 2 AcadAnnotative 70 0 0 APPID 5 15F 330 9 100 AcDbSymbolTableRecord 100 AcDbRegAppTableRecord 2 ACAD_MLEADERVER 70 0 0 ENDTAB 0 TABLE 2 DIMSTYLE 5 A 330 0 100 AcDbSymbolTable 70 2 100 AcDbDimStyleTable 0 DIMSTYLE 105 27 330 A 100 AcDbSymbolTableRecord 100 AcDbDimStyleTableRecord 2 Standard 70 0 178 0 340 11 0 DIMSTYLE 105 127 330 A 100 AcDbSymbolTableRecord 100 AcDbDimStyleTableRecord 2 Annotative 70 0 40 0.0 178 0 340 11 1001 AcadAnnotative 1000 AnnotativeData 1002 { 1070 1 1070 1 1002 } 0 ENDTAB 0 TABLE 2 BLOCK_RECORD 5 1 330 0 100 AcDbSymbolTable 70 1 0 BLOCK_RECORD 5 1F 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Model_Space 340 22 70 0 280 1 281 0 0 BLOCK_RECORD 5 58 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Paper_Space 340 59 70 0 280 1 281 0 0 BLOCK_RECORD 5 5D 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Paper_Space0 340 5E 70 0 280 1 281 0 0 ENDTAB 0 ENDSEC 0 SECTION 2 BLOCKS 0 BLOCK 5 20 330 1F 100 AcDbEntity 8 0 100 AcDbBlockBegin 2 *Model_Space 70 0 10 0.0 20 0.0 30 0.0 3 *Model_Space 1 0 ENDBLK 5 21 330 1F 100 AcDbEntity 8 0 100 AcDbBlockEnd 0 BLOCK 5 5A 330 58 100 AcDbEntity 67 1 8 0 100 AcDbBlockBegin 2 *Paper_Space 70 0 10 0.0 20 0.0 30 0.0 3 *Paper_Space 1 0 ENDBLK 5 5B 330 58 100 AcDbEntity 67 1 8 0 100 AcDbBlockEnd 0 BLOCK 5 5F 330 5D 100 AcDbEntity 8 0 100 AcDbBlockBegin 2 *Paper_Space0 70 0 10 0.0 20 0.0 30 0.0 3 *Paper_Space0 1 0 ENDBLK 5 60 330 5D 100 AcDbEntity 8 0 100 AcDbBlockEnd 0 ENDSEC 0 SECTION 2 ENTITIES 0 LWPOLYLINE 5 12A 330 1F 100 AcDbEntity 8 0 100 AcDbPolyline 90 4 70 1 43 0.0 10 0.0 20 0.0 10 0.0 20 0.9999999999999998 10 1.0 20 0.9999999999999998 10 1.0 20 0.0 0 ENDSEC 0 SECTION 2 OBJECTS 0 DICTIONARY 5 C 330 0 100 AcDbDictionary 281 1 3 ACAD_COLOR 350 73 3 ACAD_DETAILVIEWSTYLE 350 122 3 ACAD_GROUP 350 D 3 ACAD_IMAGE_VARS 350 DC 3 ACAD_LAYOUT 350 1A 3 ACAD_MATERIAL 350 72 3 ACAD_MLEADERSTYLE 350 B5 3 ACAD_MLINESTYLE 350 17 3 ACAD_PLOTSETTINGS 350 19 3 ACAD_PLOTSTYLENAME 350 E 3 ACAD_SCALELIST 350 B6 3 ACAD_SECTIONVIEWSTYLE 350 123 3 ACAD_TABLESTYLE 350 86 3 ACAD_VISUALSTYLE 350 99 3 ACDB_RECOMPOSE_DATA 350 160 3 AcDbVariableDictionary 350 66 3 APPDATA 350 E1 0 SUN 5 ED 330 94 100 AcDbSun 90 1 290 0 63 7 421 16777215 40 1.0 291 1 91 2455826 92 54000000 292 0 70 2 71 256 280 1 0 DICTIONARY 5 73 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 0 DICTIONARY 5 122 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 0 DICTIONARY 5 D 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 0 RASTERVARIABLES 5 DC 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbRasterVariables 90 0 70 1 71 1 72 5 0 DICTIONARY 5 1A 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 Model 350 22 3 Sheet1 350 59 3 Sheet2 350 5E 0 DICTIONARY 5 72 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 ByBlock 350 E2 3 ByLayer 350 96 3 Global 350 98 0 DICTIONARY 5 B5 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 Annotative 350 129 3 Standard 350 124 0 DICTIONARY 5 17 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 Standard 350 18 0 DICTIONARY 5 19 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 0 ACDBDICTIONARYWDFLT 5 E 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 Normal 350 F 100 AcDbDictionaryWithDefault 340 F 0 DICTIONARY 5 B6 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 A0 350 B7 3 A1 350 B8 3 A2 350 B9 3 A3 350 BA 3 A4 350 BB 3 A5 350 BC 3 A6 350 BD 3 A7 350 BE 3 A8 350 BF 3 A9 350 C0 3 B0 350 C1 3 B1 350 C2 3 B2 350 C3 3 B3 350 C4 3 B4 350 C5 3 B5 350 C6 3 B6 350 C7 3 B7 350 C8 3 B8 350 C9 3 B9 350 CA 3 C0 350 CB 3 C1 350 CC 3 C2 350 CD 3 C3 350 CE 3 C4 350 CF 3 C5 350 D0 3 C6 350 D1 3 C7 350 D2 3 C8 350 D3 3 C9 350 D4 3 D0 350 D5 3 D1 350 D6 3 D2 350 D7 0 DICTIONARY 5 123 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 0 DICTIONARY 5 86 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 Standard 350 87 0 DICTIONARY 5 99 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 2dWireframe 350 9F 3 3D Hidden 350 A1 3 3dWireframe 350 A0 3 Basic 350 9E 3 Brighten 350 A5 3 ColorChange 350 A9 3 Conceptual 350 A2 3 Dim 350 A4 3 EdgeColorOff 350 E7 3 Facepattern 350 A8 3 Flat 350 9A 3 FlatWithEdges 350 9B 3 Gouraud 350 9C 3 GouraudWithEdges 350 9D 3 Hidden 350 E4 3 JitterOff 350 E5 3 Linepattern 350 A7 3 OverhangOff 350 E6 3 Realistic 350 A3 3 Shaded 350 EC 3 Shaded with edges 350 EB 3 Shades of Gray 350 E8 3 Sketchy 350 E9 3 Thicken 350 A6 3 Wireframe 350 E3 3 X-Ray 350 EA 0 XRECORD 5 160 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbXrecord 280 1 90 1 330 87 0 DICTIONARY 5 66 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 CANNOSCALE 350 D8 3 CMLEADERSTYLE 350 128 3 CTABLESTYLE 350 89 3 DIMASSOC 350 67 3 HIDETEXT 350 6B 3 LIGHTSINBLOCKS 350 DF 3 XCLIPFRAME 350 E0 0 DICTIONARY 5 E1 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 0 LAYOUT 5 22 102 {ACAD_REACTORS 330 1A 102 } 330 1A 100 AcDbPlotSettings 1 2 none_device 4 ANSI_A_(8.50_x_11.00_Inches) 6 40 6.35 41 19.05 42 6.35 43 19.05 44 215.9 45 279.4 46 11.11250000000003 47 0.0000000000000142 48 0.0 49 0.0 140 0.0 141 0.0 142 1.0 143 1.263157894736842 70 11444 72 0 73 1 74 1 7 monochrome.ctb 75 0 76 0 77 2 78 300 147 0.7916666666666665 148 -702.8076765758875 149 -496.2830551296954 100 AcDbLayout 1 Model 70 1 71 0 10 0.0 20 0.0 11 12.0 21 9.0 12 0.0 22 0.0 32 0.0 14 0.0 24 0.0 34 0.0 15 1.0 25 1.0 35 0.0 146 0.0 13 0.0 23 0.0 33 0.0 16 1.0 26 0.0 36 0.0 17 0.0 27 1.0 37 0.0 76 0 330 1F 331 94 0 LAYOUT 5 59 102 {ACAD_REACTORS 330 1A 102 } 330 1A 100 AcDbPlotSettings 1 2 None 4 6 40 0.0 41 0.0 42 0.0 43 0.0 44 0.0 45 0.0 46 0.0 47 0.0 48 0.0 49 0.0 140 0.0 141 0.0 142 1.0 143 1.0 70 688 72 0 73 0 74 5 7 75 16 76 0 77 2 78 300 147 1.0 148 0.0 149 0.0 100 AcDbLayout 1 Sheet1 70 1 71 1 10 0.0 20 0.0 11 12.0 21 9.0 12 0.0 22 0.0 32 0.0 14 0.0 24 0.0 34 0.0 15 0.0 25 0.0 35 0.0 146 0.0 13 0.0 23 0.0 33 0.0 16 1.0 26 0.0 36 0.0 17 0.0 27 1.0 37 0.0 76 0 330 58 0 LAYOUT 5 5E 102 {ACAD_REACTORS 330 1A 102 } 330 1A 100 AcDbPlotSettings 1 2 None 4 6 40 0.0 41 0.0 42 0.0 43 0.0 44 0.0 45 0.0 46 0.0 47 0.0 48 0.0 49 0.0 140 0.0 141 0.0 142 1.0 143 1.0 70 688 72 0 73 0 74 5 7 75 16 76 0 77 2 78 300 147 1.0 148 0.0 149 0.0 100 AcDbLayout 1 Sheet2 70 1 71 2 10 0.0 20 0.0 11 12.0 21 9.0 12 0.0 22 0.0 32 0.0 14 0.0 24 0.0 34 0.0 15 0.0 25 0.0 35 0.0 146 0.0 13 0.0 23 0.0 33 0.0 16 1.0 26 0.0 36 0.0 17 0.0 27 1.0 37 0.0 76 0 330 5D 0 MATERIAL 5 E2 102 {ACAD_REACTORS 330 72 102 } 330 72 100 AcDbMaterial 1 ByBlock 72 1 94 127 0 MATERIAL 5 96 102 {ACAD_REACTORS 330 72 102 } 330 72 100 AcDbMaterial 1 ByLayer 72 1 94 63 0 MATERIAL 5 98 102 {ACAD_REACTORS 330 72 102 } 330 72 100 AcDbMaterial 1 Global 72 1 94 63 0 MLEADERSTYLE 5 129 102 {ACAD_REACTORS 330 B5 102 } 330 B5 100 AcDbMLeaderStyle 170 2 171 1 172 0 90 2 40 0.0 41 0.0 173 1 91 -1056964608 340 14 92 -2 290 1 42 0.09 291 1 43 0.36 3 Annotative 341 0 44 0.18 300 342 11 174 1 178 1 175 1 176 0 93 -1056964608 45 0.18 292 0 297 0 46 0.18 343 0 94 -1056964608 47 1.0 49 1.0 140 1.0 293 1 141 0.0 294 1 177 0 142 1.0 295 0 296 1 143 0.125 1001 ACAD_MLEADERVER 1070 2 0 MLEADERSTYLE 5 124 102 {ACAD_REACTORS 330 B5 102 } 330 B5 100 AcDbMLeaderStyle 170 2 171 1 172 0 90 2 40 0.0 41 0.0 173 1 91 -1056964608 340 14 92 -2 290 1 42 0.09 291 1 43 0.36 3 Standard 341 0 44 0.18 300 342 11 174 1 178 6 175 1 176 0 93 -1056964608 45 0.18 292 0 297 0 46 0.18 343 0 94 -1056964608 47 1.0 49 1.0 140 1.0 293 1 141 0.0 294 1 177 0 142 1.0 295 0 296 0 143 0.125 1001 ACAD_MLEADERVER 1070 2 0 MLINESTYLE 5 18 102 {ACAD_REACTORS 330 17 102 } 330 17 100 AcDbMlineStyle 2 STANDARD 70 0 3 62 256 51 90.0 52 90.0 71 2 49 0.5 62 256 6 BYLAYER 49 -0.5 62 256 6 BYLAYER 0 ACDBPLACEHOLDER 5 F 102 {ACAD_REACTORS 330 E 102 } 330 E 0 SCALE 5 B7 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 1:1 140 1.0 141 1.0 290 1 0 SCALE 5 B8 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 1:2 140 1.0 141 2.0 290 0 0 SCALE 5 B9 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 1:4 140 1.0 141 4.0 290 0 0 SCALE 5 BA 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 1:5 140 1.0 141 5.0 290 0 0 SCALE 5 BB 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 1:8 140 1.0 141 8.0 290 0 0 SCALE 5 BC 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 1:10 140 1.0 141 10.0 290 0 0 SCALE 5 BD 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 1:16 140 1.0 141 16.0 290 0 0 SCALE 5 BE 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 1:20 140 1.0 141 20.0 290 0 0 SCALE 5 BF 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 1:30 140 1.0 141 30.0 290 0 0 SCALE 5 C0 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 1:40 140 1.0 141 40.0 290 0 0 SCALE 5 C1 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 1:50 140 1.0 141 50.0 290 0 0 SCALE 5 C2 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 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CLASS 1 MATERIAL 2 AcDbMaterial 3 ObjectDBX Classes 90 1153 91 5 280 0 281 0 0 CLASS 1 VISUALSTYLE 2 AcDbVisualStyle 3 ObjectDBX Classes 90 4095 91 5 280 0 281 0 0 CLASS 1 SCALE 2 AcDbScale 3 ObjectDBX Classes 90 1153 91 5 280 0 281 0 0 CLASS 1 CELLSTYLEMAP 2 AcDbCellStyleMap 3 ObjectDBX Classes 90 1152 91 5 280 0 281 0 0 CLASS 1 RASTERVARIABLES 2 AcDbRasterVariables 3 ISM 90 0 91 5 280 0 281 0 0 CLASS 1 SUN 2 AcDbSun 3 SCENEOE 90 1153 91 5 280 0 281 0 0 CLASS 1 MLEADERSTYLE 2 AcDbMLeaderStyle 3 ACDB_MLEADERSTYLE_CLASS 90 4095 91 5 280 0 281 0 0 CLASS 1 XRECORD 2 AcDbXrecord 3 ObjectDBX Classes 90 0 91 1 280 0 281 0 0 CLASS 1 LWPOLYLINE 2 AcDbPolyline 3 ObjectDBX Classes 90 0 91 1 280 0 281 1 0 CLASS 1 HATCH 2 AcDbHatch 3 ObjectDBX Classes 90 0 91 1 280 0 281 1 0 ENDSEC 0 SECTION 2 TABLES 0 TABLE 2 VPORT 5 8 330 0 100 AcDbSymbolTable 70 1 0 VPORT 5 94 330 8 100 AcDbSymbolTableRecord 100 AcDbViewportTableRecord 2 *Active 70 0 10 0.0 20 0.0 11 1.0 21 1.0 12 28.01849908241176 22 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ENDTAB 0 TABLE 2 STYLE 5 3 330 0 100 AcDbSymbolTable 70 2 0 STYLE 5 11 330 3 100 AcDbSymbolTableRecord 100 AcDbTextStyleTableRecord 2 Standard 70 0 40 0.0 41 1.0 50 0.0 71 0 42 0.2 3 arial.ttf 4 1001 ACAD 1000 Arial 1071 0 0 STYLE 5 125 330 3 100 AcDbSymbolTableRecord 100 AcDbTextStyleTableRecord 2 Annotative 70 0 40 0.0 41 1.0 50 0.0 71 0 42 0.2 3 arial.ttf 4 1001 ACAD 1000 Arial 1071 0 1001 AcadAnnotative 1000 AnnotativeData 1002 { 1070 1 1070 1 1002 } 0 ENDTAB 0 TABLE 2 VIEW 5 6 330 0 100 AcDbSymbolTable 70 0 0 ENDTAB 0 TABLE 2 UCS 5 7 330 0 100 AcDbSymbolTable 70 0 0 ENDTAB 0 TABLE 2 APPID 5 9 330 0 100 AcDbSymbolTable 70 2 0 APPID 5 12 330 9 100 AcDbSymbolTableRecord 100 AcDbRegAppTableRecord 2 ACAD 70 0 0 APPID 5 126 330 9 100 AcDbSymbolTableRecord 100 AcDbRegAppTableRecord 2 AcadAnnotative 70 0 0 ENDTAB 0 TABLE 2 DIMSTYLE 5 A 330 0 100 AcDbSymbolTable 70 2 100 AcDbDimStyleTable 0 DIMSTYLE 105 27 330 A 100 AcDbSymbolTableRecord 100 AcDbDimStyleTableRecord 2 Standard 70 0 178 0 340 11 0 DIMSTYLE 105 127 330 A 100 AcDbSymbolTableRecord 100 AcDbDimStyleTableRecord 2 Annotative 70 0 40 0.0 178 0 340 11 1001 AcadAnnotative 1000 AnnotativeData 1002 { 1070 1 1070 1 1002 } 0 ENDTAB 0 TABLE 2 BLOCK_RECORD 5 1 330 0 100 AcDbSymbolTable 70 1 0 BLOCK_RECORD 5 1F 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Model_Space 340 22 70 0 280 1 281 0 0 BLOCK_RECORD 5 58 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Paper_Space 340 59 70 0 280 1 281 0 0 BLOCK_RECORD 5 5D 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Paper_Space0 340 5E 70 0 280 1 281 0 0 ENDTAB 0 ENDSEC 0 SECTION 2 BLOCKS 0 BLOCK 5 20 330 1F 100 AcDbEntity 8 0 100 AcDbBlockBegin 2 *Model_Space 70 0 10 0.0 20 0.0 30 0.0 3 *Model_Space 1 0 ENDBLK 5 21 330 1F 100 AcDbEntity 8 0 100 AcDbBlockEnd 0 BLOCK 5 5A 330 58 100 AcDbEntity 67 1 8 0 100 AcDbBlockBegin 2 *Paper_Space 70 0 10 0.0 20 0.0 30 0.0 3 *Paper_Space 1 0 ENDBLK 5 5B 330 58 100 AcDbEntity 67 1 8 0 100 AcDbBlockEnd 0 BLOCK 5 5F 330 5D 100 AcDbEntity 8 0 100 AcDbBlockBegin 2 *Paper_Space0 70 0 10 0.0 20 0.0 30 0.0 3 *Paper_Space0 1 0 ENDBLK 5 60 330 5D 100 AcDbEntity 8 0 100 AcDbBlockEnd 0 ENDSEC 0 SECTION 2 ENTITIES 0 LWPOLYLINE 5 12A 330 1F 100 AcDbEntity 8 0 100 AcDbPolyline 90 4 70 1 43 0.0 10 0.0 20 0.0 10 0.0 20 0.9999999999999998 10 1.0 20 0.9999999999999998 10 1.0 20 0.0 0 ENDSEC 0 SECTION 2 OBJECTS 0 DICTIONARY 5 C 330 0 100 AcDbDictionary 281 1 3 ACAD_COLOR 350 73 3 ACAD_DETAILVIEWSTYLE 350 122 3 ACAD_GROUP 350 D 3 ACAD_IMAGE_VARS 350 DC 3 ACAD_LAYOUT 350 1A 3 ACAD_MATERIAL 350 72 3 ACAD_MLEADERSTYLE 350 B5 3 ACAD_MLINESTYLE 350 17 3 ACAD_PLOTSETTINGS 350 19 3 ACAD_PLOTSTYLENAME 350 E 3 ACAD_SCALELIST 350 B6 3 ACAD_SECTIONVIEWSTYLE 350 123 3 ACAD_TABLESTYLE 350 86 3 ACAD_VISUALSTYLE 350 99 3 ACDB_RECOMPOSE_DATA 350 163 3 AcDbVariableDictionary 350 66 3 APPDATA 350 E1 0 SUN 5 ED 330 94 100 AcDbSun 90 1 290 0 63 7 421 16777215 40 1.0 291 1 91 2455826 92 54000000 292 0 70 2 71 256 280 1 0 DICTIONARY 5 73 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 0 DICTIONARY 5 122 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 0 DICTIONARY 5 D 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 0 RASTERVARIABLES 5 DC 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbRasterVariables 90 0 70 1 71 1 72 5 0 DICTIONARY 5 1A 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 Model 350 22 3 Sheet1 350 59 3 Sheet2 350 5E 0 DICTIONARY 5 72 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 ByBlock 350 E2 3 ByLayer 350 96 3 Global 350 98 0 DICTIONARY 5 B5 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 Annotative 350 129 3 Standard 350 124 0 DICTIONARY 5 17 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 Standard 350 18 0 DICTIONARY 5 19 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 0 ACDBDICTIONARYWDFLT 5 E 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 Normal 350 F 100 AcDbDictionaryWithDefault 340 F 0 DICTIONARY 5 B6 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 A0 350 B7 3 A1 350 B8 3 A2 350 B9 3 A3 350 BA 3 A4 350 BB 3 A5 350 BC 3 A6 350 BD 3 A7 350 BE 3 A8 350 BF 3 A9 350 C0 3 B0 350 C1 3 B1 350 C2 3 B2 350 C3 3 B3 350 C4 3 B4 350 C5 3 B5 350 C6 3 B6 350 C7 3 B7 350 C8 3 B8 350 C9 3 B9 350 CA 3 C0 350 CB 3 C1 350 CC 3 C2 350 CD 3 C3 350 CE 3 C4 350 CF 3 C5 350 D0 3 C6 350 D1 3 C7 350 D2 3 C8 350 D3 3 C9 350 D4 3 D0 350 D5 3 D1 350 D6 3 D2 350 D7 0 DICTIONARY 5 123 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 0 DICTIONARY 5 86 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 Standard 350 87 0 DICTIONARY 5 99 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 2dWireframe 350 9F 3 3D Hidden 350 A1 3 3dWireframe 350 A0 3 Basic 350 9E 3 Brighten 350 A5 3 ColorChange 350 A9 3 Conceptual 350 A2 3 Dim 350 A4 3 EdgeColorOff 350 E7 3 Facepattern 350 A8 3 Flat 350 9A 3 FlatWithEdges 350 9B 3 Gouraud 350 9C 3 GouraudWithEdges 350 9D 3 Hidden 350 E4 3 JitterOff 350 E5 3 Linepattern 350 A7 3 OverhangOff 350 E6 3 Realistic 350 A3 3 Shaded 350 EC 3 Shaded with edges 350 EB 3 Shades of Gray 350 E8 3 Sketchy 350 E9 3 Thicken 350 A6 3 Wireframe 350 E3 3 X-Ray 350 EA 0 XRECORD 5 163 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbXrecord 280 1 90 1 330 87 0 DICTIONARY 5 66 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 CANNOSCALE 350 D8 3 CMLEADERSTYLE 350 128 3 CTABLESTYLE 350 89 3 DIMASSOC 350 67 3 HIDETEXT 350 6B 3 LIGHTSINBLOCKS 350 DF 3 XCLIPFRAME 350 E0 0 DICTIONARY 5 E1 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 0 LAYOUT 5 22 102 {ACAD_REACTORS 330 1A 102 } 330 1A 100 AcDbPlotSettings 1 2 none_device 4 ANSI_A_(8.50_x_11.00_Inches) 6 40 6.35 41 19.05 42 6.35 43 19.05 44 215.9 45 279.4 46 11.11250000000003 47 0.0000000000000142 48 0.0 49 0.0 140 0.0 141 0.0 142 1.0 143 1.263157894736842 70 11444 72 0 73 1 74 1 7 monochrome.ctb 75 0 76 0 77 2 78 300 147 0.7916666666666665 148 -702.8076765758875 149 -496.2830551296954 100 AcDbLayout 1 Model 70 1 71 0 10 0.0 20 0.0 11 12.0 21 9.0 12 0.0 22 0.0 32 0.0 14 0.0 24 0.0 34 0.0 15 1.0 25 1.0 35 0.0 146 0.0 13 0.0 23 0.0 33 0.0 16 1.0 26 0.0 36 0.0 17 0.0 27 1.0 37 0.0 76 0 330 1F 331 94 0 LAYOUT 5 59 102 {ACAD_REACTORS 330 1A 102 } 330 1A 100 AcDbPlotSettings 1 2 None 4 6 40 0.0 41 0.0 42 0.0 43 0.0 44 0.0 45 0.0 46 0.0 47 0.0 48 0.0 49 0.0 140 0.0 141 0.0 142 1.0 143 1.0 70 688 72 0 73 0 74 5 7 75 16 76 0 77 2 78 300 147 1.0 148 0.0 149 0.0 100 AcDbLayout 1 Sheet1 70 1 71 1 10 0.0 20 0.0 11 12.0 21 9.0 12 0.0 22 0.0 32 0.0 14 0.0 24 0.0 34 0.0 15 0.0 25 0.0 35 0.0 146 0.0 13 0.0 23 0.0 33 0.0 16 1.0 26 0.0 36 0.0 17 0.0 27 1.0 37 0.0 76 0 330 58 0 LAYOUT 5 5E 102 {ACAD_REACTORS 330 1A 102 } 330 1A 100 AcDbPlotSettings 1 2 None 4 6 40 0.0 41 0.0 42 0.0 43 0.0 44 0.0 45 0.0 46 0.0 47 0.0 48 0.0 49 0.0 140 0.0 141 0.0 142 1.0 143 1.0 70 688 72 0 73 0 74 5 7 75 16 76 0 77 2 78 300 147 1.0 148 0.0 149 0.0 100 AcDbLayout 1 Sheet2 70 1 71 2 10 0.0 20 0.0 11 12.0 21 9.0 12 0.0 22 0.0 32 0.0 14 0.0 24 0.0 34 0.0 15 0.0 25 0.0 35 0.0 146 0.0 13 0.0 23 0.0 33 0.0 16 1.0 26 0.0 36 0.0 17 0.0 27 1.0 37 0.0 76 0 330 5D 0 MATERIAL 5 E2 102 {ACAD_REACTORS 330 72 102 } 330 72 100 AcDbMaterial 1 ByBlock 72 1 94 127 0 MATERIAL 5 96 102 {ACAD_REACTORS 330 72 102 } 330 72 100 AcDbMaterial 1 ByLayer 72 1 94 63 0 MATERIAL 5 98 102 {ACAD_REACTORS 330 72 102 } 330 72 100 AcDbMaterial 1 Global 72 1 94 63 0 MLEADERSTYLE 5 129 102 {ACAD_REACTORS 330 B5 102 } 330 B5 100 AcDbMLeaderStyle 179 2 170 2 171 1 172 0 90 2 40 0.0 41 0.0 173 1 91 -1056964608 340 14 92 -2 290 1 42 0.09 291 1 43 0.36 3 Annotative 341 0 44 0.18 300 342 11 174 1 178 1 175 1 176 0 93 -1056964608 45 0.18 292 0 297 0 46 0.18 343 0 94 -1056964608 47 1.0 49 1.0 140 1.0 293 1 141 0.0 294 1 177 0 142 1.0 295 0 296 1 143 0.125 271 0 272 9 273 9 0 MLEADERSTYLE 5 124 102 {ACAD_REACTORS 330 B5 102 } 330 B5 100 AcDbMLeaderStyle 179 2 170 2 171 1 172 0 90 2 40 0.0 41 0.0 173 1 91 -1056964608 340 14 92 -2 290 1 42 0.09 291 1 43 0.36 3 Standard 341 0 44 0.18 300 342 11 174 1 178 6 175 1 176 0 93 -1056964608 45 0.18 292 0 297 0 46 0.18 343 0 94 -1056964608 47 1.0 49 1.0 140 1.0 293 1 141 0.0 294 1 177 0 142 1.0 295 0 296 0 143 0.125 271 0 272 9 273 9 0 MLINESTYLE 5 18 102 {ACAD_REACTORS 330 17 102 } 330 17 100 AcDbMlineStyle 2 STANDARD 70 0 3 62 256 51 90.0 52 90.0 71 2 49 0.5 62 256 6 BYLAYER 49 -0.5 62 256 6 BYLAYER 0 ACDBPLACEHOLDER 5 F 102 {ACAD_REACTORS 330 E 102 } 330 E 0 SCALE 5 B7 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 1:1 140 1.0 141 1.0 290 1 0 SCALE 5 B8 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 1:2 140 1.0 141 2.0 290 0 0 SCALE 5 B9 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 1:4 140 1.0 141 4.0 290 0 0 SCALE 5 BA 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 1:5 140 1.0 141 5.0 290 0 0 SCALE 5 BB 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 1:8 140 1.0 141 8.0 290 0 0 SCALE 5 BC 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 1:10 140 1.0 141 10.0 290 0 0 SCALE 5 BD 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 1:16 140 1.0 141 16.0 290 0 0 SCALE 5 BE 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 1:20 140 1.0 141 20.0 290 0 0 SCALE 5 BF 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 1:30 140 1.0 141 30.0 290 0 0 SCALE 5 C0 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 1:40 140 1.0 141 40.0 290 0 0 SCALE 5 C1 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 1:50 140 1.0 141 50.0 290 0 0 SCALE 5 C2 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 1:100 140 1.0 141 100.0 290 0 0 SCALE 5 C3 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 2:1 140 2.0 141 1.0 290 0 0 SCALE 5 C4 102 {ACAD_REACTORS 330 B6 102 } 330 B6 100 AcDbScale 70 0 300 4:1 140 4.0 141 1.0 290 0 0 SCALE 5 C5 102 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-0.06 74 0 49 0.01 74 0 49 -0.06 74 0 0 LTYPE 5 8C 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 LONG_DASH_DOTTED 70 0 3 Long Dash Dotted ____ . ____ . ____ . ____ . _ 72 65 73 4 40 0.3543 49 0.2362 74 0 49 -0.0295 74 0 49 0.0591 74 0 49 -0.0295 74 0 0 LTYPE 5 8D 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 LONG_DASH_DOUBLE_DOT 70 0 3 Long Dash Double Dot ________ . . ________ 72 65 73 6 40 0.6799999999999999 49 0.48 74 0 49 -0.06 74 0 49 0.01 74 0 49 -0.06 74 0 49 0.01 74 0 49 -0.06 74 0 0 LTYPE 5 8E 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 LONG_DASH_TRIPLE_DOT 70 0 3 Long Dash Triple Dot ____ ... ____ ... ____ 72 65 73 8 40 0.3689 49 0.2362 74 0 49 -0.0295 74 0 49 0.0049 74 0 49 -0.0295 74 0 49 0.0049 74 0 49 -0.0295 74 0 49 0.0049 74 0 49 -0.0295 74 0 0 LTYPE 5 8F 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 BORDER 70 0 3 Border __ __ . __ __ . __ __ . __ __ . __ __ . 72 65 73 6 40 1.75 49 0.5 74 0 49 -0.25 74 0 49 0.5 74 0 49 -0.25 74 0 49 0.0 74 0 49 -0.25 74 0 0 LTYPE 5 90 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 BORDER2 70 0 3 Border (.5x) __.__.__.__.__.__.__.__.__.__.__. 72 65 73 6 40 0.875 49 0.25 74 0 49 -0.125 74 0 49 0.25 74 0 49 -0.125 74 0 49 0.0 74 0 49 -0.125 74 0 0 LTYPE 5 91 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 BORDERX2 70 0 3 Border (2x) ____ ____ . ____ ____ . ___ 72 65 73 6 40 3.5 49 1.0 74 0 49 -0.5 74 0 49 1.0 74 0 49 -0.5 74 0 49 0.0 74 0 49 -0.5 74 0 0 LTYPE 5 92 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 CENTER 70 0 3 Center ____ _ ____ _ ____ _ ____ _ ____ _ ____ 72 65 73 4 40 2.0 49 1.25 74 0 49 -0.25 74 0 49 0.25 74 0 49 -0.25 74 0 0 LTYPE 5 93 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 CENTER2 70 0 3 Center (.5x) ___ _ ___ _ ___ _ ___ _ ___ _ ___ 72 65 73 4 40 1.125 49 0.75 74 0 49 -0.125 74 0 49 0.125 74 0 49 -0.125 74 0 0 LTYPE 5 94 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 CENTERX2 70 0 3 Center (2x) ________ __ ________ __ _____ 72 65 73 4 40 4.0 49 2.5 74 0 49 -0.5 74 0 49 0.5 74 0 49 -0.5 74 0 0 LTYPE 5 95 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHDOT2 70 0 3 Dash dot (.5x) _._._._._._._._._._._._._._._. 72 65 73 4 40 0.5 49 0.25 74 0 49 -0.125 74 0 49 0.0 74 0 49 -0.125 74 0 0 LTYPE 5 96 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHDOTX2 70 0 3 Dash dot (2x) ____ . ____ . ____ . ___ 72 65 73 4 40 2.0 49 1.0 74 0 49 -0.5 74 0 49 0.0 74 0 49 -0.5 74 0 0 LTYPE 5 98 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHED2 70 0 3 Dashed (.5x) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 72 65 73 2 40 0.375 49 0.25 74 0 49 -0.125 74 0 0 LTYPE 5 99 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DASHEDX2 70 0 3 Dashed (2x) ____ ____ ____ ____ ____ ___ 72 65 73 2 40 1.5 49 1.0 74 0 49 -0.5 74 0 0 LTYPE 5 9A 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DIVIDE 70 0 3 Divide ____ . . ____ . . ____ . . ____ . . ____ 72 65 73 6 40 1.25 49 0.5 74 0 49 -0.25 74 0 49 0.0 74 0 49 -0.25 74 0 49 0.0 74 0 49 -0.25 74 0 0 LTYPE 5 9B 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DIVIDE2 70 0 3 Divide (.5x) __..__..__..__..__..__..__..__.._ 72 65 73 6 40 0.625 49 0.25 74 0 49 -0.125 74 0 49 0.0 74 0 49 -0.125 74 0 49 0.0 74 0 49 -0.125 74 0 0 LTYPE 5 9C 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DIVIDEX2 70 0 3 Divide (2x) ________ . . ________ . . _ 72 65 73 6 40 2.5 49 1.0 74 0 49 -0.5 74 0 49 0.0 74 0 49 -0.5 74 0 49 0.0 74 0 49 -0.5 74 0 0 LTYPE 5 9D 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DOT 70 0 3 Dot . . . . . . . . . . . . . . . . . . . . . . 72 65 73 2 40 0.25 49 0.0 74 0 49 -0.25 74 0 0 LTYPE 5 9E 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DOT2 70 0 3 Dot (.5x) ..................................... 72 65 73 2 40 0.125 49 0.0 74 0 49 -0.125 74 0 0 LTYPE 5 9F 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 DOTX2 70 0 3 Dot (2x) . . . . . . . . . . . . . 72 65 73 2 40 0.5 49 0.0 74 0 49 -0.5 74 0 0 LTYPE 5 A0 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 HIDDEN 70 0 3 Hidden __ __ __ __ __ __ __ __ __ __ __ __ __ _ 72 65 73 2 40 0.375 49 0.25 74 0 49 -0.125 74 0 0 LTYPE 5 A1 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 HIDDEN2 70 0 3 Hidden (.5x) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 72 65 73 2 40 0.1875 49 0.125 74 0 49 -0.0625 74 0 0 LTYPE 5 A2 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 HIDDENX2 70 0 3 Hidden (2x) ____ ____ ____ ____ ____ ____ ____ 72 65 73 2 40 0.75 49 0.5 74 0 49 -0.25 74 0 0 LTYPE 5 A3 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 PHANTOM 70 0 3 Phantom ______ __ __ ______ __ __ ______ 72 65 73 6 40 2.5 49 1.25 74 0 49 -0.25 74 0 49 0.25 74 0 49 -0.25 74 0 49 0.25 74 0 49 -0.25 74 0 0 LTYPE 5 A4 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 PHANTOM2 70 0 3 Phantom (.5x) ___ _ _ ___ _ _ ___ _ _ ___ _ _ 72 65 73 6 40 1.25 49 0.625 74 0 49 -0.125 74 0 49 0.125 74 0 49 -0.125 74 0 49 0.125 74 0 49 -0.125 74 0 0 LTYPE 5 A5 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 PHANTOMX2 70 0 3 Phantom (2x) ____________ ____ ____ _ 72 65 73 6 40 5.0 49 2.5 74 0 49 -0.5 74 0 49 0.5 74 0 49 -0.5 74 0 49 0.5 74 0 49 -0.5 74 0 0 LTYPE 5 A6 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ACAD_ISO02W100 70 0 3 ISO dash __ __ __ __ __ __ __ __ __ __ __ __ __ 72 65 73 2 40 0.59 49 0.47 74 0 49 -0.12 74 0 0 LTYPE 5 A7 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ACAD_ISO03W100 70 0 3 ISO dash space __ __ __ __ __ __ 72 65 73 2 40 1.179999999999999 49 0.47 74 0 49 -0.71 74 0 0 LTYPE 5 A8 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ACAD_ISO04W100 70 0 3 ISO long-dash dot ____ . ____ . ____ . ____ . _ 72 65 73 4 40 1.179999999999999 49 0.9399999999999998 74 0 49 -0.12 74 0 49 0.0 74 0 49 -0.12 74 0 0 LTYPE 5 A9 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ACAD_ISO05W100 70 0 3 ISO long-dash double-dot ____ .. ____ .. ____ . 72 65 73 6 40 1.299999999999999 49 0.9399999999999998 74 0 49 -0.12 74 0 49 0.0 74 0 49 -0.12 74 0 49 0.0 74 0 49 -0.12 74 0 0 LTYPE 5 AA 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ACAD_ISO06W100 70 0 3 ISO long-dash triple-dot ____ ... ____ ... ____ 72 65 73 8 40 1.419999999999999 49 0.9399999999999998 74 0 49 -0.12 74 0 49 0.0 74 0 49 -0.12 74 0 49 0.0 74 0 49 -0.12 74 0 49 0.0 74 0 49 -0.12 74 0 0 LTYPE 5 AB 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ACAD_ISO07W100 70 0 3 ISO dot . . . . . . . . . . . . . . . . . . . . 72 65 73 2 40 0.12 49 0.0 74 0 49 -0.12 74 0 0 LTYPE 5 AC 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ACAD_ISO08W100 70 0 3 ISO long-dash short-dash ____ __ ____ __ ____ _ 72 65 73 4 40 0.95 49 0.47 74 0 49 -0.12 74 0 49 0.24 74 0 49 -0.12 74 0 0 LTYPE 5 AD 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ACAD_ISO09W100 70 0 3 ISO long-dash double-short-dash ____ __ __ ____ 72 65 73 6 40 1.31 49 0.47 74 0 49 -0.12 74 0 49 0.24 74 0 49 -0.12 74 0 49 0.24 74 0 49 -0.12 74 0 0 LTYPE 5 AE 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ACAD_ISO10W100 70 0 3 ISO dash dot __ . __ . __ . __ . __ . __ . __ . 72 65 73 4 40 0.71 49 0.47 74 0 49 -0.12 74 0 49 0.0 74 0 49 -0.12 74 0 0 LTYPE 5 AF 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ACAD_ISO11W100 70 0 3 ISO double-dash dot __ __ . __ __ . __ __ . __ 72 65 73 6 40 1.299999999999999 49 0.47 74 0 49 -0.12 74 0 49 0.47 74 0 49 -0.12 74 0 49 0.0 74 0 49 -0.12 74 0 0 LTYPE 5 B0 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ACAD_ISO12W100 70 0 3 ISO dash double-dot __ . . __ . . __ . . __ . . 72 65 73 6 40 0.8299999999999998 49 0.47 74 0 49 -0.12 74 0 49 0.0 74 0 49 -0.12 74 0 49 0.0 74 0 49 -0.12 74 0 0 LTYPE 5 B1 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ACAD_ISO13W100 70 0 3 ISO double-dash double-dot __ __ . . __ __ . . 72 65 73 8 40 1.419999999999999 49 0.47 74 0 49 -0.12 74 0 49 0.47 74 0 49 -0.12 74 0 49 0.0 74 0 49 -0.12 74 0 49 0.0 74 0 49 -0.12 74 0 0 LTYPE 5 B2 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ACAD_ISO14W100 70 0 3 ISO dash triple-dot __ . . . __ . . . __ . . . 72 65 73 8 40 0.95 49 0.47 74 0 49 -0.12 74 0 49 0.0 74 0 49 -0.12 74 0 49 0.0 74 0 49 -0.12 74 0 49 0.0 74 0 49 -0.12 74 0 0 LTYPE 5 B3 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ACAD_ISO15W100 70 0 3 ISO double-dash triple-dot __ __ . . . __ __ . 72 65 73 10 40 1.539999999999999 49 0.47 74 0 49 -0.12 74 0 49 0.47 74 0 49 -0.12 74 0 49 0.0 74 0 49 -0.12 74 0 49 0.0 74 0 49 -0.12 74 0 49 0.0 74 0 49 -0.12 74 0 0 LTYPE 5 B6 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 FENCELINE1 70 0 3 Fenceline circle ----0-----0----0-----0----0--- 72 65 73 4 40 1.45 49 0.25 74 0 49 -0.1 74 4 75 133 340 B5 46 0.1 50 0.0 44 -0.1 45 0.0 49 -0.1 74 0 49 1.0 74 0 0 LTYPE 5 B7 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 FENCELINE2 70 0 3 Fenceline square ----[]-----[]----[]-----[]---- 72 65 73 4 40 1.45 49 0.25 74 0 49 -0.1 74 4 75 132 340 B5 46 0.1 50 0.0 44 -0.1 45 0.0 49 -0.1 74 0 49 1.0 74 0 0 LTYPE 5 B8 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 TRACKS 70 0 3 Tracks -|-|-|-|-|-|-|-|-|-|-|-|-|-|-|-|-|-|-|-| 72 65 73 2 40 0.3 49 0.15 74 4 75 130 340 B5 46 0.25 50 0.0 44 0.0 45 0.0 49 0.15 74 0 0 LTYPE 5 B9 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 BATTING 70 0 3 Batting SSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSS 72 65 73 4 40 0.4001000000000001 49 0.0001 74 0 49 -0.1 74 4 75 134 340 B5 46 0.1 50 0.0 44 -0.1 45 0.0 49 -0.2 74 4 75 134 340 B5 46 0.1 50 180.0 44 0.1 45 0.0 49 -0.1 74 0 0 LTYPE 5 BA 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 HOT_WATER_SUPPLY 70 0 3 Hot water supply ---- HW ---- HW ---- HW ---- 72 65 73 3 40 0.9 49 0.5 74 0 49 -0.2 74 2 75 0 340 60 46 0.1 50 0.0 44 -0.1 45 -0.05 9 HW 49 -0.2 74 0 0 LTYPE 5 BB 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 GAS_LINE 70 0 3 Gas line ----GAS----GAS----GAS----GAS----GAS--- 72 65 73 3 40 0.95 49 0.5 74 0 49 -0.2 74 2 75 0 340 60 46 0.1 50 0.0 44 -0.1 45 -0.05 9 GAS 49 -0.25 74 0 0 LTYPE 5 BC 330 5 100 AcDbSymbolTableRecord 100 AcDbLinetypeTableRecord 2 ZIGZAG 70 0 3 Zig zag /\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/ 72 65 73 4 40 0.8001000000000001 49 0.0001 74 0 49 -0.2 74 4 75 131 340 B5 46 0.2 50 0.0 44 -0.2 45 0.0 49 -0.4 74 4 75 131 340 B5 46 0.2 50 180.0 44 0.2 45 0.0 49 -0.2 74 0 0 ENDTAB 0 TABLE 2 LAYER 5 2 330 0 100 AcDbSymbolTable 70 26 0 LAYER 5 5F 330 2 100 AcDbSymbolTableRecord 100 AcDbLayerTableRecord 2 0 70 0 62 7 6 Continuous 370 -3 390 F 0 LAYER 5 CD 330 2 100 AcDbSymbolTableRecord 100 AcDbLayerTableRecord 2 Sketch Geometry (ANSI) 70 0 62 7 6 Continuous 370 25 390 F 0 ENDTAB 0 TABLE 2 STYLE 5 3 330 0 100 AcDbSymbolTable 70 5 0 STYLE 5 60 330 3 100 AcDbSymbolTableRecord 100 AcDbTextStyleTableRecord 2 Standard 70 0 40 0.0 41 1.0 50 0.0 71 0 42 0.2 3 tahoma.ttf 4 1001 ACAD 1000 Tahoma 1071 256 0 STYLE 5 65 330 3 100 AcDbSymbolTableRecord 100 AcDbTextStyleTableRecord 2 Annotative 70 0 40 0.0 41 1.0 50 0.0 71 0 42 0.2 3 txt 4 1001 AcadAnnotative 1000 AnnotativeData 1002 { 1070 1 1070 1 1002 } 0 STYLE 5 B5 330 3 100 AcDbSymbolTableRecord 100 AcDbTextStyleTableRecord 2 70 1 40 0.0 41 1.0 50 0.0 71 0 42 0.2 3 ltypeshp.shx 4 0 STYLE 5 D6 330 3 100 AcDbSymbolTableRecord 100 AcDbTextStyleTableRecord 2 Label Text (ANSI) 70 0 40 0.0 41 1.0 50 0.0 71 0 42 0.2 3 tahoma.ttf 4 1001 ACAD 1000 Tahoma 1071 256 0 STYLE 5 D7 330 3 100 AcDbSymbolTableRecord 100 AcDbTextStyleTableRecord 2 Note Text (ANSI) 70 0 40 0.0 41 1.0 50 0.0 71 0 42 0.2 3 tahoma.ttf 4 1001 ACAD 1000 Tahoma 1071 256 0 ENDTAB 0 TABLE 2 VIEW 5 6 330 0 100 AcDbSymbolTable 70 0 0 ENDTAB 0 TABLE 2 UCS 5 7 330 0 100 AcDbSymbolTable 70 0 0 ENDTAB 0 TABLE 2 APPID 5 9 330 0 100 AcDbSymbolTable 70 3 0 APPID 5 61 330 9 100 AcDbSymbolTableRecord 100 AcDbRegAppTableRecord 2 ACAD 70 0 0 APPID 5 69 330 9 100 AcDbSymbolTableRecord 100 AcDbRegAppTableRecord 2 AcadAnnotative 70 0 0 APPID 5 161 330 9 100 AcDbSymbolTableRecord 100 AcDbRegAppTableRecord 2 ACAD_MLEADERVER 70 0 0 ENDTAB 0 TABLE 2 DIMSTYLE 5 A 330 0 100 AcDbSymbolTable 70 15 100 AcDbDimStyleTable 71 0 0 DIMSTYLE 105 63 330 A 100 AcDbSymbolTableRecord 100 AcDbDimStyleTableRecord 2 Standard 70 0 340 60 0 DIMSTYLE 105 64 330 A 100 AcDbSymbolTableRecord 100 AcDbDimStyleTableRecord 2 Annotative 70 0 340 60 1001 AcadAnnotative 1000 AnnotativeData 1002 { 1070 1 1070 1 1002 } 0 DIMSTYLE 105 D8 330 A 100 AcDbSymbolTableRecord 100 AcDbDimStyleTableRecord 2 Architectural (ANSI) 70 0 41 0.0984251946210861 43 0.2362204724409449 44 0.125 45 0.00000001 46 0.3937007874015748 78 3 79 3 140 0.1200000047683716 144 0.0833333333333333 147 0.031496062992126 171 1 176 256 177 256 178 256 272 2 274 1 276 2 277 4 284 12 285 4 286 12 340 D7 371 -1 372 -1 0 DIMSTYLE 105 D9 330 A 100 AcDbSymbolTableRecord 100 AcDbDimStyleTableRecord 2 Architectural (ANSI)$7 70 0 41 0.0984251946210861 43 0.2362204724409449 44 0.125 45 0.00000001 46 0.3937007874015748 78 3 79 3 140 0.1200000047683716 144 0.0833333333333333 147 0.031496062992126 171 1 176 256 177 256 178 256 272 2 274 1 276 2 277 4 284 12 285 4 286 12 340 D7 371 -1 372 -1 0 DIMSTYLE 105 DA 330 A 100 AcDbSymbolTableRecord 100 AcDbDimStyleTableRecord 2 Default - Fraction (ANSI) 70 0 41 0.0984251946210861 43 0.2362204724409449 44 0.125 45 0.00000001 46 0.3937007874015748 79 3 140 0.1200000047683716 147 0.031496062992126 171 1 176 256 177 256 178 256 272 2 274 1 276 2 277 5 284 12 285 4 286 12 340 D7 371 -1 372 -1 0 DIMSTYLE 105 DB 330 A 100 AcDbSymbolTableRecord 100 AcDbDimStyleTableRecord 2 Default - Fraction (ANSI)$7 70 0 41 0.0984251946210861 43 0.2362204724409449 44 0.125 45 0.00000001 46 0.3937007874015748 79 3 140 0.1200000047683716 147 0.031496062992126 171 1 176 256 177 256 178 256 272 2 274 1 276 2 277 5 284 12 285 4 286 12 340 D7 371 -1 372 -1 0 DIMSTYLE 105 DC 330 A 100 AcDbSymbolTableRecord 100 AcDbDimStyleTableRecord 2 Default - mm (ANSI) 70 0 41 0.0984251946210861 42 0.063 43 0.2362204724409449 44 0.125 45 0.00000001 46 0.3937007874015748 73 0 78 4 79 1 140 0.1200000047683716 143 1.0 144 25.4 147 0.031496062992126 171 1 176 256 177 256 178 256 179 1 271 2 272 2 274 1 284 4 285 4 340 D7 371 -1 372 -1 0 DIMSTYLE 105 DD 330 A 100 AcDbSymbolTableRecord 100 AcDbDimStyleTableRecord 2 Default - mm (ANSI)$7 70 0 41 0.0984251946210861 42 0.063 43 0.2362204724409449 44 0.125 45 0.00000001 46 0.3937007874015748 73 0 78 4 79 1 140 0.1200000047683716 143 1.0 144 25.4 147 0.031496062992126 171 1 176 256 177 256 178 256 179 1 271 2 272 2 274 1 284 4 285 4 340 D7 371 -1 372 -1 0 DIMSTYLE 105 DE 330 A 100 AcDbSymbolTableRecord 100 AcDbDimStyleTableRecord 2 Default - mm [in] (ANSI) 70 0 4 in 41 0.0984251946210861 42 0.063 43 0.25 44 0.125 45 0.00000001 46 0.3937007874015748 73 0 78 4 79 1 140 0.1200000047683716 143 0.03937 144 25.4 147 0.031496062992126 170 1 171 3 176 256 177 256 178 256 179 1 271 2 272 2 274 3 284 4 285 4 286 4 340 D7 371 -1 372 -1 0 DIMSTYLE 105 DF 330 A 100 AcDbSymbolTableRecord 100 AcDbDimStyleTableRecord 2 Default - mm [in] (ANSI)$7 70 0 4 in 41 0.0984251946210861 42 0.063 43 0.25 44 0.125 45 0.00000001 46 0.3937007874015748 73 0 78 4 79 1 140 0.1200000047683716 143 0.03937 144 25.4 147 0.031496062992126 170 1 171 3 176 256 177 256 178 256 179 1 271 2 272 2 274 3 284 4 285 4 286 4 340 D7 371 -1 372 -1 0 DIMSTYLE 105 E0 330 A 100 AcDbSymbolTableRecord 100 AcDbDimStyleTableRecord 2 Default (ANSI) 70 0 41 0.0984251946210861 43 0.2362204724409449 44 0.125 45 0.00000001 46 0.3937007874015748 78 4 79 1 140 0.1200000047683716 147 0.031496062992126 171 1 176 256 177 256 178 256 271 2 272 2 274 1 284 4 285 4 340 D7 371 -1 372 -1 0 DIMSTYLE 105 E1 330 A 100 AcDbSymbolTableRecord 100 AcDbDimStyleTableRecord 2 Default (ANSI)$7 70 0 41 0.0984251946210861 43 0.2362204724409449 44 0.125 45 0.00000001 46 0.3937007874015748 78 4 79 1 140 0.1200000047683716 147 0.031496062992126 171 1 176 256 177 256 178 256 271 2 272 2 274 1 284 4 285 4 340 D7 371 -1 372 -1 0 DIMSTYLE 105 E2 330 A 100 AcDbSymbolTableRecord 100 AcDbDimStyleTableRecord 2 Alternate (ANSI) 70 0 41 0.0979999974370003 340 60 342 E3 0 DIMSTYLE 105 F4 330 A 100 AcDbSymbolTableRecord 100 AcDbDimStyleTableRecord 2 Datum (ANSI) 70 0 41 0.0979999974370003 340 60 342 E3 0 DIMSTYLE 105 103 330 A 100 AcDbSymbolTableRecord 100 AcDbDimStyleTableRecord 2 Large (ANSI) 70 0 41 0.1959999948740005 340 60 342 E3 0 ENDTAB 0 TABLE 2 BLOCK_RECORD 5 1 330 0 100 AcDbSymbolTable 70 4 0 BLOCK_RECORD 5 77 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Model_Space 340 7A 0 BLOCK_RECORD 5 73 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Paper_Space 340 76 0 BLOCK_RECORD 5 7B 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 *Paper_Space0 340 7E 0 BLOCK_RECORD 5 E3 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 _Closed 340 0 0 BLOCK_RECORD 5 EA 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 DatumFilled45 340 0 0 BLOCK_RECORD 5 F5 330 1 100 AcDbSymbolTableRecord 100 AcDbBlockTableRecord 2 Filled-1 340 0 0 ENDTAB 0 ENDSEC 0 SECTION 2 BLOCKS 0 BLOCK 5 78 330 77 100 AcDbEntity 8 0 100 AcDbBlockBegin 2 *Model_Space 70 0 10 0.0 20 0.0 30 0.0 3 *Model_Space 1 0 ENDBLK 5 79 330 77 100 AcDbEntity 8 0 100 AcDbBlockEnd 0 BLOCK 5 74 330 73 100 AcDbEntity 67 1 8 0 100 AcDbBlockBegin 2 *Paper_Space 70 0 10 0.0 20 0.0 30 0.0 3 *Paper_Space 1 0 ENDBLK 5 75 330 73 100 AcDbEntity 67 1 8 0 100 AcDbBlockEnd 0 BLOCK 5 7C 330 7B 100 AcDbEntity 67 1 8 0 100 AcDbBlockBegin 2 *Paper_Space0 70 0 10 0.0 20 0.0 30 0.0 3 *Paper_Space0 1 0 ENDBLK 5 7D 330 7B 100 AcDbEntity 67 1 8 0 100 AcDbBlockEnd 0 BLOCK 5 E8 330 E3 100 AcDbEntity 8 0 100 AcDbBlockBegin 2 _Closed 70 0 10 0.0 20 0.0 30 0.0 3 _Closed 1 0 LINE 5 E4 330 E3 100 AcDbEntity 8 0 6 ByBlock 62 0 370 -2 100 AcDbLine 10 -1.0 20 0.1666666666666666 30 0.0 11 0.0 21 0.0 31 0.0 0 LINE 5 E5 330 E3 100 AcDbEntity 8 0 6 ByBlock 62 0 370 -2 100 AcDbLine 10 0.0 20 0.0 30 0.0 11 -1.0 21 -0.1666666666666666 31 0.0 0 LINE 5 E6 330 E3 100 AcDbEntity 8 0 6 ByBlock 62 0 370 -2 100 AcDbLine 10 -1.0 20 0.1666666666666666 30 0.0 11 -1.0 21 -0.1666666666666666 31 0.0 0 LINE 5 E7 330 E3 100 AcDbEntity 8 0 6 ByBlock 62 0 370 -2 100 AcDbLine 10 0.0 20 0.0 30 0.0 11 -1.0 21 0.0 31 0.0 0 ENDBLK 5 E9 330 E3 100 AcDbEntity 8 0 100 AcDbBlockEnd 0 BLOCK 5 EB 330 EA 100 AcDbEntity 8 0 100 AcDbBlockBegin 2 DatumFilled45 70 0 10 0.0 20 0.0 30 0.0 3 DatumFilled45 1 0 POLYLINE 5 ED 330 EA 100 AcDbEntity 8 0 62 0 100 AcDb2dPolyline 66 1 10 0.0 20 0.0 30 0.0 70 128 0 VERTEX 5 EE 330 ED 100 AcDbEntity 8 0 62 0 100 AcDbVertex 100 AcDb2dVertex 10 0.0 20 0.9999999999999998 30 0.0 0 VERTEX 5 EF 330 ED 100 AcDbEntity 8 0 62 0 100 AcDbVertex 100 AcDb2dVertex 10 0.0 20 -0.9999999999999998 30 0.0 0 VERTEX 5 F1 330 ED 100 AcDbEntity 8 0 62 0 100 AcDbVertex 100 AcDb2dVertex 10 -0.9999999999999998 20 0.0 30 0.0 0 VERTEX 5 F2 330 ED 100 AcDbEntity 8 0 62 0 100 AcDbVertex 100 AcDb2dVertex 10 0.0 20 0.9999999999999998 30 0.0 0 SEQEND 5 F0 330 ED 100 AcDbEntity 8 0 62 0 0 SOLID 5 F3 330 EA 100 AcDbEntity 8 0 62 0 100 AcDbTrace 10 0.0 20 0.9999999999999998 30 0.0 11 0.0 21 -0.9999999999999998 31 0.0 12 -0.9999999999999998 22 0.0 32 0.0 13 0.0 23 0.9999999999999998 33 0.0 0 ENDBLK 5 EC 330 EA 100 AcDbEntity 8 0 100 AcDbBlockEnd 0 BLOCK 5 F6 330 F5 100 AcDbEntity 8 0 100 AcDbBlockBegin 2 Filled-1 70 0 10 0.0 20 0.0 30 0.0 3 Filled-1 1 0 LINE 5 F8 330 F5 100 AcDbEntity 8 0 62 0 100 AcDbLine 10 -0.9999999999999998 20 0.0 30 0.0 11 0.0 21 0.0 31 0.0 0 POLYLINE 5 F9 330 F5 100 AcDbEntity 8 0 62 0 100 AcDb2dPolyline 66 1 10 0.0 20 0.0 30 0.0 70 128 0 VERTEX 5 FA 330 F9 100 AcDbEntity 8 0 62 0 100 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100 AcDbEntity 8 0 62 0 100 AcDbLine 10 -0.9999999999999998 20 0.0994897959183674 30 0.0 11 -0.9999999999999998 21 -0.0994897959183674 31 0.0 0 ENDBLK 5 F7 330 F5 100 AcDbEntity 8 0 100 AcDbBlockEnd 0 ENDSEC 0 SECTION 2 ENTITIES 0 LINE 5 104 330 77 100 AcDbEntity 8 Sketch Geometry (ANSI) 100 AcDbLine 10 2.952972052309205 20 4.975706363783834 30 0.0 11 4.106337189004594 21 5.157057626648247 31 0.0 0 LINE 5 105 330 77 100 AcDbEntity 8 Sketch Geometry (ANSI) 100 AcDbLine 10 4.106337189004594 20 5.157057626648247 30 0.0 11 4.141956390166316 21 5.117959424723896 31 0.0 0 LINE 5 106 330 77 100 AcDbEntity 8 Sketch Geometry (ANSI) 100 AcDbLine 10 4.290261876214738 20 5.09033762127516 30 0.0 11 4.490197336905273 21 5.19030535817339 31 0.0 0 LINE 5 107 330 77 100 AcDbEntity 8 Sketch Geometry (ANSI) 100 AcDbLine 10 4.490197336905272 20 5.190305358173389 30 0.0 11 4.560222641886978 21 5.142788183821015 31 0.0 0 LINE 5 108 330 77 100 AcDbEntity 8 Sketch Geometry (ANSI) 100 AcDbLine 10 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(ANSI) 100 AcDbLine 10 5.440194157943458 20 4.598709707071938 30 0.0 11 5.40009339857375 21 4.642722869930771 31 0.0 0 LINE 5 120 330 77 100 AcDbEntity 8 Sketch Geometry (ANSI) 100 AcDbLine 10 5.40009339857375 20 4.642722869930771 30 0.0 11 5.318583398573751 21 4.6248999732357 31 0.0 0 LINE 5 121 330 77 100 AcDbEntity 8 Sketch Geometry (ANSI) 100 AcDbLine 10 5.318583398573751 20 4.6248999732357 30 0.0 11 5.269977154427833 21 4.678248452745206 31 0.0 0 LINE 5 122 330 77 100 AcDbEntity 8 Sketch Geometry (ANSI) 100 AcDbLine 10 5.269977154427833 20 4.678248452745206 30 0.0 11 5.188467154427833 21 4.660425556050135 31 0.0 0 LINE 5 123 330 77 100 AcDbEntity 8 Sketch Geometry (ANSI) 100 AcDbLine 10 5.188467154427833 20 4.660425556050134 30 0.0 11 5.139860910281915 21 4.713774035559641 31 0.0 0 LINE 5 124 330 77 100 AcDbEntity 8 Sketch Geometry (ANSI) 100 AcDbLine 10 5.139860910281915 20 4.713774035559641 30 0.0 11 5.058350910281915 21 4.695951138864569 31 0.0 0 LINE 5 125 330 77 100 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0.0 0 ENDSEC 0 SECTION 2 OBJECTS 0 DICTIONARY 5 C 330 0 100 AcDbDictionary 281 1 3 ACAD_COLOR 350 6E 3 ACAD_GROUP 350 D 3 ACAD_LAYOUT 350 6D 3 ACAD_MATERIAL 350 10 3 ACAD_MLEADERSTYLE 350 71 3 ACAD_MLINESTYLE 350 6A 3 ACAD_PLOTSETTINGS 350 6C 3 ACAD_PLOTSTYLENAME 350 E 3 ACAD_SCALELIST 350 3D 3 ACAD_TABLESTYLE 350 6F 3 ACAD_VISUALSTYLE 350 29 3 ACDB_RECOMPOSE_DATA 350 136 3 AcDbVariableDictionary 350 12B 0 DICTIONARY 5 6E 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 0 DICTIONARY 5 D 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 0 DICTIONARY 5 6D 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 Layout1 350 76 3 Layout2 350 7E 3 Model 350 7A 0 DICTIONARY 5 10 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 ByBlock 350 19 3 ByLayer 350 11 3 Global 350 21 0 DICTIONARY 5 71 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 Standard 350 72 0 DICTIONARY 5 6A 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 Standard 350 6B 0 DICTIONARY 5 6C 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 0 ACDBDICTIONARYWDFLT 5 E 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 Normal 350 F 100 AcDbDictionaryWithDefault 340 F 0 DICTIONARY 5 3D 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 A0 350 3E 3 A1 350 3F 3 A2 350 40 3 A3 350 41 3 A4 350 42 3 A5 350 43 3 A6 350 44 3 A7 350 45 3 A8 350 46 3 A9 350 47 3 B0 350 48 3 B1 350 49 3 B2 350 4A 3 B3 350 4B 3 B4 350 4C 3 B5 350 4D 3 B6 350 4E 3 B7 350 4F 3 B8 350 50 3 B9 350 51 3 C0 350 52 3 C1 350 53 3 C2 350 54 3 C3 350 55 3 C4 350 56 3 C5 350 57 3 C6 350 58 3 C7 350 59 3 C8 350 5A 3 C9 350 5B 3 D0 350 5C 3 D1 350 5D 3 D2 350 5E 0 DICTIONARY 5 6F 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 Standard 350 70 0 DICTIONARY 5 29 102 {ACAD_REACTORS 330 C 102 } 330 C 100 AcDbDictionary 281 1 3 2dWireframe 350 2F 3 3D Hidden 350 31 3 3dWireframe 350 30 3 Basic 350 2E 3 Brighten 350 35 3 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0.0 13 0.0 23 0.0 33 0.0 16 1.0 26 0.0 36 0.0 17 0.0 27 1.0 37 0.0 76 0 330 73 0 LAYOUT 5 7E 102 {ACAD_REACTORS 330 6D 102 } 330 6D 100 AcDbPlotSettings 1 2 4 6 40 0.0 41 0.0 42 0.0 43 0.0 44 0.0 45 0.0 46 0.0 47 0.0 48 0.0 49 0.0 140 0.0 141 0.0 142 1.0 143 1.0 70 688 72 0 73 0 74 5 7 75 16 147 1.0 76 0 77 2 78 300 148 0.0 149 0.0 100 AcDbLayout 1 Layout2 70 1 71 2 10 0.0 20 0.0 11 12.0 21 9.0 12 0.0 22 0.0 32 0.0 14 0.0 24 0.0 34 0.0 15 0.0 25 0.0 35 0.0 146 0.0 13 0.0 23 0.0 33 0.0 16 1.0 26 0.0 36 0.0 17 0.0 27 1.0 37 0.0 76 0 330 7B 0 LAYOUT 5 7A 102 {ACAD_REACTORS 330 6D 102 } 330 6D 100 AcDbPlotSettings 1 2 4 6 40 0.0 41 0.0 42 0.0 43 0.0 44 0.0 45 0.0 46 0.0 47 0.0 48 0.0 49 0.0 140 0.0 141 0.0 142 1.0 143 1.0 70 1712 72 0 73 0 74 0 7 75 0 147 1.0 76 0 77 2 78 300 148 0.0 149 0.0 100 AcDbLayout 1 Model 70 1 71 0 10 0.0 20 0.0 11 12.0 21 9.0 12 0.0 22 0.0 32 0.0 14 0.0 24 0.0 34 0.0 15 0.0 25 0.0 35 0.0 146 0.0 13 0.0 23 0.0 33 0.0 16 1.0 26 0.0 36 0.0 17 0.0 27 1.0 37 0.0 76 0 330 77 0 MATERIAL 5 19 102 {ACAD_XDICTIONARY 360 1A 102 } 102 {ACAD_REACTORS 330 10 102 } 330 10 100 AcDbMaterial 1 ByBlock 72 0 43 0.0208333333333333 43 0.0 43 0.0 43 0.0 43 0.0 43 0.0208333333333333 43 0.0 43 0.0 43 0.0 43 0.0 43 1.0 43 0.0 43 0.0 43 0.0 43 0.0 43 1.0 77 0 47 0.0208333333333333 47 0.0 47 0.0 47 0.0 47 0.0 47 0.0208333333333333 47 0.0 47 0.0 47 0.0 47 0.0 47 1.0 47 0.0 47 0.0 47 0.0 47 0.0 47 1.0 171 0 49 0.0208333333333333 49 0.0 49 0.0 49 0.0 49 0.0 49 0.0208333333333333 49 0.0 49 0.0 49 0.0 49 0.0 49 1.0 49 0.0 49 0.0 49 0.0 49 0.0 49 1.0 175 0 142 0.0208333333333333 142 0.0 142 0.0 142 0.0 142 0.0 142 0.0208333333333333 142 0.0 142 0.0 142 0.0 142 0.0 142 1.0 142 0.0 142 0.0 142 0.0 142 0.0 142 1.0 179 0 144 0.0208333333333333 144 0.0 144 0.0 144 0.0 144 0.0 144 0.0208333333333333 144 0.0 144 0.0 144 0.0 144 0.0 144 1.0 144 0.0 144 0.0 144 0.0 144 0.0 144 1.0 147 0.0208333333333333 147 0.0 147 0.0 147 0.0 147 0.0 147 0.0208333333333333 147 0.0 147 0.0 147 0.0 147 0.0 147 1.0 147 0.0 147 0.0 147 0.0 147 0.0 147 1.0 0 MATERIAL 5 11 102 {ACAD_XDICTIONARY 360 12 102 } 102 {ACAD_REACTORS 330 10 102 } 330 10 100 AcDbMaterial 1 ByLayer 72 0 43 0.0208333333333333 43 0.0 43 0.0 43 0.0 43 0.0 43 0.0208333333333333 43 0.0 43 0.0 43 0.0 43 0.0 43 1.0 43 0.0 43 0.0 43 0.0 43 0.0 43 1.0 77 0 47 0.0208333333333333 47 0.0 47 0.0 47 0.0 47 0.0 47 0.0208333333333333 47 0.0 47 0.0 47 0.0 47 0.0 47 1.0 47 0.0 47 0.0 47 0.0 47 0.0 47 1.0 171 0 49 0.0208333333333333 49 0.0 49 0.0 49 0.0 49 0.0 49 0.0208333333333333 49 0.0 49 0.0 49 0.0 49 0.0 49 1.0 49 0.0 49 0.0 49 0.0 49 0.0 49 1.0 175 0 142 0.0208333333333333 142 0.0 142 0.0 142 0.0 142 0.0 142 0.0208333333333333 142 0.0 142 0.0 142 0.0 142 0.0 142 1.0 142 0.0 142 0.0 142 0.0 142 0.0 142 1.0 179 0 144 0.0208333333333333 144 0.0 144 0.0 144 0.0 144 0.0 144 0.0208333333333333 144 0.0 144 0.0 144 0.0 144 0.0 144 1.0 144 0.0 144 0.0 144 0.0 144 0.0 144 1.0 147 0.0208333333333333 147 0.0 147 0.0 147 0.0 147 0.0 147 0.0208333333333333 147 0.0 147 0.0 147 0.0 147 0.0 147 1.0 147 0.0 147 0.0 147 0.0 147 0.0 147 1.0 0 MATERIAL 5 21 102 {ACAD_XDICTIONARY 360 22 102 } 102 {ACAD_REACTORS 330 10 102 } 330 10 100 AcDbMaterial 1 Global 72 0 43 0.0208333333333333 43 0.0 43 0.0 43 0.0 43 0.0 43 0.0208333333333333 43 0.0 43 0.0 43 0.0 43 0.0 43 1.0 43 0.0 43 0.0 43 0.0 43 0.0 43 1.0 77 0 47 0.0208333333333333 47 0.0 47 0.0 47 0.0 47 0.0 47 0.0208333333333333 47 0.0 47 0.0 47 0.0 47 0.0 47 1.0 47 0.0 47 0.0 47 0.0 47 0.0 47 1.0 171 0 49 0.0208333333333333 49 0.0 49 0.0 49 0.0 49 0.0 49 0.0208333333333333 49 0.0 49 0.0 49 0.0 49 0.0 49 1.0 49 0.0 49 0.0 49 0.0 49 0.0 49 1.0 175 0 142 0.0208333333333333 142 0.0 142 0.0 142 0.0 142 0.0 142 0.0208333333333333 142 0.0 142 0.0 142 0.0 142 0.0 142 1.0 142 0.0 142 0.0 142 0.0 142 0.0 142 1.0 179 0 144 0.0208333333333333 144 0.0 144 0.0 144 0.0 144 0.0 144 0.0208333333333333 144 0.0 144 0.0 144 0.0 144 0.0 144 1.0 144 0.0 144 0.0 144 0.0 144 0.0 144 1.0 147 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vertex 3.992798e-003 7.946887e-003 2.470545e-002 vertex 3.967753e-003 7.946887e-003 2.473050e-002 endloop endfacet facet normal 7.274188e-001 4.483064e-033 6.861938e-001 outer loop vertex 3.992798e-003 -2.090601e-003 2.470545e-002 vertex 3.967753e-003 7.946887e-003 2.473050e-002 vertex 3.967753e-003 -2.090601e-003 2.473050e-002 endloop endfacet facet normal 8.020839e-001 4.943224e-033 5.972114e-001 outer loop vertex 3.967753e-003 -2.090601e-003 2.473050e-002 vertex 3.967753e-003 7.946887e-003 2.473050e-002 vertex 3.947435e-003 7.946887e-003 2.475952e-002 endloop endfacet facet normal 8.355240e-001 5.149314e-033 5.494540e-001 outer loop vertex 3.967753e-003 -2.090601e-003 2.473050e-002 vertex 3.947435e-003 7.946887e-003 2.475952e-002 vertex 3.947435e-003 -2.090601e-003 2.475952e-002 endloop endfacet facet normal 8.936031e-001 5.507254e-033 4.488580e-001 outer loop vertex 3.947435e-003 -2.090601e-003 2.475952e-002 vertex 3.947435e-003 7.946887e-003 2.475952e-002 vertex 3.932467e-003 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vertex 3.920213e-003 7.946887e-003 2.386112e-002 vertex 3.920213e-003 -2.090601e-003 2.386112e-002 endloop endfacet facet normal 9.983120e-001 6.152573e-033 -5.807914e-002 outer loop vertex 3.920213e-003 -2.090601e-003 2.386112e-002 vertex 3.920213e-003 7.946887e-003 2.386112e-002 vertex 3.923299e-003 7.946887e-003 2.389640e-002 endloop endfacet facet normal 9.932307e-001 6.121257e-033 -1.161583e-001 outer loop vertex 3.920213e-003 -2.090601e-003 2.386112e-002 vertex 3.923299e-003 7.946887e-003 2.389640e-002 vertex 3.923299e-003 -2.090601e-003 2.389640e-002 endloop endfacet facet normal 9.730600e-001 5.996945e-033 -2.305519e-001 outer loop vertex 3.923299e-003 -2.090601e-003 2.389640e-002 vertex 3.923299e-003 7.946887e-003 2.389640e-002 vertex 3.932467e-003 7.946887e-003 2.393061e-002 endloop endfacet facet normal 9.579706e-001 5.903950e-033 -2.868663e-001 outer loop vertex 3.923299e-003 -2.090601e-003 2.389640e-002 vertex 3.932467e-003 7.946887e-003 2.393061e-002 vertex 3.932467e-003 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AD!?\QA t?1>/P?RP>B?:>?B?:>A/P?RP>A t?1>Atrimesh-4.5.1/models/duck.dae000066400000000000000000010533031470574263400161010ustar00rootroot00000000000000 gcorson Maya 8.0 | ColladaMaya v3.02 | FCollada v3.2 Collada Maya Export Options: bakeTransforms=0;exportPolygonMeshes=1;bakeLighting=0;isSampling=0; curveConstrainSampling=0;exportCameraAsLookat=0; exportLights=1;exportCameras=1;exportJointsAndSkin=1; exportAnimations=1;exportTriangles=0;exportInvisibleNodes=0; exportNormals=1;exportTexCoords=1;exportVertexColors=1;exportTangents=0; exportTexTangents=0;exportConstraints=1;exportPhysics=0;exportXRefs=1; dereferenceXRefs=0;cameraXFov=0;cameraYFov=1 Copyright 2006 Sony Computer Entertainment Inc. Licensed under the SCEA Shared Source License, Version 1.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at: http://research.scea.com/scea_shared_source_license.html Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License. file:///C:/vs2005/sample_data/Complete_Packages/SCEA_Private/Maya_MoonLander/Moonlander/untitled 2006-08-23T22:29:59Z 2007-02-21T22:47:42Z Y_UP 37.8492 1.5 1 10000 1 1 1 ./duckCM.tga file2 A8R8G8B8 file2-surface LINEAR_MIPMAP_LINEAR LINEAR 0 0 0 1 0 0 0 1 0 0 0 1 0.3 0 0 0 1 0.5 0 0 0 1 1 1 35.0226 89.3874 23.3732 19.5676 89.7173 22.4879 9.22909 91.5427 17.1037 4.33048 88.7008 4.57726 45.0571 89.4178 19.824 -30.5196 11.6272 25.1326 -15.6992 11.4278 34.2321 51.8411 17.7055 36.5602 65.7206 18.372 27.0862 56.0117 11.4345 22.6963 -23.2343 18.1488 41.0429 -40.9218 18.6322 29.6382 62.4487 11.3989 12.9806 60.2326 28.1944 39.5949 71.2984 29.0359 29.3335 -32.9737 29.6914 43.477 -48.95 28.9358 31.4102 73.8118 41.7425 29.8584 65.2513 41.3955 39.884 72.6597 55.003 29.2468 64.6263 55.4849 38.2648 66.5829 66.4165 27.9218 55.5179 67.734 35.7358 43.4971 75.6992 31.8699 56.934 75.0037 25.7495 14.7601 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277/195/277 175/100/175 f 175/100/175 272/583/272 176/412/176 vt 0.532135 0.994684 f 161/605/161 177/205/177 454/569/454 vt 0.131848 0.708775 f 123/606/123 107/523/107 499/179/499 f 438/231/438 170/233/170 150/235/150 f 170/233/170 375/228/375 150/235/150 f 451/349/451 79/234/79 475/175/475 vt 0.763947 0.768811 vt 0.770002 0.768009 f 40/607/40 200/608/200 245/367/245 f 211/393/211 212/317/212 385/319/385 vt 0.407382 0.587532 f 262/609/262 212/317/212 211/393/211 f 113/455/113 218/579/218 466/127/466 f 95/323/95 270/201/270 445/279/445 f 467/280/467 68/147/68 194/281/194 f 28/492/28 461/283/461 224/282/224 vt 0.605652 0.655465 vt 0.598205 0.653494 f 273/610/273 102/490/102 468/611/468 vt 0.023385 0.578470 f 461/408/461 70/612/70 30/334/30 f 56/288/56 185/216/185 361/215/361 f 96/246/96 134/286/134 344/466/344 f 358/340/358 408/423/408 471/509/471 f 84/199/84 215/546/215 234/442/234 f 59/592/59 128/166/128 87/559/87 vt 0.531376 0.628307 f 48/613/48 189/328/189 46/132/46 f 89/294/89 100/356/100 238/295/238 vt 0.424335 0.440794 f 203/300/203 246/614/246 154/377/154 f 151/376/151 331/458/331 93/373/93 f 502/387/502 204/381/204 205/125/205 f 472/124/472 325/126/325 103/517/103 f 459/390/459 462/156/462 410/527/410 f 140/312/140 90/311/90 410/527/410 f 90/311/90 459/390/459 410/527/410 f 462/156/462 141/528/141 410/527/410 f 265/397/265 208/310/208 411/395/411 vt 0.562842 0.901502 vt 0.554650 0.885788 f 492/615/492 464/314/464 463/616/463 vt 0.531692 0.913831 f 269/617/269 465/316/465 260/277/260 vt 0.573086 0.877947 f 463/616/463 393/618/393 492/615/492 f 465/316/465 269/617/269 464/314/464 f 464/314/464 269/617/269 209/315/209 vt 0.559548 0.918307 f 464/314/464 492/615/492 457/619/457 f 210/278/210 183/561/183 109/104/109 f 339/320/339 396/403/396 385/319/385 f 210/278/210 465/316/465 457/619/457 vt 0.426518 0.674141 f 113/455/113 216/327/216 91/620/91 f 218/579/218 113/455/113 91/620/91 f 95/323/95 447/405/447 270/201/270 f 132/209/132 143/208/143 122/196/122 f 88/130/88 189/328/189 239/330/239 f 467/280/467 317/358/317 184/144/184 f 364/339/364 467/280/467 342/488/342 f 224/282/224 194/281/194 68/147/68 f 194/281/194 468/611/468 467/280/467 f 342/488/342 468/611/468 102/490/102 f 134/286/134 56/288/56 361/215/361 f 273/610/273 468/611/468 461/283/461 f 55/287/55 134/286/134 71/333/71 vt 0.549407 0.649222 f 364/339/364 477/338/477 243/621/243 vt 0.595272 0.676759 f 342/488/342 485/622/485 363/489/363 f 481/491/481 485/622/485 342/488/342 f 371/480/371 469/463/469 372/497/372 f 326/516/326 104/152/104 471/509/471 f 288/341/288 105/482/105 358/340/358 f 470/151/470 471/509/471 104/152/104 f 471/509/471 470/151/470 358/340/358 vt 0.115145 0.656556 f 388/526/388 450/206/450 352/623/352 f 449/431/449 227/425/227 450/206/450 f 295/429/295 86/555/86 386/430/386 f 86/555/86 228/598/228 280/534/280 f 310/225/310 474/544/474 300/226/300 f 455/289/455 158/222/158 229/290/229 f 229/290/229 158/222/158 307/111/307 f 215/540/215 213/322/213 271/406/271 f 426/443/426 231/445/231 232/345/232 f 233/416/233 232/345/232 373/232/373 f 451/349/451 475/175/475 110/347/110 f 233/416/233 451/349/451 312/348/312 f 173/293/173 235/292/235 315/374/315 f 89/294/89 190/131/190 199/136/199 f 45/262/45 66/272/66 190/271/190 f 88/130/88 239/330/239 243/621/243 f 198/361/198 238/295/238 100/356/100 f 238/295/238 242/137/242 241/296/241 f 241/296/241 81/118/81 240/168/240 f 242/137/242 238/295/238 198/361/198 f 247/139/247 376/297/376 242/137/242 f 89/294/89 199/136/199 243/621/243 f 41/372/41 378/505/378 139/365/139 vt 0.367248 0.403667 f 62/375/62 235/292/235 61/624/61 f 203/300/203 93/373/93 174/298/174 f 151/376/151 115/459/115 331/458/331 f 93/373/93 203/300/203 321/242/321 f 249/301/249 323/380/323 324/189/324 f 329/383/329 325/126/325 249/301/249 vt 0.505499 0.749847 f 327/382/327 119/625/119 323/380/323 f 325/126/325 205/125/205 323/380/323 f 502/387/502 327/382/327 204/381/204 f 251/385/251 205/125/205 472/124/472 f 458/309/458 330/386/330 459/390/459 f 462/156/462 252/384/252 251/385/251 f 257/163/257 401/244/401 256/391/256 f 157/392/157 257/163/257 256/391/256 f 263/511/263 335/512/335 414/305/414 f 261/394/261 384/140/384 480/602/480 f 480/602/480 211/393/211 276/96/276 vt 0.517043 0.844016 f 90/311/90 208/310/208 94/626/94 vt 0.424481 0.585225 f 458/142/458 334/627/334 384/140/384 f 433/396/433 266/313/266 265/397/265 f 463/616/463 464/314/464 266/313/266 f 90/311/90 479/389/479 459/390/459 f 192/529/192 393/618/393 433/396/433 f 465/316/465 464/314/464 457/619/457 f 140/312/140 141/528/141 303/603/303 f 209/326/209 91/620/91 216/327/216 vt 0.433221 0.665210 f 209/326/209 269/628/269 91/620/91 f 160/346/160 232/345/232 231/445/231 f 267/547/267 212/317/212 262/609/262 f 211/393/211 384/140/384 262/609/262 f 272/583/272 175/100/175 161/194/161 vt 0.432290 0.677903 f 260/629/260 91/620/91 269/628/269 f 114/411/114 144/184/144 374/183/374 f 194/281/194 461/283/461 468/611/468 f 162/165/162 24/335/24 33/409/33 f 96/246/96 344/466/344 225/496/225 vt 0.066888 0.560732 f 58/172/58 446/171/446 57/630/57 f 101/357/101 478/363/478 320/364/320 f 356/238/356 482/471/482 483/153/483 f 363/489/363 346/468/346 482/471/482 f 467/280/467 468/611/468 342/488/342 f 359/217/359 145/470/145 366/551/366 vt 0.023973 0.631709 f 362/631/362 348/495/348 347/479/347 vt 0.105817 0.640832 f 493/632/493 352/623/352 484/478/484 f 365/247/365 362/631/362 481/494/481 f 226/462/226 372/497/372 469/463/469 f 372/497/372 350/474/350 99/499/99 f 487/477/487 293/150/293 146/426/146 f 106/249/106 288/341/288 163/218/163 f 472/124/472 103/517/103 381/510/381 f 381/510/381 420/560/420 434/158/434 f 486/424/486 80/428/80 291/121/291 f 352/623/352 450/206/450 484/478/484 f 227/425/227 293/150/293 487/477/487 f 227/425/227 484/478/484 450/206/450 f 80/428/80 390/252/390 295/429/295 f 386/430/386 86/555/86 296/487/296 f 112/557/112 296/487/296 86/555/86 f 434/158/434 409/157/409 472/124/472 f 488/460/488 398/434/398 408/423/408 f 453/155/453 495/577/495 141/528/141 vt 0.128270 0.759995 f 412/542/412 456/524/456 118/633/118 f 397/518/397 379/507/379 412/542/412 vt 0.595659 0.879111 vt 0.591998 0.889945 f 473/634/473 415/635/415 393/618/393 f 393/618/393 489/537/489 473/634/473 f 196/251/196 407/506/407 413/535/413 vt 0.577077 0.902911 vt 0.586385 0.922188 f 305/636/305 304/637/304 183/561/183 f 305/636/305 457/619/457 492/615/492 f 308/440/308 304/174/304 490/438/490 f 230/441/230 232/345/232 308/440/308 f 232/345/232 311/444/311 308/440/308 vt 0.100841 0.880173 f 447/638/447 95/446/95 231/445/231 f 314/193/314 283/597/283 491/584/491 f 375/228/375 427/450/427 442/229/442 vt 0.050348 0.991032 f 172/451/172 283/639/283 442/229/442 vt 0.088236 0.995289 f 172/451/172 427/450/427 169/640/169 f 246/614/246 203/300/203 319/299/319 f 243/621/243 477/338/477 100/356/100 f 248/379/248 247/139/247 448/302/448 f 317/358/317 364/339/364 243/621/243 f 88/130/88 243/621/243 199/136/199 f 235/292/235 62/375/62 315/374/315 f 331/458/331 419/264/419 322/178/322 f 419/264/419 418/176/418 322/178/322 f 279/563/279 332/601/332 153/239/153 f 382/362/382 332/601/332 155/303/155 f 356/238/356 279/563/279 153/239/153 f 448/302/448 247/139/247 155/303/155 vt 0.559364 0.728590 f 287/562/287 104/152/104 380/641/380 f 330/386/330 458/309/458 207/308/207 f 335/512/335 263/511/263 261/394/261 f 156/417/156 429/243/429 154/377/154 f 408/423/408 420/560/420 381/510/381 f 253/456/253 254/241/254 255/108/255 vt 0.440255 0.550732 f 250/110/250 207/642/207 259/214/259 f 337/120/337 276/96/276 396/403/396 vt 0.435994 0.626531 f 340/398/340 265/643/265 430/401/430 f 122/196/122 143/208/143 341/407/341 f 427/450/427 83/503/83 169/640/169 f 198/361/198 152/237/152 382/362/382 f 145/470/145 345/467/345 366/551/366 f 344/466/344 134/286/134 361/215/361 f 485/622/485 346/468/346 363/489/363 f 290/498/290 345/514/345 362/631/362 f 349/473/349 353/548/353 351/476/351 f 368/475/368 353/548/353 349/473/349 f 226/462/226 452/472/452 350/474/350 f 353/548/353 369/550/369 493/632/493 f 117/600/117 353/548/353 368/475/368 vt 0.016065 0.662523 f 289/515/289 111/581/111 366/644/366 f 145/470/145 359/217/359 483/153/483 f 290/498/290 362/631/362 347/479/347 f 470/151/470 163/218/163 288/341/288 f 357/483/357 486/424/486 289/515/289 f 405/160/405 450/206/450 404/270/404 f 351/476/351 353/548/353 493/632/493 f 294/122/294 147/427/147 386/430/386 f 332/601/332 380/641/380 329/383/329 f 409/157/409 389/154/389 462/156/462 f 460/538/460 303/603/303 297/576/297 f 495/577/495 297/576/297 303/603/303 f 285/255/285 298/543/298 394/572/394 f 285/255/285 82/420/82 298/543/298 f 474/544/474 473/435/473 300/226/300 f 183/561/183 304/637/304 108/102/108 f 234/442/234 229/290/229 307/111/307 f 233/416/233 311/444/311 232/345/232 f 474/544/474 302/436/302 473/435/473 f 306/437/306 302/436/302 230/441/230 f 307/111/307 309/221/309 395/112/395 f 144/184/144 176/412/176 272/583/272 f 457/619/457 305/636/305 183/561/183 f 239/330/239 197/145/197 184/144/184 f 222/167/222 128/166/128 237/355/237 f 343/170/343 162/165/162 355/332/355 f 380/641/380 332/601/332 279/563/279 f 329/383/329 155/303/155 332/601/332 vt 0.439239 0.583467 f 334/627/334 458/142/458 479/645/479 f 480/602/480 384/140/384 211/393/211 f 423/192/423 120/191/120 278/107/278 f 323/380/323 119/625/119 324/189/324 f 496/220/496 394/343/394 495/577/495 f 494/342/494 432/539/432 297/576/297 f 397/518/397 500/541/500 416/519/416 f 403/164/403 121/553/121 383/162/383 f 121/553/121 403/164/403 431/522/431 f 354/567/354 369/550/369 428/549/428 f 431/522/431 402/521/402 123/566/123 vt 0.365932 0.630251 f 213/322/213 215/540/215 84/646/84 f 313/447/313 501/574/501 180/573/180 vt 0.588825 0.908954 f 415/635/415 490/647/490 305/636/305 f 431/269/431 499/179/499 405/160/405 f 354/567/354 388/526/388 352/623/352 f 495/577/495 394/343/394 494/342/494 f 489/587/489 300/226/300 473/435/473 vt 0.351652 0.474354 f 436/552/436 178/554/178 75/648/75 f 354/567/354 428/549/428 75/568/75 f 122/196/122 142/128/142 132/209/132 f 121/553/121 436/552/436 383/162/383 f 127/596/127 445/279/445 142/128/142 f 426/443/426 215/546/215 447/638/447 f 447/638/447 231/445/231 426/443/426 f 252/384/252 462/156/462 459/390/459 f 462/156/462 453/155/453 141/528/141 f 289/515/289 291/121/291 111/581/111 f 439/585/439 120/191/120 314/193/314 f 497/413/497 167/414/167 166/520/166 f 89/294/89 240/168/240 190/131/190 f 185/216/185 57/630/57 446/171/446 f 408/423/408 195/422/195 488/460/488 f 336/98/336 118/266/118 498/265/498 f 307/111/307 84/199/84 234/442/234 f 220/578/220 171/258/171 78/415/78 f 124/589/124 497/413/497 416/519/416 f 142/128/142 122/196/122 127/596/127 f 483/153/483 287/562/287 356/238/356 f 123/566/123 76/558/76 107/565/107 vt 0.565363 0.991709 f 125/599/125 501/649/501 126/570/126 vt 0.124536 0.769426 f 338/650/338 124/589/124 500/541/500 f 82/420/82 167/414/167 440/545/440 f 201/275/201 63/370/63 476/571/476 f 218/579/218 72/207/72 466/127/466 f 407/506/407 135/159/135 136/161/136 vt 0.353261 0.432098 f 236/651/236 128/453/128 315/374/315 f 378/368/378 65/93/65 319/95/319 f 480/602/480 335/512/335 261/394/261 f 389/154/389 398/434/398 496/220/496 f 338/650/338 500/541/500 412/542/412 f 263/511/263 264/457/264 258/245/258 f 501/574/501 313/447/313 423/192/423 f 171/258/171 170/233/170 284/230/284 f 282/508/282 379/507/379 397/518/397 vt 0.054965 0.996814 f 491/652/491 283/639/283 172/451/172 f 422/325/422 275/257/275 430/401/430 f 125/575/125 286/502/286 180/573/180 f 376/297/376 247/139/247 156/188/156 f 88/130/88 46/132/46 189/328/189 f 221/134/221 68/147/68 184/144/184 vt 0.794970 0.770592 f 45/262/45 26/261/26 85/653/85 f 433/396/433 411/395/411 192/529/192 f 86/555/86 295/429/295 228/598/228 f 196/251/196 406/253/406 407/506/407 f 228/598/228 196/251/196 413/535/413 f 81/118/81 242/137/242 246/119/246 f 201/275/201 62/375/62 186/369/186 f 334/627/334 479/645/479 94/400/94 vt 0.434632 0.638428 f 209/326/209 422/325/422 266/654/266 f 218/579/218 91/620/91 193/500/193 f 270/201/270 129/200/129 116/129/116 f 306/437/306 415/439/415 473/435/473 f 229/290/229 474/544/474 310/225/310 f 437/227/437 150/235/150 375/228/375 f 128/166/128 236/352/236 237/355/237 f 154/452/154 246/119/246 376/297/376 f 249/301/249 325/126/325 323/380/323 f 258/245/258 264/457/264 255/108/255 f 262/609/262 334/627/334 267/547/267 f 268/399/268 334/627/334 94/400/94 f 260/629/260 193/500/193 91/620/91 f 266/654/266 430/401/430 265/643/265 f 417/461/417 267/547/267 268/399/268 f 176/412/176 144/184/144 114/411/114 f 102/248/102 273/504/273 96/246/96 f 162/165/162 97/410/97 128/166/128 f 244/337/244 478/363/478 477/338/477 f 362/469/362 346/468/346 481/491/481 f 482/471/482 145/470/145 483/153/483 f 96/246/96 225/496/225 348/495/348 f 370/481/370 146/426/146 292/149/292 f 351/476/351 487/477/487 99/499/99 f 291/121/291 80/428/80 294/122/294 vt 0.024417 0.806029 f 298/543/298 299/533/299 494/655/494 f 301/224/301 440/545/440 310/225/310 f 243/621/243 239/330/239 317/358/317 f 240/260/240 81/513/81 318/94/318 f 324/189/324 119/625/119 274/190/274 f 327/109/327 255/108/255 119/186/119 f 92/138/92 382/362/382 155/303/155 f 380/641/380 279/563/279 287/562/287 f 103/517/103 325/126/325 329/383/329 f 336/98/336 498/265/498 414/305/414 f 399/99/399 74/101/74 143/208/143 f 83/580/83 133/210/133 374/183/374 f 487/477/487 351/476/351 493/632/493 f 369/550/369 354/567/354 352/623/352 f 347/479/347 225/496/225 371/480/371 f 326/516/326 380/641/380 104/152/104 f 360/485/360 391/432/391 488/460/488 f 407/506/407 406/253/406 135/159/135 f 360/484/360 294/122/294 386/430/386 f 291/121/291 289/515/289 486/424/486 f 420/560/420 408/423/408 398/434/398 f 494/655/494 299/533/299 432/532/432 f 456/524/456 412/542/412 379/507/379 f 379/507/379 136/161/136 456/524/456 f 136/161/136 379/507/379 407/506/407 f 492/615/492 393/618/393 305/636/305 f 497/413/497 148/223/148 158/222/158 f 377/177/377 202/274/202 322/178/322 f 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198//25 f 196//26 233//26 197//26 f 195//27 238//27 196//27 f 201//28 223//28 216//28 f 223//29 217//29 216//29 f 200//30 224//30 223//30 f 224//31 225//31 223//31 f 223//32 225//32 217//32 f 225//33 218//33 217//33 f 199//34 226//34 224//34 f 226//35 227//35 224//35 f 224//36 227//36 225//36 f 227//37 228//37 225//37 f 225//38 228//38 218//38 f 228//39 219//39 218//39 f 198//40 229//40 226//40 f 229//41 230//41 226//41 f 226//42 230//42 227//42 f 230//43 231//43 227//43 f 227//44 231//44 228//44 f 231//45 232//45 228//45 f 228//46 232//46 219//46 f 232//47 220//47 219//47 f 197//48 233//48 229//48 f 233//49 234//49 229//49 f 229//50 234//50 230//50 f 234//51 235//51 230//51 f 230//52 235//52 231//52 f 235//53 236//53 231//53 f 231//54 236//54 232//54 f 236//55 237//55 232//55 f 232//56 237//56 220//56 f 237//57 221//57 220//57 f 196//58 238//58 233//58 f 238//59 239//59 233//59 f 233//60 239//60 234//60 f 239//61 240//61 234//61 f 234//62 240//62 235//62 f 240//63 241//63 235//63 f 235//64 241//64 236//64 f 241//65 242//65 236//65 f 236//66 242//66 237//66 f 242//67 243//67 237//67 f 237//68 243//68 221//68 f 243//69 222//69 221//69 f 195//70 187//70 238//70 f 187//71 186//71 238//71 f 238//72 186//72 239//72 f 186//73 185//73 239//73 f 239//74 185//74 240//74 f 185//75 184//75 240//75 f 240//76 184//76 241//76 f 184//77 183//77 241//77 f 241//78 183//78 242//78 f 183//79 182//79 242//79 f 242//80 182//80 243//80 f 182//81 181//81 243//81 f 243//82 181//82 222//82 f 181//83 10//83 222//83 f 216//84 209//84 12//84 f 217//85 244//85 216//85 f 218//86 245//86 217//86 f 219//87 247//87 218//87 f 220//88 250//88 219//88 f 221//89 254//89 220//89 f 222//90 259//90 221//90 f 216//91 244//91 209//91 f 244//92 210//92 209//92 f 217//93 245//93 244//93 f 245//94 246//94 244//94 f 244//95 246//95 210//95 f 246//96 211//96 210//96 f 218//97 247//97 245//97 f 247//98 248//98 245//98 f 245//99 248//99 246//99 f 248//100 249//100 246//100 f 246//101 249//101 211//101 f 249//102 212//102 211//102 f 219//103 250//103 247//103 f 250//104 251//104 247//104 f 247//105 251//105 248//105 f 251//106 252//106 248//106 f 248//107 252//107 249//107 f 252//108 253//108 249//108 f 249//109 253//109 212//109 f 253//110 213//110 212//110 f 220//111 254//111 250//111 f 254//112 255//112 250//112 f 250//113 255//113 251//113 f 255//114 256//114 251//114 f 251//115 256//115 252//115 f 256//116 257//116 252//116 f 252//117 257//117 253//117 f 257//118 258//118 253//118 f 253//119 258//119 213//119 f 258//120 214//120 213//120 f 221//121 259//121 254//121 f 259//122 260//122 254//122 f 254//123 260//123 255//123 f 260//124 261//124 255//124 f 255//125 261//125 256//125 f 261//126 262//126 256//126 f 256//127 262//127 257//127 f 262//128 263//128 257//128 f 257//129 263//129 258//129 f 263//130 264//130 258//130 f 258//131 264//131 214//131 f 264//132 215//132 214//132 f 222//133 180//133 259//133 f 180//134 179//134 259//134 f 259//135 179//135 260//135 f 179//136 178//136 260//136 f 260//137 178//137 261//137 f 178//138 177//138 261//138 f 261//139 177//139 262//139 f 177//140 176//140 262//140 f 262//141 176//141 263//141 f 176//142 175//142 263//142 f 263//143 175//143 264//143 f 175//144 174//144 264//144 f 264//145 174//145 215//145 f 174//146 9//146 215//146 f 209//147 202//147 12//147 f 210//148 265//148 209//148 f 211//149 266//149 210//149 f 212//150 268//150 211//150 f 213//151 271//151 212//151 f 214//152 275//152 213//152 f 215//153 280//153 214//153 f 209//154 265//154 202//154 f 265//155 203//155 202//155 f 210//156 266//156 265//156 f 266//157 267//157 265//157 f 265//158 267//158 203//158 f 267//159 204//159 203//159 f 211//160 268//160 266//160 f 268//161 269//161 266//161 f 266//162 269//162 267//162 f 269//163 270//163 267//163 f 267//164 270//164 204//164 f 270//165 205//165 204//165 f 212//166 271//166 268//166 f 271//167 272//167 268//167 f 268//168 272//168 269//168 f 272//169 273//169 269//169 f 269//170 273//170 270//170 f 273//171 274//171 270//171 f 270//172 274//172 205//172 f 274//173 206//173 205//173 f 213//174 275//174 271//174 f 275//175 276//175 271//175 f 271//176 276//176 272//176 f 276//177 277//177 272//177 f 272//178 277//178 273//178 f 277//179 278//179 273//179 f 273//180 278//180 274//180 f 278//181 279//181 274//181 f 274//182 279//182 206//182 f 279//183 207//183 206//183 f 214//184 280//184 275//184 f 280//185 281//185 275//185 f 275//186 281//186 276//186 f 281//187 282//187 276//187 f 276//188 282//188 277//188 f 282//189 283//189 277//189 f 277//190 283//190 278//190 f 283//191 284//191 278//191 f 278//192 284//192 279//192 f 284//193 285//193 279//193 f 279//194 285//194 207//194 f 285//195 208//195 207//195 f 215//196 173//196 280//196 f 173//197 172//197 280//197 f 280//198 172//198 281//198 f 172//199 171//199 281//199 f 281//200 171//200 282//200 f 171//201 170//201 282//201 f 282//202 170//202 283//202 f 170//203 169//203 283//203 f 283//204 169//204 284//204 f 169//205 168//205 284//205 f 284//206 168//206 285//206 f 168//207 167//207 285//207 f 285//208 167//208 208//208 f 167//209 8//209 208//209 f 202//210 188//210 12//210 f 203//211 286//211 202//211 f 204//212 287//212 203//212 f 205//213 289//213 204//213 f 206//214 292//214 205//214 f 207//215 296//215 206//215 f 208//216 301//216 207//216 f 202//217 286//217 188//217 f 286//218 189//218 188//218 f 203//219 287//219 286//219 f 287//220 288//220 286//220 f 286//221 288//221 189//221 f 288//222 190//222 189//222 f 204//223 289//223 287//223 f 289//224 290//224 287//224 f 287//225 290//225 288//225 f 290//226 291//226 288//226 f 288//227 291//227 190//227 f 291//228 191//228 190//228 f 205//229 292//229 289//229 f 292//230 293//230 289//230 f 289//231 293//231 290//231 f 293//232 294//232 290//232 f 290//233 294//233 291//233 f 294//234 295//234 291//234 f 291//235 295//235 191//235 f 295//236 192//236 191//236 f 206//237 296//237 292//237 f 296//238 297//238 292//238 f 292//239 297//239 293//239 f 297//240 298//240 293//240 f 293//241 298//241 294//241 f 298//242 299//242 294//242 f 294//243 299//243 295//243 f 299//244 300//244 295//244 f 295//245 300//245 192//245 f 300//246 193//246 192//246 f 207//247 301//247 296//247 f 301//248 302//248 296//248 f 296//249 302//249 297//249 f 302//250 303//250 297//250 f 297//251 303//251 298//251 f 303//252 304//252 298//252 f 298//253 304//253 299//253 f 304//254 305//254 299//254 f 299//255 305//255 300//255 f 305//256 306//256 300//256 f 300//257 306//257 193//257 f 306//258 194//258 193//258 f 208//259 166//259 301//259 f 166//260 165//260 301//260 f 301//261 165//261 302//261 f 165//262 164//262 302//262 f 302//263 164//263 303//263 f 164//264 163//264 303//264 f 303//265 163//265 304//265 f 163//266 162//266 304//266 f 304//267 162//267 305//267 f 162//268 161//268 305//268 f 305//269 161//269 306//269 f 161//270 160//270 306//270 f 306//271 160//271 194//271 f 160//272 7//272 194//272 f 188//273 201//273 12//273 f 189//274 307//274 188//274 f 190//275 308//275 189//275 f 191//276 310//276 190//276 f 192//277 313//277 191//277 f 193//278 317//278 192//278 f 194//279 322//279 193//279 f 188//280 307//280 201//280 f 307//281 200//281 201//281 f 189//282 308//282 307//282 f 308//283 309//283 307//283 f 307//284 309//284 200//284 f 309//285 199//285 200//285 f 190//286 310//286 308//286 f 310//287 311//287 308//287 f 308//288 311//288 309//288 f 311//289 312//289 309//289 f 309//290 312//290 199//290 f 312//291 198//291 199//291 f 191//292 313//292 310//292 f 313//293 314//293 310//293 f 310//294 314//294 311//294 f 314//295 315//295 311//295 f 311//296 315//296 312//296 f 315//297 316//297 312//297 f 312//298 316//298 198//298 f 316//299 197//299 198//299 f 192//300 317//300 313//300 f 317//301 318//301 313//301 f 313//302 318//302 314//302 f 318//303 319//303 314//303 f 314//304 319//304 315//304 f 319//305 320//305 315//305 f 315//306 320//306 316//306 f 320//307 321//307 316//307 f 316//308 321//308 197//308 f 321//309 196//309 197//309 f 193//310 322//310 317//310 f 322//311 323//311 317//311 f 317//312 323//312 318//312 f 323//313 324//313 318//313 f 318//314 324//314 319//314 f 324//315 325//315 319//315 f 319//316 325//316 320//316 f 325//317 326//317 320//317 f 320//318 326//318 321//318 f 326//319 327//319 321//319 f 321//320 327//320 196//320 f 327//321 195//321 196//321 f 194//322 159//322 322//322 f 159//323 158//323 322//323 f 322//324 158//324 323//324 f 158//325 157//325 323//325 f 323//326 157//326 324//326 f 157//327 156//327 324//327 f 324//328 156//328 325//328 f 156//329 155//329 325//329 f 325//330 155//330 326//330 f 155//331 154//331 326//331 f 326//332 154//332 327//332 f 154//333 153//333 327//333 f 327//334 153//334 195//334 f 153//335 11//335 195//335 f 96//336 187//336 11//336 f 95//337 328//337 96//337 f 94//338 329//338 95//338 f 93//339 331//339 94//339 f 92//340 334//340 93//340 f 91//341 338//341 92//341 f 90//342 343//342 91//342 f 96//343 328//343 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114//516 387//516 f 387//517 114//517 388//517 f 114//518 113//518 388//518 f 388//519 113//519 389//519 f 113//520 112//520 389//520 f 389//521 112//521 390//521 f 112//522 111//522 390//522 f 390//523 111//523 167//523 f 111//524 8//524 167//524 f 124//525 166//525 8//525 f 123//526 391//526 124//526 f 122//527 392//527 123//527 f 121//528 394//528 122//528 f 120//529 397//529 121//529 f 119//530 401//530 120//530 f 118//531 406//531 119//531 f 124//532 391//532 166//532 f 391//533 165//533 166//533 f 123//534 392//534 391//534 f 392//535 393//535 391//535 f 391//536 393//536 165//536 f 393//537 164//537 165//537 f 122//538 394//538 392//538 f 394//539 395//539 392//539 f 392//540 395//540 393//540 f 395//541 396//541 393//541 f 393//542 396//542 164//542 f 396//543 163//543 164//543 f 121//544 397//544 394//544 f 397//545 398//545 394//545 f 394//546 398//546 395//546 f 398//547 399//547 395//547 f 395//548 399//548 396//548 f 399//549 400//549 396//549 f 396//550 400//550 163//550 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3/17/12 103/19/12 118/30/12 f 4/20/13 117/22/13 132/31/13 f 5/23/14 131/25/14 146/32/14 f 6/26/15 145/28/15 90/33/15 f 7/34/16 159/35/16 194/36/16 f 8/37/17 166/38/17 208/39/17 f 9/40/18 173/41/18 215/42/18 f 10/43/19 180/44/19 222/45/19 f 11/46/20 187/47/20 195/48/20 f 201/49/21 216/50/21 12/51/21 f 200/52/22 223/53/22 201/49/22 f 199/54/23 224/55/23 200/52/23 f 198/56/24 226/57/24 199/54/24 f 197/58/25 229/59/25 198/56/25 f 196/60/26 233/61/26 197/58/26 f 195/48/27 238/62/27 196/60/27 f 201/49/28 223/53/28 216/50/28 f 223/53/29 217/63/29 216/50/29 f 200/52/30 224/55/30 223/53/30 f 224/55/31 225/64/31 223/53/31 f 223/53/32 225/64/32 217/63/32 f 225/64/33 218/65/33 217/63/33 f 199/54/34 226/57/34 224/55/34 f 226/57/35 227/66/35 224/55/35 f 224/55/36 227/66/36 225/64/36 f 227/66/37 228/67/37 225/64/37 f 225/64/38 228/67/38 218/65/38 f 228/67/39 219/68/39 218/65/39 f 198/56/40 229/59/40 226/57/40 f 229/59/41 230/69/41 226/57/41 f 226/57/42 230/69/42 227/66/42 f 230/69/43 231/70/43 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6/6/ 8/8/ 2/2/ f 4/4/ 8/8/ 3/3/ f 7/7/ 5/5/ 3/3/ f 3/3/ 8/8/ 7/7/ f 7/7/ 6/6/ 5/5/ f 8/8/ 6/6/ 7/7/trimesh-4.5.1/models/joined_tetrahedra.obj000066400000000000000000000011501470574263400206370ustar00rootroot00000000000000# joined_tetrahedra.obj # # mit license, I guess # # this file is meant to have a number of obj parser edge cases v 1 0 0 v -0.5 0.8660254 0 v -0.5 -0.8660254 0 v 0 0 1 v 0 0 -1 vn 1 0 0 vn -0.5 0.8660254 0 vn -0.5 -0.8660254 0 # every combination of position*normal appears: # when converted to indexed geometry there should be 15 vertices f 4//1 1//1 2//1 f 4//2 2//2 3//2 f 4//3 3//3 1//3 f 3//3 2//2 1//1 # the tetrahedron at the top and the one at the bottom share vertices, # and each has 9 unique vertices when indexed o bottom f 5//2 2//2 1//2 f 5//3 3//3 2//3 f 5//1 1//1 3//1 f 3//3 1//1 2//2trimesh-4.5.1/models/kinematic.tar.gz000066400000000000000000005621371470574263400176040ustar00rootroot00000000000000X}pTEg5"(\8c A9=#~)]QWWE vvԋ 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416/519/416 497/413/497 166/520/166 f 149/236/149 150/235/150 137/350/137 vt 0.352368 0.451887 f 418/176/418 428/263/428 117/604/117 f 115/459/115 400/378/400 383/162/383 f 157/392/157 253/456/253 264/457/264 f 296/487/296 360/484/360 386/430/386 f 399/99/399 277/195/277 175/100/175 f 175/100/175 272/583/272 176/412/176 vt 0.532135 0.994684 f 161/605/161 177/205/177 454/569/454 vt 0.131848 0.708775 f 123/606/123 107/523/107 499/179/499 f 438/231/438 170/233/170 150/235/150 f 170/233/170 375/228/375 150/235/150 f 451/349/451 79/234/79 475/175/475 vt 0.763947 0.768811 vt 0.770002 0.768009 f 40/607/40 200/608/200 245/367/245 f 211/393/211 212/317/212 385/319/385 vt 0.407382 0.587532 f 262/609/262 212/317/212 211/393/211 f 113/455/113 218/579/218 466/127/466 f 95/323/95 270/201/270 445/279/445 f 467/280/467 68/147/68 194/281/194 f 28/492/28 461/283/461 224/282/224 vt 0.605652 0.655465 vt 0.598205 0.653494 f 273/610/273 102/490/102 468/611/468 vt 0.023385 0.578470 f 461/408/461 70/612/70 30/334/30 f 56/288/56 185/216/185 361/215/361 f 96/246/96 134/286/134 344/466/344 f 358/340/358 408/423/408 471/509/471 f 84/199/84 215/546/215 234/442/234 f 59/592/59 128/166/128 87/559/87 vt 0.531376 0.628307 f 48/613/48 189/328/189 46/132/46 f 89/294/89 100/356/100 238/295/238 vt 0.424335 0.440794 f 203/300/203 246/614/246 154/377/154 f 151/376/151 331/458/331 93/373/93 f 502/387/502 204/381/204 205/125/205 f 472/124/472 325/126/325 103/517/103 f 459/390/459 462/156/462 410/527/410 f 140/312/140 90/311/90 410/527/410 f 90/311/90 459/390/459 410/527/410 f 462/156/462 141/528/141 410/527/410 f 265/397/265 208/310/208 411/395/411 vt 0.562842 0.901502 vt 0.554650 0.885788 f 492/615/492 464/314/464 463/616/463 vt 0.531692 0.913831 f 269/617/269 465/316/465 260/277/260 vt 0.573086 0.877947 f 463/616/463 393/618/393 492/615/492 f 465/316/465 269/617/269 464/314/464 f 464/314/464 269/617/269 209/315/209 vt 0.559548 0.918307 f 464/314/464 492/615/492 457/619/457 f 210/278/210 183/561/183 109/104/109 f 339/320/339 396/403/396 385/319/385 f 210/278/210 465/316/465 457/619/457 vt 0.426518 0.674141 f 113/455/113 216/327/216 91/620/91 f 218/579/218 113/455/113 91/620/91 f 95/323/95 447/405/447 270/201/270 f 132/209/132 143/208/143 122/196/122 f 88/130/88 189/328/189 239/330/239 f 467/280/467 317/358/317 184/144/184 f 364/339/364 467/280/467 342/488/342 f 224/282/224 194/281/194 68/147/68 f 194/281/194 468/611/468 467/280/467 f 342/488/342 468/611/468 102/490/102 f 134/286/134 56/288/56 361/215/361 f 273/610/273 468/611/468 461/283/461 f 55/287/55 134/286/134 71/333/71 vt 0.549407 0.649222 f 364/339/364 477/338/477 243/621/243 vt 0.595272 0.676759 f 342/488/342 485/622/485 363/489/363 f 481/491/481 485/622/485 342/488/342 f 371/480/371 469/463/469 372/497/372 f 326/516/326 104/152/104 471/509/471 f 288/341/288 105/482/105 358/340/358 f 470/151/470 471/509/471 104/152/104 f 471/509/471 470/151/470 358/340/358 vt 0.115145 0.656556 f 388/526/388 450/206/450 352/623/352 f 449/431/449 227/425/227 450/206/450 f 295/429/295 86/555/86 386/430/386 f 86/555/86 228/598/228 280/534/280 f 310/225/310 474/544/474 300/226/300 f 455/289/455 158/222/158 229/290/229 f 229/290/229 158/222/158 307/111/307 f 215/540/215 213/322/213 271/406/271 f 426/443/426 231/445/231 232/345/232 f 233/416/233 232/345/232 373/232/373 f 451/349/451 475/175/475 110/347/110 f 233/416/233 451/349/451 312/348/312 f 173/293/173 235/292/235 315/374/315 f 89/294/89 190/131/190 199/136/199 f 45/262/45 66/272/66 190/271/190 f 88/130/88 239/330/239 243/621/243 f 198/361/198 238/295/238 100/356/100 f 238/295/238 242/137/242 241/296/241 f 241/296/241 81/118/81 240/168/240 f 242/137/242 238/295/238 198/361/198 f 247/139/247 376/297/376 242/137/242 f 89/294/89 199/136/199 243/621/243 f 41/372/41 378/505/378 139/365/139 vt 0.367248 0.403667 f 62/375/62 235/292/235 61/624/61 f 203/300/203 93/373/93 174/298/174 f 151/376/151 115/459/115 331/458/331 f 93/373/93 203/300/203 321/242/321 f 249/301/249 323/380/323 324/189/324 f 329/383/329 325/126/325 249/301/249 vt 0.505499 0.749847 f 327/382/327 119/625/119 323/380/323 f 325/126/325 205/125/205 323/380/323 f 502/387/502 327/382/327 204/381/204 f 251/385/251 205/125/205 472/124/472 f 458/309/458 330/386/330 459/390/459 f 462/156/462 252/384/252 251/385/251 f 257/163/257 401/244/401 256/391/256 f 157/392/157 257/163/257 256/391/256 f 263/511/263 335/512/335 414/305/414 f 261/394/261 384/140/384 480/602/480 f 480/602/480 211/393/211 276/96/276 vt 0.517043 0.844016 f 90/311/90 208/310/208 94/626/94 vt 0.424481 0.585225 f 458/142/458 334/627/334 384/140/384 f 433/396/433 266/313/266 265/397/265 f 463/616/463 464/314/464 266/313/266 f 90/311/90 479/389/479 459/390/459 f 192/529/192 393/618/393 433/396/433 f 465/316/465 464/314/464 457/619/457 f 140/312/140 141/528/141 303/603/303 f 209/326/209 91/620/91 216/327/216 vt 0.433221 0.665210 f 209/326/209 269/628/269 91/620/91 f 160/346/160 232/345/232 231/445/231 f 267/547/267 212/317/212 262/609/262 f 211/393/211 384/140/384 262/609/262 f 272/583/272 175/100/175 161/194/161 vt 0.432290 0.677903 f 260/629/260 91/620/91 269/628/269 f 114/411/114 144/184/144 374/183/374 f 194/281/194 461/283/461 468/611/468 f 162/165/162 24/335/24 33/409/33 f 96/246/96 344/466/344 225/496/225 vt 0.066888 0.560732 f 58/172/58 446/171/446 57/630/57 f 101/357/101 478/363/478 320/364/320 f 356/238/356 482/471/482 483/153/483 f 363/489/363 346/468/346 482/471/482 f 467/280/467 468/611/468 342/488/342 f 359/217/359 145/470/145 366/551/366 vt 0.023973 0.631709 f 362/631/362 348/495/348 347/479/347 vt 0.105817 0.640832 f 493/632/493 352/623/352 484/478/484 f 365/247/365 362/631/362 481/494/481 f 226/462/226 372/497/372 469/463/469 f 372/497/372 350/474/350 99/499/99 f 487/477/487 293/150/293 146/426/146 f 106/249/106 288/341/288 163/218/163 f 472/124/472 103/517/103 381/510/381 f 381/510/381 420/560/420 434/158/434 f 486/424/486 80/428/80 291/121/291 f 352/623/352 450/206/450 484/478/484 f 227/425/227 293/150/293 487/477/487 f 227/425/227 484/478/484 450/206/450 f 80/428/80 390/252/390 295/429/295 f 386/430/386 86/555/86 296/487/296 f 112/557/112 296/487/296 86/555/86 f 434/158/434 409/157/409 472/124/472 f 488/460/488 398/434/398 408/423/408 f 453/155/453 495/577/495 141/528/141 vt 0.128270 0.759995 f 412/542/412 456/524/456 118/633/118 f 397/518/397 379/507/379 412/542/412 vt 0.595659 0.879111 vt 0.591998 0.889945 f 473/634/473 415/635/415 393/618/393 f 393/618/393 489/537/489 473/634/473 f 196/251/196 407/506/407 413/535/413 vt 0.577077 0.902911 vt 0.586385 0.922188 f 305/636/305 304/637/304 183/561/183 f 305/636/305 457/619/457 492/615/492 f 308/440/308 304/174/304 490/438/490 f 230/441/230 232/345/232 308/440/308 f 232/345/232 311/444/311 308/440/308 vt 0.100841 0.880173 f 447/638/447 95/446/95 231/445/231 f 314/193/314 283/597/283 491/584/491 f 375/228/375 427/450/427 442/229/442 vt 0.050348 0.991032 f 172/451/172 283/639/283 442/229/442 vt 0.088236 0.995289 f 172/451/172 427/450/427 169/640/169 f 246/614/246 203/300/203 319/299/319 f 243/621/243 477/338/477 100/356/100 f 248/379/248 247/139/247 448/302/448 f 317/358/317 364/339/364 243/621/243 f 88/130/88 243/621/243 199/136/199 f 235/292/235 62/375/62 315/374/315 f 331/458/331 419/264/419 322/178/322 f 419/264/419 418/176/418 322/178/322 f 279/563/279 332/601/332 153/239/153 f 382/362/382 332/601/332 155/303/155 f 356/238/356 279/563/279 153/239/153 f 448/302/448 247/139/247 155/303/155 vt 0.559364 0.728590 f 287/562/287 104/152/104 380/641/380 f 330/386/330 458/309/458 207/308/207 f 335/512/335 263/511/263 261/394/261 f 156/417/156 429/243/429 154/377/154 f 408/423/408 420/560/420 381/510/381 f 253/456/253 254/241/254 255/108/255 vt 0.440255 0.550732 f 250/110/250 207/642/207 259/214/259 f 337/120/337 276/96/276 396/403/396 vt 0.435994 0.626531 f 340/398/340 265/643/265 430/401/430 f 122/196/122 143/208/143 341/407/341 f 427/450/427 83/503/83 169/640/169 f 198/361/198 152/237/152 382/362/382 f 145/470/145 345/467/345 366/551/366 f 344/466/344 134/286/134 361/215/361 f 485/622/485 346/468/346 363/489/363 f 290/498/290 345/514/345 362/631/362 f 349/473/349 353/548/353 351/476/351 f 368/475/368 353/548/353 349/473/349 f 226/462/226 452/472/452 350/474/350 f 353/548/353 369/550/369 493/632/493 f 117/600/117 353/548/353 368/475/368 vt 0.016065 0.662523 f 289/515/289 111/581/111 366/644/366 f 145/470/145 359/217/359 483/153/483 f 290/498/290 362/631/362 347/479/347 f 470/151/470 163/218/163 288/341/288 f 357/483/357 486/424/486 289/515/289 f 405/160/405 450/206/450 404/270/404 f 351/476/351 353/548/353 493/632/493 f 294/122/294 147/427/147 386/430/386 f 332/601/332 380/641/380 329/383/329 f 409/157/409 389/154/389 462/156/462 f 460/538/460 303/603/303 297/576/297 f 495/577/495 297/576/297 303/603/303 f 285/255/285 298/543/298 394/572/394 f 285/255/285 82/420/82 298/543/298 f 474/544/474 473/435/473 300/226/300 f 183/561/183 304/637/304 108/102/108 f 234/442/234 229/290/229 307/111/307 f 233/416/233 311/444/311 232/345/232 f 474/544/474 302/436/302 473/435/473 f 306/437/306 302/436/302 230/441/230 f 307/111/307 309/221/309 395/112/395 f 144/184/144 176/412/176 272/583/272 f 457/619/457 305/636/305 183/561/183 f 239/330/239 197/145/197 184/144/184 f 222/167/222 128/166/128 237/355/237 f 343/170/343 162/165/162 355/332/355 f 380/641/380 332/601/332 279/563/279 f 329/383/329 155/303/155 332/601/332 vt 0.439239 0.583467 f 334/627/334 458/142/458 479/645/479 f 480/602/480 384/140/384 211/393/211 f 423/192/423 120/191/120 278/107/278 f 323/380/323 119/625/119 324/189/324 f 496/220/496 394/343/394 495/577/495 f 494/342/494 432/539/432 297/576/297 f 397/518/397 500/541/500 416/519/416 f 403/164/403 121/553/121 383/162/383 f 121/553/121 403/164/403 431/522/431 f 354/567/354 369/550/369 428/549/428 f 431/522/431 402/521/402 123/566/123 vt 0.365932 0.630251 f 213/322/213 215/540/215 84/646/84 f 313/447/313 501/574/501 180/573/180 vt 0.588825 0.908954 f 415/635/415 490/647/490 305/636/305 f 431/269/431 499/179/499 405/160/405 f 354/567/354 388/526/388 352/623/352 f 495/577/495 394/343/394 494/342/494 f 489/587/489 300/226/300 473/435/473 vt 0.351652 0.474354 f 436/552/436 178/554/178 75/648/75 f 354/567/354 428/549/428 75/568/75 f 122/196/122 142/128/142 132/209/132 f 121/553/121 436/552/436 383/162/383 f 127/596/127 445/279/445 142/128/142 f 426/443/426 215/546/215 447/638/447 f 447/638/447 231/445/231 426/443/426 f 252/384/252 462/156/462 459/390/459 f 462/156/462 453/155/453 141/528/141 f 289/515/289 291/121/291 111/581/111 f 439/585/439 120/191/120 314/193/314 f 497/413/497 167/414/167 166/520/166 f 89/294/89 240/168/240 190/131/190 f 185/216/185 57/630/57 446/171/446 f 408/423/408 195/422/195 488/460/488 f 336/98/336 118/266/118 498/265/498 f 307/111/307 84/199/84 234/442/234 f 220/578/220 171/258/171 78/415/78 f 124/589/124 497/413/497 416/519/416 f 142/128/142 122/196/122 127/596/127 f 483/153/483 287/562/287 356/238/356 f 123/566/123 76/558/76 107/565/107 vt 0.565363 0.991709 f 125/599/125 501/649/501 126/570/126 vt 0.124536 0.769426 f 338/650/338 124/589/124 500/541/500 f 82/420/82 167/414/167 440/545/440 f 201/275/201 63/370/63 476/571/476 f 218/579/218 72/207/72 466/127/466 f 407/506/407 135/159/135 136/161/136 vt 0.353261 0.432098 f 236/651/236 128/453/128 315/374/315 f 378/368/378 65/93/65 319/95/319 f 480/602/480 335/512/335 261/394/261 f 389/154/389 398/434/398 496/220/496 f 338/650/338 500/541/500 412/542/412 f 263/511/263 264/457/264 258/245/258 f 501/574/501 313/447/313 423/192/423 f 171/258/171 170/233/170 284/230/284 f 282/508/282 379/507/379 397/518/397 vt 0.054965 0.996814 f 491/652/491 283/639/283 172/451/172 f 422/325/422 275/257/275 430/401/430 f 125/575/125 286/502/286 180/573/180 f 376/297/376 247/139/247 156/188/156 f 88/130/88 46/132/46 189/328/189 f 221/134/221 68/147/68 184/144/184 vt 0.794970 0.770592 f 45/262/45 26/261/26 85/653/85 f 433/396/433 411/395/411 192/529/192 f 86/555/86 295/429/295 228/598/228 f 196/251/196 406/253/406 407/506/407 f 228/598/228 196/251/196 413/535/413 f 81/118/81 242/137/242 246/119/246 f 201/275/201 62/375/62 186/369/186 f 334/627/334 479/645/479 94/400/94 vt 0.434632 0.638428 f 209/326/209 422/325/422 266/654/266 f 218/579/218 91/620/91 193/500/193 f 270/201/270 129/200/129 116/129/116 f 306/437/306 415/439/415 473/435/473 f 229/290/229 474/544/474 310/225/310 f 437/227/437 150/235/150 375/228/375 f 128/166/128 236/352/236 237/355/237 f 154/452/154 246/119/246 376/297/376 f 249/301/249 325/126/325 323/380/323 f 258/245/258 264/457/264 255/108/255 f 262/609/262 334/627/334 267/547/267 f 268/399/268 334/627/334 94/400/94 f 260/629/260 193/500/193 91/620/91 f 266/654/266 430/401/430 265/643/265 f 417/461/417 267/547/267 268/399/268 f 176/412/176 144/184/144 114/411/114 f 102/248/102 273/504/273 96/246/96 f 162/165/162 97/410/97 128/166/128 f 244/337/244 478/363/478 477/338/477 f 362/469/362 346/468/346 481/491/481 f 482/471/482 145/470/145 483/153/483 f 96/246/96 225/496/225 348/495/348 f 370/481/370 146/426/146 292/149/292 f 351/476/351 487/477/487 99/499/99 f 291/121/291 80/428/80 294/122/294 vt 0.024417 0.806029 f 298/543/298 299/533/299 494/655/494 f 301/224/301 440/545/440 310/225/310 f 243/621/243 239/330/239 317/358/317 f 240/260/240 81/513/81 318/94/318 f 324/189/324 119/625/119 274/190/274 f 327/109/327 255/108/255 119/186/119 f 92/138/92 382/362/382 155/303/155 f 380/641/380 279/563/279 287/562/287 f 103/517/103 325/126/325 329/383/329 f 336/98/336 498/265/498 414/305/414 f 399/99/399 74/101/74 143/208/143 f 83/580/83 133/210/133 374/183/374 f 487/477/487 351/476/351 493/632/493 f 369/550/369 354/567/354 352/623/352 f 347/479/347 225/496/225 371/480/371 f 326/516/326 380/641/380 104/152/104 f 360/485/360 391/432/391 488/460/488 f 407/506/407 406/253/406 135/159/135 f 360/484/360 294/122/294 386/430/386 f 291/121/291 289/515/289 486/424/486 f 420/560/420 408/423/408 398/434/398 f 494/655/494 299/533/299 432/532/432 f 456/524/456 412/542/412 379/507/379 f 379/507/379 136/161/136 456/524/456 f 136/161/136 379/507/379 407/506/407 f 492/615/492 393/618/393 305/636/305 f 497/413/497 148/223/148 158/222/158 f 377/177/377 202/274/202 322/178/322 f 428/549/428 353/548/353 117/600/117 f 93/373/93 331/458/331 202/274/202 f 338/650/338 412/542/412 118/633/118 f 126/570/126 177/205/177 441/204/441 f 343/170/343 316/464/316 446/171/446 f 388/526/388 178/268/178 404/270/404 f 158/222/158 455/289/455 497/413/497 f 280/534/280 281/536/281 167/414/167 f 281/536/281 282/508/282 166/520/166 f 307/111/307 158/222/158 309/221/309 f 236/651/236 315/374/315 377/177/377 f 274/187/274 255/108/255 254/241/254 f 177/205/177 161/605/161 130/203/130 f 392/219/392 453/155/453 389/154/389 f 303/603/303 460/538/460 192/529/192 f 112/557/112 425/556/425 179/419/179 f 167/414/167 82/420/82 179/419/179 f 167/414/167 455/289/455 440/545/440 f 135/159/135 406/253/406 449/431/449 vt 0.376421 0.747275 f 83/580/83 374/183/374 439/656/439 f 321/242/321 203/300/203 154/377/154 f 421/182/421 210/278/210 159/530/159 f 226/462/226 355/332/355 452/472/452 f 280/534/280 228/598/228 413/535/413 vt 0.116189 0.807975 f 309/221/309 148/223/148 396/657/396 vt 0.413100 0.747380 f 272/583/272 278/658/278 144/184/144 f 144/184/144 278/658/278 120/185/120 f 131/115/131 218/579/218 193/500/193 f 501/649/501 454/569/454 126/570/126 vt 0.081272 0.996870 f 169/640/169 439/659/439 172/451/172 f 175/100/175 176/412/176 74/101/74 f 179/419/179 285/255/285 112/557/112 f 341/407/341 114/411/114 133/210/133 f 440/545/440 299/533/299 82/420/82 f 124/591/124 338/97/338 337/120/337 f 122/196/122 78/198/78 127/596/127 f 197/145/197 239/330/239 181/360/181 f 26/261/26 318/94/318 65/93/65 f 129/200/129 422/325/422 216/327/216 vt 0.127847 0.979185 f 454/106/454 435/105/435 161/660/161 f 442/229/442 283/639/283 437/227/437 f 245/367/245 65/93/65 378/368/378 f 326/516/326 103/517/103 380/641/380 f 381/510/381 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vt 0.380399 0.549042 vt 0.383866 0.570665 vt 0.393322 0.555614 vt 0.368278 0.588957 vt 0.379522 0.602879 vt 0.487101 0.669637 vt 0.483915 0.651099 vt 0.469305 0.650321 vt 0.481356 0.634323 vt 0.455771 0.629453 vt 0.483962 0.624606 vt 0.474414 0.612982 vt 0.363278 0.68833 vt 0.331253 0.727153 vt 0.332656 0.688691 vt 0.352527 0.663631 vt 0.448203 0.594982 vt 0.481195 0.601983 vt 0.466218 0.591148 vt 0.449227 0.58526 vt 0.437484 0.584534 vt 0.426584 0.586975 vt 0.420671 0.594346 vt 0.435255 0.607228 vt 0.414271 0.599309 vt 0.5 0.606592 vt 0.409668 0.534758 vt 0.424063 0.518093 vt 0.411406 0.514054 vt 0.442505 0.505113 vt 0.428518 0.498796 vt 0.400399 0.540346 vt 0.399026 0.575849 vt 0.445887 0.486767 vt 0.395396 0.530528 vt 0.401869 0.553626 vt 0.405863 0.590333 vt 0.5 0.544655 vt 0.489138 0.544827 vt 0.48986 0.559268 vt 0.478141 0.545555 vt 0.48003 0.561821 vt 0.466587 0.567168 vt 0.478269 0.579149 vt 0.47357 0.585513 vt 0.464496 0.577594 vt 0.478731 0.490229 vt 0.479652 0.513917 vt 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0.382519 vt 0.329056 0.375786 vt 0.30938 0.344493 vt 0.302997 0.372493 vt 0.279447 0.356351 vt 0.369818 0.381567 vt 0.375831 0.370157 vt 0.375912 0.354499 vt 0.394752 0.368289 vt 0.374021 0.407785 vt 0.286778 0.406097 vt 0.262082 0.3856 vt 0.348425 0.417957 vt 0.317433 0.417816 vt 0.301625 0.322271 vt 0.362184 0.314168 vt 0.386683 0.340232 vt 0.397854 0.345266 vt 0.373563 0.338855 vt 0.386964 0.317382 vt 0.350709 0.324782 vt 0.331066 0.307696 vt 0.333017 0.323343 vt 0.313273 0.330269 vt 0.414184 0.328668 vt 0.425414 0.354792 vt 0.451632 0.345731 vt 0.296028 0.388276 vt 0.438901 0.380028 vt 0.391739 0.396906 vt 0.397957 0.415694 vt 0.417507 0.395711 vt 0.374978 0.433335 vt 0.345549 0.445285 vt 0.304257 0.446614 vt 0.274229 0.425702 vt 0.245756 0.401432 vt 0.244052 0.37023 vt 0.227231 0.372869 vt 0.244597 0.350003 vt 0.34996 0.399892 vt 0.322654 0.3985 vt 0.469828 0.76812 vt 0.435841 0.76544 vt 0.432899 0.782852 vt 0.202471 0.379561 vt 0.22918 0.419993 vt 0.264105 0.446018 vt 0.304222 0.486759 vt 0.221989 0.340984 vt 0.200686 0.331873 vt 0.243483 0.326017 vt 0.228613 0.309903 vt 0.262408 0.31645 vt 0.250137 0.288009 vt 0.289982 0.299903 vt 0.280063 0.273899 vt 0.318832 0.287923 vt 0.312332 0.264087 vt 0.347054 0.282802 vt 0.344726 0.257757 vt 0.381288 0.288882 vt 0.376903 0.253874 vt 0.342136 0.135277 vt 0.293271 0.1455 vt 0.402991 0.143932 vt 0.461948 0.20246 vt 0.457591 0.141497 vt 0.420582 0.265359 vt 0.5 0.316513 vt 0.475688 0.342421 vt 0.482277 0.408958 vt 0.437372 0.548359 vt 0.406237 0.48774 vt 0.348602 0.522788 vt 0.352812 0.56309 vt 0.306236 0.535532 vt 0.32869 0.564355 vt 0.296383 0.579517 vt 0.329485 0.59212 vt 0.373517 0.390778 vt 0.465841 0.786846 vt 0.5 0.789493 vt 0.5 0.773243 vt 0.435067 0.831987 vt 0.464964 0.804662 vt 0.471972 0.828794 vt 0.5 0.823215 vt 0.431778 0.803624 vt 0.404042 0.779428 vt 0.439024 0.747883 vt 0.463705 0.750004 vt 0.482411 0.751269 vt 0.438417 0.528391 vt 0.411385 0.552152 vt 0.422619 0.532383 vt 0.423036 0.551135 vt 0.5 0.625549 vt 0.5 0.597567 vt 0.5 0.482926 vt 0.174843 0.366108 vt 0.184759 0.404862 vt 0.176303 0.319297 vt 0.14429 0.307682 vt 0.143545 0.362802 vt 0.152599 0.427014 vt 0.196462 0.478337 vt 0.126608 0.485122 vt 0.17597 0.52062 vt 0.460047 0.373414 vt 0.402859 0.450855 vt 0.376581 0.470094 vt 0.345265 0.482288 vt 0.21103 0.442138 vt 0.250053 0.476555 vt 0.481536 0.370954 vt 0.5 0.370505 vt 0.190985 0.260743 vt 0.155984 0.251226 vt 0.211144 0.29096 vt 0.206116 0.199389 vt 0.249369 0.165654 vt 0.5 0.288987 vt 0.5 0.253437 vt 0.5 0.143461 vt 0.5 0.0815077 vt 0.453812 0.0793033 vt 0.399508 0.0704452 vt 0.33601 0.075933 vt 0.282102 0.0919119 vt 0.235351 0.120103 vt 0.173596 0.197486 vt 0.196316 0.156875 vt 0.175019 0.124383 vt 0.146899 0.179707 vt 0.119718 0.237264 vt 0.107111 0.300253 vt 0.104672 0.358888 vt 0.109927 0.420474 vt 0.454029 0.651688 vt 0.43029 0.656155 vt 0.436822 0.674087 vt 0.415634 0.683186 vt 0.405327 0.664063 vt 0.333101 0.644567 vt 0.314129 0.712324 vt 0.295278 0.695157 vt 0.316689 0.772706 vt 0.279023 0.721815 vt 0.256978 0.709157 vt 0.254098 0.744741 vt 0.268188 0.675357 vt 0.298056 0.648977 vt 0.314928 0.669237 vt 0.313873 0.626293 vt 0.45859 0.670106 vt 0.5 0.670194 vt 0.5 0.651997 vt 0.5 0.636393 vt 0.5 0.805151 vt 0.401341 0.802837 vt 0.324539 0.813762 vt 0.241012 0.793508 vt 0.238484 0.83964 vt 0.218391 0.686674 vt 0.192827 0.773683 vt 0.203677 0.727711 vt 0.212163 0.638092 vt 0.0539227 0.584055 vt 0.0772335 0.509566 vt 0.0345169 0.504958 vt 0.0972457 0.674487 vt 0.103252 0.609264 vt 0.155068 0.690516 vt 0.11689 0.548621 vt 0.155662 0.625452 vt 0.05743 0.66794 vt 0.0918993 0.74277 vt 0.13876 0.748474 vt 0.133197 0.789333 vt 0.165419 0.572535 vt 0.223747 0.593996 vt 0.0701474 0.427429 vt 0.0299375 0.357842 vt 0.0348292 0.434679 vt 0.00993591 0.397294 vt 0.00647711 0.445692 vt 0.00282525 0.515332 vt 0.0301204 0.673446 vt 0.0134509 0.599009 vt 0.00212494 0.620651 vt 0.0155435 0.681719 vt 0 0.572072 vt 0.272182 0.0369464 vt 0.218124 0.077512 vt 0.202796 0.044358 vt 0.169075 0.0793474 vt 0.240924 0.0124385 vt 0.290126 0 vt 0.0720602 0.302171 vt 0.0527321 0.303931 vt 0.274862 0.250114 vt 0.308088 0.241795 vt 0.343264 0.239275 vt 0.481709 0.44867 vt 0.5 0.447616 vt 0.5 0.408026 vt 0.0744904 0.252393 vt 0.119287 0.181625 vt 0.093249 0.211682 vt 0.067193 0.35959 vt 0.144847 0.134252 vt 0.198132 0.0332446 vt 0.449076 0.0309271 vt 0.5 0.559404 vt 0.0403886 0.743308 vt 0.124982 0.823277 vt 0.0819578 0.782232 vt 0.0759606 0.799984 vt 0.126418 0.849139 vt 0.192553 0.886896 vt 0.0523281 0.723593 vt 0.323713 0.357505 vt 0.310713 0.358525 vt 0.361144 0.360479 vt 0.388762 0.711674 vt 0.484689 0.708767 vt 0.485423 0.722003 vt 0.5 0.721486 vt 0.465768 0.708461 vt 0.465887 0.722376 vt 0.440699 0.708841 vt 0.44142 0.721648 vt 0.416546 0.708924 vt 0.418585 0.720957 vt 0.397402 0.710117 vt 0.399378 0.726425 vt 0.397519 0.709197 vt 0.5 0.752662 vt 0.439036 0.685237 vt 0.474699 0.669009 vt 0.416675 0.708039 vt 0.416197 0.697455 vt 0.440753 0.707958 vt 0.438818 0.69662 vt 0.465769 0.707546 vt 0.461973 0.695583 vt 0.484761 0.707872 vt 0.478299 0.696869 vt 0.489788 0.696437 vt 0.5 0.708727 vt 0.5 0.6976 vt 0.489122 0.684709 vt 0.477349 0.684046 vt 0.484881 0.735669 vt 0.464773 0.735186 vt 0.460969 0.684279 vt 0.440897 0.734131 vt 0.418682 0.731823 vt 0.5 0.685305 vt 0.34403 0.217663 vt 0.384152 0.226145 vt 0.42278 0.235896 vt 0.5 0.61552 vt 0.5 0.528503 vt 0.5 0.342244 vt 0.5 0.574222 vt 0.5 0.205374 vt 0.5 0.0373936 vt 0.5 0.7094 vt 0.5 0.735453 vt 0.811192 0.820029 vt 0.810228 0.85928 vt 0.754133 0.879554 vt 0.59135 0.905627 vt 0.56801 0.915856 vt 0.556199 0.892912 vt 0.529238 0.909337 vt 0.534446 0.924095 vt 0.603252 0.883272 vt 0.584857 0.866758 vt 0.737329 0.919189 vt 0.693879 0.91982 vt 0.67031 0.889403 vt 0.710721 0.883059 vt 0.6605 0.92075 vt 0.621379 0.92077 vt 0.633397 0.890134 vt 0.639684 0.942334 vt 0.582789 0.938979 vt 0.599956 0.963306 vt 0.676257 0.950183 vt 0.550569 0.995077 vt 0.615902 0.980362 vt 0.547671 0.976108 vt 0.636316 0.858336 vt 0.669443 0.846308 vt 0.703292 0.848748 vt 0.727305 0.846409 vt 0.540261 0.948339 vt 0.556658 0.862404 vt 0.61309 0.861755 vt 0.661476 0.00143051 vt 0.669068 0.0257261 vt 0.609257 0.0160522 vt 0.784984 0.539908 vt 0.735579 0.578246 vt 0.747684 0.528133 vt 0.645999 0.816355 vt 0.624351 0.804536 vt 0.623197 0.77891 vt 0.617803 0.751285 vt 0.645353 0.755956 vt 0.654067 0.786478 vt 0.599595 0.837547 vt 0.628556 0.82883 vt 0.725103 0.804917 vt 0.714823 0.765264 vt 0.69774 0.810599 vt 0.702536 0.736162 vt 0.68238 0.747091 vt 0.747114 0.635497 vt 0.713719 0.616508 vt 0.650034 0.709512 vt 0.649074 0.735257 vt 0.664293 0.753466 vt 0.625032 0.727181 vt 0.601317 0.638248 vt 0.616831 0.619227 vt 0.626129 0.654277 vt 0.629661 0.708034 vt 0.611251 0.69356 vt 0.618276 0.675022 vt 0.601286 0.73959 vt 0.59104 0.760413 vt 0.584546 0.743971 vt 0.634977 0.638786 vt 0.62791 0.615034 vt 0.645949 0.617357 vt 0.575804 0.634784 vt 0.585809 0.615096 vt 0.619601 0.549042 vt 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f 21 19 22 f 22 13 12 f 23 24 25 f 26 23 27 f 10 6 11 f 18 28 29 f 14 29 30 f 3 15 31 f 32 20 21 f 32 33 34 f 27 25 33 f 9 5 20 f 35 36 37 f 7 8 35 f 31 15 30 f 18 10 38 f 39 40 41 f 42 43 44 f 45 46 47 f 47 48 49 f 45 47 50 f 28 38 51 f 46 45 52 f 29 28 52 f 53 31 30 f 54 53 55 f 56 54 57 f 61 62 49 f 61 48 63 f 64 65 66 f 67 68 69 f 48 70 63 f 71 72 70 f 73 74 75 f 64 76 77 f 78 79 80 f 79 81 82 f 83 84 85 f 84 86 87 f 86 88 89 f 91 60 92 f 60 90 93 f 94 89 95 f 94 95 96 f 94 96 97 f 94 97 98 f 94 98 99 f 94 99 100 f 94 100 101 f 94 101 89 f 101 100 102 f 103 95 89 f 104 105 106 f 107 108 105 f 112 109 106 f 113 109 80 f 115 116 117 f 116 118 119 f 119 120 121 f 122 121 120 f 124 125 126 f 125 127 128 f 127 118 116 f 129 117 119 f 130 131 132 f 131 121 122 f 120 133 134 f 133 135 136 f 135 137 138 f 137 139 140 f 141 126 128 f 125 142 127 f 144 142 125 f 96 95 132 f 139 145 146 f 145 110 114 f 110 147 114 f 147 148 114 f 147 82 148 f 104 109 113 f 144 107 149 f 96 123 134 f 120 143 150 f 143 144 149 f 151 152 153 f 152 154 155 f 100 146 114 f 145 113 80 f 78 112 156 f 161 162 157 f 166 167 168 f 167 169 170 f 169 160 159 f 172 171 173 f 190 192 182 f 193 189 190 f 189 194 192 f 195 196 194 f 188 197 196 f 162 198 199 f 198 191 182 f 178 185 184 f 202 199 182 f 203 204 205 f 203 183 206 f 183 186 207 f 186 187 208 f 187 184 209 f 184 185 210 f 185 211 212 f 213 211 178 f 179 174 214 f 174 175 215 f 201 215 175 f 216 217 218 f 210 212 219 f 209 210 220 f 221 222 208 f 223 224 219 f 225 226 223 f 227 228 226 f 229 230 228 f 229 231 232 f 231 233 234 f 233 235 236 f 166 237 238 f 165 239 237 f 164 239 165 f 240 241 239 f 161 242 236 f 243 157 244 f 245 154 152 f 246 135 133 f 153 247 106 f 106 247 156 f 156 248 249 f 248 250 251 f 250 252 251 f 250 44 43 f 253 251 252 f 82 74 65 f 202 205 155 f 214 215 187 f 183 254 214 f 182 180 179 f 193 190 191 f 189 193 235 f 195 189 233 f 188 195 231 f 178 188 229 f 178 225 213 f 196 197 176 f 194 196 173 f 192 194 171 f 182 192 181 f 255 256 257 f 258 37 36 f 259 260 261 f 262 259 255 f 71 263 218 f 264 72 71 f 265 264 217 f 266 265 216 f 266 216 257 f 150 149 267 f 143 118 127 f 144 125 124 f 80 79 147 f 109 104 106 f 104 113 268 f 105 104 269 f 107 105 269 f 106 105 108 f 151 111 107 f 267 149 107 f 151 107 144 f 268 113 145 f 109 112 80 f 270 246 267 f 268 270 269 f 270 268 139 f 246 270 137 f 119 118 143 f 131 129 121 f 136 98 97 f 138 140 99 f 100 99 140 f 102 114 148 f 101 102 77 f 87 89 101 f 89 88 271 f 103 272 132 f 129 131 130 f 128 116 115 f 126 141 273 f 153 108 111 f 211 213 223 f 219 274 275 f 220 219 275 f 274 276 277 f 275 274 278 f 275 279 280 f 281 282 280 f 154 283 202 f 155 205 204 f 284 204 206 f 285 206 207 f 286 207 208 f 221 220 287 f 288 287 280 f 286 222 250 f 285 286 248 f 284 285 156 f 155 284 247 f 182 203 205 f 289 244 200 f 244 289 290 f 202 283 200 f 276 274 219 f 291 292 277 f 293 291 276 f 291 293 159 f 294 291 160 f 169 295 294 f 158 157 243 f 163 158 296 f 240 163 297 f 298 241 240 f 241 298 299 f 239 241 300 f 237 239 301 f 238 237 302 f 295 238 303 f 295 169 167 f 294 295 304 f 305 292 291 f 305 294 306 f 305 306 307 f 292 305 308 f 277 292 309 f 278 277 310 f 279 278 311 f 312 281 279 f 42 44 280 f 313 314 315 f 313 87 76 f 87 313 85 f 69 68 316 f 66 69 317 f 64 317 314 f 77 148 65 f 92 93 318 f 319 56 57 f 56 319 320 f 57 321 62 f 57 54 321 f 54 56 322 f 323 324 322 f 325 323 322 f 326 327 318 f 253 328 318 f 66 73 93 f 93 73 75 f 82 81 75 f 82 147 79 f 249 81 79 f 253 249 251 f 249 253 75 f 85 313 329 f 314 317 316 f 76 87 77 f 84 83 330 f 86 84 331 f 88 86 332 f 36 261 260 f 259 262 258 f 259 333 256 f 47 46 334 f 55 335 50 f 262 334 51 f 334 262 218 f 46 52 51 f 11 37 258 f 38 11 51 f 335 29 45 f 55 30 29 f 53 54 324 f 336 337 31 f 91 61 60 f 327 320 319 f 326 325 320 f 59 328 252 f 325 338 323 f 1 337 336 f 339 336 324 f 340 324 323 f 338 325 58 f 342 343 344 f 345 346 342 f 346 345 347 f 348 346 349 f 350 351 345 f 345 351 352 f 352 353 1 f 347 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9 f 27 33 32 f 9 20 32 f 35 37 6 f 35 6 7 f 18 38 28 f 47 49 50 f 45 50 335 f 28 51 52 f 29 52 45 f 53 30 55 f 54 55 321 f 60 61 67 f 61 63 67 f 67 69 90 f 71 70 48 f 64 77 65 f 78 80 112 f 83 85 414 f 84 87 85 f 86 89 87 f 67 90 60 f 91 92 319 f 60 93 92 f 103 89 437 f 115 117 388 f 116 119 117 f 119 121 129 f 122 120 123 f 123 96 122 f 124 126 273 f 125 128 126 f 127 116 128 f 130 132 272 f 131 122 132 f 120 134 123 f 133 136 134 f 135 138 136 f 137 140 138 f 141 128 438 f 143 142 144 f 96 132 122 f 139 146 140 f 145 114 146 f 96 134 97 f 120 150 133 f 143 149 150 f 151 153 111 f 152 155 153 f 108 107 111 f 100 114 102 f 145 80 110 f 157 158 161 f 164 163 240 f 167 170 168 f 169 159 170 f 182 183 203 f 188 178 197 f 190 182 191 f 189 192 190 f 195 194 189 f 188 196 195 f 162 199 200 f 198 182 199 f 178 201 177 f 178 184 201 f 202 182 205 f 203 206 204 f 183 207 206 f 186 208 207 f 187 209 208 f 184 210 209 f 185 212 210 f 179 214 254 f 174 215 214 f 201 175 177 f 216 218 255 f 210 219 220 f 209 220 221 f 221 208 209 f 178 211 185 f 223 219 212 f 225 223 213 f 227 226 225 f 229 228 227 f 229 232 230 f 231 234 232 f 233 236 234 f 166 238 167 f 165 237 166 f 240 239 164 f 161 236 235 f 243 244 439 f 245 152 378 f 246 133 150 f 153 106 108 f 106 156 112 f 156 249 78 f 248 251 249 f 250 43 252 f 253 252 328 f 214 187 186 f 183 214 186 f 182 179 254 f 193 191 198 f 189 235 233 f 195 233 231 f 188 231 229 f 178 229 227 f 178 227 225 f 197 178 176 f 196 176 173 f 194 173 171 f 192 171 181 f 182 181 180 f 255 257 216 f 258 36 260 f 259 261 333 f 262 255 218 f 71 218 217 f 264 71 217 f 265 217 216 f 266 257 412 f 150 267 246 f 143 127 142 f 144 124 151 f 80 147 110 f 107 269 267 f 268 145 139 f 270 267 269 f 268 269 104 f 270 139 137 f 246 137 135 f 119 143 120 f 136 97 134 f 98 136 138 f 138 99 98 f 100 140 146 f 102 148 77 f 101 77 87 f 89 271 437 f 103 132 95 f 129 130 440 f 128 115 438 f 211 223 212 f 220 275 287 f 274 277 278 f 275 278 279 f 275 280 287 f 281 280 279 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OV Bї? +.Bu?=OV BBէY?u?=vAu?=OV Bj?4QvAQw,/=?j?4QOVAj?4QvAAo?OVAJLCF?@؉Ao?OV AAo?OVA{@?}OV Al)e7>{@?}{@?}OV Ad@ߴNJLCF?{@?}Ao?OV A{@?}OV A)&?0SLq sB0S>Lq sB0S>LqvQB(< {?0S>LqvQB0S>Lq sBї? vQBn?ї? +.Bї? vQBu?=+.BBէY?u?=OV Bu?=+.Bj?4QOV BQw,/=?j?4QvAj?4QOV BAo?vAJLCF?Ao?OVAAo?vA{@?}OVAl)e7>{@?}OV A{@?}OVAd@ߴNOV A5:v>d@ߴNd@ߴNOV A @}IҾl)e7>d@ߴN{@?}OV Ad@ߴNOV A(< {?0S>Lq sBї? sBї? vQBn?ї? vQBї? sBu?=vQBBէY?u?=+.Bu?=vQBj?4Q+.BQw,/=?j?4QOV Bj?4Q+.BAo?OV BJLCF?Ao?vAAo?OV B{@?}vAl)e7>{@?}OVA{@?}vAd@ߴNOVA5:v>d@ߴNOV Ad@ߴNOVA @}IҾOV Ao~2= @}IҾ @}IҾOV A @˝%5:v> @}IҾd@ߴNOV A @}IҾOV An?ї? sBu?= sBu?=vQBBէY?u?=vQBu?= sBj?4QvQBQw,/=?j?4Q+.Bj?4QvQBAo?+.BJLCF?Ao?OV BAo?+.B{@?}OV Bl)e7>{@?}vA{@?}OV Bd@ߴNvA5:v>d@ߴNOVAd@ߴNvA @}IҾOVAo~2=XX9 @}IҾOV A @}IҾOVA @˝OV Ao~2բ @˝% @˝OV A @}I>o~2=" @˝% @}IҾOV A @˝OV ABէY?u?= sBj?4Q sBj?4QvQBQw,/=?j?4QvQBj?4Q sBAo?vQBJLCF?Ao?+.BAo?vQB{@?}+.Bl)e7>{@?}OV B{@?}+.Bd@ߴNOV B5:v>d@ߴNvAd@ߴNOV B @}IҾvAo~2= @}IҾOVA @}IҾvA @˝OVAo~2 @˝OV A @˝OVA @}I>OV A5:v Ǣ# @}I> @}I>OV Ad@ߴN?o~2;$ @}I> @˝OV A @}I>OV AQw,/=?j?4Q sBAo? 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OV A?nOVA5?5?nvA?nOVAn?пvAQ?n?пOV Bn?пvA @\OV Bh?laؾ @\+.B @\OV B@*e^+.BFw?@*e^vQB@*e^+.B! @tvQBh?laؾ@*e^vQB @\+.B@*e^+.Bh?laؾ@*e^vQB @\vQB @\+.Bh?laؾ@*e^ sB @\ sB @\vQBQ? @\vQB @\ sBn?пvQB5?5n?п+.Bn?пvQB?n+.B?Q?nOV B?n+.B\? OV Bla>h\? vA\? OV B*e^?vA>Fw*e^?OVA*e^?vAt>! OVA~=t>! OV At>! OVAeP3\"OV A~eP3\"eP3\"OV At! ~=eP3\"t>! OV AeP3\"OV AQ? @\ sBn?п sBn?пvQB5?5n?пvQBn?п sB?nvQB?Q?n+.B?nvQB\? +.Bla>h\? OV B\? +.B*e^?OV B>Fw*e^?vA*e^?OV Bt>! vA~=t>! OVAt>! vAeP3\"OVA~eP3\"OV AeP3\"OVAt! OV AFwt! t! OV A*e^~t! eP3\"OV At! OV A5?5n?п sB?n sB?nvQB?Q?nvQB?n sB\? vQBla>h\? +.B\? vQB*e^?+.B>Fw*e^?OV B*e^?+.Bt>! OV B~=t>! vAt>! OV BeP3\"vA~eP3\"OVAeP3\"vAt! OVAFwt! OV At! OVA*e^OV Alaؾh*e^*e^OV A\ Fw*e^t! OV A*e^OV A?Q?n sB\? sB\? vQBla>h\? vQB\? sB*e^?vQB>Fw*e^?+.B*e^?vQBt>! +.B~=t>! OV Bt>! +.BeP3\"OV B~eP3\"vAeP3\"OV Bt! vAFwt! OVAt! vA*e^OVAlaؾh*e^OV A*e^OVA\ OV AQ\ \ OV Aпnlaؾh\ *e^OV A\ OV Ala>h\? sB*e^? sB*e^?vQB>Fw*e^?vQB*e^? sBt>! vQB~=t>! +.Bt>! vQBeP3\"+.B~eP3\"OV BeP3\"+.Bt! OV BFwt! vAt! OV B*e^vAlaؾh*e^OVA*e^vA\ OVAQ\ OV A\ OVAпnOV A55пnпnOV AnпQпn\ OV AпnOV A>Fw*e^? sBt>! sBt>! vQB~=t>! vQBt>! sBeP3\"vQB~eP3\"+.BeP3\"vQBt! +.BFwt! OV Bt! +.B*e^OV Blaؾh*e^vA*e^OV B\ vAQ\ OVA\ vAпnOVA55пnOV AпnOVAnпOV AQnпnпOV A \55nппnOV AnпOV A~=t>! sBeP3\" sBeP3\"vQB~eP3\"vQBeP3\" sBt! vQBFwt! +.Bt! vQB*e^+.Blaؾh*e^OV B*e^+.B\ OV BQ\ vA\ OV BпnvA55пnOVAпnvAnпOVAQnпOV AnпOVA \OV Ahlaؾ \ \OV A*e^Q \nпOV A \OV A~eP3\" sBt! sBt! vQBFwt! vQBt! sB*e^vQBlaؾh*e^+.B*e^vQB\ +.BQ\ OV B\ +.BпnOV B55пnvAпnOV BnпvAQnпOVAnпvA \OVAhlaؾ \OV A \OVA*e^OV AFw*e^*e^OV A! thlaؾ*e^ \OV A*e^OV AFwt! sB*e^ sB*e^vQBlaؾh*e^vQB*e^ sB\ vQBQ\ +.B\ vQBпn+.B55пnOV Bпn+.BnпOV BQnпvAnпOV B \vAhlaؾ \OVA \vA*e^OVAFw*e^OV A*e^OVA! tOV A~#!! t! tOV A\"Fw"! t*e^OV A! tOV Alaؾh*e^ sB\ sB\ vQBQ\ vQB\ sBпnvQB55пn+.BпnvQBnп+.BQnпOV Bnп+.B \OV Bhlaؾ \vA \OV B*e^vAFw*e^OVA*e^vA! tOVA~! tOV A! tOVA\"OV A~=\"\"OV A! t>~\"! tOV A\"OV AQ\ sBпn sBпnvQB55пnvQBпn sBnпvQBQnп+.BnпvQB \+.Bhlaؾ \OV B \+.B*e^OV BFw*e^vA*e^OV B! tvA~! tOVA! tvA\"OVA~=\"OV A\"OVA! t>OV AFw>! t>! t>OV A*e^?~=! t>\"OV A! t>OV A55пn sBnп sBnпvQBQnпvQBnп sB \vQBhlaؾ \+.B \vQB*e^+.BFw*e^OV B*e^+.B! tOV B~! tvA! tOV B\"vA~=\"OVA\"vA! t>OVAFw>! t>OV A! t>OVA*e^?OV Ahla>*e^?*e^?OV A \?Fw>*e^?! t>OV A*e^?OV AQnп sB \ sB \vQBhlaؾ \vQB \ sB*e^vQBFw*e^+.B*e^vQB! t+.B~! tOV B! t+.B\"OV B~=\"vA\"OV B! t>vAFw>! t>OVA! t>vA*e^?OVAhla>*e^?OV A*e^?OVA \?OV AQ? \? \?OV An?hla> \?*e^?OV A \?OV Ahlaؾ \ sB*e^ sB*e^vQBFw*e^vQB*e^ sB! tvQB~! t+.B! tvQB\"+.B~=\"OV B\"+.B! t>OV BFw>! t>vA! t>OV B*e^?vAhla>*e^?OVA*e^?vA \?OVAQ? \?OV A \?OVAn?OV A55?n?n?OV Aпn?Q?n? \?OV An?OV AFwnw*e^ sB! t sB! tvQB~#! tvQB! t sB\"vQB~=\"+.B\"vQB! t>+.BFw>! t>OV B! t>+.B*e^?OV Bhla>*e^?vA*e^?OV B \?vAQ? \?OVA \?vAn?OVA55?n?OV An?OVAпn?OV AQ?пn?пn?OV A\ @55?пn?n?OV Aпn?OV A~! t sB\" sB\"vQB~=\"vQB\" sB! t>vQBFw>! t>+.B! t>vQB*e^?+.Bhla>*e^?OV B*e^?+.B \?OV BQ? \?vA \?OV Bn?vA55?n?OVAn?vAпn?OVAQ?пn?OV Aпn?OVA\ @OV Alaؾh?\ @\ @OV A*e^@Q?\ @пn?OV A\ @OV A~=\" sB! t> sB! t>vQBFw>! t>vQB! t> sB*e^?vQBhla>*e^?+.B*e^?vQB \?+.BQ? \?OV B \?+.Bn?OV B55?n?vAn?OV Bпn?vAQ?пn?OVAпn?vA\ @OVAlaؾh?\ @OV A\ @OVA*e^@OV AFw?*e^@*e^@OV At! @laؾh?*e^@\ @OV A*e^@OV AFw>! t> sB*e^? sB*e^?vQBhla>*e^?vQB*e^? sB \?vQBQ? \?+.B \?vQBn?+.B55?n?OV Bn?+.Bпn?OV BQ?пn?vAпn?OV B\ @vAlaؾh?\ @OVA\ @vA*e^@OVAFw?*e^@OV A*e^@OVAt! @OV A~?t! @t! @OV AeP3\"@Fw?t! @*e^@OV At! @OV Ahla>*e^? sB \? sB \?vQBQ? \?vQB \? sBn?vQB55?n?+.Bn?vQBпn?+.BQ?пn?OV Bпn?+.B\ @OV Blaؾh?\ @vA\ @OV B*e^@vAFw?*e^@OVA*e^@vAt! @OVA~?t! @OV At! @OVAeP3\"@OV A~=?eP3\"@eP3\"@OV At>! @~?eP3\"@t! @OV AeP3\"@OV AQ? \? sBn? sBn?vQB55?n?vQBn? sBпn?vQBQ?пn?+.Bпn?vQB\ @+.Blaؾh?\ @OV B\ @+.B*e^@OV BFw?*e^@vA*e^@OV Bt! @vA~?t! @OVAt! @vAeP3\"@OVA~=?eP3\"@OV AeP3\"@OVAt>! @OV A>Fw?t>! @t>! @OV A*e^?@~=?t>! @eP3\"@OV At>! @OV A55?n? sBпn? sBпn?vQBQ?пn?vQBпn? sB\ @vQBlaؾh?\ @+.B\ @vQB*e^@+.BFw?*e^@OV B*e^@+.Bt! @OV B~?t! @vAt! @OV BeP3\"@vA~=?eP3\"@OVAeP3\"@vAt>! @OVA>Fw?t>! @OV At>! @OVA*e^?@OV Ala>h?*e^?@*e^?@OV A\? @>Fw?*e^?@t>! @OV A*e^?@OV AQ?пn? sB\ @ sB\ @vQBlaؾh?\ @vQB\ @ sB*e^@vQBFw?*e^@+.B*e^@vQBt! @+.B~?t! @OV Bt! @+.BeP3\"@OV B~=?eP3\"@vAeP3\"@OV Bt>! @vA>Fw?t>! @OVAt>! @vA*e^?@OVAla>h?*e^?@OV A*e^?@OVA\? @OV A?Q?\? @\? @OV A?n?la>h?\? @*e^?@OV A\? @OV Alaؾh?\ @ sB*e^@ sB*e^@vQBFw?*e^@vQB*e^@ sBt! @vQB~?t! @+.Bt! @vQBeP3\"@+.B~=?eP3\"@OV BeP3\"@+.Bt>! @OV B>Fw?t>! @vAt>! @OV B*e^?@vAla>h?*e^?@OVA*e^?@vA\? @OVA?Q?\? @OV A\? @OVA?n?OV A5?5??n??n?OV An???Q??n?\? @OV A?n?OV AFw?*e^@ sBt! @ sBt! @vQB~?t! @vQBt! @ sBeP3\"@vQB~=?eP3\"@+.BeP3\"@vQBt>! @+.B>Fw?t>! @OV Bt>! @+.B*e^?@OV Bla>h?*e^?@vA*e^?@OV B\? @vA?Q?\? @OVA\? @vA?n?OVA5?5??n?OV A?n?OVAn??OV AQ??n??n??OV A @\?5?5?n???n?OV An??OV A~?t! @ sBeP3\"@ sBeP3\"@vQB~=?eP3\"@vQBeP3\"@ sBt>! @vQB>Fw?t>! @+.Bt>! @vQB*e^?@+.Bla>h?*e^?@OV B*e^?@+.B\? @OV B?Q?\? @vA\? @OV B?n?vA5?5??n?OVA?n?vAn??OVAQ??n??OV An??OVA @\?OV Ah?la> @\? @\?OV A@*e^?Q?? @\?n??OV A @\?OV A~=?eP3\"@ sBt>! @ sBt>! @vQB>Fw?t>! @vQBt>! @ sB*e^?@vQBla>h?*e^?@+.B*e^?@vQB\? @+.B?Q?\? @OV B\? @+.B?n?OV B5?5??n?vA?n?OV Bn??vAQ??n??OVAn??vA @\?OVAh?la> @\?OV A @\?OVA@*e^?OV AFw?>@*e^?@*e^?OV A! @t>h?la>@*e^? @\?OV A@*e^?OV A>Fw?t>! @ sB*e^?@ sB*e^?@vQBla>h?*e^?@vQB*e^?@ sB\? @vQB?Q?\? @+.B\? @vQB?n?+.B5?5??n?OV B?n?+.Bn??OV BQ??n??vAn??OV B @\?vAh?la> @\?OVA @\?vA@*e^?OVAFw?>@*e^?OV A@*e^?OVA! @t>OV A?~=! @t>! @t>OV A\"@eP%Fw?>! @t>@*e^?OV A! @t>OV Ala>h?*e^?@ sB\? @ sB\? @vQB?Q?\? @vQB\? @ sB?n?vQB5?5??n?+.B?n?vQBn??+.BQ??n??OV Bn??+.B @\?OV Bh?la> @\?vA @\?OV B@*e^?vAFw?>@*e^?OVA@*e^?vA! @t>OVA?~=! @t>OV A! @t>OVA\"@eP%OV A?~\"@eP%\"@eP%OV A! @t?~=\"@eP%! @t>OV A\"@eP%OV A?Q?\? @ sB?n? sB?n?vQB5?5??n?vQB?n? sBn??vQBQ??n??+.Bn??vQB @\?+.Bh?la> @\?OV B @\?+.B@*e^?OV BFw?>@*e^?vA@*e^?OV B! @t>vA?~=! @t>OVA! @t>vA\"@eP%OVA?~\"@eP%OV A\"@eP%OVA! @tOV AFw?! @t! @tOV A@*e^?~! @t\"@eP%OV A! @tOV A5?5??n? sBn?? sBn??vQBQ??n??vQBn?? sB @\?vQBh?la> @\?+.B @\?vQB@*e^?+.BFw?>@*e^?OV B@*e^?+.B! @t>OV B?~=! @t>vA! @t>OV B\"@eP%vA?~\"@eP%OVA\"@eP%vA! @tOVAFw?! @tOV A! @tOVA@*e^OV Ah?laؾ@*e^@*e^OV A @\Fw?@*e^! @tOV A@*e^OV AQ??n?? sB @\? sB @\?vQBh?la> @\?vQB @\? sB@*e^?vQBFw?>@*e^?+.B@*e^?vQB! @t>+.B?~=! @t>OV B! @t>+.B\"@eP%OV B?~\"@eP%vA\"@eP%OV B! @tvAFw?! @tOVA! @tvA@*e^OVAh?laؾ@*e^OV A@*e^OVA @\OV AQ? @\ @\OV An?пh?laؾ @\@*e^OV A @\OV Ah?la> @\? sB@*e^? sB@*e^?vQBFw?>@*e^?vQB@*e^? sB! @t>vQB?~=! @t>+.B! @t>vQB\"@eP%+.B?~\"@eP%OV B\"@eP%+.B! @tOV BFw?! @tvA! @tOV B@*e^vAh?laؾ@*e^OVA@*e^vA @\OVAQ? @\OV A @\OVAn?пOV A5?5n?пn?пOV A?nQ?n?п @\OV An?пOV AFw?>@*e^? sB! @t> sB! @t>vQB?~=! @t>vQB! @t> sB\"@eP%vQB?~\"@eP%+.B\"@eP%vQB! @t+.BFw?! @tOV B! @t+.B@*e^OV Bh?laؾ@*e^vA@*e^OV B @\vAQ? @\OVA @\vAn?пOVA5?5n?пOV An?пOVA?nOV A?Q?n?nOV A\? 5?5?nn?пOV A?nOV A?~=! @t> sB\"@eP% sB\"@eP%vQB?~\"@eP%vQB\"@eP% sB! @tvQBFw?! @t+.B! @tvQB@*e^+.Bh?laؾ@*e^OV B@*e^+.B @\OV BQ? @\vA @\OV Bn?пvA5?5n?пOVAn?пvA?nOVA?Q?nOV A?nOVA\? OV Ala>h\? \? OV A*e^??Q\? ?nOV A\? OV A?~=\"@eP%vQB\"@eP%+.B! @t>vQB?~! @t+.B\"@eP%vQB! @tvQB?~=\"@eP%+.B\"@eP%OV B! @t>+.B?~! @tOV B\"@eP%+.B! @t+.B?~=\"@eP%OV B\"@eP%vA! @t>OV B?~! @tvA\"@eP%OV B! @tOV B?~=\"@eP%vA\"@eP%OVA! @t>vA?~! @tOVA\"@eP%vA! @tvA?~=\"@eP%OVA\"@eP%OV A! @t>OVA?~! @tOV A\"@eP%OVA! @tOVAFw?@*e^OV B! @t+.B@*e^+.BFw?@*e^vA! @tOV B@*e^OV BFw?@*e^OVA! @tvA@*e^vAFw?@*e^OV A! @tOVA@*e^OVAh?laؾ @\vA@*e^OV B @\OV Bh?laؾ @\OVA@*e^vA @\vAh?laؾ @\OV A@*e^OVA @\OVAQ?n?п+.B @\vQBn?пvQBQ?n?пOV B @\OV B @\+.BQ?n?п+.Bn?пOV B @\+.BQ?n?пOVA @\vAn?пvAQ?n?пOV A @\OVAn?пOVA5?5?n+.Bn?пvQB?nvQB5?5?nOV Bn?п+.B?n+.B5?5?nvAn?пvAn?пOV B5?5?nOV B?nvAn?пOV B5?5?nOV An?пOVA?nOVA?Q\? +.B?nvQB\? vQB?Q\? OV B?n+.B\? +.B?Q\? vA?nOV B\? OV B?Q\? OVA?nOVA?nvA?Q\? vA\? OVA?nvAla>h*e^?+.B\? vQB*e^?vQBla>h*e^?OV B\? +.B*e^?+.Bla>h*e^?vA\? OV B*e^?OV Bla>h*e^?OVA\? vA*e^?vAla>h*e^?OV A\? OV A\? OVAla>h*e^?OVA*e^?OV A\? OVA>Fwt>! +.B*e^?vQBt>! vQB>Fwt>! OV B*e^?+.Bt>! +.B>Fwt>! vA*e^?OV Bt>! OV B>Fwt>! OVA*e^?vAt>! vA>Fwt>! OV A*e^?OVAt>! OVA~=eP3\"+.Bt>! vQBeP3\"vQB~=eP3\"OV Bt>! +.BeP3\"+.B~=eP3\"vAt>! OV BeP3\"OV B~=eP3\"OVAt>! vAeP3\"vA~=eP3\"OV At>! OVAeP3\"OVA~t! +.BeP3\"vQBt! vQB~t! OV BeP3\"+.Bt! +.B~t! vAeP3\"OV Bt! OV B~t! OVAeP3\"vAt! vA~t! OV AeP3\"OVAt! OVAFw*e^+.Bt! vQB*e^vQBFw*e^OV Bt! +.B*e^+.BFw*e^vAt! OV B*e^OV BFw*e^OVAt! vA*e^vAFw*e^OV At! OVA*e^OVAlaؾh\ +.B*e^vQB\ vQBlaؾh\ OV B*e^+.B\ +.Blaؾh\ vA*e^OV B\ OV Blaؾh\ OVA*e^vA\ vAlaؾh\ OV A*e^OVA\ OVAQпn+.B\ vQBпnvQBQпnOV B\ +.Bпn+.BQпnvA\ OV BпnOV BQпnOVA\ vAпnvAQпnOV A\ OVAпnOVA55nп+.BпnvQBnпvQB55nпOV Bпn+.Bnп+.B55nпvAпnOV BnпOV B55nпOVAпnvAnпvA55nпOV AпnOVAnпOVAQ \+.BnпvQB \vQBQ \OV Bnп+.B \+.BQ \vAnпOV B \OV BQ \OVAnпvA \vAQ \OV AnпOVA \OVAhlaؾ*e^+.B \vQB*e^vQBhlaؾ*e^OV B \+.B*e^+.Bhlaؾ*e^vA \OV B*e^OV Bhlaؾ*e^OVA \vA*e^vAhlaؾ*e^OV A \OVA*e^OVAFw! t+.B*e^vQB! tvQBFw! tOV B*e^+.B! t+.BFw! tvA*e^OV B! tOV BFw! tOVA*e^vA! tvAFw! tOV A*e^OVA! tOVA~\"+.B! tvQB\"vQB~\"OV B! t+.B\"+.B~\"vA! tOV B\"OV B~\"OVA! tvA\"vA~\"OV A! tOVA\"OVA~=! t>+.B\"vQB! t>vQB~=! t>OV B\"+.B! t>+.B~=! t>vA\"OV B! t>OV B~=! t>OVA\"vA! t>vA~=! t>OV A\"OVA! t>OVAFw>*e^?+.B! t>vQB*e^?vQBFw>*e^?OV B! t>+.B*e^?+.BFw>*e^?vA! t>OV B*e^?OV BFw>*e^?OVA! t>vA*e^?vAFw>*e^?OV A! t>OVA*e^?OVAhla> \?+.B*e^?vQB \?vQBhla> \?OV B*e^?+.B \?+.Bhla> \?vA*e^?OV B \?OV Bhla> \?OVA*e^?vA \?vAhla> \?OV A*e^?OVA \?OVAQ?n?+.B \?vQBn?vQBQ?n?OV B \?+.Bn?+.BQ?n?vA \?OV Bn?OV BQ?n?OVA \?vAn?vAQ?n?OV A \?OVAn?OVA55?пn?+.Bn?vQBпn?vQB55?пn?OV Bn?+.Bпn?+.B55?пn?vAn?OV Bпn?OV B55?пn?OVAn?vAпn?vA55?пn?OV An?OVAпn?OVAQ?\ @+.Bпn?vQB\ @vQBQ?\ @OV Bпn?+.B\ @+.BQ?\ @vAпn?OV B\ @OV BQ?\ @OVAпn?vA\ @vAQ?\ @OV Aпn?OVA\ @OVAlaؾh?*e^@+.B\ @vQB*e^@vQBlaؾh?*e^@OV B\ @+.B*e^@+.Blaؾh?*e^@vA\ @OV B*e^@OV Blaؾh?*e^@OVA\ @vA*e^@vAlaؾh?*e^@OV A\ @OVA*e^@OVAFw?t! @+.B*e^@vQBt! @vQBFw?t! @OV B*e^@+.Bt! @+.BFw?t! @vA*e^@OV Bt! @OV BFw?t! @OVA*e^@vAt! @vAFw?t! @OV A*e^@OVAt! @OVA~?eP3\"@+.Bt! @vQBeP3\"@vQB~?eP3\"@OV Bt! @+.BeP3\"@+.B~?eP3\"@vAt! @OV BeP3\"@OV B~?eP3\"@OVAt! @vAeP3\"@vA~?eP3\"@OV At! @OVAeP3\"@OVA~=?t>! @+.BeP3\"@vQBt>! @vQB~=?t>! @OV BeP3\"@+.Bt>! @+.B~=?t>! @vAeP3\"@OV Bt>! @OV B~=?t>! @OVAeP3\"@vAt>! @vA~=?t>! @OV AeP3\"@OVAt>! @OVA>Fw?*e^?@+.Bt>! @vQB*e^?@vQB>Fw?*e^?@OV Bt>! @+.B*e^?@+.B>Fw?*e^?@vAt>! @OV B*e^?@OV B>Fw?*e^?@OVAt>! @vA*e^?@vA>Fw?*e^?@OV At>! @OVA*e^?@OVAla>h?\? @+.B*e^?@vQB\? 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971 f 626 622 973 969 f 625 629 971 974 f 901 941 975 965 f 942 902 966 976 f 941 957 977 975 f 958 942 976 978 f 977 957 970 979 f 958 978 980 972 f 618 617 981 982 f 616 619 984 983 f 620 618 982 985 f 619 621 986 984 f 622 620 985 973 f 621 625 974 986 f 612 611 987 988 f 613 612 988 989 f 611 616 983 987 f 617 613 989 981 f 1045 1046 990 991 f 953 954 1056 1057 f 1046 1047 994 990 f 956 953 1057 1058 f 1047 1048 996 994 f 960 956 1058 1059 f 1048 1049 998 996 f 962 960 1059 1060 f 1049 1050 1000 998 f 964 962 1060 1061 f 1051 1052 1002 1003 f 966 968 1062 1063 f 1050 1051 1003 1000 f 968 964 1061 1062 f 1052 1053 1006 1002 f 976 966 1063 1064 f 1053 1054 1008 1006 f 978 976 1064 1065 f 1054 1055 1010 1008 f 980 978 1065 1066 f 1023 1024 1012 1013 f 992 993 1034 1035 f 1024 1025 1014 1012 f 995 992 1035 1036 f 1025 1026 1015 1014 f 997 995 1036 1037 f 1026 1027 1016 1015 f 999 997 1037 1038 f 1027 1028 1017 1016 f 1001 999 1038 1039 f 1029 1030 1018 1019 f 1005 1004 1040 1041 f 1028 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1009 1011 f 1023 1013 1068 1067 f 1013 1034 1069 1068 f 112 327 1088 1089 f 328 112 1089 1090 f 1217 1218 1289 1290 f 1218 1219 1288 1289 f 1228 1229 1077 1076 f 1229 1230 1078 1077 f 1206 1207 1080 1079 f 1207 1208 1081 1080 f 1195 1196 1083 1082 f 1196 1197 1084 1083 f 1082 1083 1071 1070 f 1083 1084 1072 1071 f 1086 1085 1070 1071 f 1087 1086 1071 1072 f 1089 1088 1085 1086 f 1090 1089 1086 1087 f 991 1023 1067 1091 f 1034 993 1092 1069 f 1216 1217 1290 1291 f 1219 1220 1287 1288 f 1227 1228 1076 1095 f 1230 1231 1096 1078 f 1205 1206 1079 1097 f 1208 1209 1098 1081 f 1194 1195 1082 1099 f 1197 1198 1100 1084 f 1099 1082 1070 1101 f 1084 1100 1102 1072 f 327 87 1103 1088 f 88 328 1090 1104 f 1103 87 89 1105 f 88 1104 1106 90 f 91 143 1105 89 f 144 92 90 1106 f 1101 1070 1085 1107 f 1072 1102 1108 1087 f 1085 1088 1103 1107 f 1108 1104 1090 1087 f 1103 1105 1109 1107 f 1106 1104 1108 1110 f 1105 143 1111 1109 f 144 1106 1110 1112 f 143 145 1113 1111 f 146 144 1112 1114 f 1107 1109 1115 1101 f 1110 1108 1102 1116 f 1109 1111 1117 1115 f 1112 1110 1116 1118 f 1111 1113 1119 1117 f 1114 1112 1118 1120 f 1101 1115 1121 1099 f 1116 1102 1100 1122 f 1115 1117 1123 1121 f 1118 1116 1122 1124 f 1117 1119 1125 1123 f 1120 1118 1124 1126 f 1099 1121 1193 1194 f 1122 1100 1198 1199 f 1121 1123 1192 1193 f 1124 1122 1199 1200 f 1123 1125 1191 1192 f 1126 1124 1200 1201 f 1097 1127 1204 1205 f 1128 1098 1209 1210 f 1127 1129 1203 1204 f 1130 1128 1210 1211 f 1129 1131 1202 1203 f 1132 1130 1211 1212 f 1095 1133 1226 1227 f 1134 1096 1231 1232 f 1133 1135 1225 1226 f 1136 1134 1232 1233 f 1135 1137 1224 1225 f 1138 1136 1233 1234 f 1291 1292 1215 1216 f 1286 1287 1220 1221 f 1292 1293 1214 1215 f 1285 1286 1221 1222 f 1293 1294 1213 1214 f 1284 1285 1222 1223 f 1091 1145 1045 991 f 1146 1092 993 1056 f 1145 1147 952 1045 f 1148 1146 1056 954 f 1147 1149 949 952 f 1150 1148 954 950 f 191 642 1151 1152 f 643 192 1153 1154 f 145 147 1155 1113 f 148 146 1114 1156 f 147 177 1157 1155 f 178 148 1156 1158 f 177 179 1159 1157 f 180 178 1158 1160 f 235 180 1160 1161 f 179 227 1162 1159 f 227 191 1152 1162 f 192 235 1161 1153 f 1119 1113 1155 1163 f 1114 1120 1164 1156 f 1163 1155 1157 1165 f 1156 1164 1166 1158 f 1165 1157 1159 1167 f 1158 1166 1168 1160 f 1167 1159 1162 1169 f 1160 1168 1170 1161 f 1169 1162 1152 1171 f 1161 1170 1172 1153 f 1171 1152 1151 1173 f 1153 1172 1174 1154 f 1173 1151 642 895 f 1154 1174 896 643 f 1125 1119 1163 1175 f 1120 1126 1176 1164 f 1175 1163 1165 1177 f 1164 1176 1178 1166 f 1177 1165 1167 1179 f 1166 1178 1180 1168 f 1179 1167 1169 1181 f 1168 1180 1182 1170 f 1169 1171 1183 1181 f 1172 1170 1182 1184 f 895 897 1185 1173 f 898 896 1174 1186 f 1173 1185 1183 1171 f 1186 1174 1172 1184 f 897 899 1187 1185 f 900 898 1186 1188 f 899 943 1189 1187 f 944 900 1188 1190 f 1192 1191 1131 1129 f 1193 1192 1129 1127 f 1194 1193 1127 1097 f 1097 1079 1195 1194 f 1079 1080 1196 1195 f 1080 1081 1197 1196 f 1081 1098 1198 1197 f 1199 1198 1098 1128 f 1200 1199 1128 1130 f 1201 1200 1130 1132 f 1203 1202 1137 1135 f 1204 1203 1135 1133 f 1205 1204 1133 1095 f 1095 1076 1206 1205 f 1076 1077 1207 1206 f 1077 1078 1208 1207 f 1078 1096 1209 1208 f 1210 1209 1096 1134 f 1211 1210 1134 1136 f 1212 1211 1136 1138 f 1214 1213 1149 1147 f 1215 1214 1147 1145 f 1216 1215 1145 1091 f 1091 1067 1217 1216 f 1067 1068 1218 1217 f 1068 1069 1219 1218 f 1069 1092 1220 1219 f 1221 1220 1092 1146 f 1222 1221 1146 1148 f 1223 1222 1148 1150 f 1225 1224 1143 1141 f 1226 1225 1141 1139 f 1227 1226 1139 1093 f 1093 1073 1228 1227 f 1073 1074 1229 1228 f 1074 1075 1230 1229 f 1075 1094 1231 1230 f 1232 1231 1094 1140 f 1233 1232 1140 1142 f 1234 1233 1142 1144 f 949 1149 1235 947 f 1150 950 948 1236 f 947 1235 1237 945 f 1236 948 946 1238 f 945 1237 1189 943 f 1238 946 944 1190 f 1183 1185 1187 1239 f 1186 1184 1240 1188 f 1239 1187 1189 1241 f 1188 1240 1242 1190 f 1241 1189 1237 1243 f 1190 1242 1244 1238 f 1243 1237 1235 1245 f 1238 1244 1246 1236 f 1245 1235 1149 1213 f 1236 1246 1223 1150 f 1125 1175 1247 1191 f 1176 1126 1201 1248 f 1175 1177 1249 1247 f 1178 1176 1248 1250 f 1177 1179 1251 1249 f 1180 1178 1250 1252 f 1179 1181 1253 1251 f 1182 1180 1252 1254 f 1181 1183 1239 1253 f 1184 1182 1254 1240 f 1191 1247 1255 1131 f 1248 1201 1132 1256 f 1247 1249 1257 1255 f 1250 1248 1256 1258 f 1249 1251 1259 1257 f 1252 1250 1258 1260 f 1251 1253 1261 1259 f 1254 1252 1260 1262 f 1253 1239 1241 1261 f 1240 1254 1262 1242 f 1131 1255 1263 1202 f 1256 1132 1212 1264 f 1255 1257 1265 1263 f 1258 1256 1264 1266 f 1257 1259 1267 1265 f 1260 1258 1266 1268 f 1259 1261 1269 1267 f 1262 1260 1268 1270 f 1261 1241 1243 1269 f 1242 1262 1270 1244 f 1202 1263 1271 1137 f 1264 1212 1138 1272 f 1263 1265 1273 1271 f 1266 1264 1272 1274 f 1273 1265 1267 1275 f 1266 1274 1276 1268 f 1245 1213 1294 1295 f 1223 1246 1283 1284 f 1137 1271 1279 1224 f 1272 1138 1234 1280 f 1277 1143 1224 1279 f 1144 1278 1280 1234 f 1275 1267 1269 1281 f 1268 1276 1282 1270 f 1281 1269 1243 1245 f 1270 1282 1246 1244 f 1284 1283 1278 1144 f 1144 1142 1285 1284 f 1142 1140 1286 1285 f 1140 1094 1287 1286 f 1288 1287 1094 1075 f 1289 1288 1075 1074 f 1290 1289 1074 1073 f 1291 1290 1073 1093 f 1093 1139 1292 1291 f 1139 1141 1293 1292 f 1141 1143 1294 1293 f 1295 1294 1143 1277 f 1295 1277 1281 1245 f 1278 1283 1246 1282 f 1277 1279 1275 1281 f 1280 1278 1282 1276 f 1273 1275 1279 1271 f 1276 1274 1272 1280 f 969 973 1296 1297 f 974 971 1299 1298 f 973 985 1300 1296 f 986 974 1298 1301 f 1297 1296 1302 1303 f 1298 1299 1305 1304 f 1296 1300 1306 1302 f 1301 1298 1304 1307 f 1303 1302 1308 1309 f 1304 1305 1311 1310 f 1302 1306 1312 1308 f 1307 1304 1310 1313 f 1309 1308 1314 1315 f 1310 1311 1317 1316 f 1308 1312 1318 1314 f 1313 1310 1316 1319 f 1323 1320 1344 1345 f 1341 1342 1322 1321 f 1312 1306 1332 1333 f 1329 1330 1324 1325 f 1345 1346 1326 1323 f 1342 1343 1327 1322 f 1333 1334 1318 1312 f 1328 1324 1330 1331 f 1307 1313 1330 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1460 1450 1449 1465 f 1451 1461 1466 1452 f 1462 1460 1465 1467 f 1461 1463 1468 1466 f 1464 1462 1467 1469 f 1463 1464 1469 1468 f 1465 1449 1423 1470 f 1452 1466 1471 1424 f 1467 1465 1470 1472 f 1466 1468 1473 1471 f 1469 1467 1472 1474 f 1468 1469 1474 1473 f 1476 1475 13 2 f 1477 1476 2 1 f 1478 1477 1 5 f 1479 1478 5 7 f 1480 1479 7 9 f 1481 1480 9 11 f 1482 1481 11 29 f 1483 1482 29 31 f 1484 1483 31 33 f 1485 1484 33 67 f 1486 1485 67 35 f 35 27 1487 1486 f 27 25 1488 1487 f 25 23 1489 1488 f 23 21 1490 1489 f 21 19 1491 1490 f 1492 1491 19 17 f 17 15 1493 1492 f 15 684 1494 1493 f 1475 1494 684 13 f 1496 1495 39 46 f 1497 1496 46 50 f 1498 1497 50 52 f 1499 1498 52 54 f 1500 1499 54 56 f 1501 1500 56 58 f 1502 1501 58 60 f 1503 1502 60 62 f 1504 1503 62 64 f 1505 1504 64 70 f 1506 1505 70 66 f 1507 1506 66 82 f 1508 1507 82 80 f 1509 1508 80 78 f 1510 1509 78 76 f 1511 1510 76 74 f 72 1512 1511 74 f 1513 1512 72 40 f 693 1514 1513 40 f 1495 1514 693 39 f 1553 1552 1558 1557 f 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1623 f 1618 1619 1625 1624 f 1616 1615 1621 1622 f 1615 1614 1620 1621 f 1623 1624 1630 1629 f 1624 1625 1631 1630 f 1622 1621 1627 1628 f 1621 1620 1626 1627 f 1601 1600 1630 1631 f 1600 1599 1629 1630 f 1628 1627 1633 1634 f 1627 1626 1632 1633 f 645 648 1635 1636 f 649 646 1637 1638 f 648 650 1639 1635 f 651 649 1638 1640 f 650 652 1641 1639 f 653 651 1640 1642 f 652 654 1643 1641 f 655 653 1642 1644 f 654 656 1645 1643 f 657 655 1644 1646 f 656 658 1647 1645 f 659 657 1646 1648 f 658 660 1649 1647 f 661 659 1648 1650 f 660 662 1651 1649 f 663 661 1650 1652 f 662 664 1653 1651 f 665 663 1652 1654 f 664 666 1655 1653 f 667 665 1654 1656 f 666 668 1657 1655 f 669 667 1656 1658 f 668 670 1659 1657 f 671 669 1658 1660 f 670 672 1661 1659 f 673 671 1660 1662 f 672 674 1663 1661 f 675 673 1662 1664 f 674 676 1665 1663 f 677 675 1664 1666 f 676 678 1667 1665 f 679 677 1666 1668 f 682 645 1636 1669 f 696 679 1668 1670 f 678 682 1669 1667 f 646 696 1670 1637 f 269 270 1672 1671 f 270 278 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0.75 4 3 2 6 7 0.000 0.700 0.300 0.75 4 6 5 4 7 0.000 1.000 0.000 0.75 trimesh-4.5.1/pyproject.toml000066400000000000000000000110221470574263400161200ustar00rootroot00000000000000[build-system] build-backend = "setuptools.build_meta" requires = ["setuptools >= 61.0", "wheel"] [project] name = "trimesh" requires-python = ">=3.8" version = "4.5.1" authors = [{name = "Michael Dawson-Haggerty", email = "mikedh@kerfed.com"}] license = {file = "LICENSE.md"} description = "Import, export, process, analyze and view triangular meshes." keywords = ["graphics", "mesh", "geometry", "3D"] classifiers = [ "Development Status :: 4 - Beta", "License :: OSI Approved :: MIT License", "Programming Language :: Python", "Programming Language :: Python :: 3.8", "Programming Language :: Python :: 3.9", "Programming Language :: Python :: 3.10", "Programming Language :: Python :: 3.11", "Programming Language :: Python :: 3.12", "Natural Language :: English", "Topic :: Scientific/Engineering", "Topic :: Multimedia :: Graphics", "Topic :: Multimedia :: Graphics :: 3D Modeling" ] urls = {Homepage = "https://github.com/mikedh/trimesh"} dependencies = ["numpy>=1.20"] [project.readme] file = "README.md" content-type = "text/markdown" [project.scripts] trimesh = "trimesh:__main__.main" [tool.setuptools] packages = [ "trimesh", "trimesh.ray", "trimesh.path", "trimesh.path.exchange", "trimesh.scene", "trimesh.voxel", "trimesh.visual", "trimesh.viewer", "trimesh.exchange", "trimesh.resources", "trimesh.interfaces", ] include-package-data = false [tool.setuptools.package-data] trimesh = [ "resources/templates/*", "resources/*.json", "resources/schema/*", "resources/schema/primitive/*.json", "resources/*.zip", ] [project.optional-dependencies] # this is the base extra most users will want easy = [ "colorlog", "manifold3d>=2.3.0", # do boolean operations "chardet", "lxml", "jsonschema", "networkx", "svg.path", "pycollada", "setuptools", "shapely", "xxhash", "rtree", "httpx", "scipy", "embreex; platform_machine=='x86_64'", "pillow", "xatlas", "vhacdx; python_version>='3.9'", # old versions of mapbox_earcut produce incorrect values on numpy 2.0 "mapbox_earcut >= 1.0.2; python_version>='3.9'", ] recommend = [ "sympy", "meshio", "pyglet<2", "psutil", "scikit-image", "fast-simplification", # "python-fcl", # do collision checks # TODO : broken on numpy 2 "openctm", # load `CTM` compressed models "cascadio", # load `STEP` files ] # stuff to run simple testing test = [ "pytest-cov", "pytest", "pyinstrument", "ruff", ] # this is the list of everything that is ever added anywhere # mostly useful for getting our test coverage up but may not # be easy to install on all platforms and is only really # a good idea in our "cannonical docker images" test_more = [ "coveralls", "pyright", "ezdxf", "pytest-beartype; python_version>='3.10'", "matplotlib", "pymeshlab", "triangle", ] # interfaces.gmsh will be dropped Jan 2025 deprecated = ["gmsh==4.12.2"] # requires pip >= 21.2 # https://hynek.me/articles/python-recursive-optional-dependencies/ all = ["trimesh[easy,recommend,test,test_more,deprecated]"] [tool.ruff] target-version = "py38" line-length = 90 # See https://github.com/charliermarsh/ruff#rules for error code definitions. [tool.ruff.lint] select = [ # "ANN", # annotations "B", # bugbear "C", # comprehensions "E", # style errors "F", # flakes "I", # import sorting "RUF", # ruff specific rules "UP", # upgrade "W", # style warnings "YTT", # sys.version "ISC002", "NPY201", "TID251" ] ignore = [ "C901", # Comprehension is too complex (11 > 10) "N802", # Function name should be lowercase "N806", # Variable in function should be lowercase "E501", # Line too long ({width} > {limit} characters) "B904", # raise ... from err "B905", # zip() without an explicit strict= parameter "RUF005", # recommends non-type-aware expansion ] # don't allow implicit string concatenation flake8-implicit-str-concat = {"allow-multiline" = false} [tool.ruff.lint.flake8-tidy-imports.banned-api] "IPython.embed".msg = "you forgot to remove a debug embed ;)" "numpy.empty".msg = "uninitialized arrays are haunted try numpy.zeros" [tool.codespell] skip = "*.js*,./docs/built/*,./docs/generate/*,./models*,*.toml" ignore-words-list = "nd,coo,whats,bu,childs,mis,filetests" [tool.mypy] python_version = "3.8" ignore_missing_imports = true disallow_untyped_defs = false disallow_untyped_calls = false disable_error_code = ["method-assign", "var-annotated"]trimesh-4.5.1/tests/000077500000000000000000000000001470574263400143525ustar00rootroot00000000000000trimesh-4.5.1/tests/__init__.py000066400000000000000000000000001470574263400164510ustar00rootroot00000000000000trimesh-4.5.1/tests/basic.list000066400000000000000000000001421470574263400163250ustar00rootroot00000000000000# a list of tests which only require numpy to run test_inertia.py test_cache.py test_triangles.py trimesh-4.5.1/tests/corpus.py000066400000000000000000000136001470574263400162370ustar00rootroot00000000000000""" corpus.py ------------ Test loaders against large corpuses of test data from github: will download more than a gigabyte to your home directory! """ import numpy as np from pyinstrument import Profiler import trimesh from trimesh.util import log, wrap_as_stream # get a set with available extension available = trimesh.available_formats() # remove loaders that are thin wrappers available.difference_update( [ k for k, v in trimesh.exchange.load.mesh_loaders.items() if v in (trimesh.exchange.misc.load_meshio,) ] ) # remove loaders we don't care about available.difference_update({"json", "dae", "zae"}) available.update({"dxf", "svg"}) def on_repo(repo, commit): """ Try loading all supported files in a Github repo. Parameters ----------- repo : str Github "slug" i.e. "assimp/assimp" commit : str Full hash of the commit to check. """ # get a resolver for the specific commit repo = trimesh.resolvers.GithubResolver( repo=repo, commit=commit, save="~/.trimesh-cache" ) # list file names in the repo we can load paths = [i for i in repo.keys() if i.lower().split(".")[-1] in available] report = {} for _i, path in enumerate(paths): namespace, name = path.rsplit("/", 1) # get a subresolver that has a root at # the file we are trying to load resolver = repo.namespaced(namespace) check = path.lower() broke = ( "malformed empty outofmemory " + "bad incorrect missing " + "failures pond.0.ply" ).split() should_raise = any(b in check for b in broke) raised = False # clip off the big old name from the archive saveas = path[path.find(commit) + len(commit) :] try: m = trimesh.load( file_obj=wrap_as_stream(resolver.get(name)), file_type=name, resolver=resolver, ) report[saveas] = str(m) # if our source was a GLTF we should be able to roundtrip without # dropping if name.lower().split(".")[-1] in ("gltf", "glb") and len(m.geometry) > 0: # try round-tripping the file e = trimesh.load( file_obj=wrap_as_stream(m.export(file_type="glb")), file_type="glb", process=False, ) # geometry keys should have survived roundtrip assert set(m.geometry.keys()) == set(e.geometry.keys()) assert set(m.graph.nodes) == set(e.graph.nodes) for key, geom in e.geometry.items(): # the original loaded mesh ori = m.geometry[key] # todo : why doesn't this pass # assert np.allclose(ori.vertices, geom.vertices) if isinstance( getattr(geom, "visual", None), trimesh.visual.TextureVisuals ): a, b = geom.visual.material, ori.visual.material # try our fancy equal assert equal(a.baseColorFactor, b.baseColorFactor) assert equal(a.baseColorTexture, b.baseColorTexture) except NotImplementedError as E: # this is what unsupported formats # like GLTF 1.0 should raise log.debug(E) report[saveas] = str(E) except BaseException as E: raised = True # we got an error on a file that should have passed if not should_raise: log.debug(path, E) raise E report[saveas] = str(E) # if it worked when it didn't have to add a label if should_raise and not raised: # raise ValueError(name) report[saveas] += " SHOULD HAVE RAISED" return report def equal(a, b): """ Check equality of two things. Parameters ----------- a : any Something. b : any Another thing. Returns ---------------- equal : bool Are these things equal-ish. """ if a is None: return b is None if not isinstance(a, type(b)): return False if isinstance(a, np.ndarray): # if we have a numpy array first check shape if a.shape != b.shape: return False # return every-element-is-close return np.allclose(a, b) # a PIL image of some variety if hasattr(a, "getpixel"): if a.size != b.size: return False # very crude: it's pretty hard to check if two images # are similar and JPEG produces diffs that are like 25% # different but something is better than nothing I suppose aa, bb = np.array(a), np.array(b) percent = np.abs(aa - bb).sum() / (np.prod(aa.shape) * 256) return percent < 0.5 # try built-in eq method return a == b if __name__ == "__main__": trimesh.util.attach_to_log() with Profiler() as P: # check the assimp corpus, about 50mb report = on_repo( repo="assimp/assimp", commit="c2967cf79acdc4cd48ecb0729e2733bf45b38a6f" ) # check the gltf-sample-models, about 1gb report.update( on_repo( repo="KhronosGroup/glTF-Sample-Models", commit="8e9a5a6ad1a2790e2333e3eb48a1ee39f9e0e31b", ) ) # add back collada for this repo available.update(["dae", "zae"]) report.update( on_repo( repo="ros-industrial/universal_robot", commit="8f01aa1934079e5a2c859ccaa9dd6623d4cfa2fe", ) ) # show all profiler lines log.info(P.output_text(show_all=True)) # print a formatted report of what we loaded log.debug("\n".join(f"# {k}\n{v}\n" for k, v in report.items())) trimesh-4.5.1/tests/data/000077500000000000000000000000001470574263400152635ustar00rootroot00000000000000trimesh-4.5.1/tests/data/boolean.json000066400000000000000000000002011470574263400175660ustar00rootroot00000000000000{"a": 1401.10505615, "union": 2477.66002819, "intersection": 324.549994265, "difference": 1076.55506051, "b": 1401.1049678231839}trimesh-4.5.1/tests/data/edges.json000066400000000000000000005262721470574263400172630ustar00rootroot00000000000000[[[155, 154], [154, 152], [152, 153], [109, 75], [75, 155], [127, 109], [127, 39], [39, 3], [153, 74], [74, 108], [126, 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2.186126972550021, 6.1648416747202495], [1.0368556869452907, 2.689383412710736, 11.919358083843136], [1.0368556869452907, 2.689383412710736, 11.919358083843136], [1.0368556869452907, 2.689383412710736, 11.919358083843136], [1.0368556869452907, 2.689383412710736, 11.919358083843136], [1.8085204660359506, 2.4454801705961557, 11.057780387937825], [1.8085204660359506, 2.4454801705961557, 11.057780387937825], [1.8085204660359506, 2.4454801705961557, 11.057780387937825], [1.8085204660359506, 2.4454801705961557, 11.057780387937825], [2.009354130935003, -2.1244108114067375, 2.9195295837473276], [2.009354130935003, -2.1244108114067375, 2.9195295837473276], [2.009354130935003, -2.1244108114067375, 2.9195295837473276], [2.009354130935003, -2.1244108114067375, 2.9195295837473276], [0.8971113239722157, -1.6350226695908217, 9.162785064737356], [0.8971113239722157, -1.6350226695908217, 9.162785064737356], [0.8971113239722157, -1.6350226695908217, 9.162785064737356], [0.8971113239722157, -1.6350226695908217, 9.162785064737356], [-0.3763726698266121, -0.568938484371383, -6.962129185948502], [-0.3763726698266121, -0.568938484371383, -6.962129185948502], [-0.3763726698266121, -0.568938484371383, -6.962129185948502], [-0.3763726698266121, -0.568938484371383, -6.962129185948502], [-2.20071748160321, -0.6925624429176969, 10.345570480172526], [-2.20071748160321, -0.6925624429176969, 10.345570480172526], [-2.20071748160321, -0.6925624429176969, 10.345570480172526], [-2.20071748160321, -0.6925624429176969, 10.345570480172526]]}}, "load_kwargs": [{"use_embree": true, "file_name": "cylinder.stl"}, {"use_embree": false, "file_name": "cylinder.stl"}, {"use_embree": true, "file_name": "featuretype.STL"}, {"use_embree": false, "file_name": "featuretype.STL"}, {"use_embree": true, "file_name": "angle_block.STL"}, {"use_embree": false, "file_name": "angle_block.STL"}, {"use_embree": true, "file_name": "ballA.off"}, {"use_embree": false, "file_name": "ballA.off"}]}trimesh-4.5.1/tests/data/triangles.json000066400000000000000000000011141470574263400201430ustar00rootroot00000000000000{"points": [[0.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, -1.0, 0.0], [0.2, -2.0, 0.0], [2.0, -1.0, 0.0], [3.0, -2.0, 0.0]], "triangles": [[[-1.0, 0.0, 5.0], [1.0, 0.0, 5.0], [0.0, 2.0, 5.0]], [[-1.0, 0.0, 5.0], [1.0, 0.0, 5.0], [0.0, 2.0, 5.0]], [[-1.0, 0.0, 5.0], [1.0, 0.0, 5.0], [0.0, 2.0, 5.0]], [[-1.0, 0.0, 5.0], [1.0, 0.0, 5.0], [0.0, 2.0, 5.0]], [[-1.0, 0.0, 5.0], [1.0, 0.0, 5.0], [0.0, 2.0, 5.0]], [[-1.0, 0.0, 5.0], [1.0, 0.0, 5.0], [0.0, 2.0, 5.0]]], "closest": [[0.0, 0.0, 5.0], [0.0, 1.0, 5.0], [0.0, 0.0, 5.0], [0.19999999999999996, 0.0, 5.0], [1.0, 0.0, 5.0], [1.0, 0.0, 5.0]]}trimesh-4.5.1/tests/generic.py000066400000000000000000000373101470574263400163440ustar00rootroot00000000000000# flake8: noqa """ Module which contains most imports and data unit tests might need, to reduce the amount of boilerplate. """ import os import sys import json import copy import time import pickle import shutil import timeit import base64 import inspect import logging import platform import warnings import tempfile import unittest import threading import itertools import contextlib import subprocess import collections import numpy as np import trimesh from uuid import uuid4 from trimesh.base import Trimesh from trimesh.constants import tol, tol_path from collections import deque from copy import deepcopy from http.server import SimpleHTTPRequestHandler import socketserver tf = trimesh.transformations TemporaryDirectory = tempfile.TemporaryDirectory # make a dummy profiler which does nothing class DummyProfiler(object): def __enter__(self, *args, **kwargs): return self def __exit__(*args, **kwargs): pass def output_text(*args, **kwargs): return "no `pyinstrument`" # make sure dummy profiler works with DummyProfiler() as _P: pass assert len(_P.output_text()) > 0 try: from pyinstrument import Profiler except BaseException: Profiler = DummyProfiler # should we require all soft dependencies # this is set in the docker images to catch missing packages argv = "".join(sys.argv) # if we're supposed to have everything all_dependencies = "ALL_DEPENDENCIES" in argv # if we're testing rendering scenes include_rendering = "INCLUDE_RENDERING" in argv if all_dependencies and not trimesh.ray.has_embree: import embreex try: import sympy as sp except ImportError as E: sp = None try: import jsonschema except BaseException as E: jsonschema = trimesh.exceptions.ExceptionWrapper(E) # make sure functions know they should run additional # potentially slow validation checks and raise exceptions trimesh.util._STRICT = True trimesh.constants.tol.strict = True trimesh.constants.tol_path.strict = True try: from mapbox_earcut import triangulate_float64 has_earcut = True except BaseException as E: if all_dependencies: raise E else: has_earcut = False try: from shapely.geometry import Point, Polygon, LineString has_path = True except ImportError as E: if all_dependencies: raise E has_path = False try: from scipy import spatial, sparse except BaseException as E: if all_dependencies: raise E try: import networkx as nx except BaseException as E: pass # find_executable for binvox has_binvox = trimesh.exchange.binvox.binvox_encoder is not None if all_dependencies and not has_binvox: raise ValueError("missing binvox") # Python version as a tuple, i.e. [3, 6] PY_VER = (sys.version_info.major, sys.version_info.minor) # some repeatable homogeneous transforms to use in tests transforms = [ trimesh.transformations.euler_matrix(np.pi / 4, i, 0) for i in np.linspace(0.0, np.pi * 2.0, 100) ] # should be a (100, 4, 4) float transforms = np.array(transforms) try: # do the imports for Python 2 from cStringIO import StringIO PY3 = False except ImportError: # if that didn't work we're probably on Python 3 from io import StringIO from io import BytesIO PY3 = True # are we on linux is_linux = "linux" in platform.system().lower() # find the current absolute path using inspect dir_current = os.path.dirname(os.path.abspath(os.path.expanduser(__file__))) # the absolute path for our reference models dir_models = os.path.abspath(os.path.join(dir_current, "..", "models")) # the absolute path for our 2D reference models dir_2D = os.path.abspath(os.path.join(dir_current, "..", "models", "2D")) # the absolute path for our test data and truth dir_data = os.path.abspath(os.path.join(dir_current, "data")) # a logger for tests to call log = logging.getLogger("trimesh") log.addHandler(logging.NullHandler()) # turn strings / bytes into file- like objects io_wrap = trimesh.util.wrap_as_stream def random(*args, **kwargs): """ A random function always seeded from the same value so tests can use random data but they execute mostly deterministically in a large test matrix. Drop-in replacement for `np.random.random(*args, **kwargs)` """ state = np.random.RandomState(seed=1) return state.random_sample(*args, **kwargs) def random_transforms(count, translate=1000): """ Deterministic generation of random transforms so unit tests have limited levels of flake. Parameters ------------- count : int Number of repeatable but random-ish transforms to generate translate : float The scale of translation to apply. Yields ------------ transform : (4, 4) float Homogeneous transformation matrix """ quaternion = random((count, 3)) translate = (random((count, 3)) - 0.5) * float(translate) for quat, trans in zip(quaternion, translate): matrix = tf.random_rotation_matrix(rand=quat) matrix[:3, 3] = trans yield matrix # random should be deterministic assert np.allclose(random(10), random(10)) assert np.allclose(list(random_transforms(10)), list(random_transforms(10))) def _load_data(): """ Load the JSON files from our truth directory. """ data = {} for file_name in os.listdir(dir_data): name, extension = os.path.splitext(file_name) if extension != ".json": continue file_path = os.path.join(dir_data, file_name) with open(file_path, "r") as file_obj: data[name] = json.load(file_obj) data["model_paths"] = [os.path.join(dir_models, f) for f in os.listdir(dir_models)] data["2D_files"] = [os.path.join(dir_2D, f) for f in os.listdir(dir_2D)] return data def get_mesh(file_name, *args, **kwargs): """ Get a mesh from the models directory by name. Parameters ------------- file_name : str Name of model in /models/ *args : [str] Additional files to load Returns ----------- meshes : trimesh.Trimesh or list Single mesh or list of meshes from args """ meshes = collections.deque() for name in np.append(file_name, args): location = get_path(name) log.info("loading mesh from: %s", location) meshes.append(trimesh.load(location, **kwargs)) if len(meshes) == 1: return meshes[0] return list(meshes) def get_path(file_name): """ Get the absolute location of a referenced model file. Parameters ------------ file_name : str Name of model relative to `repo/models` Returns ------------ full : str Full absolute path to model. """ return os.path.abspath(os.path.join(dir_models, file_name)) @contextlib.contextmanager def serve_meshes(): """ This context manager serves meshes over HTTP at some available port. """ class _ServerThread(threading.Thread): def run(self): os.chdir(dir_models) Handler = SimpleHTTPRequestHandler self.httpd = socketserver.TCPServer(("", 0), Handler) _, self.port = self.httpd.server_address self.httpd.serve_forever() t = _ServerThread() t.daemon = False t.start() time.sleep(0.2) yield "http://localhost:{}".format(t.port) t.httpd.shutdown() t.join() def get_meshes( count=np.inf, raise_error=False, split=False, min_volume=None, only_watertight=True ): """ Get meshes to test with. Parameters ---------- count : int Approximate number of meshes you want raise_error : bool Raise exceptions in `trimesh.load` or just continue. split : bool Split multibody meshes into single body meshes. min_volume : None or float Only return meshes above a volume threshold only_watertight : bool Only return watertight meshes Yields ---------- mesh : trimesh.Trimesh Trimesh objects from models folder """ # use deterministic file name order file_names = sorted(os.listdir(dir_models)) # count items we've returned as an array so # we don't have to make it a global returned = [0] def check(item): # only return our limit if returned[0] >= count: return None # run our return argument checks on an item if only_watertight and not item.is_watertight: return None if min_volume is not None and item.volume < min_volume: return None returned[0] += 1 return item for file_name in file_names: extension = trimesh.util.split_extension(file_name).lower() if extension in trimesh.available_formats(): try: loaded = trimesh.load(os.path.join(dir_models, file_name)) except BaseException as E: if raise_error: log.error(f"failed to load {file_name}") raise E continue batched = [] if isinstance(loaded, trimesh.Scene): batched.extend( m for m in loaded.geometry.values() if isinstance(m, trimesh.Trimesh) ) elif isinstance(loaded, trimesh.Trimesh): batched.append(loaded) for mesh in batched: mesh.metadata["file_name"] = file_name # only return our limit if returned[0] >= count: return # previous checks should ensure only trimesh assert isinstance(mesh, trimesh.Trimesh) if split: for submesh in mesh.split(only_watertight=only_watertight): checked = check(submesh) if checked is not None: yield checked else: checked = check(mesh) if checked is not None: yield checked else: log.warning("%s has no loader, not running test on!", file_name) def get_2D(count=None): """ Get Path2D objects to test with. Parameters -------------- count : int Number of 2D drawings to return Yields -------------- path : trimesh.path.Path2D Drawing from models folder """ # if no path loading return empty list if not has_path: raise StopIteration # all files in the 2D models directory listdir = sorted(os.listdir(dir_2D)) # if count isn't passed return all files if count is None: count = len(listdir) # save resulting loaded paths paths = [] for file_name in listdir: # check to see if the file is loadable ext = trimesh.util.split_extension(file_name) if ext not in trimesh.available_formats(): continue # full path location = os.path.join(dir_2D, file_name) try: paths.append(trimesh.load(location)) except BaseException as E: log.error("failed on: {}".format(file_name), exc_info=True) raise E yield paths[-1] # if we don't need every path break if len(paths) >= count: break def check_path2D(path): """ Make basic assertions on Path2D objects """ # root count should be the same as the closed polygons assert len(path.root) == len(path.polygons_full) # make sure polygons are really polygons assert all(type(i).__name__ == "Polygon" for i in path.polygons_full) assert all(type(i).__name__ == "Polygon" for i in path.polygons_closed) # these should all correspond to each other assert len(path.discrete) == len(path.polygons_closed) assert len(path.discrete) == len(path.paths) # make sure None polygons are not referenced in graph assert all( path.polygons_closed[i] is not None for i in path.enclosure_directed.nodes() ) if any(e.color is not None for e in path.entities): assert path.colors.shape == (len(path.entities), 4) def scene_equal(a, b): """ Do a simple check on two scenes and assert that they have the same geometry. Parameters ------------ a : trimesh.Scene Object to be compared b : trimesh.Scene Object to be compared """ # should have the same number of geometries assert len(a.geometry) == len(b.geometry) for k, m in a.geometry.items(): # each mesh should correspond by name # and have the same volume assert np.isclose(m.volume, b.geometry[k].volume, rtol=0.001) # the axis aligned bounding box should be the same assert np.allclose(a.bounds, b.bounds) def texture_equal(a, b): """ Make sure the texture in two meshes have the same face-uv-position results. Parameters ------------ a : trimesh.Trimesh Mesh to check b : trimesh.Trimesh Should be identical """ try: from scipy.spatial import cKDTree except BaseException: log.error("no scipy for check!", exc_info=True) return # an ordered position-face-UV blob to check pa = np.hstack((a.vertices, a.visual.uv))[a.faces].reshape((-1, 15)) pb = np.hstack((b.vertices, b.visual.uv))[b.faces].reshape((-1, 15)) # query their actual ordered values against each other q = cKDTree(pa).query_ball_tree(cKDTree(pb), r=1e-4) assert all(i in match for i, match in enumerate(q)) def check_fuze(fuze): """ Check the classic textured mesh: a fuze bottle """ # these loaded fuze bottles should have textures assert isinstance(fuze.visual, trimesh.visual.TextureVisuals) # image should be loaded with correct resolution assert fuze.visual.material.image.size == (1024, 1024) # UV coordinates should be unmerged correctly assert len(fuze.visual.uv) == 664 # UV coordinates shouldn't be all zero- ish assert np.ptp(fuze.visual.uv[:, :2], axis=0).min() > 0.1 # UV coordinates should be between zero and 1 assert fuze.visual.uv.min() > -tol.merge assert fuze.visual.uv.max() < 1 + tol.merge # check color factors factors = [ fuze.visual.material.ambient, fuze.visual.material.diffuse, fuze.visual.material.specular, ] for f in factors: # should be RGBA assert len(f) == 4 assert f.dtype == np.uint8 # should be between 0 and 255 assert f.min() >= 0 assert f.max() <= 255 # should have some nonzero values assert (f > 0).any() # vertices should correspond with UV assert fuze.vertices.shape == (664, 3) # convert TextureVisuals to ColorVisuals viz = fuze.visual.to_color() assert viz.kind == "vertex" # should be actual colors defined assert np.ptp(np.ptp(viz.vertex_colors, axis=0)) != 0 # shouldn't crash fuze.visual.copy() fuze.visual.material.copy() def roundtrip(exported, file_type, **kwargs): """ Reload an exported byte blob into a mesh. Parameters ----------- exported : bytes or str Exported mesh file_type : str Type of file to load kwargs : dict Passed to trimesh.load Returns --------- loaded : trimesh.Trimesh Loaded result """ return trimesh.load( file_obj=trimesh.util.wrap_as_stream(exported), file_type=file_type, **kwargs ) # all the JSON files with truth data data = _load_data() # find executables to run with subprocess # formats supported by meshlab for export tests try: import pymeshlab meshlab_formats = [ "3ds", "ply", "stl", "obj", "qobj", "off", "ptx", "vmi", "bre", "dae", "ctm", "pts", "apts", "gts", "pdb", "tri", "asc", "x3d", "x3dv", "wrl", ] except BaseException: meshlab_formats = [] trimesh-4.5.1/tests/helpers/000077500000000000000000000000001470574263400160145ustar00rootroot00000000000000trimesh-4.5.1/tests/helpers/dxfhelp.py000066400000000000000000000055101470574263400200210ustar00rootroot00000000000000""" dxf_helper.py --------------- Manipulate DXF templates as plain text files rather than strings inside a JSON blob """ import json import os import numpy as np def get_json(file_name="../templates/dxf.json"): """ Load the JSON blob into native objects """ with open(file_name) as f: t = json.load(f) return t def write_json(template, file_name="../templates/dxf.json"): """ Write a native object to a JSON blob """ with open(file_name, "w") as f: json.dump(template, f, indent=4) def replace_whitespace(text, SAFE_SPACE="|<^>|", insert=True, reformat=False): """ Replace non-strippable whitespace in a string with a safe space """ if insert: # replace whitespace with safe space chr args = (" ", SAFE_SPACE) else: # replace safe space chr with whitespace args = (SAFE_SPACE, " ") lines = [line.strip().replace(*args) for line in str.splitlines(text)] # remove any blank lines if any(len(L) == 0 for L in lines): shaped = np.reshape(lines, (-1, 2)) mask = np.ones(len(shaped), dtype=bool) for i, v in enumerate(shaped[:, 1]): if len(v) == 0: mask[i] = False lines = shaped[mask].ravel() if reformat: for i in range(len(lines)): cur = lines[i].strip() if cur.startswith("$$"): lines[i] = cur[1:] elif cur.startswith("${"): lines[i] = cur[1:] elif cur.startswith("$"): lines[i] = "{" + cur[1:] + "}" return "\n".join(lines) def write_files(template, destination="./dxf"): """ For a dict, write each value to destination/key """ os.makedirs(destination) for key, value in template.items(): with open(os.path.join(destination, key), "w") as f: f.write(replace_whitespace(value, reformat=True, insert=False)) def read_files(path): """ For a directory full of files, retrieve it as a dict with file_name:text """ template = {} for file_name in os.listdir(path): # skip emacs buffers if "~" in file_name: continue with open(os.path.join(path, file_name)) as f: template[file_name] = replace_whitespace( f.read(), reformat=False, insert=True ) return template if __name__ == "__main__": import sys import trimesh trimesh.util.attach_to_log() # dump files to JSON template if "dump" in sys.argv: t = read_files("dxf") write_json(t) elif "read" in sys.argv: # dump JSON to files for editing t = get_json() write_files(t) else: trimesh.util.log.debug("run with 'read_json' to dump JSON to files") trimesh.util.log.debug("Or 'dump_json' to dump files to JSON") trimesh-4.5.1/tests/helpers/fetch_gltf.bash000066400000000000000000000006141470574263400207610ustar00rootroot00000000000000#### produce a zip file full of the GLTF 2.0 JSONschema set -xe # get the latest schema from github wget https://github.com/KhronosGroup/glTF/archive/main.zip unzip main.zip # put just the schema into a ZIP file # --junk-paths -j flattens directory structure zip --junk-paths gltf2.schema.zip glTF-main/specification/2.0/schema/*.json # remove the giant artifacts rm -rf glTF-main rm -f main.zip trimesh-4.5.1/tests/helpers/id_helper.py000066400000000000000000000127271470574263400203320ustar00rootroot00000000000000""" features.py --------------- In trimesh.comparison, we arbitrarily threshold identifier values at a certain number of significant figures. This file permutates meshes around and observes how their identifier, which is supposed to be pretty invariant to translation and tessellation changes. We use this to generate the arbitrary sigfig thresholds. """ import collections import json import logging import os import time import numpy as np import trimesh log = trimesh.util.log TOL_ZERO = 1e-12 def permutations( mesh, function=lambda x: x.identifier, displacement_max=1e-8, count=1000, subdivisions=2, cutoff=3600, ): """ Permutate a mesh, record the maximum it deviates from the original mesh and the resulting value of an identifier function. Parameters ---------- mesh: Trimesh object function: function which takes a single mesh as an argument and returns an (n,) float vector subdivisions: the maximum number of times to subdivide the mesh count: int, number of times to permutate each subdivision step Returns ----------- identifiers: numpy array of identifiers """ identifiers = [] start = time.time() # do subdivisions divided = [mesh.copy()] for _j in range(subdivisions - 1): divided.append(divided[-1].copy().subdivide()) for i, _displacement in enumerate( np.linspace(0.0, displacement_max / mesh.scale, count) ): # get one of the subdivided meshes current = np.random.choice(divided).copy() if i > (count / 10): # run first bunch without tessellation permutation current = current.permutate.tessellation() # after the first few displace it a lot transformed = trimesh.permutate.transform(current) # noisy = trimesh.permutate.noise(transformed, displacement) identifier = function(transformed) identifiers.append(identifier) if (time.time() - start) > cutoff: log.debug(f"bailing for time:{time.time() - start} count:{i}") return np.array(identifiers) return np.array(identifiers) def get_meshes(path="../../../models", cutoff=None): """ Get a list of single- body meshes to test identifiers on. Parameters ------------ path: str, location of models cutoff: int, number of meshes to stop loading at Returns ------------ meshes: (n,) list of Trimesh objects """ bodies = collections.deque() for file_name in os.listdir(path): try: mesh = trimesh.load(os.path.join(path, file_name)) split = mesh.split() bodies.extend(split) if len(split) > 1: bodies.append(mesh) except BaseException: continue if cutoff is not None and len(bodies) > cutoff: return np.array(bodies) for _i in range(100): cylinder = trimesh.creation.cylinder( radius=np.random.random() * 100, height=np.random.random() * 1000, sections=int(np.clip(np.random.random() * 720, 20, 720)), ) capsule = trimesh.creation.capsule( radius=np.random.random() * 100, height=np.random.random() * 1000, count=np.clip(np.random.random(2) * 720, 20, 720).astype(int), ) bodies.append(cylinder) bodies.append(capsule) for _i in range(10): bodies.append( trimesh.creation.random_soup( int(np.clip(np.random.random() * 1000, 20, 1000)) ) ) bodies.append(trimesh.creation.icosphere()) bodies.append(trimesh.creation.uv_sphere()) bodies.append(trimesh.creation.icosahedron()) return np.array(bodies) def data_stats(data): data = np.asanyarray(data, dtype=np.float64) # mean identifier mean = data.mean(axis=0) # thresholdable percentile percent = np.abs(mean - np.abs(np.percentile(data, 99.999, axis=0))) return mean, percent if __name__ == "__main__": trimesh.util.attach_to_log(level=logging.INFO) meshes = get_meshes() log.debug("loaded meshes!") # we want the whole thing to last less than hours = 5 cutoff = (hours * 3600) / len(meshes) cutoff = 30 result = [] running = [] for i, m in enumerate(meshes): # calculate permutations identifier = permutations(m, count=1000, cutoff=cutoff) # get data mean, percent = data_stats(identifier) nz = np.logical_and(np.abs(mean) > TOL_ZERO, np.abs(percent) > TOL_ZERO) r = np.ones_like(mean) * 10 r[nz] = np.round(np.log10(np.abs(mean[nz] / percent[nz]))) - 1 running.append(r) result.append({"mean": mean.tolist(), "percent": percent.tolist()}) log.debug(f"\n\n{i}/{len(meshes) - 1}") log.debug("mean", mean) log.debug("percent", percent) log.debug("oom", mean / percent) log.debug("curun", running[-1]) log.debug("minrun", np.min(running, axis=0)) log.debug("meanrun", np.mean(running, axis=0)) # every loop dump everything # thrash- ey for sure but intermediate results are great name_out = "res.json" with open(name_out, "w") as file_obj: json.dump(result, file_obj, indent=4) trimesh-4.5.1/tests/notebooks.py000066400000000000000000000123471470574263400167360ustar00rootroot00000000000000import inspect import json import logging import os import subprocess import sys import numpy as np # current working directory cwd = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe()))) log = logging.getLogger("notebook") def load_notebook(file_obj): """ Load an ipynb file into a cleaned and stripped string that can be ran with `exec` The motivation for this is to check ipynb examples with CI so they don't get silently broken and confusing. Arguments ---------- file_obj : open file object Returns ---------- script : str Cleaned script which can be passed to exec """ raw = json.load(file_obj) lines = np.hstack([i["source"] for i in raw["cells"] if "source" in i]) script = exclude_calls(lines) return script def exclude_calls(lines, exclude=None): """ Exclude certain calls based on substrings, replacing them with pass statements. Parameters ------------- lines : (n, ) str Lines making up a Python script exclude (m, ) str Substrings to exclude lines based off of Returns ------------- joined : str Lines combined with newline """ if exclude is None: exclude = ["%matplotlib", "%pylab", "show", "plt", "save_image", "?"] result = [] for line in lines: # skip lines that only have whitespace or comments strip = line.strip() if len(strip) == 0 or strip.startswith("#"): continue # if the line has a blacklisted phrase switch it with a pass statement # we don't want to exclude function definitions however if not strip.startswith("def ") and any(i in line for i in exclude): # switch statement with pass line_modified = to_pass(line) else: # remove trailing whitespace line_modified = line.rstrip() # skip duplicate lines if len(result) > 0 and line_modified == result[-1]: continue # append the modified line to the result result.append(line_modified) # recombine into string and add trailing newline result = "\n".join(result) + "\n" return result def to_pass(line): """ Replace a line of code with a pass statement, with the correct number of leading spaces Arguments ---------- line : str, line of code Returns ---------- passed : str, line of code with same leading spaces but code replaced with pass statement """ # the number of leading spaces on the line spaces = len(line) - len(line.lstrip(" ")) # replace statement with pass and correct leading spaces passed = (" " * spaces) + "pass" return passed def render_notebook(file_name, out_name, nbconvert="jupyter"): """ Render an IPython notebook to an HTML file. """ out_name = os.path.abspath(out_name) file_name = os.path.abspath(file_name) command = [ nbconvert, "nbconvert", "--execute", "--to", "html", file_name, "--output", out_name, ] subprocess.check_call(command) def render_examples(out_dir, in_dir=None, ext="ipynb"): """ Render all IPython notebooks in a directory to HTML. """ # replace with relative path if in_dir is None: in_dir = os.path.abspath(os.path.join(cwd, "../examples")) for file_name in os.listdir(in_dir): # check extension split = file_name.split(".") if split[-1] != ext: continue # full path of file nb_path = os.path.join(in_dir, file_name) html_path = os.path.join(out_dir, ".".join(split[:-1]) + ".html") render_notebook(nb_path, html_path) def main(): # examples which we're not going to run in CI # widget.py opens a window and does a bunch of openGL stuff ci_blacklist = ["widget.py", "voxel.py", "voxel_fillers.py", "voxel_silhouette.py"] if "examples" in sys.argv: out_path = sys.argv[sys.argv.index("examples") + 1] render_examples(out_path) elif "exec" in sys.argv: # exec the script passed file_name = sys.argv[sys.argv.index("exec") + 1].strip() # we want to skip some of these examples in CI if "ci" in sys.argv and os.path.basename(file_name) in ci_blacklist: log.debug(f"{file_name} in CI blacklist: skipping!") return # skip files that don't exist if not os.path.exists(file_name): return if file_name.lower().endswith(".ipynb"): # ipython notebooks with open(file_name) as file_obj: script = load_notebook(file_obj) elif file_name.lower().endswith(".py"): # regular python files with open(file_name) as file_obj: script = exclude_calls(file_obj.read().split("\n")) else: # skip other types of files return log.debug(f"running {file_name}") try: exec(script, globals()) except BaseException as E: log.debug(f"failed {file_name}!\n\nscript was:\n{script}\n\n") raise E if __name__ == "__main__": """ Load and run a notebook if a file name is passed. """ main() trimesh-4.5.1/tests/regression.py000066400000000000000000000061301470574263400171040ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g import timeit def typical_application(): # make sure we can load everything we think we can # while getting a list of meshes to run tests on meshes = g.get_meshes(raise_error=True) for mesh in meshes: g.log.info("Testing %s", mesh.metadata["file_name"]) assert len(mesh.faces) > 0 assert len(mesh.vertices) > 0 assert len(mesh.edges) > 0 assert len(mesh.edges_unique) > 0 assert len(mesh.edges_sorted) > 0 assert len(mesh.edges_face) > 0 assert isinstance(mesh.euler_number, int) if not mesh.is_volume: continue assert len(mesh.facets) == len(mesh.facets_area) if len(mesh.facets) == 0: continue faces = mesh.facets[mesh.facets_area.argmax()] outline = mesh.outline(faces) # NOQA smoothed = mesh.smooth_shaded # NOQA assert mesh.volume > 0.0 section = mesh.section(plane_normal=[0, 0, 1], plane_origin=mesh.centroid) # NOQA sample = mesh.sample(1000) assert sample.shape == (1000, 3) ident = mesh.identifier_md5 assert len(ident) > 0 def establish_baseline(counts=None): """ Try to establish a baseline of how fast a computer is so we can normalize our tests to be meaningful even on garbage CI VM's. Runs a simple dot product, cross product, and list comprehension with some multiplication and conditionals. Counts have been tuned to each be approximately 1.0 on a mid-2014 i7. Arguments ---------- counts: (3,) int Number of iterations for each of the three tests Returns ---------------- times : dict Minimum times for each test """ if counts is None: counts = [390, 3820, 1710] setup = "import numpy as np" # test a dot product with itself dot = "\n".join( ("a = np.arange(3*10**3,dtype=np.float64).reshape((-1,3))", "b = np.dot(a, a.T)") ) # test a cross product cross = "\n".join( ( "a = np.arange(3*10**4,dtype=np.float64).reshape((-1,3))", "b = np.cross(a, a[::-1])", ) ) # try a list comprehension with some stuff in it loop = "[i * 3.14 for i in np.arange(10**3) if i % 7 == 0]" times = {} times["dot"] = min(timeit.repeat(dot, setup, number=counts[0])) times["cross"] = min(timeit.repeat(cross, setup, number=counts[1])) times["loop"] = min(timeit.repeat(loop, setup, number=counts[2])) return times def machine_info(): """ Get information about the current machine Returns ------------ info : dict Contains information about machine """ import psutil info = {} info["cpu_count"] = psutil.cpu_count() return info if __name__ == "__main__": info = machine_info() info["baseline"] = establish_baseline() import pyinstrument profiler = pyinstrument.Profiler() profiler.start() typical_application() profiler.stop() g.log.debug(profiler.output_text(unicode=True, color=True)) trimesh-4.5.1/tests/test_3dxml.py000066400000000000000000000016041470574263400170130ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g import numpy as np class DXMLTest(g.unittest.TestCase): def test_abaqus_texture(self): # an assembly with instancing s = g.get_mesh("cube1.3dxml") # should be 1 unique meshes assert len(s.geometry) == 1 v = s.geometry["Abaqus_Geometry"].visual assert v.kind == "texture" assert len(np.unique(v.to_color().vertex_colors, axis=0)) == 4 def test_abaqus_blocks(self): # an assembly with two Faces elements of different color s = g.get_mesh("blocks.3dxml") assert g.np.isclose(s.volume, 18000, atol=1.0) v = s.geometry["Abaqus_Geometry"].visual assert v.kind == "face" assert len(np.unique(v.face_colors, axis=0)) == 2 if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_3mf.py000066400000000000000000000046171470574263400164600ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class MFTest(g.unittest.TestCase): def test_3MF(self): # an assembly with instancing s = g.get_mesh("counterXP.3MF") # should be 2 unique meshes assert len(s.geometry) == 2 # should be 6 instances around the scene assert len(s.graph.nodes_geometry) == 6 assert all(m.is_volume for m in s.geometry.values()) # a single body 3MF assembly s = g.get_mesh("featuretype.3MF") # should be 2 unique meshes assert len(s.geometry) == 1 # should be 6 instances around the scene assert len(s.graph.nodes_geometry) == 1 def test_units(self): # test our unit conversion function converter = g.trimesh.units.unit_conversion # these are the units listed in the 3MF spec as valid units = ["micron", "millimeter", "centimeter", "inch", "foot", "meter"] # check conversion factor for all valid 3MF units assert all(converter(u, "inches") > 1e-12 for u in units) def test_kwargs(self): # check if kwargs are properly passed to geometries s = g.get_mesh("P_XPM_0331_01.3mf") assert all(len(v.vertices) == 4 for v in s.geometry.values()) s = g.get_mesh("P_XPM_0331_01.3mf", process=False) assert all(len(v.vertices) == 5 for v in s.geometry.values()) def test_names(self): # check if two different objects with the same name are correctly # processed s = g.get_mesh("cube_and_sphere_same_name.3mf") assert len(s.geometry) == 2 def test_roundtrip(self): if g.sys.version_info < (3, 6): g.log.warning("relies on > Python 3.5") return # test a scene round-tripped through the # 3MF exporter and importer s = g.get_mesh("cycloidal.3DXML") assert len(s.geometry) == 13 # export and reload r = g.trimesh.load( file_obj=g.trimesh.util.wrap_as_stream(s.export(file_type="3mf")), file_type="3mf", ) assert set(s.geometry.keys()) == set(r.geometry.keys()), ( s.geometry.keys(), r.geometry.keys(), ) assert g.np.allclose(s.bounds, r.bounds) assert g.np.isclose(s.area, r.area, rtol=1e-3) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_adjacency.py000066400000000000000000000014241470574263400177050ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class AdjacencyTest(g.unittest.TestCase): def test_radius(self): for radius in [0.1, 1.0, 3.1459, 29.20]: m = g.trimesh.creation.cylinder(radius=radius, height=radius * 10) # remove the cylinder cap signs = (g.np.sign(m.vertices[:, 2]) < 0)[m.faces] not_cap = ~g.np.logical_or(signs.all(axis=1), ~signs.any(axis=1)) m.update_faces(not_cap) # compare the calculated radius radii = m.face_adjacency_radius radii = radii[g.np.isfinite(radii)] assert g.np.allclose(radii, radius, atol=radius / 100) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_align.py000066400000000000000000000072451470574263400170650ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g tol_norm = 1e-10 class AlignTests(g.unittest.TestCase): def test_align(self): """ Test aligning two 3D vectors """ # function we're testing align = g.trimesh.geometry.align_vectors is_rigid = g.trimesh.transformations.is_rigid # start with some edge cases and make sure the transform works target = g.np.array([0, 0, -1], dtype=g.np.float64) vectors = g.np.vstack( ( g.trimesh.unitize(g.random((1000, 3)) - 0.5), g.random((1000, 3)) - 0.5, [-target, target], g.trimesh.util.generate_basis(target), [ [7.12106798e-07, -7.43194705e-08, 1.00000000e00], [0, 0, -1], [1e-4, 1e-4, -1], ], ) ) # collect errors norms = [] unitized = g.trimesh.unitize(vectors) for unit_dest, dest in zip(unitized[-10:], vectors[-10:]): for unit, vector in zip(unitized, vectors): T, _a = align(vector, dest, return_angle=True) assert is_rigid(T) assert g.np.isclose(g.np.linalg.det(T), 1.0) # rotate vector with transform check = g.np.dot(T[:3, :3], unit) # compare to target vector norm = g.np.linalg.norm(check - unit_dest) norms.append(norm) assert norm < tol_norm norms = g.np.array(norms) # these vectors should be perpendicular and zero angles = [ align(i, target, return_angle=True)[1] for i in g.trimesh.util.generate_basis(target) ] assert g.np.allclose(angles, [g.np.pi / 2, g.np.pi / 2, 0.0]) def test_range(self): # function we're testing align = g.trimesh.geometry.align_vectors is_rigid = g.trimesh.transformations.is_rigid # generate angles from 0 to 180 degrees angles = g.np.linspace(0.0, g.np.pi / 1e7, 10000) # generate on- plane vectors vectors = g.np.column_stack( (g.np.cos(angles), g.np.sin(angles), g.np.zeros(len(angles))) ) # rotate them arbitrarily off the plane just for funsies vectors = g.trimesh.transform_points(vectors, g.transforms[20]) for angle, vector in zip(angles, vectors): g.trimesh.util.generate_basis(vector) # check alignment to first vector # which was created with zero angle T, a = align(vector, vectors[0], return_angle=True) assert is_rigid(T) # check to make sure returned angle corresponds with truth assert g.np.isclose(a, angle, atol=1e-6) # check to make sure returned transform is correct check = g.np.dot(T[:3, :3], vector) norm = g.np.linalg.norm(check - vectors[0]) assert norm < tol_norm def test_rigid(self): # check issues with near-reversed vectors not returning rigid align = g.trimesh.geometry.align_vectors T = align([0, 0, -1], [-1e-17, 1e-17, 1]) assert g.np.isclose(g.np.linalg.det(T), 1.0) T = align([0, 0, -1], [-1e-4, 1e-4, 1]) assert g.np.isclose(g.np.linalg.det(T), 1.0) vector_1 = g.np.array([7.12106798e-07, -7.43194705e-08, 1.00000000e00]) vector_2 = g.np.array([0, 0, -1]) T, _angle = align(vector_1, vector_2, return_angle=True) assert g.np.isclose(g.np.linalg.det(T), 1.0) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_arc.py000066400000000000000000000070421470574263400165330ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class ArcTests(g.unittest.TestCase): def test_center(self): from trimesh.path.arc import arc_center test_points = [[[0, 0], [1.0, 1], [2, 0]]] test_results = [[[1, 0], 1.0]] points = test_points[0] res_center, res_radius = test_results[0] center_info = arc_center(points) C, R, _N, _angle = ( center_info["center"], center_info["radius"], center_info["normal"], center_info["span"], ) assert abs(R - res_radius) < g.tol_path.zero assert g.np.linalg.norm(C - res_center) < g.tol_path.zero # large magnitude arc failed some coplanar tests c = g.trimesh.path.arc.arc_center( [ [30156.18, 1673.64, -2914.56], [30152.91, 1780.09, -2885.51], [30148.3, 1875.81, -2857.79], ] ) assert len(c.center) == 3 def test_center_random(self): from trimesh.path.arc import arc_center # Test that arc centers work on well formed random points in 2D and 3D min_angle = g.np.radians(2) count = 1000 center_3D = (g.random((count, 3)) - 0.5) * 50 center_2D = center_3D[:, 0:2] radii = g.np.clip(g.random(count) * 100, min_angle, g.np.inf) angles = g.random((count, 2)) * (g.np.pi - min_angle) + min_angle angles = g.np.column_stack((g.np.zeros(count), g.np.cumsum(angles, axis=1))) points_2D = g.np.column_stack( ( g.np.cos(angles[:, 0]), g.np.sin(angles[:, 0]), g.np.cos(angles[:, 1]), g.np.sin(angles[:, 1]), g.np.cos(angles[:, 2]), g.np.sin(angles[:, 2]), ) ).reshape((-1, 6)) points_2D *= radii.reshape((-1, 1)) points_2D += g.np.tile(center_2D, (1, 3)) points_2D = points_2D.reshape((-1, 3, 2)) points_3D = g.np.column_stack( ( points_2D.reshape((-1, 2)), g.np.tile(center_3D[:, 2].reshape((-1, 1)), (1, 3)).reshape(-1), ) ).reshape((-1, 3, 3)) for center, radius, three in zip(center_2D, radii, points_2D): info = arc_center(three) assert g.np.allclose(center, info["center"]) assert g.np.allclose(radius, info["radius"]) for center, radius, three in zip(center_3D, radii, points_3D): transform = g.trimesh.transformations.random_rotation_matrix() center = g.trimesh.transformations.transform_points([center], transform)[0] three = g.trimesh.transformations.transform_points(three, transform) info = arc_center(three) assert g.np.allclose(center, info["center"]) assert g.np.allclose(radius, info["radius"]) def test_multiroot(self): """ Test a Path2D object containing polygons nested in the interiors of other polygons. """ inner = g.trimesh.creation.annulus(r_min=0.5, r_max=0.6, height=1.0) outer = g.trimesh.creation.annulus(r_min=0.9, r_max=1.0, height=1.0) m = inner + outer s = m.section(plane_normal=[0, 0, 1], plane_origin=[0, 0, 0]) p = s.to_planar()[0] assert len(p.polygons_closed) == 4 assert len(p.polygons_full) == 2 assert len(p.root) == 2 g.check_path2D(p) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_base.py000066400000000000000000000064351470574263400167050ustar00rootroot00000000000000""" Test the base trimesh.Trimesh object. """ try: from . import generic as g except BaseException: import generic as g class MeshTests(g.unittest.TestCase): def test_vertex_neighbors(self): m = g.trimesh.primitives.Box() neighbors = m.vertex_neighbors assert len(neighbors) == len(m.vertices) elist = m.edges_unique.tolist() for v_i, neighs in enumerate(neighbors): for n in neighs: assert [v_i, n] in elist or [n, v_i] in elist def test_validate(self): """ Make sure meshes with validation work """ m = g.get_mesh("featuretype.STL", validate=True) assert m.is_volume pre_len = len(m.vertices) pre_vol = m.volume m.remove_unreferenced_vertices() assert len(m.vertices) == pre_len assert g.np.isclose(m.volume, pre_vol) # add some unreferenced vertices m.vertices = g.np.vstack((m.vertices, g.random((100, 3)))) assert len(m.vertices) == pre_len + 100 assert g.np.isclose(m.volume, pre_vol) m.remove_unreferenced_vertices() assert len(m.vertices) == pre_len assert g.np.isclose(m.volume, pre_vol) def test_validate_inversion(self): """Make sure inverted meshes are fixed by `validate=True`""" orig_mesh = g.get_mesh("unit_cube.STL") orig_verts = orig_mesh.vertices.copy() orig_faces = orig_mesh.faces.copy() orig_face_set = {tuple(row) for row in orig_faces} inv_faces = orig_faces[:, ::-1] inv_mesh = g.Trimesh(orig_verts, inv_faces, validate=False) assert {tuple(row) for row in inv_mesh.faces} != orig_face_set fixed_mesh = g.Trimesh(orig_verts, inv_faces, validate=True) assert {tuple(row) for row in fixed_mesh.faces} == orig_face_set def test_none(self): """ Make sure mesh methods don't return None or crash. """ # a radially symmetric mesh with units # should have no properties that are None mesh = g.get_mesh("tube.obj") mesh.units = "in" # loop through string property names for method in dir(mesh): # ignore private- ish methods if method.startswith("_"): continue # a string expression to evaluate expr = f"mesh.{method}" try: # get the value of that expression res = eval(expr) except ImportError: g.log.warning("unable to import!", exc_info=True) continue # shouldn't be None! assert res is not None # check methods in scene objects scene = mesh.scene() # camera will be None unless set blacklist = ["camera"] for method in dir(scene): # ignore private- ish methods if method.startswith("_") or method in blacklist: continue # a string expression to evaluate expr = f"scene.{method}" # get the value of that expression res = eval(expr) # shouldn't be None! if res is None: raise ValueError(f'"{expr}" is None!!') if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_binvox.py000066400000000000000000000035051470574263400172730ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g from io import BytesIO from trimesh import voxel as v from trimesh.exchange import binvox from trimesh.voxel import runlength as rl class BinvoxTest(g.unittest.TestCase): def test_load_save_invariance(self): np = g.np n = 4 dense = np.random.uniform(size=(n,) * 3) > 0.8 dense[0, 0, 0] = dense[-1, -1, -1] = 1 # ensure extent test works shape = dense.shape rl_data = rl.dense_to_rle(dense.flatten(), dtype=np.uint8) translate = np.array([2, 5, 10], dtype=np.float32) scale = 5.0 base = binvox.voxel_from_binvox( rl_data, shape, translate, scale, axis_order="xzy" ) s = scale / (n - 1) np.testing.assert_equal( base.transform, np.array([[s, 0, 0, 2], [0, s, 0, 5], [0, 0, s, 10], [0, 0, 0, 1]]), ) dense = dense.transpose((0, 2, 1)) bound_min = translate - 0.5 * s bound_max = translate + scale + 0.5 * s np.testing.assert_allclose(base.bounds, [bound_min, bound_max]) np.testing.assert_equal(base.encoding.dense, dense) if binvox.binvox_encoder is None: g.log.warning("No binvox encoder found, skipping binvox export tests") return file_obj = BytesIO(binvox.export_binvox(base)) file_obj.seek(0) loaded = binvox.load_binvox(file_obj) np.testing.assert_equal(loaded.encoding.dense, base.encoding.dense) self.assertTrue(isinstance(base, v.VoxelGrid)) self.assertTrue(isinstance(loaded, v.VoxelGrid)) np.testing.assert_equal(base.transform, loaded.transform) np.testing.assert_equal(base.shape, loaded.shape) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_boolean.py000066400000000000000000000153171470574263400174110ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g import numpy as np try: import manifold3d except BaseException: manifold3d = None engines = [ ("blender", g.trimesh.interfaces.blender.exists), ("manifold", manifold3d is not None), ] def test_boolean(): a = g.get_mesh("ballA.off") b = g.get_mesh("ballB.off") truth = g.data["boolean"] times = {} for engine, exists in engines: # if we have all_dep set it means we should fail if # engine is not installed so don't continue if not exists: g.log.warning("skipping boolean engine %s", engine) continue g.log.info("Testing boolean ops with engine %s", engine) tic = g.time.time() # do all booleans before checks so we can time the backends ab = a.difference(b, engine=engine) ba = b.difference(a, engine=engine) i = a.intersection(b, engine=engine) u = a.union(b, engine=engine) times[engine] = g.time.time() - tic assert ab.is_volume assert np.isclose(ab.volume, truth["difference"]) assert np.allclose(ab.bounds[0], a.bounds[0]) assert ba.is_volume assert np.isclose(ba.volume, truth["difference"]) assert np.allclose(ba.bounds[1], b.bounds[1]) assert i.is_volume assert np.isclose(i.volume, truth["intersection"]) assert u.is_volume assert np.isclose(u.volume, truth["union"]) g.log.info("booleans succeeded with %s", engine) g.log.info(times) def test_multiple(): """ Make sure boolean operations work on multiple meshes. """ for engine, exists in engines: if not exists: continue a = g.trimesh.primitives.Sphere(center=[0, 0, 0]) b = g.trimesh.primitives.Sphere(center=[0, 0, 0.75]) c = g.trimesh.primitives.Sphere(center=[0, 0, 1.5]) r = g.trimesh.boolean.union([a, b, c], engine=engine) assert r.is_volume assert r.body_count == 1 assert np.isclose(r.volume, 8.617306056726884) def test_empty(): for engine, exists in engines: if not exists: continue a = g.trimesh.primitives.Sphere(center=[0, 0, 0]) b = g.trimesh.primitives.Sphere(center=[5, 0, 0]) i = a.intersection(b, engine=engine) assert i.is_empty def test_boolean_manifold(): if manifold3d is None: return times = {} for operation in ["union", "intersection"]: if operation == "union": # chain of icospheres meshes = [ g.trimesh.primitives.Sphere(center=[x / 2, 0, 0], subdivisions=0) for x in range(100) ] else: # closer icospheres for non-empty-intersection meshes = [ g.trimesh.primitives.Sphere(center=[x, x, x], subdivisions=0) for x in np.linspace(0, 0.5, 101) ] # the old 'serial' manifold method tic = g.time.time() manifolds = [ manifold3d.Manifold( mesh=manifold3d.Mesh( vert_properties=np.array(mesh.vertices, dtype=np.float32), tri_verts=np.array(mesh.faces, dtype=np.uint32), ) ) for mesh in meshes ] result_manifold = manifolds[0] for manifold in manifolds[1:]: if operation == "union": result_manifold = result_manifold + manifold else: # operation == "intersection": result_manifold = result_manifold ^ manifold result_mesh = result_manifold.to_mesh() old_mesh = g.trimesh.Trimesh( vertices=result_mesh.vert_properties, faces=result_mesh.tri_verts ) times["serial " + operation] = g.time.time() - tic # new 'binary' method tic = g.time.time() new_mesh = g.trimesh.boolean.boolean_manifold(meshes, operation) times["binary " + operation] = g.time.time() - tic assert old_mesh.is_volume == new_mesh.is_volume assert old_mesh.body_count == new_mesh.body_count assert np.isclose(old_mesh.volume, new_mesh.volume) g.log.info(times) def test_reduce_cascade(): # the multiply will explode quickly past the integer maximum from functools import reduce from trimesh.boolean import reduce_cascade def both(operation, items): """ Run our cascaded reduce and regular reduce. """ b = reduce_cascade(operation, items) if len(items) > 0: assert b == reduce(operation, items) return b for i in range(20): data = np.arange(i) c = both(items=data, operation=lambda a, b: a + b) if i == 0: assert c is None else: assert c == np.arange(i).sum() # try a multiply data = np.arange(i) c = both(items=data, operation=lambda a, b: a * b) if i == 0: assert c is None else: assert c == np.prod(data) # try a multiply data = np.arange(i)[1:] c = both(items=data, operation=lambda a, b: a * b) if i <= 1: assert c is None else: assert c == np.prod(data) data = ["a", "b", "c", "d", "e", "f", "g"] print("# reduce_pairwise\n-----------") r = both(operation=lambda a, b: a + b, items=data) assert r == "abcdefg" def test_multiple_difference(): """ Check that `a - b - c - d - e` does what we expect on both the base class method and the function call. """ # make a bunch of spheres that overlap center = ( np.array( [ [np.cos(theta), np.sin(theta), 0.0] for theta in np.linspace(0.0, np.pi * 2, 5) ] ) * 1.5 ) # first sphere is centered spheres = [g.trimesh.creation.icosphere()] spheres.extend(g.trimesh.creation.icosphere().apply_translation(c) for c in center) for engine, exists in engines: if not exists: g.log.warning("skipping boolean engine %s", engine) continue g.log.info("Testing multiple difference with engine %s", engine) # compute using meshes method diff_base = spheres[0].difference(spheres[1:], engine=engine) # compute using function call (should be identical) diff_meth = g.trimesh.boolean.difference(spheres, engine=engine) # both methods should produce the same result assert np.isclose(diff_base.volume, diff_meth.volume) assert diff_base.volume < spheres[0].volume # should have done the diff assert np.allclose(diff_base.extents, [1.5, 1.5, 2.0], atol=1e-8) trimesh-4.5.1/tests/test_bounds.py000066400000000000000000000276441470574263400172720ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class BoundsTest(g.unittest.TestCase): def setUp(self): meshes = [g.get_mesh(i) for i in ["large_block.STL", "featuretype.STL"]] self.meshes = g.np.append(meshes, list(g.get_meshes(5))) def test_obb_mesh(self): """ Test the OBB functionality in attributes of Trimesh objects """ for m in self.meshes: g.log.info("Testing OBB of %s", m.metadata["file_name"]) for i in range(6): # on the first run through don't transform the points to see # if we succeed in the meshes original orientation matrix = g.np.eye(4) if i > 0: # get repeatable transforms matrix = g.transforms[i] m.apply_transform(matrix) box_ext = m.bounding_box_oriented.primitive.extents.copy() box_t = m.bounding_box_oriented.primitive.transform.copy() # determinant of rotation should be 1.0 assert g.np.isclose(g.np.linalg.det(box_t[:3, :3]), 1.0) m.apply_transform(g.np.linalg.inv(box_t)) test = m.bounds / (box_ext / 2.0) test_ok = g.np.allclose(test, [[-1, -1, -1], [1, 1, 1]]) if not test_ok: g.log.error("bounds test failed %s", str(test)) assert test_ok m.apply_transform(matrix) m.apply_obb() # after applying the obb, the extents of the AABB # should be the same as the OBB close = g.np.allclose( m.bounding_box.extents, m.bounding_box_oriented.extents, rtol=1e-3, atol=1e-3, ) if not close: # m.visual.face_colors = [200, 0, 0, 100] # (m + m.bounding_box_oriented).show() # from IPython import embed # embed() raise ValueError( f"OBB extents incorrect:\n{m.bounding_box.extents}\n{m.bounding_box_oriented.extents}" ) c = m.bounding_cylinder # NOQA s = m.bounding_sphere # NOQA p = m.bounding_primitive # NOQA def test_obb_points(self): """ Test OBB functions with raw points as input """ for dimension in [3, 2]: for _i in range(25): points = g.random((10, dimension)) to_origin, extents = g.trimesh.bounds.oriented_bounds(points) assert g.trimesh.util.is_shape(to_origin, (dimension + 1, dimension + 1)) assert g.trimesh.util.is_shape(extents, (dimension,)) transformed = g.trimesh.transform_points(points, to_origin) transformed_bounds = [transformed.min(axis=0), transformed.max(axis=0)] for j in transformed_bounds: # assert that the points once our obb to_origin transform is applied # has a bounding box centered on the origin assert g.np.allclose(g.np.abs(j), extents / 2.0) extents_tf = g.np.diff(transformed_bounds, axis=0).reshape(dimension) assert g.np.allclose(extents_tf, extents) def test_obb_coplanar_points(self): """ Test OBB functions with coplanar points as input """ for _i in range(5): points = g.np.zeros((5, 3)) points[:, :2] = g.random((points.shape[0], 2)) rot, _ = g.np.linalg.qr(g.random((3, 3))) points = g.np.matmul(points, rot) to_origin, extents = g.trimesh.bounds.oriented_bounds(points) assert g.trimesh.util.is_shape(to_origin, (4, 4)) assert g.trimesh.util.is_shape(extents, (3,)) transformed = g.trimesh.transform_points(points, to_origin) transformed_bounds = [transformed.min(axis=0), transformed.max(axis=0)] for j in transformed_bounds: # assert that the points once our obb to_origin transform is applied # has a bounding box centered on the origin assert g.np.allclose(g.np.abs(j), extents / 2.0) extents_tf = g.np.diff(transformed_bounds, axis=0).reshape(3) assert g.np.allclose(extents_tf, extents) def test_2D(self): for theta in g.np.linspace(0, g.np.pi * 2, 2000): # create some random rectangular-ish 2D points points = g.random((10, 2)) * [5, 1] # save the basic AABB of the points before rotation rectangle_pre = g.np.ptp(points, axis=0) # rotate them by an increment TR = g.trimesh.transformations.planar_matrix(theta=theta) points = g.trimesh.transform_points(points, TR) # find the OBB of the points T, rectangle = g.trimesh.bounds.oriented_bounds_2D(points) # apply the calculated OBB oriented = g.trimesh.transform_points(points, T) origin = oriented.min(axis=0) + g.np.ptp(oriented, axis=0) / 2.0 # check to make sure the returned rectangle size is right assert g.np.allclose(g.np.ptp(oriented, axis=0), rectangle) # check to make sure the OBB consistently returns the # long axis in the same direction assert rectangle[0] > rectangle[1] # check to make sure result is actually returning an OBB assert g.np.allclose(origin, 0.0) # make sure OBB has less or same area as naive AABB assert g.np.prod(rectangle) <= g.np.prod(rectangle_pre) def test_cylinder(self): """ Check bounding cylinders on basically a cuboid """ # not rotationally symmetric mesh = g.get_mesh("featuretype.STL") height = 10.0 radius = 1.0 # spherical coordinates to loop through sphere = g.trimesh.util.grid_linspace([[0, 0], [g.np.pi * 2, g.np.pi * 2]], 5) for s in sphere: T = g.trimesh.transformations.spherical_matrix(*s) p = g.trimesh.creation.cylinder(radius=radius, height=height, transform=T) assert g.np.isclose(radius, p.bounding_cylinder.primitive.radius, rtol=0.01) assert g.np.isclose(height, p.bounding_cylinder.primitive.height, rtol=0.01) # regular mesh should have the same bounding cylinder # regardless of transform copied = mesh.copy() copied.apply_transform(T) assert g.np.isclose( mesh.bounding_cylinder.volume, copied.bounding_cylinder.volume, rtol=0.05 ) def test_random_cylinder(self): """ Check exact cylinders with the bounding cylinder function. """ for _i in range(20): # create a random cylinder c = g.trimesh.creation.cylinder(radius=1.0, height=10).permutate.transform() # bounding primitive should have same height and radius assert g.np.isclose(c.bounding_cylinder.primitive.height, 10, rtol=1e-6) assert g.np.isclose(c.bounding_cylinder.primitive.radius, 1, rtol=1e-6) # mesh is a cylinder, so center mass of bounding cylinder # should be exactly the same as the mesh center mass assert g.np.allclose( c.center_mass, c.bounding_cylinder.center_mass, rtol=1e-6 ) def test_bounding_egg(self): # create a distorted sphere mesh # center mass will be offset along Z i = g.trimesh.creation.icosphere() mask = i.vertices[:, 2] > 0.0 i.vertices[:, 2][mask] *= 4.0 # get a copy with a random transform p = i.permutate.transform() assert p.symmetry == "radial" # find the bounding cylinder with this random transform r = p.bounding_cylinder # transformed height should match source mesh assert g.np.isclose(g.np.ptp(i.vertices[:, 2]), r.primitive.height, rtol=1e-6) # slightly inflated cylinder should contain all # vertices of the source mesh assert r.buffer(0.01).contains(p.vertices).all() def test_obb_order(self): # make sure our sorting and transform flipping of # OBB extents are working by checking against a box extents = [10, 2, 3.5] extents_ordered = g.np.sort(extents) for _i in range(100): # transform box randomly in rotation and translation mat = g.trimesh.transformations.random_rotation_matrix() # translate in box -100 : +100 mat[:3, 3] = (g.random(3) - 0.5) * 200 # source mesh to check b = g.trimesh.creation.box(extents=extents, transform=mat) # calculated OBB primitive obb = b.bounding_box_oriented # make sure extents returned were ordered assert g.np.allclose(obb.primitive.extents, extents_ordered) # make sure mesh isn't reversing windings assert g.np.isclose(obb.to_mesh().volume, g.np.prod(extents)) # make sure OBB has the same bounds as the source mesh # since it is a box the AABB of the OBB should be # the same as the AABB of the source mesh (lol) assert g.np.allclose(obb.bounds, b.bounds) # unordered extents and transforms transform, extents = g.trimesh.bounds.oriented_bounds(b, ordered=False) assert g.np.allclose(g.np.sort(extents), extents_ordered) # create a box from the unordered OBB information box = g.trimesh.creation.box( extents=extents, transform=g.np.linalg.inv(transform) ) # make sure it is a real OBB too assert g.np.allclose(box.bounds, b.bounds) def test_bounds_tree(self): # test r-tree intersections for dimension in (2, 3): # create some (n, 2, 3) bounds bounds = g.np.array( [ [i.min(axis=0), i.max(axis=0)] for i in [g.random((4, dimension)) for i in range(10)] ] ) tree = g.trimesh.util.bounds_tree(bounds) for i, b in enumerate(bounds): assert i in set(tree.intersection(b.ravel())) # construct tree with per-row bounds tree = g.trimesh.util.bounds_tree(bounds.reshape((-1, dimension * 2))) for i, b in enumerate(bounds): assert i in set(tree.intersection(b.ravel())) def test_obb_corpus(self): # get some sample watertight meshes with nonzero volume min_volume = 0.1 meshes = list( g.get_meshes(split=True, min_volume=min_volume, only_watertight=True) ) g.log.debug(f"loaded {len(meshes)} meshes") if g.PY3: # our models corpus should have 200+ models # some loaders aren't available for Python2 assert len(meshes) > 200 # triple check we have positive volume assert all(m.volume > min_volume for m in meshes) # compute the OBB for every mesh profiling with g.Profiler() as P: obb = [m.bounding_box_oriented for m in meshes] g.log.debug(P.output_text()) # now loop through mesh-obb pairs and validate for m, o in zip(meshes, obb): # move the mesh into the OBB frame check = m.copy().apply_transform(g.np.linalg.inv(o.primitive.transform)) # check the mesh bounds against the claimed OBB bounds half = o.primitive.extents / 2.0 check_extents = g.np.array([-half, half]) # check that the OBB does contain the mesh assert g.np.allclose(check.bounds, check_extents, rtol=1e-4) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_cache.py000066400000000000000000000264541470574263400170410ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g TEST_DIM = (100000, 3) class CacheTest(g.unittest.TestCase): def test_track(self): """ Check to make sure our fancy caching system only changes hashes when data actually changes. """ original = g.trimesh.caching.hash_fast options = [ g.trimesh.caching.hash_fast, g.trimesh.caching.hash_fallback, g.trimesh.caching.sha256, ] for option in options: g.log.info(f"testing hash function: {option.__name__}") g.trimesh.caching.hash_fast = option # generate test data and perform numpy operations a = g.trimesh.caching.tracked_array(g.random(TEST_DIM)) modified = [hash(a)] a[0][0] = 10 modified.append(hash(a)) a[0][0] += 0.1 modified.append(hash(a)) a[:10] = g.np.fliplr(a[:10]) modified.append(hash(a)) a[1] = 5 modified.append(hash(a)) a[2:] = 2 modified.append(hash(a)) # these operations altered data and # the hash SHOULD have changed modified = g.np.array(modified, dtype=g.np.int64) assert (g.np.diff(modified) != 0).all() # now do slice operations which don't alter data modified = [] modified.append(hash(a)) b = a[[0, 1, 2]] # NOQA modified.append(hash(a)) c = a[1:] # NOQA modified.append(hash(a)) # double slice brah a = a[::-1][::-1] modified.append(hash(a)) # these operations should have been cosmetic and # the hash should NOT have changed modified = g.np.array(modified, dtype=g.np.int64) assert (g.np.diff(modified, axis=0) == 0).all() # now change stuff and see if checksums change a = g.trimesh.caching.tracked_array([0, 0, 4]) modified = [] modified.append(hash(a)) a += 10 modified.append(hash(a)) # assign some new data a = g.trimesh.caching.tracked_array([0.125, 115.32444, 4], dtype=g.np.float64) modified.append(hash(a)) a += [10, 0, 0] modified.append(hash(a)) a *= 10 modified.append(hash(a)) # itruediv rather than idiv a /= 2.0 modified.append(hash(a)) # idiv a /= 2.123 modified.append(hash(a)) a -= 1.0 modified.append(hash(a)) # in place floor division :| a //= 2 modified.append(hash(a)) # in-place sort a.sort() modified.append(hash(a)) # these operations altered data and # the hash SHOULD have changed modified = g.np.array(modified, dtype=g.np.int64) assert (g.np.diff(modified) != 0).all() # reset our patched hash function g.trimesh.caching.hash_fast = original def test_contiguous(self): a = g.random((100, 3)) t = g.trimesh.caching.tracked_array(a) original = g.trimesh.caching.hash_fast options = [ g.trimesh.caching.hash_fast, g.trimesh.caching.hash_fallback, g.trimesh.caching.sha256, ] for option in options: g.log.info(f"testing hash function: {option.__name__}") g.trimesh.caching.hash_fast = option # hashing will fail on non- contiguous arrays # make sure our utility function has handled this assert hash(t) != hash(t[::-1]) # reset our patched hash function g.trimesh.caching.hash_fast = original def test_mutable(self): """ Run some simple tests on mutable DataStore objects """ d = g.trimesh.caching.DataStore() d["hi"] = g.random(100) hash_initial = hash(d) # mutate internal data d["hi"][0] += 1 assert hash(d) != hash_initial # should be mutable by default assert d.mutable # set data to immutable d.mutable = False try: d["hi"][1] += 1 except ValueError: # should be raised when array is marked as read only return # we shouldn't make it past the try-except raise ValueError("mutating data worked when it shouldn't!") def test_transform(self): """ apply_transform tries to not dump the full cache """ m = g.get_mesh("featuretype.STL") # should populate edges_face e_len = len(m.edges) # should maintain required properties m.apply_transform(g.transforms[1]) # should still be in the cache assert len(m.edges_face) == e_len def test_simple_collision(self): faces1 = g.np.array( [ 0, 1, 2, 0, 3, 1, 0, 2, 4, 0, 4, 5, 5, 6, 3, 5, 3, 0, 7, 1, 3, 7, 3, 6, 4, 2, 1, 4, 1, 7, 5, 4, 7, 6, 5, 7, ], dtype=g.np.int64, ).reshape(-1, 3) faces2 = g.np.array( [ 0, 1, 2, 0, 3, 1, 2, 4, 0, 5, 4, 2, 6, 3, 0, 6, 0, 4, 6, 1, 3, 6, 7, 1, 2, 7, 5, 2, 1, 7, 4, 5, 7, 6, 4, 7, ], dtype=g.np.int64, ).reshape(-1, 3) hash_fast = g.trimesh.caching.hash_fast assert hash_fast(faces1) != hash_fast(faces2) def test_scalar(self): # check to make sure we're doing the same # thing as numpy with our subclass o = g.np.arange(10) a = g.trimesh.caching.tracked_array(o) # tracked array should be different type # but with the same values (i.e. subclass) assert not isinstance(o, type(a)) assert isinstance(a, g.np.ndarray) assert g.np.allclose(a, o) # this should be a scalar and subclasses # for some reason return a different type? assert isinstance(a.max(), type(o.max())) def test_method_combinations(self): # run combinatorial guesses of arguments on every method # of the subclassed `ndarray` and see if we can get trackedarray # to return incorrect hashes. Hopefully this catches new methods # only run this test on python 3+ as they changed tobytes if not g.PY3: return import itertools import warnings import numpy as np from trimesh.caching import tracked_array dim = (100, 3) # generate a bunch of arguments for every function of an `ndarray` so # we can see if the functions mutate flat = [ 2.3, 1, 10, 4.2, [3, -1], {"shape": 10}, np.int64, np.float64, True, True, False, False, g.random(dim), g.random(dim[::1]), "shape", ] # start with no arguments attempts = [()] # add a single argument from our guesses attempts.extend([(A,) for A in flat]) # add 2 and 3 length permutations of our guesses attempts.extend([tuple(G) for G in itertools.product(flat, repeat=2)]) # adding 3-length permutations makes this test 10x slower but if you # are suspicious of a method caching you could uncomment this out: # attempts.extend([tuple(G) for G in itertools.permutations(flat, 3)]) skip = set() # collect functions which mutate arrays but don't change our hash broken = [] with warnings.catch_warnings(): # ignore all warnings inside this context manager warnings.filterwarnings("ignore") for method in list(dir(tracked_array(g.random(dim)))): if method in skip: continue failures = [] g.log.debug(f"hash check: `{method}`") for A in attempts: m = g.random((100, 3)) true_pre = m.tobytes() m = tracked_array(m) hash_pre = hash(m) try: eval(f"m.{method}(*A)") except BaseException as J: failures.append(str(J)) hash_post = hash(m) true_post = m.tobytes() # if tobytes disagrees with our hashing logic # it indicates we have cached incorrectly if (hash_pre == hash_post) != (true_pre == true_post): broken.append((method, A)) if len(broken) > 0: method_busted = {method for method, _ in broken} raise ValueError( f"`TrackedArray` incorrectly hashing methods: {method_busted}" ) def test_validate(self): # create a mesh with two duplicate triangles # and one degenerate triangle m = g.trimesh.Trimesh( vertices=[[0, 0, 0], [1, 0, 0], [0, 1, 0], [1, 0, 0], [0, 1, 0], [1, 1, 0]], faces=[[3, 4, 4], [0, 1, 2], [0, 1, 2]], validate=False, ) # should not have removed any triangles assert m.triangles.shape == (3, 3, 3) # should remove every triangle except one m.process(validate=True) assert m.triangles.shape == (1, 3, 3) def test_smooth_shade(self, count=10): # test to make sure the smooth shaded copy is cached correctly mesh = g.trimesh.creation.cylinder(radius=1, height=10) scene = g.trimesh.Scene({"mesh": mesh}) initial = scene.camera_transform.copy() hashes = set() for n in range(count): angle = g.np.pi * n / count matrix = g.trimesh.transformations.rotation_matrix(angle, [1, 0, 0]) scene.geometry["mesh"].apply_transform(matrix) hashes.add(hash(scene.geometry["mesh"].smooth_shaded)) scene.camera_transform = initial # the smooth shade should be unique for every transform assert len(hashes) == count if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_camera.py000066400000000000000000000104051470574263400172130ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g import numpy as np class CameraTests(g.unittest.TestCase): def test_K(self): resolution = (320, 240) fov = (60, 40) camera = g.trimesh.scene.Camera(resolution=resolution, fov=fov) # ground truth matrix K_expected = np.array( [[277.128, 0, 160], [0, 329.697, 120], [0, 0, 1]], dtype=np.float64 ) assert np.allclose(camera.K, K_expected, rtol=1e-3) # check to make sure assignment from matrix works K_set = K_expected.copy() K_set[:2, 2] = 300 camera.K = K_set assert np.allclose(camera.resolution, 600) def test_consistency(self): resolution = (320, 240) focal = None fov = (60, 40) camera = g.trimesh.scene.Camera(resolution=resolution, focal=focal, fov=fov) assert np.allclose(camera.fov, fov) camera = g.trimesh.scene.Camera( resolution=resolution, focal=camera.focal, fov=None ) assert np.allclose(camera.fov, fov) def test_focal_updates_on_resolution_change(self): """ Test changing resolution with set fov updates focal. """ base_res = (320, 240) updated_res = (640, 480) fov = (60, 40) # start with initial data base_cam = g.trimesh.scene.Camera(resolution=base_res, fov=fov) # update both focal length and resolution base_focal = base_cam.focal base_cam.resolution = updated_res assert not g.np.allclose(base_cam.focal, base_focal) # camera created with same arguments should # have the same values new_cam = g.trimesh.scene.Camera(resolution=updated_res, fov=fov) assert g.np.allclose(base_cam.focal, new_cam.focal) def test_fov_updates_on_resolution_change(self): """ Test changing resolution with set focal updates fov. """ base_res = (320, 240) updated_res = (640, 480) focal = (100, 100) base_cam = g.trimesh.scene.Camera(resolution=base_res, focal=focal) base_fov = base_cam.fov base_cam.resolution = updated_res assert base_cam.fov is not base_fov new_cam = g.trimesh.scene.Camera( resolution=updated_res, focal=focal, ) np.testing.assert_allclose(base_cam.fov, new_cam.fov) def test_lookat(self): """ Test the "look at points" function """ # original points ori = np.array([[-1, -1], [1, -1], [1, 1], [-1, 1]]) for _i in range(10): # set the extents to be random but positive extents = g.random() * 10 points = g.trimesh.util.stack_3D(ori.copy() * extents) fov = g.np.array([20, 50]) # offset the points by a random amount offset = (g.random(3) - 0.5) * 100 T = g.trimesh.scene.cameras.look_at(points + offset, fov) # check using trig check = (np.ptp(points, axis=0)[:2] / 2.0) / g.np.tan(np.radians(fov / 2)) check += points[:, 2].mean() # Z should be the same as maximum trig option assert np.linalg.inv(T)[2, 3] >= check.max() # just run to test other arguments # TODO(unknown): find the way to test it correctly g.trimesh.scene.cameras.look_at(points, fov, center=points[0]) g.trimesh.scene.cameras.look_at(points, fov, distance=1) def test_ray_index(self): # make sure to_rays is giving valid indexes s = g.trimesh.scene.Scene() res = g.np.array([512, 512]) for i in range(0, 1000, 79): current = res + i s.camera.resolution = current # get ray index of camera rid = s.camera.to_rays()[1] assert all(rid.min(axis=0) == 0) assert all(rid.max(axis=0) == current - 1) def test_scaled_copy(self): s = g.get_mesh("cycloidal.3DXML") s.units = "mm" assert s.camera_transform.shape == (4, 4) # the camera node should have been removed on copy b = s.convert_units("m") assert b.camera_transform.shape == (4, 4) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_collision.py000066400000000000000000000151061470574263400177610ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g try: import fcl except BaseException: fcl = None class CollisionTest(g.unittest.TestCase): def test_collision(self): # Ensure that FCL is importable if fcl is None: g.log.warning("skipping FCL tests: not installed") return cube = g.get_mesh("unit_cube.STL") tf1 = g.np.eye(4) tf1[:3, 3] = g.np.array([5, 0, 0]) tf2 = g.np.eye(4) tf2[:3, 3] = g.np.array([-5, 0, 0]) # Test one-to-many collision checking m = g.trimesh.collision.CollisionManager() m.add_object("cube0", cube) m.add_object("cube1", cube, tf1) ret = m.in_collision_single(cube) assert ret is True ret, names, data = m.in_collision_single( cube, tf1, return_names=True, return_data=True ) assert ret is True for c in data: assert g.np.allclose(c.point, g.np.array([5.0, -0.5, 0.5])) assert g.np.isclose(c.depth, 1.0) assert g.np.allclose(c.normal, g.np.array([-1.0, 0.0, 0.0])) if "cube1" not in names: g.log.debug("\n\n", m._objs.keys(), names) assert "cube1" in names ret, names, data = m.in_collision_single( cube, tf2, return_names=True, return_data=True ) assert ret is False assert len(names) == 0 assert all(len(i.point) == 3 for i in data) # Test internal collision checking and object # addition/removal/modification ret = m.in_collision_internal() assert ret is False m.add_object("cube2", cube, tf1) ret, names = m.in_collision_internal(return_names=True) assert ret is True assert ("cube1", "cube2") in names assert ("cube0", "cube1") not in names assert ("cube2", "cube1") not in names m.set_transform("cube2", tf2) ret = m.in_collision_internal() assert ret is False m.set_transform("cube2", tf1) ret = m.in_collision_internal() assert ret is True m.remove_object("cube2") ret = m.in_collision_internal() assert ret is False # Test manager-to-manager collision checking m = g.trimesh.collision.CollisionManager() m.add_object("cube0", cube) m.add_object("cube1", cube, tf1) n = g.trimesh.collision.CollisionManager() n.add_object("cube0", cube, tf2) ret = m.in_collision_other(n) assert ret is False n.add_object("cube3", cube, tf1) ret = m.in_collision_other(n) assert ret is True ret, names = m.in_collision_other(n, return_names=True) assert ret is True assert ("cube1", "cube3") in names assert ("cube3", "cube1") not in names def test_random_spheres(self): if fcl is None: g.log.warning("skipping FCL tests: not installed") return # check to see if a scene with a bunch of random # spheres spheres = [ g.trimesh.creation.icosphere(radius=i[0]).apply_translation(i[1:] * 100) for i in g.random((1000, 4)) ] scene = g.trimesh.Scene(spheres) manager, _ = g.trimesh.collision.scene_to_collision(scene) collides = manager.in_collision_internal() assert isinstance(collides, bool) def test_distance(self): if fcl is None: g.log.warning("skipping FCL tests: not installed") return cube = g.get_mesh("unit_cube.STL") tf1 = g.np.eye(4) tf1[:3, 3] = g.np.array([5, 0, 0]) tf2 = g.np.eye(4) tf2[:3, 3] = g.np.array([-5, 0, 0]) tf3 = g.np.eye(4) tf3[:3, 3] = g.np.array([2, 0, 0]) tf4 = g.np.eye(4) tf4[:3, 3] = g.np.array([-2, 0, 0]) tf5 = g.np.eye(4) tf5[:3, 3] = g.np.array([5.75, 0, 0]) # Test one-to-many distance checking m = g.trimesh.collision.CollisionManager() m.add_object("cube1", cube, tf1) dist = m.min_distance_single(cube) assert g.np.isclose(dist, 4.0) dist = m.min_distance_single(cube, tf5) assert g.np.isclose(dist, -0.25) dist, name = m.min_distance_single(cube, return_name=True) assert g.np.isclose(dist, 4.0) assert name == "cube1" m.add_object("cube2", cube, tf2) dist, name = m.min_distance_single(cube, tf3, return_name=True) assert g.np.isclose(dist, 2.0) assert name == "cube1" dist, name = m.min_distance_single(cube, tf4, return_name=True) assert g.np.isclose(dist, 2.0) assert name == "cube2" # Test internal distance checking and object # addition/removal/modification dist = m.min_distance_internal() assert g.np.isclose(dist, 9.0) dist, names = m.min_distance_internal(return_names=True) assert g.np.isclose(dist, 9.0) assert names == ("cube1", "cube2") m.add_object("cube3", cube, tf3) dist, names = m.min_distance_internal(return_names=True) assert g.np.isclose(dist, 2.0) assert names == ("cube1", "cube3") m.set_transform("cube3", tf4) dist, names = m.min_distance_internal(return_names=True) assert g.np.isclose(dist, 2.0) assert names == ("cube2", "cube3") # Test manager-to-manager distance checking m = g.trimesh.collision.CollisionManager() m.add_object("cube0", cube) m.add_object("cube1", cube, tf1) n = g.trimesh.collision.CollisionManager() n.add_object("cube4", cube, tf2) dist, names, data = m.min_distance_other(n, return_names=True, return_data=True) assert g.np.isclose(dist, 4.0) assert names == ("cube0", "cube4") assert g.np.isclose( g.np.linalg.norm(data.point(names[0]) - data.point(names[1])), dist ) n.add_object("cube5", cube, tf4) dist, names, data = m.min_distance_other(n, return_names=True, return_data=True) assert g.np.isclose(dist, 1.0) assert names == ("cube0", "cube5") assert g.np.isclose( g.np.linalg.norm(data.point(names[0]) - data.point(names[1])), dist ) def test_scene(self): if fcl is None: return scene = g.get_mesh("cycloidal.3DXML") manager, objects = g.trimesh.collision.scene_to_collision(scene) assert manager.in_collision_internal() assert objects is not None if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_color.py000066400000000000000000000245451470574263400171130ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class VisualTest(g.unittest.TestCase): def test_visual(self): mesh = g.get_mesh("featuretype.STL") # stl shouldn't have any visual properties defined assert not mesh.visual.defined for facet in mesh.facets: mesh.visual.face_colors[facet] = g.trimesh.visual.random_color() assert mesh.visual.defined assert not mesh.visual.transparency mesh.visual.face_colors[0] = [10, 10, 10, 130] assert mesh.visual.transparency def test_concatenate(self): a = g.get_mesh("ballA.off") b = g.get_mesh("ballB.off") a.visual.face_colors = [255, 0, 0] r = a + b assert any(g.np.ptp(r.visual.face_colors, axis=0) > 1) def test_concatenate_empty_mesh(self): box = g.get_mesh("box.STL") mesh_fcolor = box.copy() mesh_fcolor.visual.face_colors = [255, 0, 0] mesh_vcolor = box.copy() mesh_vcolor.visual.vertex_colors = [0, 0, 255] mesh_empty = g.trimesh.Trimesh() r_left_fcolor = mesh_fcolor + mesh_empty r_right_fcolor = mesh_empty + mesh_fcolor r_left_vcolor = mesh_vcolor + mesh_empty r_right_vcolor = mesh_empty + mesh_vcolor r_empty = mesh_empty + mesh_empty for visual_face in [r_left_fcolor.visual, r_right_fcolor.visual]: assert (visual_face.face_colors == mesh_fcolor.visual.face_colors).all() assert visual_face.kind == "face" for visual_vert in [r_left_vcolor.visual, r_right_vcolor.visual]: assert (visual_vert.vertex_colors == mesh_vcolor.visual.vertex_colors).all() assert visual_vert.kind == "vertex" assert len(r_empty.visual.face_colors) == 0 assert r_empty.visual.kind is None def test_data_model(self): """ Test the probably too- magical color caching and storage system. """ m = g.get_mesh("featuretype.STL") test_color = [255, 0, 0, 255] test_color_2 = [0, 255, 0, 255] test_color_transparent = [25, 33, 0, 146] # there should be nothing in the cache or DataStore when # starting assert len(m.visual._cache) == 0 assert len(m.visual._data) == 0 # no visuals have been defined so this should be None assert m.visual.kind is None assert not m.visual.defined # this should cause colors to be generated into cache initial_id = id(m.visual.face_colors) assert m.visual.face_colors.shape[0] == len(m.faces) assert id(m.visual.face_colors) == initial_id # the values should be in the cache and not in data assert len(m.visual._cache) > 0 assert len(m.visual._data) == 0 assert not m.visual.defined assert not m.visual.transparency # this should move the color from cache to data m.visual.face_colors[0] = test_color # the operation should have moved the colors into data but # the object ID should be the same as on creation # assert id(m.visual.face_colors) == initial_id # the color assignment inside the array should have worked assert (m.visual.face_colors[0] == test_color).all() # the rest of the colors should be unchanged assert (m.visual.face_colors[1] != test_color).any() assert len(m.visual._data) >= 1 assert m.visual.kind == "face" assert m.visual.defined assert not m.visual.transparency # set all face colors to test color m.visual.face_colors = test_color assert (m.visual.face_colors == test_color).all() # assert len(m.visual._cache) == 0 # should be just material and face information assert len(m.visual._data.data) >= 1 assert m.visual.kind == "face" assert bool((m.visual.vertex_colors == test_color).all()) assert m.visual.defined assert not m.visual.transparency # this should move the color from cache to data m.visual.vertex_colors[0] = test_color_2 assert (m.visual.vertex_colors[0] == test_color_2).all() assert (m.visual.vertex_colors[1] != test_color_2).any() assert m.visual.kind == "vertex" assert m.visual.defined assert not m.visual.transparency m.visual.vertex_colors[1] = test_color_transparent assert m.visual.transparency test = (g.random((len(m.faces), 4)) * 255).astype(g.np.uint8) m.visual.face_colors = test assert bool((m.visual.face_colors == test).all()) assert m.visual.kind == "face" test = (g.random((len(m.vertices), 4)) * 255).astype(g.np.uint8) m.visual.vertex_colors = test assert bool((m.visual.vertex_colors == test).all()) assert m.visual.kind == "vertex" test = (g.random(4) * 255).astype(g.np.uint8) m.visual.face_colors = test assert bool((m.visual.vertex_colors == test).all()) assert m.visual.kind == "face" m.visual.vertex_colors[0] = [0, 0, 0, 0] assert m.visual.kind == "vertex" test = (g.random(4) * 255).astype(g.np.uint8) m.visual.vertex_colors = test assert bool((m.visual.face_colors == test).all()) assert m.visual.kind == "vertex" m.visual.face_colors[:2] = (g.random((2, 4)) * 255).astype(g.np.uint8) assert m.visual.kind == "face" def test_smooth(self): """ Make sure cached smooth model is dumped if colors are changed """ m = g.get_mesh("featuretype.STL") # will put smoothed mesh into visuals cache s = m.smooth_shaded # every color should be default color assert g.np.ptp(s.visual.face_colors, axis=0).max() == 0 # set one face to a different color m.visual.face_colors[0] = [255, 0, 0, 255] # cache should be dumped yo s1 = m.smooth_shaded assert g.np.ptp(s1.visual.face_colors, axis=0).max() != 0 # do the same check on vertex color m = g.get_mesh("featuretype.STL") s = m.smooth_shaded # every color should be default color assert g.np.ptp(s.visual.vertex_colors, axis=0).max() == 0 m.visual.vertex_colors[g.np.arange(10)] = [255, 0, 0, 255] s1 = m.smooth_shaded assert g.np.ptp(s1.visual.face_colors, axis=0).max() != 0 def test_vertex(self): m = g.get_mesh("torus.STL") m.visual.vertex_colors = [100, 100, 100, 255] assert len(m.visual.vertex_colors) == len(m.vertices) def test_conversion(self): m = g.get_mesh("machinist.XAML") assert m.visual.kind == "face" # unmerge vertices so we don't get average colors m.unmerge_vertices() # store initial face colors initial = g.deepcopy(m.visual.face_colors.copy()) # assign averaged vertex colors as default m.visual.vertex_colors = m.visual.vertex_colors assert m.visual.kind == "vertex" m.visual._cache.clear() assert g.np.allclose(initial, m.visual.face_colors) def test_interpolate(self): """ Check our color interpolation """ values = g.np.array([-1.0, 0.0, 1.0, 2.0]) # should clamp colors = g.trimesh.visual.linear_color_map(values) assert g.np.allclose(colors[0], [255, 0, 0, 255]) assert g.np.allclose(colors[1], [255, 0, 0, 255]) assert g.np.allclose(colors[2], [0, 255, 0, 255]) assert g.np.allclose(colors[3], [0, 255, 0, 255]) # should scale to range colors = g.trimesh.visual.interpolate(values) assert g.np.allclose(colors[0], [255, 0, 0, 255]) # scaled to range not clamped assert not g.np.allclose(colors[1], [255, 0, 0, 255]) assert not g.np.allclose(colors[2], [0, 255, 0, 255]) # end of range assert g.np.allclose(colors[3], [0, 255, 0, 255]) # try interpolating with matplotlib color maps try: colors = g.trimesh.visual.interpolate(values, "viridis") except ImportError: # if matplotlib isn't installed return # check shape and type for matplotlib cmaps assert colors.shape == (len(values), 4) assert colors.dtype == g.np.uint8 # every color should differ assert (colors[:-1] != colors[1:]).any(axis=1).all() def test_uv_to_color(self): try: import PIL.Image except ImportError: return # n_vertices = 100 uv = g.np.array([[0.25, 0.2], [0.4, 0.5]], dtype=float) texture = g.np.arange(96, dtype=g.np.uint8).reshape(8, 4, 3) colors = g.trimesh.visual.uv_to_color(uv, PIL.Image.fromarray(texture)) colors_expected = [[75, 76, 77, 255], [51, 52, 53, 255]] g.np.testing.assert_allclose(colors, colors_expected, rtol=0, atol=0) def test_uv_to_interpolated_color(self): try: import PIL.Image except ImportError: return uv = g.np.array([[0.25, 0.2], [0.4, 0.5]], dtype=float) tmp = g.np.arange(32) x, y = g.np.meshgrid(tmp, tmp) z = x + 128 texture = g.np.stack([x, y, z], axis=-1).astype(g.np.uint8) img = PIL.Image.fromarray(texture) colors = g.trimesh.visual.uv_to_interpolated_color(uv, img) # exact interpolated values before being converted to uint8 colors_expected = [[7.75, 24.8, 128 + 7.75, 255], [12.4, 15.5, 128 + 12.4, 255]] assert g.np.allclose(colors, colors_expected, rtol=0, atol=1) def test_iterset(self): m = g.trimesh.creation.box() color = [100, 0, 0, 200] # facets should include every face assert set(g.np.hstack(m.facets)) == set(range(len(m.faces))) assert len(m.facets) * 2 == len(m.faces) for f in m.facets: m.visual.face_colors[f] = color assert g.np.allclose(m.visual.face_colors, color) def test_copy(self): s = g.trimesh.creation.uv_sphere().scene() s.geometry["geometry_0"].visual.face_colors[:, :3] = [0, 255, 0] a = s.geometry["geometry_0"] assert id(a) == id(s.geometry["geometry_0"]) b = s.geometry["geometry_0"].copy() assert id(a) != id(b) assert g.np.allclose(a.visual.face_colors, b.visual.face_colors) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_convex.py000066400000000000000000000075401470574263400172730ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class ConvexTest(g.unittest.TestCase): def test_convex(self): # store (true is_convex, mesh) tuples meshes = [ (False, g.get_mesh("featuretype.STL")), (False, g.get_mesh("quadknot.obj")), (True, g.get_mesh("unit_cube.STL")), (False, g.get_mesh("1002_tray_bottom.STL")), (True, g.trimesh.creation.icosphere()), (True, g.trimesh.creation.uv_sphere()), (True, g.trimesh.creation.box()), (True, g.trimesh.creation.cylinder(radius=1, height=10)), (True, g.trimesh.creation.capsule()), ( False, ( g.trimesh.creation.box(extents=[1, 1, 1]) + g.trimesh.creation.box(bounds=[[10, 10, 10], [12, 12, 12]]) ), ), ] for is_convex, mesh in meshes: assert mesh.is_watertight # mesh should match it's true convexity assert mesh.is_convex == is_convex hulls = [] volume = [] # transform the mesh around space and check volume # use repeatable transforms to avoid spurious failures for T in g.transforms[::2]: permutated = mesh.copy() permutated.apply_transform(T) hulls.append(permutated.convex_hull) volume.append(hulls[-1].volume) # which of the volumes are close to the median volume close = g.np.isclose( volume, g.np.median(volume), atol=mesh.bounding_box.volume / 1000 ) if g.platform.system() == "Linux": # on linux the convex hulls are pretty robust close_ok = close.all() else: # on windows sometimes there is flaky numerical weirdness # which causes spurious CI failures, so use softer metric # for success: here of 90% of values are close to the median # then declare everything hunky dory ratio = close.sum() / float(len(close)) close_ok = ratio > 0.9 if not close_ok: g.log.error(f"volume inconsistent: {volume}") raise ValueError( "volume is inconsistent on {}".format(mesh.metadata["file_name"]) ) assert min(volume) > 0.0 if not all(i.is_winding_consistent for i in hulls): raise ValueError( "mesh %s reported bad winding on convex hull!", mesh.metadata["file_name"], ) if not all(i.is_convex for i in hulls): raise ValueError( "mesh %s reported non-convex convex hull!", mesh.metadata["file_name"] ) def test_primitives(self): for prim in [ g.trimesh.primitives.Sphere(), g.trimesh.primitives.Cylinder(), g.trimesh.primitives.Box(), ]: assert prim.is_convex # convex things should have hulls of the same volume # convert to mesh to get tessellated volume rather than # analytic primitive volume tess = prim.to_mesh() assert g.np.isclose(tess.convex_hull.volume, tess.volume) def test_projections(self): # check the vertex projection onto adjacent face plane # this is used to calculate convexity for m in g.get_meshes(4): assert len(m.face_adjacency_projections) == (len(m.face_adjacency)) def test_truth(self): # check a non-watertight mesh m = g.get_mesh("not_convex.obj") assert not m.is_convex if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_copy.py000066400000000000000000000036721470574263400167450ustar00rootroot00000000000000""" Copy meshes and make sure they do what we expect. """ try: from . import generic as g except BaseException: import generic as g class CopyTests(g.unittest.TestCase): def test_copy(self): for mesh in g.get_meshes(raise_error=True): if not isinstance(mesh, g.trimesh.Trimesh) or len(mesh.faces) == 0: continue start = hash(mesh) # make sure some stuff is populated _ = mesh.kdtree _ = mesh.triangles_tree _ = mesh.face_adjacency_angles _ = mesh.facets assert "triangles_tree" in mesh._cache assert len(mesh._cache) > 0 # if you cache c-objects then deepcopy the mesh # it randomly segfaults copy_count = 200 for _i in range(copy_count): copied = mesh.copy(include_cache=False) assert len(copied._cache) == 0 assert len(mesh._cache) > 0 # deepcopy should clear the cache copied = g.copy.deepcopy(mesh) assert len(copied._cache) == 0 assert len(mesh._cache) > 0 # regular copy should try to preserve the cache copied = g.copy.copy(mesh) assert len(copied._cache) == len(mesh._cache) # the triangles_tree should be the SAME OBJECT assert id(copied.triangles_tree) == id(mesh.triangles_tree) # cache should be same data in different object assert id(copied._cache.cache) != id(mesh._cache.cache) assert id(copied._cache) != id(mesh._cache) # identifier shouldn't change assert g.np.allclose(copied.identifier, mesh.identifier) # ...still shouldn't have changed anything assert start == hash(mesh) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_crash.py000066400000000000000000000063441470574263400170720ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g def not_open(file_name, proc): """ Assert that a file name is not open """ # expand input path file_name = g.os.path.abspath(g.os.path.expanduser(file_name)) # assert none of the open files are the one specified assert all(i.path != file_name for i in proc.open_files()) class FileTests(g.unittest.TestCase): def test_close(self): """ Even when loaders crash, we should close files """ try: import psutil except ImportError: g.log.warning("no psutil, exiting") return # a reference to current process proc = psutil.Process() # create a blank empty PLY file f = g.tempfile.NamedTemporaryFile(suffix=".ply", delete=False) # close file f.close() # file shouldn't be open not_open(f.name, proc) try: # should crash g.trimesh.load(f.name) # shouldn't make it to here raise AssertionError() except ValueError: # should be raised pass # file shouldn't be open not_open(f.name, proc) try: # should crash g.trimesh.load_mesh(f.name) # shouldn't make it to here raise AssertionError() except ValueError: # should be raised pass not_open(f.name, proc) # clean up after test g.os.remove(f.name) # create a blank empty unsupported file f = g.tempfile.NamedTemporaryFile(suffix=".blorb", delete=False) # close file f.close() # file shouldn't be open not_open(f.name, proc) try: # should crash g.trimesh.load(f.name) # shouldn't make it to here raise AssertionError() except ValueError: # should be raised pass # file shouldn't be open not_open(f.name, proc) try: # should crash g.trimesh.load_mesh(f.name) # shouldn't make it to here raise AssertionError() except KeyError: # should be raised pass not_open(f.name, proc) # clean up after test g.os.remove(f.name) # create a blank empty DXF file f = g.tempfile.NamedTemporaryFile(suffix=".dxf", delete=False) # close file f.close() # file shouldn't be open not_open(f.name, proc) try: # should crash g.trimesh.load(f.name) # shouldn't make it to here raise AssertionError() except IndexError: # should be raised pass # file shouldn't be open not_open(f.name, proc) try: # should crash g.trimesh.load_path(f.name) # shouldn't make it to here raise AssertionError() except IndexError: # should be raised pass not_open(f.name, proc) # clean up after test g.os.remove(f.name) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_creation.py000066400000000000000000000321471470574263400175760ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class CreationTest(g.unittest.TestCase): def setUp(self): self.engines = [k for k, exists in g.trimesh.creation._engines if exists] def test_box(self): box = g.trimesh.creation.box # should create a unit cube with origin centroid m = box() assert g.np.allclose(m.bounds, [[-0.5] * 3, [0.5] * 3]) # check creation by passing extents extents = g.np.array([1.2, 1.9, 10.3]) m = box(extents=extents) assert g.np.allclose(m.extents, extents) assert g.np.allclose(m.bounds, [-extents / 2.0, extents / 2.0]) bounds = g.np.array([[10.0, 11.9, 1.3], [100, 121, 53.002]]) m = box(bounds=bounds) assert g.np.allclose(m.bounds, bounds) def test_cone(self): c = g.trimesh.creation.cone(radius=0.5, height=1.0) assert c.is_volume assert c.body_count == 1 assert g.np.allclose(c.extents, 1.0, atol=0.03) assert c.metadata["shape"] == "cone" def test_cylinder(self): # tolerance for cylinders atol = 0.03 c = g.trimesh.creation.cylinder(radius=0.5, height=1.0) assert c.is_volume assert c.body_count == 1 assert g.np.allclose(c.extents, 1.0, atol=atol) assert c.metadata["shape"] == "cylinder" # check the "use a segment" feature # passed height should be overridden radius = 0.75 offset = 10.0 # true bounds bounds = ([[0, -radius, offset - radius], [1, radius, offset + radius]],) # create with a height that gets overridden c = g.trimesh.creation.cylinder( radius=radius, height=200, segment=[[0, 0, offset], [1, 0, offset]] ) assert c.is_volume assert c.body_count == 1 # make sure segment has been applied correctly assert g.np.allclose(c.bounds, bounds, atol=atol) # try again with no height passed c = g.trimesh.creation.cylinder( radius=radius, segment=[[0, 0, offset], [1, 0, offset]] ) assert c.is_volume assert c.body_count == 1 # make sure segment has been applied correctly assert g.np.allclose(c.bounds, bounds, atol=atol) def test_soup(self): count = 100 mesh = g.trimesh.creation.random_soup(face_count=count) assert len(mesh.faces) == count assert len(mesh.face_adjacency) == 0 assert len(mesh.split(only_watertight=True)) == 0 assert len(mesh.split(only_watertight=False)) == count def test_capsule(self): mesh = g.trimesh.creation.capsule(radius=1.0, height=2.0) assert mesh.is_volume assert mesh.body_count == 1 assert g.np.allclose(mesh.extents, [2, 2, 4], atol=0.05) def test_spheres(self): # test generation of UV spheres and icospheres for sphere in [g.trimesh.creation.uv_sphere(), g.trimesh.creation.icosphere()]: assert sphere.is_volume assert sphere.is_convex assert sphere.is_watertight assert sphere.is_winding_consistent assert sphere.body_count == 1 assert sphere.metadata["shape"] == "sphere" # all vertices should have radius of exactly 1.0 radii = g.np.linalg.norm(sphere.vertices - sphere.center_mass, axis=1) assert g.np.allclose(radii, 1.0) # test additional arguments red_sphere = g.trimesh.creation.icosphere(face_colors=[1.0, 0, 0]) expected = g.np.full((len(red_sphere.faces), 4), (255, 0, 0, 255)) g.np.testing.assert_allclose(red_sphere.visual.face_colors, expected) def test_camera_marker(self): """ Create a marker including FOV for a camera object """ # camera transform (pose) is identity camera = g.trimesh.scene.Camera(resolution=(320, 240), fov=(60, 45)) meshes = g.trimesh.creation.camera_marker(camera=camera, marker_height=0.04) assert isinstance(meshes, list) # all meshes should be viewable type for mesh in meshes: assert isinstance(mesh, (g.trimesh.Trimesh, g.trimesh.path.Path3D)) def test_axis(self): # specify the size of the origin radius origin_size = 0.04 # specify the length of the cylinders axis_length = 0.4 # construct a visual axis axis = g.trimesh.creation.axis(origin_size=origin_size, axis_length=axis_length) # AABB should be origin radius + cylinder length assert g.np.allclose( origin_size + axis_length, axis.bounding_box.primitive.extents, rtol=0.01 ) def test_path_sweep(self): if len(self.engines) == 0: return # Create base polygon vec = g.np.array([0, 1]) * 0.2 n_comps = 100 angle = g.np.pi * 2.0 / n_comps rotmat = g.np.array( [[g.np.cos(angle), -g.np.sin(angle)], [g.np.sin(angle), g.np.cos(angle)]] ) perim = [] for _i in range(n_comps): perim.append(vec) vec = g.np.dot(rotmat, vec) poly = g.Polygon(perim) # --- test open sweep # Create 3D path angles = g.np.linspace(0, 8 * g.np.pi, 1000) x = angles / 10.0 y = g.np.cos(angles) z = g.np.sin(angles) path = g.np.c_[x, y, z] # Extrude for engine in self.engines: mesh = g.trimesh.creation.sweep_polygon(poly, path, engine=engine) assert mesh.is_volume # --- test closed sweep # Create 3D path angles = g.np.linspace(0, 2 * 0.999 * g.np.pi, 1000) x = g.np.zeros((1000,)) y = g.np.cos(angles) z = g.np.sin(angles) path_closed = g.np.c_[x, y, z] # Extrude for engine in self.engines: mesh = g.trimesh.creation.sweep_polygon(poly, path_closed, engine=engine) assert mesh.is_volume def test_simple_watertight(self): # create a simple polygon polygon = g.Polygon(((0.0, 0.0), (0.0, 1.0), (1.0, 1.0), (1.0, 0.0), (0.0, 0.0))) for engine in self.engines: mesh = g.trimesh.creation.extrude_polygon( polygon=polygon, height=1, engine=engine ) assert mesh.is_volume def test_annulus(self): """ Basic tests of annular cylinder creation """ # run through transforms transforms = [None] transforms.extend(g.transforms) for T in transforms: a = g.trimesh.creation.annulus(r_min=1.0, r_max=2.0, height=1.0, transform=T) # mesh should be well constructed assert a.is_volume assert a.is_watertight assert a.is_winding_consistent assert a.metadata["shape"] == "annulus" # should be centered at origin assert g.np.allclose(a.center_mass, 0.0) # should be along Z axis = g.np.eye(3) if T is not None: # rotate the symmetry axis ground truth axis = g.trimesh.transform_points(axis, T) # should be along rotated Z assert g.np.allclose(a.symmetry_axis, axis[2]) or g.np.allclose( a.symmetry_axis, -axis[2] ) radii = [g.np.dot(a.vertices, i) for i in axis[:2]] radii = g.np.linalg.norm(radii, axis=0) # vertices should all be at r_min or r_max assert g.np.logical_or( g.np.isclose(radii, 1.0), g.np.isclose(radii, 2.0) ).all() # all heights should be at +/- height/2.0 assert g.np.allclose(g.np.abs(g.np.dot(a.vertices, axis[2])), 0.5) # do some cylinder comparison checks a = g.trimesh.creation.annulus(r_min=0.0, r_max=1.0, height=1.0) cylinder = g.trimesh.creation.cylinder(radius=1, height=1) # should survive a zero-inner-radius assert g.np.isclose(a.volume, cylinder.volume) assert g.np.isclose(a.area, cylinder.area) # bounds should be the same as a cylinder a = g.trimesh.creation.annulus(r_min=0.25, r_max=1.0, height=1.0) c = g.trimesh.creation.cylinder(radius=1, height=1) assert g.np.allclose(a.bounds, c.bounds) # segment should work the same for both seg = [[1, 2, 3], [4, 5, 6]] a = g.trimesh.creation.annulus(r_min=0.25, r_max=1.0, segment=seg) c = g.trimesh.creation.cylinder(radius=1, segment=seg) assert g.np.allclose(a.bounds, c.bounds) def test_triangulate(self): """ Test triangulate using meshpy and triangle """ # circles bigger = g.Point([10, 0]).buffer(1.0) smaller = g.Point([10, 0]).buffer(0.25) # circle with hole in center donut = bigger.difference(smaller) # make sure we have nonzero data assert bigger.area > 1.0 # make sure difference did what we think it should assert g.np.isclose(donut.area, bigger.area - smaller.area) times = {"earcut": 0.0, "triangle": 0.0, "manifold": 0.0} iterations = 10 # get a polygon to benchmark times with including interiors bench = [bigger, smaller, donut] for path in g.get_2D(1): bench.extend(path.polygons_full) bench.extend(g.get_mesh("2D/ChuteHolderPrint.DXF").polygons_full) bench.extend(g.get_mesh("2D/wrench.dxf").polygons_full) # check triangulation of both meshpy and triangle engine # including an example that has interiors for engine in self.engines: # make sure all our polygons triangulate reasonably for poly in bench: v, f = g.trimesh.creation.triangulate_polygon(poly, engine=engine) # run asserts check_triangulation(v, f, poly.area) try: # do a quick benchmark per engine # in general triangle appears to be 2x # faster than times[engine] += ( min( g.timeit.repeat( "t(p, engine=e)", repeat=3, number=iterations, globals={ "t": g.trimesh.creation.triangulate_polygon, "p": poly, "e": engine, }, ) ) / iterations ) except BaseException: g.log.error("failed to benchmark triangle", exc_info=True) g.log.info(f"benchmarked triangulation on {len(bench)} polygons: {times!s}") def test_triangulate_plumbing(self): # @ Check the plumbing of path triangulation if len(self.engines) == 0: return p = g.get_mesh("2D/ChuteHolderPrint.DXF") for engine in self.engines: v, f = p.triangulate(engine=engine) check_triangulation(v, f, p.area) def test_truncated(self, count=10): # create some random triangles tri = g.random((count, 3, 3)) m = g.trimesh.creation.truncated_prisms(tri) split = m.split() assert m.body_count == count assert len(split) == count assert all(s.volume > 0 for s in split) def test_revolve(self): # create a cross section and revolve it to form some volumes cross_section = [[0, 0], [10, 0], [10, 10], [0, 10]] # high sections needed so volume is close to theoretical value for perfect revoulution mesh360 = g.trimesh.creation.revolve(cross_section, 2 * g.np.pi, sections=360) mesh360_volume = g.np.pi * 10**2 * 10 assert g.np.isclose(mesh360.volume, mesh360_volume, rtol=0.1) assert mesh360.is_volume, "mesh360 should be a valid volume" mesh180 = g.trimesh.creation.revolve( cross_section, g.np.pi, sections=180, cap=True ) assert g.np.isclose( mesh180.volume, mesh360.volume / 2, rtol=0.1 ), "mesh180 should be half of mesh360 volume" assert mesh180.is_volume, "mesh180 should be a valid volume" def check_triangulation(v, f, true_area): assert g.trimesh.util.is_shape(v, (-1, 2)) assert v.dtype.kind == "f" assert g.trimesh.util.is_shape(f, (-1, 3)) assert f.dtype.kind == "i" tri = g.trimesh.util.stack_3D(v)[f] area = g.trimesh.triangles.area(tri).sum() assert g.np.isclose(area, true_area, rtol=1e-7) def test_torus(): torus = g.trimesh.creation.torus major_radius = 1.0 minor_radius = 0.2 m = torus(major_radius=major_radius, minor_radius=minor_radius) extents = g.np.array( [ 2 * major_radius + 2 * minor_radius, 2 * major_radius + 2 * minor_radius, 2 * minor_radius, ] ) assert g.np.allclose(m.extents, extents) assert g.np.allclose(m.bounds, [-extents / 2.0, extents / 2.0]) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_curvature.py000066400000000000000000000033001470574263400177770ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class CurvatureTest(g.unittest.TestCase): def test_gaussian_curvature(self): for radius in g.np.linspace(0.25, 2.0, 10): m = g.trimesh.creation.icosphere(radius=radius) gauss = g.trimesh.curvature.discrete_gaussian_curvature_measure( mesh=m, points=m.vertices, radius=radius * 2.0 ) / (4 * g.np.pi) assert g.np.allclose(gauss, 1.0, atol=0.01) # a torus should have approximately half its vertices with positive # curvature, and half with negative t = g.get_mesh("torus.STL") gauss = g.trimesh.curvature.discrete_gaussian_curvature_measure( mesh=t, points=t.vertices, radius=1.0 ) ratio = float((gauss < 0.0).sum()) / float(len(gauss)) assert g.np.isclose(ratio, 0.5, atol=0.2) def test_mean_curvature(self): m = g.trimesh.creation.icosphere() mean = g.trimesh.curvature.discrete_mean_curvature_measure(m, m.vertices, 2.0) / ( 4 * g.np.pi ) # Check mean curvature for unit sphere is 1.0 assert g.np.allclose(mean, 1.0, atol=0.01) def test_vertex_defect(self): # a subdivided box will only have corners and planar regions # so all vertex defects should be 0 or 90 degrees m = g.trimesh.primitives.Box().subdivide() assert g.np.logical_or( g.np.isclose(m.vertex_defects, 0.0), g.np.isclose(m.vertex_defects, g.np.pi / 2.0), ).all() assert len(m.vertex_defects) == len(m.vertices) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_dae.py000066400000000000000000000053331470574263400165200ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g try: import collada except ImportError: collada = None except BaseException: # TODO : REMOVE WHEN UPSTREAM RELEASE FIXED # https://github.com/pycollada/pycollada/pull/92 g.log.error("DAE fix not pushed yet!") collada = None class DAETest(g.unittest.TestCase): def test_duck(self): """ Load a collada scene with pycollada. """ if collada is None: g.log.error("no pycollada to test!") return scene = g.get_mesh("duck.dae") assert len(scene.geometry) == 1 assert len(scene.graph.nodes_geometry) == 1 conv = scene.convert_units("inch") assert conv.units == "inch" def test_shoulder(self): if collada is None: g.log.error("no pycollada to test!") return scene = g.get_mesh("shoulder.zae") assert len(scene.geometry) == 3 assert len(scene.graph.nodes_geometry) == 3 assert scene.units != "mm" conv = scene.convert_units("mm") assert conv.units == "mm" def test_export(self): if collada is None: g.log.error("no pycollada to test!") return a = g.get_mesh("ballA.off") r = a.export(file_type="dae") assert len(r) > 0 def test_obj_roundtrip(self): # get a zipped-DAE scene s = g.get_mesh("duck.zae", force="mesh") with g.TemporaryDirectory() as root: # export using a file path so it can auto-create # a FilePathResolver to write the stupid assets path = g.os.path.join(root, "duck.obj") s.export(path) # bring it back from outer space rec = g.trimesh.load(path, force="mesh") assert g.np.ptp(g.np.ptp(rec.visual.uv, axis=0)) > 1e-5 assert s.visual.material.baseColorTexture.size == rec.visual.material.image.size conv = s.convert_units("inch") assert conv.units == "inch" def test_material_round(self): """ Test to make sure materials survive a roundtrip with an actually identical result """ s = g.get_mesh("blue_cube.dae") assert len(s.geometry) == 1 m = next(iter(s.geometry.values())) rs = g.trimesh.load( file_obj=g.trimesh.util.wrap_as_stream(m.export(file_type="dae")), file_type="dae", ) assert len(rs.geometry) == 1 r = next(iter(rs.geometry.values())) # this will compare everything in `material._data` assert hash(m.visual.material) == hash(r.visual.material) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_decomposition.py000066400000000000000000000010611470574263400206350ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class DecompositionTest(g.unittest.TestCase): def test_convex_decomposition(self): try: import vhacdx # noqa except ImportError: return mesh = g.get_mesh("quadknot.obj") meshes = mesh.convex_decomposition() assert len(meshes) > 1 for m in meshes: assert m.is_watertight assert m.is_convex if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_dxf.py000066400000000000000000000174571470574263400165620ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g try: import ezdxf except BaseException: ezdxf = None class DXFTest(g.unittest.TestCase): def test_dxf(self): # get a path we can write temp_name = g.tempfile.NamedTemporaryFile(suffix=".dxf", delete=False).name loaded = g.get_2D() # split drawings into single body parts splits = [] for d in loaded: s = d.split() # check area of split result vs source assert g.np.isclose(sum(i.area for i in s), d.area) splits.append(s) # export the drawing to the file d.export(file_obj=temp_name) # try using ezdxf as a simple validator # it raises exceptions aggressively if ezdxf is not None: with open(temp_name) as f: ezdxf.read(f) # export to a string text = d.export(file_type="dxf") # DXF files are always pairs of lines lines = str.splitlines(str(text)) assert (len(lines) % 2) == 0 assert all(len(L.strip()) > 0 for L in lines) # reload the file by name and by stream rc = [ g.trimesh.load(temp_name), g.trimesh.load(g.io_wrap(text), file_type="dxf"), ] # compare reloaded with original for r in rc: assert g.np.isclose(r.area, d.area) assert g.np.isclose(r.length, d.length, rtol=1e-4) assert len(r.entities) == len(d.entities) single = g.np.hstack(splits) for p in single: p.vertices /= p.scale # make sure exporting by name works # use tempfile to avoid dumping file in # our working directory p.export(temp_name) r = g.trimesh.load(temp_name) ratio = abs(p.length - r.length) / p.length if ratio > 0.01: g.log.error( "perimeter ratio on export %s wrong! %f %f %f", p.metadata["file_name"], p.length, r.length, ratio, ) raise ValueError( "perimeter ratio too large ({}) on {}".format( ratio, p.metadata["file_name"] ) ) def test_spline(self): d = g.get_mesh("2D/cycloidal.dxf") assert len(d.entities) == 1 assert type(d.entities[0]).__name__ == "BSpline" # export to dxf and wrap as a file object e = g.trimesh.util.wrap_as_stream(d.export(file_type="dxf")) # reconstitute drawing r = g.trimesh.load(e, file_type="dxf") # make sure reconstituted drawing is the same as the source assert len(r.entities) == 1 assert type(r.entities[0]).__name__ == "BSpline" assert g.np.isclose(r.area, d.area) assert len(d.entities[0].points) == len(r.entities[0].points) assert len(d.entities[0].knots) == len(r.entities[0].knots) def test_versions(self): """ DXF files have a bajillion versions, so test against the same files saved in multiple versions by 2D CAD packages. Version test files are named things like: ae.r14a.dxf: all entity types, R14 ASCII DXF uc.2007b.dxf: unit square, R2007 binary DXF """ # directory where multiple versions of DXF are dir_versions = g.os.path.join(g.dir_2D, "versions") # load the different versions paths = {} for f in g.os.listdir(dir_versions): # full path including directory ff = g.os.path.join(dir_versions, f) try: paths[f] = g.trimesh.load(ff) except ValueError as E: # something like 'r14a' for ascii # and 'r14b' for binary version = f.split(".")[-2] # we should only get ValueErrors on binary DXF assert version[-1] == "b" g.log.debug(E, f) # group drawings which have the same geometry # but exported in different revisions of the DXF format groups = g.collections.defaultdict(list) for k in paths.keys(): # the first string before a period is the drawing name groups[k.split(".")[0]].append(k) # loop through each group of the same drawing for group in groups.values(): # get the total length of every entity L = [paths[i].length for i in group] L = g.np.array(L, dtype=g.np.float64) # make sure all versions have consistent length assert g.np.allclose(L, L.mean(), rtol=0.01) # count the number of entities in the path # this should be the same for every version E = g.np.array([len(paths[i].entities) for i in group], dtype=g.np.int64) assert g.np.ptp(E) == 0 def test_bulge(self): """ Test bulged polylines which are polylines with implicit arcs. """ # get a drawing with bulged polylines p = g.get_mesh("2D/LM2.dxf") # count the number of unclosed arc entities # this drawing only has polylines with bulge spans = [ e.center(p.vertices)["span"] for e in p.entities if type(e).__name__ == "Arc" and not e.closed ] # should have only one outer loop assert len(p.root) == 1 # should have 6 partial arcs from bulge assert len(spans) == 6 # all arcs should be 180 degree slot end caps assert g.np.allclose(spans, g.np.pi) def test_text(self): # load file with a single text entity original = g.get_mesh("2D/text.dxf") # export then reload roundtrip = g.trimesh.load( file_obj=g.io_wrap(original.export(file_type="dxf")), file_type="dxf" ) for d in [original, roundtrip]: # should contain a single Text entity assert len(d.entities) == 1 # shouldn't crash anything assert len(d.polygons_closed) == 0 assert len(d.polygons_full) == 0 assert len(d.discrete) == 0 assert len(d.paths) == 0 # make sure it preserved case and special chars assert d.entities[0].text == "HEY WHAT's poppin" # height should 1.0 assert g.np.isclose(d.entities[0].height, 1.0) # get the 2D rotation of the text angle = d.entities[0].angle(d.vertices) # angle should be 30 degrees assert g.np.isclose(angle, g.np.radians(30.0)) def test_unicode(self): """ Check our handling of unicode. Current approach is to just force everything into ASCII rather than handling the encoding flags in DXF headers. """ # get a base 2D model m = g.get_mesh("2D/wrench.dxf") # make one of the entity layers a unicode string # store it as B64 so python2 doesn't get mad layer = g.base64.b64decode("VFJBw4dBRE9IT1JJWk9OVEFMX1RSQcOHQURPNA==").decode( "utf-8" ) m.entities[0].layer = layer # export to a string export = m.export(file_type="dxf") # if any unicode survived the export this will fail export.encode("ascii") def test_insert_block(self): a = g.get_mesh("2D/insert.dxf") b = g.get_mesh("2D/insert_r14.dxf") assert len(a.polygons_full) == 2 assert len(b.polygons_full) == 2 assert g.np.isclose(a.area, 54075.0, atol=1) assert g.np.isclose(b.area, 54075.0, atol=1) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_edges.py000066400000000000000000000017751470574263400170640ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class EdgeTest(g.unittest.TestCase): def test_face_unique(self): m = g.get_mesh("featuretype.STL") # our basic edges should have the same # unique values as our faces face_set = set(m.faces.ravel()) assert set(m.edges_sorted.ravel()) == face_set assert set(m.edges_unique.ravel()) == face_set assert set(m.edges.ravel()) == face_set # check relation of edges_unique and faces_unique_edges e = m.edges_unique[m.faces_unique_edges].reshape((-1, 6)) # should now be a row of 3 pairs of equal values e.sort(axis=1) # pairs should all be equal e = e.reshape((-1, 2)) assert (e[:, 0] == e[:, 1]).all() # should be the same values as the original faces assert (e[:, 0].reshape((-1, 3)) == g.np.sort(m.faces, axis=1)).all() if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_encoding.py000066400000000000000000000147051470574263400175600ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g enc = g.trimesh.voxel.encoding rl = g.trimesh.voxel.runlength np = g.np shape = (10, 10, 10) dense_data = np.random.uniform(size=shape) < 0.2 rle = enc.RunLengthEncoding.from_dense(dense_data.reshape((-1,)), dtype=bool).reshape( shape ) brle = enc.BinaryRunLengthEncoding.from_dense(dense_data.reshape((-1,))).reshape(shape) dense = enc.DenseEncoding(dense_data) indices = np.column_stack(np.where(dense_data)) values = np.ones(shape=(indices.shape[0],), dtype=bool) sparse = enc.SparseEncoding(indices, values, shape) encodings = ( dense, rle, brle, sparse, ) class EncodingTest(g.unittest.TestCase): def _test_dense(self, encoding, data): np.testing.assert_equal(encoding.dense, data) def _test_rle(self, encoding, data): np.testing.assert_equal(encoding.run_length_data(), rl.dense_to_rle(data)) def _test_brle(self, encoding, data): np.testing.assert_equal(encoding.binary_run_length_data(), rl.dense_to_brle(data)) def _test_transpose(self, encoding, data, perm): encoding = encoding.transpose(perm) data = data.transpose(perm) self._test_dense(encoding, data) def _test_reshape(self, encoding, data, shape): encoding = encoding.reshape(shape) data = data.reshape(shape) self._test_dense(encoding, data) def _test_flat(self, encoding, data): self._test_dense(encoding.flat, data.reshape((-1,))) def _test_flipped(self, encoding, data, axes): if hasattr(axes, "__iter__"): for a in axes: data = np.flip(data, a) else: data = np.flip(data, axes) self._test_dense(encoding.flip(axes), data) def _test_composite( self, encoding, data, transpose=(0, 2, 1), reshape=(5, 2, -1), flatten=True, flip=(0, 2), ): def check(): self._test_dense(encoding, data) if transpose is not None: encoding = encoding.transpose(transpose) data = data.transpose(transpose) check() if reshape is not None: encoding = encoding.reshape(reshape) data = data.reshape(reshape) check() if flip: encoding = encoding.flip(flip) if hasattr(flip, "__iter__"): for a in flip: data = np.flip(data, a) else: data = np.flip(data, flip) check() if flatten: encoding = encoding.flat data = data.reshape((-1,)) check() self._test_dense(encoding, data) self._test_rle(encoding, data) self._test_brle(encoding, data) def test_dense(self): for encoding in encodings: self._test_dense(encoding, dense_data) def test_rle(self): for encoding in encodings: self._test_rle(encoding.flat, dense_data.reshape((-1,))) def test_brle(self): for encoding in encodings: self._test_brle(encoding.flat, dense_data.reshape((-1,))) def test_flipped(self): axes = ( 0, 1, 2, (0,), (0, 1), (0, 2), (1, 2), (0, 1, 2), ) for encoding in encodings: for ax in axes: self._test_flipped(encoding, dense_data, ax) self.assertTrue(encoding.flip((0, 0)) is encoding) def test_transpose(self): perms = ( (0, 2, 1), (0, 1, 2), (2, 1, 0), ) for encoding in encodings: for perm in perms: self._test_transpose(encoding, dense_data, perm) perm = (0, 2, 1) if not isinstance(encoding, enc.DenseEncoding): self.assertTrue(encoding.transpose(perm).transpose(perm) is encoding) def test_flat(self): for encoding in encodings: self._test_dense(encoding.flat, dense_data.reshape((-1,))) def test_reshape(self): shapes = ((10, 10, 10), (5, 20, 10), (50, 4, 5), (-1, 4, 5)) for encoding in encodings: for shape in shapes: self._test_dense(encoding.reshape(shape), dense_data.reshape(shape)) def test_composite(self): for encoding in encodings: self._test_composite(encoding, dense_data) def test_dense_stripped(self): base_shape = (5, 5, 5) dense = np.ones(base_shape, dtype=bool) padding = [[2, 2], [2, 2], [2, 2]] dense = np.pad(dense, padding, mode="constant") encoding = enc.DenseEncoding(dense) stripped, calculated_padding = encoding.stripped np.testing.assert_equal(calculated_padding, padding) np.testing.assert_equal(stripped.shape, base_shape) np.testing.assert_equal(stripped.dense, 1) def test_sparse_stripped(self): box = g.trimesh.primitives.Box() box.apply_translation([0.5, 0.5, 0.5]) # center at origin box.apply_scale(5) # 0 -> 5 expected_sparse_indices = np.array(box.vertices) box.apply_translation([2, 2, 2]) # 2 -> 7 sparse = np.array(box.vertices, dtype=int) encoding = enc.SparseBinaryEncoding(sparse, shape=(9, 9, 9)) stripped, calculated_padding = encoding.stripped np.testing.assert_equal(stripped.sparse_indices, expected_sparse_indices) np.testing.assert_equal(calculated_padding, 2 * np.ones((3, 2), dtype=int)) def test_empty_stripped(self): res = 10 encoding = enc.DenseEncoding(np.zeros((res,) * 3, dtype=bool)) stripped, calculated_padding = encoding.stripped self.assertEqual(stripped.size, 0) np.testing.assert_equal(calculated_padding, [[0, res], [0, res], [0, res]]) def test_is_empty(self): res = 10 empty = np.zeros((res,), dtype=bool) not_empty = np.zeros((res,), dtype=bool) not_empty[[1, 2, 5, 6, 7]] = True self.assertTrue(enc.DenseEncoding(empty).is_empty) self.assertFalse(enc.DenseEncoding(not_empty).is_empty) for cls in ( enc.SparseEncoding, enc.RunLengthEncoding, enc.BinaryRunLengthEncoding, ): self.assertTrue(cls.from_dense(empty).is_empty) self.assertFalse(cls.from_dense(not_empty).is_empty) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_except.py000066400000000000000000000015101470574263400172500ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class ExceptionsTest(g.unittest.TestCase): def test_module(self): # create an ExceptionWrapper try: raise ValueError("nah") except BaseException as E: em = g.trimesh.exceptions.ExceptionWrapper(E) # checking isinstance should always return false # and NOT raise the error assert not isinstance(em, dict) try: # should re-raise `ValueError('nah')` em.hi() # if we're here raise an error we don't catch raise NameError("should not have worked!!") except ValueError: # should have re-raised ValueError pass if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_export.py000066400000000000000000000350301470574263400173050ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g import io class ExportTest(g.unittest.TestCase): def test_export(self): from trimesh.exceptions import ExceptionWrapper export_types = { k for k, v in g.trimesh.exchange.export._mesh_exporters.items() if not isinstance(v, ExceptionWrapper) } meshes = list(g.get_meshes(10)) # make sure we've got something with texture meshes.append(g.get_mesh("fuze.obj")) for mesh in meshes: # disregard texture mesh.merge_vertices(merge_tex=True, merge_norm=True) for file_type in export_types: # skip pointcloud format if file_type in ["xyz", "gltf"]: # a pointcloud format continue # run the export export = mesh.export(file_type=file_type) # if nothing returned log the message if export is None or len(export) == 0: raise ValueError( "No data exported %s to %s", mesh.metadata["file_name"], file_type ) if mesh.visual.kind == "texture": c = mesh.copy() c.visual.uv = None c.export(file_type=file_type) if file_type in [ "dae", # collada, no native importers "collada", # collada, no native importers "msgpack", # kind of flaky, but usually works "drc", ]: # DRC is not a lossless format g.log.warning("no native loaders implemented for collada!") continue g.log.info("Export/import testing on %s", mesh.metadata["file_name"]) if isinstance(export, str): assert export.endswith("\n"), f"{file_type} doesn't end with newline" # if export is string or bytes wrap as pseudo file object if isinstance(export, str) or isinstance(export, bytes): file_obj = g.io_wrap(export) else: file_obj = export loaded = g.trimesh.load( file_obj=file_obj, file_type=file_type, process=True, merge_norm=True, merge_tex=True, ) # if we exported as GLTF/dae it will come back as a Scene if isinstance(loaded, g.trimesh.Scene) and isinstance( mesh, g.trimesh.Trimesh ): assert len(loaded.geometry) == 1 loaded = next(iter(loaded.geometry.values())) if ( not g.trimesh.util.is_shape(loaded._data["faces"], (-1, 3)) or not g.trimesh.util.is_shape(loaded._data["vertices"], (-1, 3)) or loaded.faces.shape != mesh.faces.shape ): g.log.error( "Export -> import for %s on %s wrong shape!", file_type, mesh.metadata["file_name"], ) if loaded.vertices is None: g.log.error( "Export -> import for %s on %s gave None for vertices!", file_type, mesh.metadata["file_name"], ) if loaded.faces.shape != mesh.faces.shape: raise ValueError( "export cycle {} on {} gave faces {}->{}!".format( file_type, mesh.metadata["file_name"], str(mesh.faces.shape), str(loaded.faces.shape), ) ) if loaded.vertices.shape != mesh.vertices.shape: raise ValueError( "export cycle {} on {} gave vertices {}->{}!".format( file_type, mesh.metadata["file_name"], mesh.vertices.shape, loaded.vertices.shape, ) ) # try exporting/importing certain file types by name if file_type in ["obj", "stl", "ply", "off"]: temp = g.tempfile.NamedTemporaryFile( suffix="." + file_type, delete=False ) # windows throws permissions errors if you keep it open temp.close() mesh.export(temp.name) load = g.trimesh.load(temp.name) # manual cleanup g.os.remove(temp.name) assert mesh.faces.shape == load.faces.shape assert mesh.vertices.shape == load.vertices.shape # if we're not on linux don't run meshlab tests if not g.is_linux: continue # formats exportable by trimesh and importable by meshlab # make sure things we export can be loaded by meshlab both = set(g.meshlab_formats).intersection(set(export_types)) # additional options to pass to exporters to try to ferret # out combinations which lead to invalid output kwargs = { "ply": [ {"vertex_normal": True, "encoding": "ascii"}, {"vertex_normal": True, "encoding": "binary"}, {"vertex_normal": False, "encoding": "ascii"}, {"vertex_normal": False, "encoding": "binary"}, ], "stl": [{"file_type": "stl"}, {"file_type": "stl_ascii"}], } # make sure input mesh has garbage removed mesh._validate = True # since we're going to be looking for exact export # counts remove anything small/degenerate again mesh.process() # run through file types supported by both meshlab and trimesh for file_type in both: # pull different exporter options for the format if file_type in kwargs: options = kwargs[file_type] else: options = [{}] # try each combination of options for option in options: temp = g.tempfile.NamedTemporaryFile( suffix="." + file_type, delete=False ) temp_off = g.tempfile.NamedTemporaryFile(suffix=".off", delete=False) # windows throws permissions errors if you keep it open temp.close() temp_off.close() # write over the tempfile option["file_obj"] = temp.name mesh.export(**option) # -_- ms = g.pymeshlab.MeshSet() ms.load_new_mesh(temp.name) ms.save_current_mesh(temp_off.name) # load meshlabs export back into trimesh r = g.trimesh.load(temp_off.name) # we should have the same number of vertices and faces assert len(r.vertices) == len(mesh.vertices) assert len(r.faces) == len(mesh.faces) if option.get("encoding", None) == "ascii": with open(temp.name) as f: exported = f.read() assert exported.endswith("\n") # manual cleanup g.os.remove(temp.name) g.os.remove(temp_off.name) def test_obj(self): m = g.get_mesh("textured_tetrahedron.obj", process=False) export = m.export(file_type="obj") reconstructed = g.roundtrip(export, file_type="obj", process=False) # test that we get at least the same number of normals and texcoords out; # the loader may reorder vertices, so we shouldn't check direct # equality assert m.vertex_normals.shape == reconstructed.vertex_normals.shape def test_obj_order(self): """ Make sure simple round trips through Wavefront don't reorder vertices. """ # get a writeable temp file location temp = g.tempfile.NamedTemporaryFile(suffix=".obj", delete=False) temp.close() # simple solid x = g.trimesh.creation.icosahedron() x.export(temp.name) y = g.trimesh.load_mesh(temp.name, process=False) # vertices should be same shape and order assert g.np.allclose(x.vertices, y.vertices) # faces should be same assert g.np.allclose(x.faces, y.faces) def test_dict(self): mesh = g.get_mesh("machinist.XAML") assert mesh.visual.kind == "face" mesh.visual.vertex_colors = mesh.visual.vertex_colors assert mesh.visual.kind == "vertex" as_dict = mesh.to_dict() back = g.trimesh.Trimesh(**as_dict) # NOQA def test_scene(self): # get a multi- mesh scene with a transform tree source = g.get_mesh("cycloidal.3DXML") # add a transform to zero scene before exporting source.rezero() # export the file as a binary GLTF file, GLB export = source.export(file_type="glb") # re- load the file as a trimesh.Scene object again loaded = g.roundtrip(export, file_type="glb") # the scene should be identical after export-> import cycle assert g.np.allclose(loaded.extents / source.extents, 1.0) def test_ply_path_empty(self): """ Test empty path export does not fail """ path3D = g.trimesh.path.Path3D() # export to ply ply = path3D.export(file_type="ply") assert len(ply) > 0 loaded = g.trimesh.load_path(g.trimesh.util.wrap_as_stream(ply), file_type="ply") # assert g.np.allclose(loaded.entities, path3D.entities) # assert g.np.allclose(loaded.vertices, path3D.vertices) assert len(loaded.geometry) == 0 def test_ply_path_line(self): """ Should be able to load a path and export simple line as a PLY """ path3D = g.trimesh.load_path([(0, 0, 0), (1, 0, 0), (1, 1, 0), (1, 1, 1)]) assert isinstance(path3D, g.trimesh.path.Path3D) # export to ply ply = path3D.export(file_type="ply") assert len(ply) > 0 loaded = g.trimesh.load_path(g.trimesh.util.wrap_as_stream(ply), file_type="ply") assert g.np.allclose(loaded.vertices, path3D.vertices) def test_ply_path_multi(self): """ Should be able to load a path and export multiple entities as a PLY """ path3D = g.trimesh.path.Path3D( [ g.trimesh.path.entities.Line([0, 1, 2]), g.trimesh.path.entities.Line([2, 0, 1]), ], [(0.0, 0.0, 0.0), (1.0, 0.0, 0.0), (1.0, 1.0, 0.0)], ) # export to ply ply = path3D.export(file_type="ply") assert len(ply) > 0 loaded = g.trimesh.load_path(g.trimesh.util.wrap_as_stream(ply), file_type="ply") assert len(loaded.entities) == len(path3D.entities) assert len(loaded.vertices) > 0 def test_ply_path_bezier(self): """ Should be able to load a path and export complex curve as a PLY """ path3D = g.trimesh.path.Path3D( [g.trimesh.path.entities.Bezier([0, 1, 2])], [(0.0, 0.0, 0.0), (1.0, 0.0, 0.0), (1.0, 1.0, 0.0)], ) # export to ply ply = path3D.export(file_type="ply") assert len(ply) > 0 loaded = g.trimesh.load_path(g.trimesh.util.wrap_as_stream(ply), file_type="ply") # note: we cannot recover the exact entities and vertices from the export since it is discretized for ply files assert len(loaded.entities) > 0 assert len(loaded.vertices) > 0 def test_gltf_path(self): """ Check to make sure GLTF exports of Path2D and Path3D objects don't immediately crash. """ path2D = g.get_mesh("2D/wrench.dxf") path3D = path2D.to_3D() a = g.trimesh.Scene(path2D).export(file_type="glb") b = g.trimesh.Scene(path3D).export(file_type="glb") assert len(a) > 0 assert len(b) > 0 def test_parse_file_args(self): """ Test the magical trimesh.exchange.load.parse_file_args """ # it's wordy f = g.trimesh.exchange.load._parse_file_args RET_COUNT = 5 # a path that doesn't exist nonexists = f"/banana{g.random()}" assert not g.os.path.exists(nonexists) # loadable OBJ model exists = g.os.path.join(g.dir_models, "tube.obj") assert g.os.path.exists(exists) # should be able to extract type from passed filename args = f(file_obj=exists, file_type=None) assert len(args) == RET_COUNT assert args[1] == "obj" # should be able to extract correct type from longer name args = f(file_obj=exists, file_type="YOYOMA.oBj") assert len(args) == RET_COUNT assert args[1] == "obj" # with a nonexistent file and no extension it should raise try: args = f(file_obj=nonexists, file_type=None) except ValueError as E: assert "not a file" in str(E) else: raise ValueError("should have raised exception!") # nonexistent file with extension passed should return # file name anyway, maybe something else can handle it args = f(file_obj=nonexists, file_type=".ObJ") assert len(args) == RET_COUNT # should have cleaned up case assert args[1] == "obj" # make sure overriding type works for string filenames args = f(file_obj=exists, file_type="STL") assert len(args) == RET_COUNT # should have used manually passed type over .obj assert args[1] == "stl" def test_buffered_random(self): """Test writing to non-standard file""" mesh = next(iter(g.get_meshes(1))) with io.BufferedRandom(io.BytesIO()) as rw: mesh.export(rw, "STL") rw.seek(0) binary_stl = rw.read() self.assertLess(0, len(binary_stl)) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_extrude.py000066400000000000000000000063371470574263400174540ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g try: import triangle # NOQA has_triangle = True except ImportError: g.log.warning("No triangle! Not testing extrude primitives!") has_triangle = False class ExtrudeTest(g.unittest.TestCase): def test_extrusion(self): if not has_triangle: return transform = g.trimesh.transformations.random_rotation_matrix() polygon = g.Point([0, 0]).buffer(0.5) e = g.trimesh.primitives.Extrusion(polygon=polygon, transform=transform) # will create an inflated version of the extrusion b = e.buffer(0.1) assert b.to_mesh().volume > e.to_mesh().volume assert b.contains(e.vertices).all() # try making it smaller b = e.buffer(-0.1) assert b.to_mesh().volume < e.to_mesh().volume assert e.contains(b.vertices).all() # try with negative height e = g.trimesh.primitives.Extrusion( polygon=polygon, height=-1.0, transform=transform ) assert e.to_mesh().volume > 0.0 # will create an inflated version of the extrusion b = e.buffer(0.1) assert b.to_mesh().volume > e.to_mesh().volume assert b.contains(e.vertices).all() # try making it smaller b = e.buffer(-0.1) assert b.to_mesh().volume < e.to_mesh().volume assert e.contains(b.vertices).all() # try with negative height and transform transform = [ [1.0, 0.0, 0.0, -0.0], [0.0, 1.0, 0.0, 0.0], [-0.0, -0.0, -1.0, -0.0], [0.0, 0.0, 0.0, 1.0], ] e = g.trimesh.primitives.Extrusion( polygon=polygon, height=-1.0, transform=transform ) assert e.to_mesh().volume > 0.0 for T in g.transforms: current = e.copy().apply_transform(T) # get the special case OBB calculation for extrusions obb = current.bounding_box_oriented # check to make sure shortcutted OBB is the right size assert g.np.isclose( obb.volume, current.to_mesh().bounding_box_oriented.volume ) # use OBB transform to project vertices of extrusion to plane points = g.trimesh.transform_points( current.vertices, g.np.linalg.inv(obb.primitive.transform) ) # half extents of calculated oriented bounding box half = (g.np.abs(obb.primitive.extents) / 2.0) + 1e-3 # every vertex should be inside OBB assert (points > -half).all() assert (points < half).all() assert current.direction.shape == (3,) assert current.origin.shape == (3,) def test_extrude_degen(self): # don't error on degenerate triangle # validate=True should remove the degenerate triangle # on creation of the mesh coords = g.np.array([[0, 0], [0, 0], [0, 1], [1, 0]]) mesh = g.trimesh.creation.extrude_triangulation( vertices=coords, faces=[[0, 1, 2], [0, 2, 3]], height=1, validate=True ) assert mesh.is_watertight if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_facets.py000066400000000000000000000020461470574263400172320ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class FacetTest(g.unittest.TestCase): def test_facet(self): m = g.get_mesh("featuretype.STL") assert len(m.facets) > 0 assert len(m.facets) == len(m.facets_boundary) assert len(m.facets) == len(m.facets_normal) assert len(m.facets) == len(m.facets_area) assert len(m.facets) == len(m.facets_on_hull) # this mesh should have 8 facets on the convex hull assert m.facets_on_hull.astype(int).sum() == 8 def test_empty(self): """ An icosphere has no facets so make sure everything returns empty. """ m = g.trimesh.creation.icosphere() assert len(m.facets) == 0 assert len(m.facets) == len(m.facets_boundary) assert len(m.facets) == len(m.facets_normal) assert len(m.facets) == len(m.facets_area) assert len(m.facets) == len(m.facets_on_hull) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_fill.py000066400000000000000000000020061470574263400167070ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class FillTest(g.unittest.TestCase): def test_fill(self): # a path closed with a bowtie, so the topology is wrong a = g.get_mesh("2D/broken_loop.dxf") assert len(a.paths) == 0 # bowtie shouldn't require any connection distance a.fill_gaps(0.0) # topology should be good now assert len(a.paths) == 1 # it is a rectangle assert g.np.isclose(a.area, g.np.prod(a.extents)) # a path with a bowtie and a .05 gap b = g.get_mesh("2D/broken_pair.dxf") assert len(b.paths) == 0 # should be too small to fill gap b.fill_gaps(0.01) assert len(b.paths) == 0 # should be large enough to fill gap b.fill_gaps(0.06) assert len(b.paths) == 1 # it is a rectangle assert g.np.isclose(b.area, g.np.prod(b.extents)) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_geom.py000066400000000000000000000021111470574263400167050ustar00rootroot00000000000000""" Load all the meshes we can get our hands on and check things, stuff. """ try: from . import generic as g except BaseException: import generic as g class GeomTests(g.unittest.TestCase): def test_triangulate(self): from trimesh.geometry import triangulate_quads as tq # create some triangles and quads tri = (g.random((100, 3)) * 100).astype(g.np.int64) quad = (g.random((100, 4)) * 100).astype(g.np.int64) # should just exit early for triangles assert g.np.allclose(tri, tq(tri.tolist())) # should produce two triangles for each quad assert len(tq(quad)) == 2 * len(quad) # create a mixed list of triangles and quads mixed = tri.tolist() mixed.extend(quad.tolist()) result = tq(mixed) # make sure the result has the right number of elements assert result.shape == (len(tri) + len(quad) * 2, 3) # called on empty arrays should be empty assert len(tq([])) == 0 if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_gltf.py000066400000000000000000001225661470574263400167330ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g # Khronos' official file validator # can be installed with the helper script: # `trimesh/docker/builds/gltf_validator.bash` _gltf_validator = g.shutil.which("gltf_validator") def validate_glb(data, name=None): """ Run the Khronos validator on GLB files using subprocess. Parameters ------------ data : bytes GLB export name : str or None Hint to log. Raises ------------ ValueError If Khronos validator reports errors. """ if _gltf_validator is None: g.log.warning("no gltf_validator!") return with g.tempfile.NamedTemporaryFile(suffix=".glb") as f: f.write(data) f.flush() # gltf_validator has occasional bugs being run outside # of the current working directory temp_dir, file_name = g.os.path.split(f.name) # run khronos gltf_validator report = g.subprocess.run( [_gltf_validator, file_name, "-o"], cwd=temp_dir, capture_output=True ) # -o prints JSON to stdout content = report.stdout.decode("utf-8") returncode = report.returncode if returncode != 0: g.log.error(f"failed on: `{name}`") g.log.error(f"validator: `{content}`") g.log.error(f"stderr: `{report.stderr}`") raise ValueError("gltf_validator failed") class GLTFTest(g.unittest.TestCase): def test_duck(self): scene = g.get_mesh("Duck.glb", process=False) # should have one mesh assert len(scene.geometry) == 1 # get the mesh geom = next(iter(scene.geometry.values())) # vertex normals should have been loaded assert "vertex_normals" in geom._cache.cache # should not be watertight assert not geom.is_volume # make sure export doesn't crash export = scene.export(file_type="glb") validate_glb(export, "Duck.glb") # check a roundtrip reloaded = g.trimesh.load(g.trimesh.util.wrap_as_stream(export), file_type="glb") # make basic assertions g.scene_equal(scene, reloaded) # if we merge ugly it should now be watertight geom.merge_vertices(merge_tex=True, merge_norm=True) assert geom.is_volume def test_strips(self): a = g.get_mesh("mode5.gltf") assert len(a.geometry) > 0 b = g.get_mesh("mode5.gltf", merge_primitives=True) assert len(b.geometry) > 0 def test_buffer_dedupe(self): scene = g.trimesh.Scene() box_1 = g.trimesh.creation.box() box_2 = g.trimesh.creation.box() box_3 = g.trimesh.creation.box() box_3.visual.face_colors = [0, 255, 0, 255] tm = g.trimesh.transformations.translation_matrix scene.add_geometry(box_1, "box_1", transform=tm((1, 1, 1))) scene.add_geometry(box_2, "box_2", transform=tm((-1, -1, -1))) scene.add_geometry(box_3, "box_3", transform=tm((-1, 20, -1))) a = g.json.loads(scene.export(file_type="gltf")["model.gltf"].decode("utf-8")) assert len(a["buffers"]) <= 3 def test_skip_materials(self): # load textured PLY mesh = g.get_mesh("fuze.ply") g.check_fuze(mesh) # load as GLB export = mesh.export(file_type="glb", unitize_normals=True) validate_glb(export) mesh_glb = g.trimesh.load( g.trimesh.util.wrap_as_stream(export), file_type="glb", force="mesh", skip_materials=True, ) # visuals should not be present assert not mesh_glb.visual.defined def test_tex_export(self): # load textured PLY mesh = g.get_mesh("fuze.ply") assert hasattr(mesh.visual, "uv") # make sure export as GLB doesn't crash on scenes export = mesh.scene().export(file_type="glb", unitize_normals=True) validate_glb(export, "fuze.ply") # make sure it works on meshes export = mesh.export(file_type="glb", unitize_normals=True) validate_glb(export, "fuze.ply") def test_cesium(self): # A GLTF with a multi- primitive mesh s = g.get_mesh("CesiumMilkTruck.glb") # should be one Trimesh object per GLTF "primitive" assert len(s.geometry) == 4 # every geometry displayed once, except wheels twice assert len(s.graph.nodes_geometry) == 5 # make sure export doesn't crash export = s.export(file_type="glb") validate_glb(export) reloaded = g.trimesh.load(g.trimesh.util.wrap_as_stream(export), file_type="glb") # make basic assertions g.scene_equal(s, reloaded) def test_alphamode(self): # A GLTF with combinations of AlphaMode and AlphaCutoff s = g.get_mesh("AlphaBlendModeTest.glb") # should be 5 test geometries assert len([geom for geom in s.geometry if geom.startswith("Test")]) == 5 assert s.geometry["TestCutoffDefaultMesh"].visual.material.alphaMode == "MASK" assert s.geometry["TestCutoff25Mesh"].visual.material.alphaMode == "MASK" assert s.geometry["TestCutoff25Mesh"].visual.material.alphaCutoff == 0.25 assert s.geometry["TestCutoff75Mesh"].visual.material.alphaMode == "MASK" assert s.geometry["TestCutoff75Mesh"].visual.material.alphaCutoff == 0.75 assert s.geometry["TestBlendMesh"].visual.material.alphaMode == "BLEND" # defaults OPAQUE assert s.geometry["TestOpaqueMesh"].visual.material.alphaMode is None export = s.export(file_type="glb") validate_glb(export) # roundtrip it rs = g.trimesh.load(g.trimesh.util.wrap_as_stream(export), file_type="glb") # make basic assertions g.scene_equal(s, rs) # make sure export keeps alpha modes # should be the same assert len([geom for geom in rs.geometry if geom.startswith("Test")]) == 5 assert rs.geometry["TestCutoffDefaultMesh"].visual.material.alphaMode == "MASK" assert rs.geometry["TestCutoff25Mesh"].visual.material.alphaMode == "MASK" assert rs.geometry["TestCutoff25Mesh"].visual.material.alphaCutoff == 0.25 assert rs.geometry["TestCutoff75Mesh"].visual.material.alphaMode == "MASK" assert rs.geometry["TestCutoff75Mesh"].visual.material.alphaCutoff == 0.75 assert rs.geometry["TestBlendMesh"].visual.material.alphaMode == "BLEND" # defaults OPAQUE assert rs.geometry["TestOpaqueMesh"].visual.material.alphaMode is None def test_units(self): # Trimesh will store units as a GLTF extra if they # are defined so check that. original = g.get_mesh("pins.glb") # export it as a a GLB file export = original.export(file_type="glb") validate_glb(export) kwargs = g.trimesh.exchange.gltf.load_glb(g.trimesh.util.wrap_as_stream(export)) # roundtrip it reloaded = g.trimesh.exchange.load.load_kwargs(kwargs) # make basic assertions g.scene_equal(original, reloaded) # make assertions on original and reloaded for scene in [original, reloaded]: # units should be stored as an extra assert scene.units == "mm" # make sure we have two unique geometries assert len(scene.geometry) == 2 # that should have seven instances assert len(scene.graph.nodes_geometry) == 7 # all meshes should be well constructed assert all(m.is_volume for m in scene.geometry.values()) # check unit conversions for fun extents = scene.extents.copy() as_in = scene.convert_units("in") # should all be exactly mm -> in conversion factor assert g.np.allclose(extents / as_in.extents, 25.4, atol=0.001) m = g.get_mesh("testplate.glb") assert m.units == "meters" def test_basic(self): # split a multibody mesh into a scene scene = g.trimesh.scene.split_scene(g.get_mesh("cycloidal.ply")) # should be 117 geometries assert len(scene.geometry) >= 117 # a dict with {file name: str} export = scene.export(file_type="gltf") # load from just resolver r = g.trimesh.load(file_obj=None, file_type="gltf", resolver=export) # will assert round trip is roughly equal g.scene_equal(r, scene) # try loading from a ZIP archive zipped = g.trimesh.util.compress(export) r = g.trimesh.load( file_obj=g.trimesh.util.wrap_as_stream(zipped), file_type="zip" ) # try loading from a file name # will require a file path resolver with g.TemporaryDirectory() as d: for file_name, data in export.items(): with open(g.os.path.join(d, file_name), "wb") as f: f.write(data) # load from file path of header GLTF rd = g.trimesh.load(g.os.path.join(d, "model.gltf")) # will assert round trip is roughly equal g.scene_equal(rd, scene) def test_merge_buffers(self): # split a multibody mesh into a scene scene = g.trimesh.scene.split_scene(g.get_mesh("cycloidal.ply")) # export a gltf with the merge_buffers option set to true export = scene.export(file_type="gltf", merge_buffers=True) # We should end up with a single .bin and scene.gltf assert len(export.keys()) == 2 # reload the export reloaded = g.trimesh.exchange.load.load_kwargs( g.trimesh.exchange.gltf.load_gltf( file_obj=None, resolver=g.trimesh.visual.resolvers.ZipResolver(export) ) ) # check to make sure the geometry keys are the same assert set(reloaded.geometry.keys()) == set(scene.geometry.keys()) def test_merge_primitives(self): # test to see if the `merge_primitives` logic is working a = g.get_mesh("CesiumMilkTruck.glb") assert len(a.geometry) == 4 # should combine the multiple primitives into a single mesh b = g.get_mesh("CesiumMilkTruck.glb", merge_primitives=True) assert len(b.geometry) == 2 def test_specular_glossiness(self): s = g.get_mesh("pyramid.zip") assert len(s.geometry) > 0 assert "GLTF" in s.geometry mat = s.geometry["GLTF"].visual.material assert isinstance(mat, g.trimesh.visual.material.PBRMaterial) color = g.np.array(mat.baseColorTexture)[:, :, :3] assert color.shape[0] == 84 and color.shape[1] == 71 # reference values generated with: # https://kcoley.github.io/glTF/extensions/2.0/Khronos/KHR_materials_pbrSpecularGlossiness/examples/convert-between-workflows-bjs/ assert g.np.allclose(color[0, 0], [247, 223, 190], atol=1) assert g.np.allclose(color[30, 30], [247, 226, 196], atol=1) assert g.np.allclose(color[60, 10], [249, 231, 203], atol=1) color = mat.baseColorFactor assert color.dtype == g.np.uint8 assert g.np.allclose(color, [255, 255, 255, 255]) metallic_roughness = ( g.np.array(mat.metallicRoughnessTexture, dtype=g.np.float32) / 255.0 ) assert metallic_roughness.shape[0] == 84 and metallic_roughness.shape[1] == 71 # https://registry.khronos.org/glTF/specs/2.0/glTF-2.0.html#metallic-roughness-material metallic = metallic_roughness[:, :, 2] roughness = metallic_roughness[:, :, 1] assert g.np.allclose(metallic[0, 0], 0.231, atol=0.004) assert g.np.allclose(metallic[30, 30], 0.207, atol=0.004) assert g.np.allclose(metallic[60, 10], 0.133, atol=0.004) assert g.np.allclose(roughness[0, 0], 0.898, atol=0.004) assert g.np.allclose(roughness[30, 30], 0.902, atol=0.004) assert g.np.allclose(roughness[60, 10], 0.898, atol=0.004) assert mat.metallicFactor == 1.0 assert mat.roughnessFactor == 1.0 assert all(mat.emissiveFactor == [0.0, 0.0, 0.0]) def test_spec_gloss_factors_only(self): # test that we can load a GLTF with specular/glossiness material without textures s = g.get_mesh("pbr_cubes_emissive_spec_gloss.zip") assert all( isinstance(m.visual.material, g.trimesh.visual.material.PBRMaterial) for m in s.geometry.values() ) spec_gloss_mat = s.geometry["Cube.005"].visual.material # this is a special case, because color is only coming from specular. # the diffuse value is black assert g.np.allclose(spec_gloss_mat.baseColorFactor, [254, 194, 85, 255], atol=1) assert g.np.allclose(spec_gloss_mat.metallicFactor, 1.0) assert g.np.allclose(spec_gloss_mat.roughnessFactor, 0.3) def test_write_dir(self): # try loading from a file name # will require a file path resolver original = g.get_mesh("fuze.obj") assert isinstance(original, g.trimesh.Trimesh) s = original.scene() with g.TemporaryDirectory() as d: path = g.os.path.join(d, "heyy.gltf") s.export(file_obj=path) r = g.trimesh.load(path) assert isinstance(r, g.trimesh.Scene) assert len(r.geometry) == 1 m = next(iter(r.geometry.values())) assert g.np.isclose(original.area, m.area) def test_merge_primitives_materials(self): # test to see if the `merge_primitives` logic is working a = g.get_mesh("rgb_cube_with_primitives.gltf", merge_primitives=True) assert len(a.geometry["Cube"].visual.material) == 3 # what the face materials should be truth = [0, 0, 0, 0, 1, 1, 1, 1, 2, 2, 2, 2] assert g.np.allclose(a.geometry["Cube"].visual.face_materials, truth) # make sure copying did the things correctly c = a.copy() assert g.np.allclose(c.geometry["Cube"].visual.face_materials, truth) def test_merge_primitives_materials_roundtrip(self): # test to see if gltf loaded with `merge_primitives` # and then exported back # to gltf, produces a valid gltf. a = g.get_mesh("rgb_cube_with_primitives.gltf", merge_primitives=True) result = a.export(file_type="gltf", merge_buffers=True) with g.TemporaryDirectory() as d: for file_name, data in result.items(): with open(g.os.path.join(d, file_name), "wb") as f: f.write(data) rd = g.trimesh.load(g.os.path.join(d, "model.gltf"), merge_primitives=True) assert isinstance(rd, g.trimesh.Scene) # will assert round trip is roughly equal # TODO : restore # g.scene_equal(rd, a) def test_optional_camera(self): gltf_cameras_key = "cameras" # if there's no camera in the scene, then it shouldn't be added to the # gltf box = g.trimesh.creation.box([1, 1, 1]) scene = g.trimesh.Scene(box) export = scene.export(file_type="gltf") assert gltf_cameras_key not in g.json.loads(export["model.gltf"].decode("utf8")) # `scene.camera` creates a camera if it does not exist. # once in the scene, it should be added to the gltf. box = g.trimesh.creation.box([1, 1, 1]) scene = g.trimesh.Scene(box) scene.set_camera() export = scene.export(file_type="gltf") assert gltf_cameras_key in g.json.loads(export["model.gltf"].decode("utf8")) def test_gltf_pole(self): scene = g.get_mesh("simple_pole.glb") # should have multiple primitives assert len(scene.geometry) == 11 export = scene.export(file_type="glb") validate_glb(export) # check a roundtrip reloaded = g.trimesh.load(g.trimesh.util.wrap_as_stream(export), file_type="glb") # make basic assertions g.scene_equal(scene, reloaded) def test_material_primary_colors(self): primary_color_material = g.trimesh.visual.material.PBRMaterial() primary_color_material.baseColorFactor = (255, 0, 0, 255) sphere = g.trimesh.creation.icosphere() sphere.visual = g.trimesh.visual.TextureVisuals(material=primary_color_material) sphere.visual.material = primary_color_material # material will *not* export without uv coordinates to gltf # as GLTF requires TEXCOORD_0 be defined if there is a material sphere.visual.uv = g.np.zeros((len(sphere.vertices), 2)) scene = g.trimesh.Scene([sphere]) def to_integer(args): args["materials"][0]["pbrMetallicRoughness"]["baseColorFactor"] = [1, 0, 0, 1] export = scene.export(file_type="glb", tree_postprocessor=to_integer) validate_glb(export) reloaded = g.trimesh.load( file_obj=g.trimesh.util.wrap_as_stream(export), file_type="glb" ) assert len(reloaded.geometry) == 1 # get meshes back sphere_b = next(iter(reloaded.geometry.values())) assert (sphere_b.visual.material.baseColorFactor == (255, 0, 0, 255)).all() def test_material_hash(self): # load mesh twice independently a = g.get_mesh("fuze.obj") b = g.get_mesh("fuze.obj") # move one of the meshes away from the other a.apply_translation([a.scale, 0, 0]) # materials should not be the same object assert id(a.visual.material) != id(b.visual.material) # despite being loaded separately material hash should match assert hash(a.visual.material) == hash(b.visual.material) # create a scene with two meshes scene = g.trimesh.Scene([a, b]) # get the exported GLTF header of a scene with both meshes header = g.json.loads( scene.export(file_type="gltf", unitize_normals=True)["model.gltf"].decode( "utf-8" ) ) # header should contain exactly one material assert len(header["materials"]) == 1 # both meshes should be contained in the export assert len(header["meshes"]) == 2 # get a reloaded version export = scene.export(file_type="glb", unitize_normals=True) validate_glb(export) reloaded = g.trimesh.load( file_obj=g.trimesh.util.wrap_as_stream(export), file_type="glb" ) # meshes should have survived assert len(reloaded.geometry) == 2 # get meshes back ar, br = reloaded.geometry.values() # should have been loaded as a PBR material assert isinstance(ar.visual.material, g.trimesh.visual.material.PBRMaterial) # materials should have the same memory location assert id(ar.visual.material) == id(br.visual.material) # make sure hash is returning something ahash = hash(ar.visual.material) # should be returning valid material hashes assert isinstance(ahash, int) assert ahash != 0 def test_node_name(self): # Test to see if node names generally survive # an export-import cycle. # a scene s = g.get_mesh("cycloidal.3DXML") # export as GLB then re-load export = s.export(file_type="glb") validate_glb(export) r = g.trimesh.load(g.trimesh.util.wrap_as_stream(export), file_type="glb") # make sure we have the same geometries before and after assert set(s.geometry.keys()) == set(r.geometry.keys()) # make sure the node names are the same before and after assert set(s.graph.nodes_geometry) == set(r.graph.nodes_geometry) def test_nested_scale(self): # nested transforms with scale s = g.get_mesh("nested.glb") assert len(s.graph.nodes_geometry) == 3 assert g.np.allclose( [[-1.16701, -2.3366, -0.26938], [0.26938, 1.0, 0.26938]], s.bounds, atol=1e-4 ) def test_schema(self): # get a copy of the GLTF schema and do simple checks s = g.trimesh.exchange.gltf.get_schema() # make sure it has at least the keys we expect assert set(s["properties"].keys()).issuperset( { "accessors", "animations", "asset", "buffers", "bufferViews", "cameras", "images", "materials", "meshes", "nodes", "samplers", "scene", "scenes", "skins", "textures", "extensions", "extras", } ) # lightly check to see that no references exist assert "$ref" not in g.json.dumps(s) def test_export_custom_attributes(self): # Write and read custom vertex attributes to gltf sphere = g.trimesh.primitives.Sphere() v_count, _ = sphere.vertices.shape sphere.vertex_attributes["_CustomFloat32Scalar"] = g.np.random.rand( v_count, 1 ).astype(g.np.float32) sphere.vertex_attributes["_CustomFloat32Vec3"] = g.np.random.rand( v_count, 3 ).astype(g.np.float32) sphere.vertex_attributes["_CustomFloat32Mat4"] = g.np.random.rand( v_count, 4, 4 ).astype(g.np.float32) # export as GLB bytes export = sphere.export(file_type="glb") # this should validate just fine validate_glb(export) # uint32 is slightly off-label and may cause # validators to fail but if you're a bad larry who # doesn't follow the rules it should be fine sphere.vertex_attributes["_CustomUInt32Scalar"] = g.np.random.randint( 0, 1000, size=(v_count, 1) ).astype(g.np.uint32) # when you add a uint16/int16 the gltf-validator # complains about the 4-byte boundaries even though # all their lengths and offsets mod 4 are zero # not sure if that's a validator bug or what sphere.vertex_attributes["_CustomUInt16Scalar"] = g.np.random.randint( 0, 1000, size=(v_count, 1) ).astype(g.np.uint16) sphere.vertex_attributes["_CustomInt16Scalar"] = g.np.random.randint( 0, 1000, size=(v_count, 1) ).astype(g.np.int16) # export as GLB then re-load export = sphere.export(file_type="glb") r = g.trimesh.load(g.trimesh.util.wrap_as_stream(export), file_type="glb") for _, val in r.geometry.items(): assert set(val.vertex_attributes.keys()) == set( sphere.vertex_attributes.keys() ) for key in val.vertex_attributes: is_same = g.np.array_equal( val.vertex_attributes[key], sphere.vertex_attributes[key] ) assert is_same is True def test_extras(self): # if GLTF extras are defined, make sure they survive a round trip s = g.get_mesh("cycloidal.3DXML") scene_extensions = {"mesh_ext": {"ext_data": 1.23}} # some dummy data dummy = { "who": "likes cheese", "potatoes": 25, "gtlf_extensions": scene_extensions, } # export as GLB with extras passed to the exporter then re-load s.metadata = dummy export = s.export(file_type="glb") validate_glb(export) r = g.trimesh.load(g.trimesh.util.wrap_as_stream(export), file_type="glb") # make sure extras survived a round trip assert all(r.metadata[k] == v for k, v in dummy.items()) def test_extras_nodes(self): mesh_extensions = {"mesh_ext": {"ext_data": 1.23}} test_metadata = { "test_str": "test_value", "test_int": 1, "test_float": 0.123456789, "test_bool": True, "test_array": [1, 2, 3], "test_dict": {"a": 1, "b": 2}, "gltf_extensions": mesh_extensions, } sphere1 = g.trimesh.primitives.Sphere(radius=1.0) sphere1.metadata.update(test_metadata) sphere2 = g.trimesh.primitives.Sphere(radius=2.0) sphere2.metadata.update(test_metadata) tf1 = g.trimesh.transformations.translation_matrix([0, 0, -2]) tf2 = g.trimesh.transformations.translation_matrix([5, 5, 5]) s = g.trimesh.scene.Scene() s.add_geometry( sphere1, node_name="Sphere1", geom_name="Geom Sphere1", transform=tf1, metadata={"field": "extra_data1"}, ) node_extensions = {"mesh_ext": {"ext_data": 1.23}} sphere2_metadata = {"field": "extra_data2", "gltf_extensions": node_extensions} s.add_geometry( sphere2, node_name="Sphere2", geom_name="Geom Sphere2", parent_node_name="Sphere1", transform=tf2, metadata=sphere2_metadata, ) # Test extras appear in the exported model nodes files = s.export(None, "gltf") gltf_data = files["model.gltf"] assert "test_value" in gltf_data.decode("utf8") # Check node extras survive a round trip export = s.export(file_type="glb") validate_glb(export) r = g.trimesh.load(g.trimesh.util.wrap_as_stream(export), file_type="glb") files = r.export(None, "gltf") gltf_data = files["model.gltf"] # Check that the mesh and node metadata/extras survived assert "test_value" in gltf_data.decode("utf8") assert "extra_data1" in gltf_data.decode("utf8") # Check that the extensions were removed from the metadata; # they should be saved as 'extensions' in the gltf file assert "gltf_extensions" not in gltf_data.decode("utf8") # Check that the node transforms and metadata/extras survived edge = r.graph.transforms.edge_data[("world", "Sphere1")] assert g.np.allclose(edge["matrix"], tf1) assert edge["metadata"]["field"] == "extra_data1" edge = r.graph.transforms.edge_data[("Sphere1", "Sphere2")] assert g.np.allclose(edge["matrix"], tf2) assert edge["metadata"]["field"] == "extra_data2" # Check that the node's extensions survived assert edge["metadata"]["gltf_extensions"] == node_extensions # Check that the mesh extensions survived for mesh in r.geometry.values(): assert mesh.metadata["gltf_extensions"] == mesh_extensions # all geometry should be the same assert set(r.geometry.keys()) == set(s.geometry.keys()) for mesh in r.geometry.values(): # metadata should have all survived assert all(mesh.metadata[k] == v for k, v in test_metadata.items()) def test_read_scene_extras(self): # loads a glb with scene extras scene = g.get_mesh("monkey.glb", process=False) # expected data check = {"name": "monkey", "age": 32, "height": 0.987} meta = scene.metadata for key in check: # \check key existence and value assert key in meta assert meta[key] == check[key] def test_load_empty_nodes(self): # loads a glb with no meshes scene = g.get_mesh("empty_nodes.glb", process=False) # expected data check = { "parent": [ [1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0], ], "children_1": [ [1.0, 0.0, 0.0, -5.0], [0.0, 1.0, 0.0, 5.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0], ], "children_2": [ [1.0, 0.0, 0.0, 5.0], [0.0, 1.0, 0.0, 5.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0], ], } # get the scene nodes objs = scene.graph.to_flattened() # check number assert len(objs) == 3 for key in check: assert key in objs assert objs[key]["transform"] == check[key] def test_same_name(self): s = g.get_mesh("TestScene.gltf") # hardcode correct bounds to check against bounds = s.to_mesh().bounds # icosahedrons have two primitives each g.log.debug(len(s.geometry), len(s.graph.nodes_geometry)) assert len(s.graph.nodes_geometry) == 9 assert len(s.geometry) == 7 assert g.np.allclose(s.bounds, bounds, atol=1e-3) # if merged should have combined the icosahedrons s = g.get_mesh("TestScene.gltf", merge_primitives=True) assert len(s.graph.nodes_geometry) == 7 assert len(s.geometry) == 6 assert g.np.allclose(s.bounds, bounds, atol=1e-3) def test_vertex_colors(self): # get a mesh with face colors m = g.get_mesh("machinist.XAML") # export as GLB then re-import export = m.export(file_type="glb") validate_glb(export) r = next( iter( g.trimesh.load( g.trimesh.util.wrap_as_stream(export), file_type="glb" ).geometry.values() ) ) # original mesh should have vertex colors assert m.visual.kind == "face" assert g.np.ptp(g.np.ptp(m.visual.vertex_colors, axis=0)) > 0 # vertex colors should have survived import-export assert g.np.allclose(m.visual.vertex_colors, r.visual.vertex_colors) def test_vertex_attrib(self): # test concatenation with texture m = g.get_mesh("fuze.obj") colors = (g.random((len(m.vertices), 4)) * 255).astype(g.np.uint8) # set the color vertex attribute m.visual.vertex_attributes["color"] = colors export = m.export(file_type="glb", unitize_normals=True) validate_glb(export) r = next( iter( g.trimesh.load( g.trimesh.util.wrap_as_stream(export), file_type="glb" ).geometry.values() ) ) # make sure the color vertex attributes survived the roundtrip assert g.np.allclose(r.visual.vertex_attributes["color"], colors) def test_vertex_colors_import(self): # get a mesh with face colors m = g.get_mesh("cubevc.glb") assert len(m.geometry.items()) > 0 mesh = next(iter(m.geometry.items()))[1] assert mesh is not None # Loaded mesh should have vertex colors assert hasattr(mesh.visual, "vertex_colors") # Loaded mesh should have all vertex colors filled with magenta color magenta = g.np.array([255, 0, 255, 255], dtype=g.np.uint8) for color in mesh.visual.vertex_colors: is_magenta = g.np.array_equal(color, magenta) assert is_magenta, f"Imported vertex color is not of expected value: got {color}, expected {magenta}" def test_export_postprocess(self): scene = g.trimesh.Scene() sphere = g.trimesh.primitives.Sphere() sphere.visual.material = g.trimesh.visual.material.PBRMaterial(name="unlit_test") scene.add_geometry(sphere) def add_unlit(gltf_tree): for material_dict in gltf_tree["materials"]: if "unlit" in material_dict.get("name", "").lower(): material_dict["extensions"] = {"KHR_materials_unlit": {}} gltf_tree["extensionsUsed"] = ["KHR_materials_unlit"] gltf_1 = g.trimesh.exchange.gltf.export_gltf(scene) gltf_2 = g.trimesh.exchange.gltf.export_gltf(scene, tree_postprocessor=add_unlit) def extract_materials(gltf_files): return g.json.loads(gltf_files["model.gltf"].decode("utf8"))["materials"] assert "extensions" not in extract_materials(gltf_1)[-1] assert "extensions" in extract_materials(gltf_2)[-1] def test_primitive_geometry_meta(self): # Model with primitives s = g.get_mesh("CesiumMilkTruck.glb") # check to see if names are somewhat sane assert set(s.geometry.keys()) == { "Cesium_Milk_Truck", "Cesium_Milk_Truck_1", "Cesium_Milk_Truck_2", "Wheels", } # Assert that primitive geometries are marked as such assert s.geometry["Cesium_Milk_Truck"].metadata["from_gltf_primitive"] assert s.geometry["Cesium_Milk_Truck_1"].metadata["from_gltf_primitive"] assert s.geometry["Cesium_Milk_Truck_2"].metadata["from_gltf_primitive"] # Assert that geometries that are not primitives # are not marked as such assert not s.geometry["Wheels"].metadata["from_gltf_primitive"] # make sure the flags survive being merged m = g.get_mesh("CesiumMilkTruck.glb", merge_primitives=True) # names should be non-insane assert set(m.geometry.keys()) == {"Cesium_Milk_Truck", "Wheels"} assert not s.geometry["Wheels"].metadata["from_gltf_primitive"] assert s.geometry["Cesium_Milk_Truck"].metadata["from_gltf_primitive"] def test_points(self): # test a simple pointcloud export-import cycle points = g.np.arange(30).reshape((-1, 3)) export = g.trimesh.Scene(g.trimesh.PointCloud(points)).export(file_type="glb") validate_glb(export) reloaded = g.trimesh.load(g.trimesh.util.wrap_as_stream(export), file_type="glb") # make sure points survived export and reload assert g.np.allclose(next(iter(reloaded.geometry.values())).vertices, points) def test_bulk(self): # Try exporting every loadable model to GLTF and checking # the generated header against the schema. # strict mode runs a schema header validation assert g.trimesh.tol.strict # check mesh, path, pointcloud exports for root in [g.dir_models, g.os.path.join(g.dir_models, "2D")]: for fn in g.os.listdir(root): path_in = g.os.path.join(root, fn) try: geom = g.trimesh.load(path_in) if isinstance(geom, g.trimesh.path.path.Path): geom = g.trimesh.Scene(geom) except BaseException as E: g.log.debug(E) continue # voxels don't have an export to gltf mode if isinstance(geom, g.trimesh.voxel.VoxelGrid): try: geom.export(file_type="glb") except ValueError: # should have raised so all good continue raise ValueError("voxel was allowed to export wrong GLB!") if hasattr(geom, "vertices") and len(geom.vertices) == 0: continue if hasattr(geom, "geometry") and len(geom.geometry) == 0: continue g.log.info(f"Testing: {fn}") # check a roundtrip which will validate on export # and crash on reload if we've done anything screwey # unitize normals will unitize any normals to comply with # the validator although there are probably reasons you'd # want to roundtrip non-unit normals for things, stuff, and # activities export = geom.export(file_type="glb", unitize_normals=True) validate_glb(export, name=fn) # shouldn't crash on a reload reloaded = g.trimesh.load( file_obj=g.trimesh.util.wrap_as_stream(export), file_type="glb" ) if isinstance(geom, g.trimesh.Trimesh): assert g.np.isclose(geom.area, reloaded.area) # compute some stuff assert isinstance(reloaded.area, float) assert isinstance(reloaded.duplicate_nodes, list) def test_interleaved(self): # do a quick check on a mesh that uses byte stride with open(g.get_path("BoxInterleaved.glb"), "rb") as f: k = g.trimesh.exchange.gltf.load_glb(f) # get the kwargs for the mesh constructor c = k["geometry"]["Mesh"] # should have vertex normals assert c["vertex_normals"].shape == c["vertices"].shape # interleaved vertex normals should all be unit vectors assert g.np.allclose(1.0, g.np.linalg.norm(c["vertex_normals"], axis=1)) # should also load as a box m = g.get_mesh("BoxInterleaved.glb").geometry["Mesh"] assert g.np.isclose(m.volume, 1.0) def test_equal_by_default(self): # all things being equal we shouldn't be moving things # for the usual load-export loop s = g.get_mesh("fuze.obj") # export as GLB then re-load export = s.export(file_type="glb", unitize_normals=True) validate_glb(export) reloaded = g.trimesh.load( g.trimesh.util.wrap_as_stream(export), file_type="glb", process=False ) assert len(reloaded.geometry) == 1 m = next(iter(reloaded.geometry.values())) assert g.np.allclose(m.visual.uv, s.visual.uv) assert g.np.allclose(m.vertices, s.vertices) assert g.np.allclose(m.faces, s.faces) # will run a kdtree check g.texture_equal(s, m) def test_gltf_by_name(self): m = g.trimesh.creation.icosphere() with g.TemporaryDirectory() as d: # export the GLTF file by name file_path = g.os.path.join(d, "hi.gltf") # export the file by path m.export(file_path) # reload the gltf from the file path r = g.trimesh.load(file_path) assert isinstance(r, g.trimesh.Scene) assert len(r.geometry) == 1 assert g.np.isclose(next(iter(r.geometry.values())).volume, m.volume) def test_embed_buffer(self): scene = g.trimesh.Scene( { "thing": g.trimesh.primitives.Sphere(), "other": g.trimesh.creation.capsule(), } ) with g.TemporaryDirectory() as D: path = g.os.path.join(D, "hi.gltf") scene.export(path) # should export with separate buffers assert len(g.os.listdir(D)) > 1 reloaded = g.trimesh.load(path) assert set(reloaded.geometry.keys()) == set(scene.geometry.keys()) with g.TemporaryDirectory() as D: path = g.os.path.join(D, "hi.gltf") scene.export(path, embed_buffers=True) # should export with embedded buffers assert len(g.os.listdir(D)) == 1 reloaded = g.trimesh.load(path) assert set(reloaded.geometry.keys()) == set(scene.geometry.keys()) def test_webp(self): # load textured file mesh = g.get_mesh("fuze.ply") assert hasattr(mesh.visual, "uv") for extension in ["glb"]: export = mesh.export(file_type=extension, extension_webp=True) validate_glb(export) # roundtrip reloaded = g.trimesh.load( g.trimesh.util.wrap_as_stream(export), file_type=extension ) g.scene_equal(g.trimesh.Scene(mesh), reloaded) def test_relative_paths(self): # try with a relative path cwd = g.os.path.abspath(g.os.path.expanduser(".")) with g.TemporaryDirectory() as d: g.os.makedirs(g.os.path.join(d, "fused")) g.os.chdir(d) g.trimesh.creation.box().export("fused/hi.gltf") r = g.trimesh.load("fused/hi.gltf") assert g.np.isclose(r.volume, 1.0) # avoid a windows file-access error g.os.chdir(cwd) with g.TemporaryDirectory() as d: # now try it without changing to that directory full = g.os.path.join(d, "hi", "there", "different", "levels") path = g.os.path.join(full, "hey.gltf") g.os.makedirs(full) g.trimesh.creation.box().export(path) r = g.trimesh.load(path) assert g.np.isclose(r.volume, 1.0) def test_postprocess(self): # check to see if keys we expect exist s = g.get_mesh("cycloidal.3DXML") def post(tree): # should have exported meshes here assert len(tree["meshes"]) == len(s.geometry) # should have buffers assert len(tree["buffers"]) >= 1 # export with a postprocessor s.export(file_type="glb", tree_postprocessor=post) def test_unitize_normals_null_values(self): # Create the mesh mesh = g.trimesh.Trimesh( vertices=[[0, 0, 0], [1, 0, 0], [0, 1, 0], [1, 1, 0], [0, 0, 1], [1, 0, 1]], faces=[[0, 1, 2], [1, 3, 2], [0, 1, 4]], ) # Set the normal of the first vertex to null modified_normals = mesh.vertex_normals.copy() modified_normals[0] = [0, 0, 0] mesh.vertex_normals = modified_normals # Export the mesh export = mesh.export(file_type="glb", unitize_normals=True) reimported_mesh = next( iter( g.trimesh.load( g.trimesh.util.wrap_as_stream(export), file_type="glb" ).geometry.values() ) ) # Check that the normals are still null assert g.np.allclose(reimported_mesh.vertex_normals[0], [0, 0, 0]) def test_no_indices(self): # test mesh with no indices (faces should be generated correctly) mesh = g.get_mesh("no_indices_3storybuilding.glb") assert len(mesh.triangles) == 72 # the mesh is actually mode 5 with 4 vertices # which as triangle strips would be 2 faces mesh = g.get_mesh("Mesh_PrimitiveMode_04.gltf") assert len(mesh.triangles) == 2 if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_gmsh.py000066400000000000000000000020301470574263400167140ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g try: import gmsh except ImportError: gmsh = None class GMSHTest(g.unittest.TestCase): def test_generate(self): # don't test gmsh if not installed if gmsh is None: return # create volume mesh of simple icosahedron m = g.trimesh.creation.icosahedron() result = g.trimesh.interfaces.gmsh.to_volume(m) assert len(result) > 0 def test_load(self): if gmsh is None: return r = g.trimesh.interfaces.gmsh.load_gmsh( g.os.path.join(g.dir_models, "featuretype.STEP") ) assert isinstance(r, dict) assert len(g.trimesh.Trimesh(**r).faces) > 0 def test_to_volume(self): if gmsh is None: return m = g.trimesh.creation.box() r = g.trimesh.interfaces.gmsh.to_volume(mesh=m) assert isinstance(r, bytes) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_graph.py000066400000000000000000000245041470574263400170710ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class GraphTest(g.unittest.TestCase): def setUp(self): self.engines = [] try: self.engines.append("scipy") except BaseException: pass try: self.engines.append("networkx") except BaseException: pass def test_soup(self): # a soup of random triangles, with no adjacent pairs soup = g.get_mesh("soup.stl") assert len(soup.face_adjacency) == 0 assert len(soup.face_adjacency_radius) == 0 assert len(soup.face_adjacency_edges) == 0 assert len(soup.face_adjacency_convex) == 0 assert len(soup.face_adjacency_unshared) == 0 assert len(soup.face_adjacency_angles) == 0 assert len(soup.facets) == 0 def test_components(self): # a soup of random triangles, with no adjacent pairs soup = g.get_mesh("soup.stl") # a mesh with multiple watertight bodies mult = g.get_mesh("cycloidal.ply") # a mesh with a single watertight body sing = g.get_mesh("featuretype.STL") # mesh with a single tetrahedron tet = g.get_mesh("tet.ply") for engine in self.engines: # without requiring watertight the split should be into every face split = soup.split(only_watertight=False, engine=engine) assert len(split) == len(soup.faces) # with watertight there should be an empty list split = soup.split(only_watertight=True, engine=engine) assert len(split) == 0 split = mult.split(only_watertight=False, engine=engine) assert len(split) >= 119 split = mult.split(only_watertight=True, engine=engine) assert len(split) >= 117 # random triangles should have no facets facets = g.trimesh.graph.facets(mesh=soup, engine=engine) assert len(facets) == 0 facets = g.trimesh.graph.facets(mesh=mult, engine=engine) assert all(len(i) >= 2 for i in facets) assert len(facets) >= 8654 split = sing.split(only_watertight=False, engine=engine) assert len(split) == 1 assert split[0].is_watertight assert split[0].is_winding_consistent split = sing.split(only_watertight=True, engine=engine) assert len(split) == 1 assert split[0].is_watertight assert split[0].is_winding_consistent # single tetrahedron assert tet.is_volume assert tet.body_count == 1 # regardless of method or flag we should have one body result split = tet.split(only_watertight=True, engine=engine) assert len(split) == 1 split = tet.split(only_watertight=False, engine=engine) assert len(split) == 1 def test_vertex_adjacency_graph(self): f = g.trimesh.graph.vertex_adjacency_graph # a mesh with a single watertight body sing = g.get_mesh("featuretype.STL") vert_adj_g = f(sing) assert len(sing.vertices) == len(vert_adj_g) def test_engine_time(self): for mesh in g.get_meshes(): tic = [g.time.time()] for engine in self.engines: mesh.split(engine=engine, only_watertight=False) g.trimesh.graph.facets(mesh=mesh, engine=engine) tic.append(g.time.time()) diff = g.np.abs(g.np.diff(tic)) if diff.min() > 0.0: diff /= diff.min() g.log.info( "graph engine on %s (scale %f sec):\n%s", mesh.metadata["file_name"], diff.min(), str(g.np.column_stack((self.engines, diff))), ) def test_smoothed(self): # Make sure smoothing is keeping the same number # of faces. for name in ["ADIS16480.STL", "featuretype.STL"]: mesh = g.get_mesh(name) assert len(mesh.faces) == len(mesh.smooth_shaded.faces) def test_engines(self): edges = g.np.arange(10).reshape((-1, 2)) for i in range(0, 20): check_engines(nodes=g.np.arange(i), edges=edges) edges = g.np.column_stack((g.np.arange(1, 11), g.np.arange(0, 10))) for i in range(0, 20): check_engines(nodes=g.np.arange(i), edges=edges) def test_watertight(self): m = g.get_mesh("shared.STL") # NOQA # assert m.is_watertight # assert m.is_winding_consistent # assert m.is_volume def test_traversals(self): # Test traversals (BFS+DFS) # generate some simple test data simple_nodes = g.np.arange(20) simple_edges = g.np.column_stack((simple_nodes[:-1], simple_nodes[1:])) simple_edges = g.np.vstack( (simple_edges, [[19, 0], [10, 1000], [500, 501]]) ).astype(g.np.int64) all_edges = g.data["edges"] all_edges.append(simple_edges) for edges in all_edges: edges = g.np.array(edges, dtype=g.np.int64) assert g.trimesh.util.is_shape(edges, (-1, 2)) # collect the new nodes nodes = g.np.unique(edges) # the basic BFS/DFS traversal dfs_basic = g.trimesh.graph.traversals(edges, "dfs") bfs_basic = g.trimesh.graph.traversals(edges, "bfs") # check return types assert all(i.dtype == g.np.int64 for i in dfs_basic) assert all(i.dtype == g.np.int64 for i in bfs_basic) # check to make sure traversals visited every node dfs_set = set(g.np.hstack(dfs_basic)) bfs_set = set(g.np.hstack(bfs_basic)) nodes_set = set(nodes) assert dfs_set == nodes_set assert bfs_set == nodes_set # check traversal filling # fill_traversals should always include every edge # regardless of the path so test on bfs/dfs/empty for traversal in [dfs_basic, bfs_basic, []]: # disconnect consecutive nodes that are not edges # and add edges that were left off by jumps dfs = g.trimesh.graph.fill_traversals(traversal, edges) # edges that are included in the new separated traversal inc = g.trimesh.util.vstack_empty( [g.np.column_stack((i[:-1], i[1:])) for i in dfs] ) # make a set from edges included in the traversal inc_set = { i.tobytes() for i in g.trimesh.grouping.hashable_rows(g.np.sort(inc, axis=1)) } # make a set of the source edges we were supposed to include edge_set = { i.tobytes() for i in g.trimesh.grouping.hashable_rows(g.np.sort(edges, axis=1)) } # we should have exactly the same edges # after the filled traversal as we started with assert len(inc) == len(edges) # every edge should occur exactly once assert len(inc_set) == len(inc) # unique edges should be the same assert inc_set == edge_set # check all return dtypes assert all(i.dtype == g.np.int64 for i in dfs) def test_adjacency(self): for add_degen in [False, True]: for name in ["featuretype.STL", "soup.stl"]: m = g.get_mesh(name) if add_degen: # make the first face degenerate m.faces[0][2] = m.faces[0][0] # degenerate faces should be filtered assert g.np.not_equal(*m.face_adjacency.T).all() # check the various paths of calling face adjacency a = g.trimesh.graph.face_adjacency( m.faces.view(g.np.ndarray).copy(), return_edges=False ) b, be = g.trimesh.graph.face_adjacency( m.faces.view(g.np.ndarray).copy(), return_edges=True ) c = g.trimesh.graph.face_adjacency(mesh=m, return_edges=False) c, ce = g.trimesh.graph.face_adjacency(mesh=m, return_edges=True) # make sure they all return the expected result assert g.np.allclose(a, b) assert g.np.allclose(a, c) assert len(be) == len(a) assert len(ce) == len(a) # package properties to loop through zips = zip( m.face_adjacency, m.face_adjacency_edges, m.face_adjacency_unshared ) for a, e, v in zips: # get two adjacenct faces as a set fa = set(m.faces[a[0]]) fb = set(m.faces[a[1]]) # face should be different assert fa != fb # shared edge should be in both faces # removing 2 vertices should leave one da = fa.difference(e) db = fb.difference(e) assert len(da) == 1 assert len(db) == 1 # unshared vertex should be correct assert da.issubset(v) assert db.issubset(v) assert da != db assert len(v) == 2 def check_engines(edges, nodes): """ Make sure connected component graph engines are returning the exact same values """ results = [] engines = [None, "scipy", "networkx"] for engine in engines: c = g.trimesh.graph.connected_components(edges, nodes=nodes, engine=engine) if len(c) > 0: # check to see if every resulting component # was in the passed set of nodes diff = g.np.setdiff1d(g.np.hstack(c), nodes) assert len(diff) == 0 # store the result as a set of tuples so we can compare results.append({tuple(sorted(i)) for i in c}) # make sure different engines are returning the same thing try: assert all(i == results[0] for i in results[1:]) except BaseException as E: g.log.debug(results) raise E if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_grouping.py000066400000000000000000000264611470574263400176260ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class GroupTests(g.unittest.TestCase): def test_unique_rows(self): count = 10000 subset = int(count / 10) # check unique_rows on float data data = g.np.arange(count * 3).reshape((-1, 3)).astype(g.np.float64) data[:subset] = data[0] unique, inverse = g.trimesh.grouping.unique_rows(data) assert (inverse[:subset] == 0).all() assert len(unique) == count - subset + 1 # check the bitbanging path of hashable rows on small integers data = data[:, :2].astype(int) unique, inverse = g.trimesh.grouping.unique_rows(data) assert (inverse[:subset] == 0).all() assert len(unique) == count - subset + 1 def test_blocks(self): """ Blocks are equivalent values next to each other in a 1D array. """ blocks = g.trimesh.grouping.blocks count = 100 subset = int(count / 10) a = g.np.zeros(count, dtype=g.np.int64) result = blocks(a, min_len=0, only_nonzero=False) assert len(result) == 1 assert len(result[0]) == count result = blocks(a, min_len=0, only_nonzero=True) assert len(result) == 0 result = blocks(a, min_len=count + 1, only_nonzero=False) assert len(result) == 0 result = blocks(a, max_len=count - 1, only_nonzero=False) assert len(result) == 0 result = blocks(a, max_len=count + 1, only_nonzero=False) assert len(result) == 1 assert len(result[0]) == count a[:subset] = True result = blocks(a, only_nonzero=False) assert len(result) == 2 assert set(range(subset)) == set(result[0]) assert set(range(subset, count)) == set(result[1]) assert sum(len(i) for i in result) == count result = blocks(a, only_nonzero=True) assert len(result) == 1 assert set(range(subset)) == set(result[0]) assert all(a[i].all() for i in result) a[0] = False result = blocks(a, min_len=1, only_nonzero=True) assert len(result) == 1 assert set(range(1, subset)) == set(result[0]) assert all(a[i].all() for i in result) result = blocks(a, min_len=1, only_nonzero=False) assert len(result) == 3 assert sum(len(i) for i in result) == count a[2] = False result = blocks(a, min_len=1, only_nonzero=True) assert len(result) == 2 assert set(result[0]) == {1} assert all(a[i].all() for i in result) # make sure wrapping works if all values are True arr = g.np.ones(10, dtype=bool) result = blocks(arr, min_len=1, wrap=True, only_nonzero=True) assert len(result) == 1 assert set(result[0]) == set(range(10)) # and all false arr = g.np.zeros(10, dtype=bool) result = blocks(arr, min_len=1, wrap=True, only_nonzero=True) assert len(result) == 0 arr = g.np.zeros(10, dtype=bool) result = blocks(arr, min_len=1, wrap=True, only_nonzero=False) assert len(result) == 1 assert set(result[0]) == set(range(10)) def test_block_wrap(self): """ Test blocks with wrapping """ # save the mouthful blocks = g.trimesh.grouping.blocks # case: both ends are in a block data = g.np.array([1, 1, 0, 0, 1, 1, 1, 1]) kwargs = {"data": data, "min_len": 2, "wrap": True, "only_nonzero": True} r = blocks(**kwargs) # should be one group assert len(r) == 1 # should have every element assert g.np.allclose(r[0], [4, 5, 6, 7, 0, 1]) assert len(r[0]) == data.sum() assert g.np.allclose(data[r[0]], 1) check_roll_wrap(**kwargs) kwargs = {"data": data, "min_len": 1, "wrap": True, "only_nonzero": False} r = blocks(**kwargs) # should be one group assert len(r) == 2 # should have every element check = set() for i in r: check.update(i) assert check == set(range(len(data))) check_roll_wrap(**kwargs) r = blocks(data, min_len=1, wrap=False, only_nonzero=False) assert len(r) == 3 check = set() for i in r: check.update(i) assert check == set(range(len(data))) # CASE: blocks not at the end data = g.np.array([1, 0, 0, 0, 1, 1, 1, 0]) kwargs = {"data": data, "min_len": 1, "wrap": True, "only_nonzero": True} r = blocks(**kwargs) assert len(r) == 2 assert len(r[0]) == 1 assert len(r[1]) == 3 check_roll_wrap(**kwargs) # one block and one eligible but non-block point data = g.np.array([1, 0, 0, 0, 1, 1, 1, 1]) r = blocks(data, min_len=2, wrap=True, only_nonzero=True) assert len(r) == 1 assert g.np.allclose(data[r[0]], 1) # CASE: neither are in a block but together they are eligible data = g.np.array([1, 0, 0, 0, 1]) kwargs = {"data": data, "min_len": 3, "wrap": True, "only_nonzero": True} r = blocks(**kwargs) assert len(r) == 0 check_roll_wrap(**kwargs) kwargs["only_nonzero"] = False r = blocks(**kwargs) assert len(r) == 1 assert g.np.allclose(data[r[0]], 0) check_roll_wrap(**kwargs) kwargs["data"] = g.np.abs(data - 1) # should be the same even inverted rn = blocks(**kwargs) assert len(r) == 1 assert g.np.allclose(r[0], rn[0]) check_roll_wrap(**kwargs) kwargs = {"data": data, "min_len": 2, "wrap": True, "only_nonzero": True} r = blocks(**kwargs) assert len(r) == 1 assert set(r[0]) == {0, 4} check_roll_wrap(**kwargs) def test_runs(self): a = g.np.array( [-1, -1, -1, 0, 0, 1, 1, 2, 0, 3, 3, 4, 4, 5, 5, 6, 6, 7, 7, 8, 8, 9, 9, 9], dtype=g.np.int64, ) r = g.trimesh.grouping.merge_runs(a) u = g.trimesh.grouping.unique_ordered(a) assert (g.np.diff(r) != 0).all() assert (g.np.diff(u) != 0).all() assert r.size == 12 assert u.size == 11 def test_cluster(self): # create some random points stacked with some zeros to cluster points = g.np.vstack( ((g.random((10000, 3)) * 5).astype(g.np.int64), g.np.zeros((100, 3))) ) # should be at least one cluster assert len(g.trimesh.grouping.clusters(points, 0.01)) > 0 # should be at least one group assert len(g.trimesh.grouping.group_distance(points, 0.01)) > 0 def test_unique_float(self): a = g.np.arange(100) / 2.0 t = g.np.tile(a, 2).flatten() unique = g.trimesh.grouping.unique_float(t) assert g.np.allclose(unique, a) unique, index, inverse = g.trimesh.grouping.unique_float( t, return_index=True, return_inverse=True ) assert g.np.allclose(unique[inverse], t) assert g.np.allclose(unique, t[index]) def test_group_rows(self): a = g.np.arange(100) / 2.0 b = g.np.tile(a, 3).reshape((-1, 3)) c = g.np.vstack((b, b)) gr = g.trimesh.grouping.group_rows(c) assert g.np.shape(gr) == (100, 2) assert g.np.allclose(g.np.ptp(c[gr], axis=1), 0.0) gr = g.trimesh.grouping.group_rows(c, require_count=2) assert gr.shape == (100, 2) assert g.np.allclose(g.np.ptp(c[gr], axis=1), 0.0) c = g.np.vstack((c, [1, 2, 3])) gr = g.trimesh.grouping.group_rows(c, require_count=2) grd = g.trimesh.grouping.group_rows(c) # should discard the single element assert gr.shape == (100, 2) # should get the single element correctly assert len(grd) == 101 assert sum(1 for i in grd if len(i) == 2) == 100 assert g.np.allclose(g.np.ptp(c[gr], axis=1), 0.0) def test_group_vector(self): x = g.np.linspace(-100, 100, 100) vec = g.np.column_stack((x, g.np.ones(len(x)), g.np.zeros(len(x)))) vec = g.trimesh.unitize(vec) uv, ui = g.trimesh.grouping.group_vectors(vec) assert g.np.allclose(uv, vec) assert len(vec) == len(ui) assert g.np.allclose(uv[g.np.concatenate(ui)], vec) vec = g.np.vstack((vec, -vec)) uv, ui = g.trimesh.grouping.group_vectors(vec) assert g.np.allclose(uv, vec) assert len(ui) == len(vec) uv, ui = g.trimesh.grouping.group_vectors(vec, include_negative=True) # since we included negative vectors, there should # be half the number of unique vectors and 2 indexes per vector assert g.np.shape(ui) == (100, 2) assert uv.shape == (100, 3) assert g.np.allclose(uv, vec[:100]) def test_boolean_rows(self): a = g.np.arange(10).reshape((-1, 2)) b = g.np.arange(10).reshape((-1, 2)) + 8 # make one a different dtype b = b.astype(g.np.int32) # should have one overlapping row intersection = g.trimesh.grouping.boolean_rows(a, b, g.np.intersect1d) assert g.np.allclose(intersection.ravel(), [8, 9]) diff = g.trimesh.grouping.boolean_rows(a, b, g.np.setdiff1d) assert g.np.allclose(g.np.unique(diff), g.np.arange(8)) def test_broken(self): # create a broken mesh referencing # vertices that don't exist mesh = g.trimesh.Trimesh(vertices=[], faces=[[0, 1, 2]]) # shouldn't error because there are no vertices # even though faces are wrong mesh.merge_vertices() def test_unique_ordered(self): a = g.np.array( [9, 9, 9, 8, 8, 7, 7, 6, 6, 5, 5, 4, 4, 3, 3, 0, 2, 1, 1, 0, 0, -1, -1, -1], dtype=g.np.int64, ) u, ind, inv = g.trimesh.grouping.unique_ordered( a, return_index=True, return_inverse=True ) # indices are increasing, because we kept original order assert (g.np.diff(ind) > 0).all() # we can reconstruct original data assert (u[inv] == a).all() def test_unique_ordered_rows(self): # check the ordering of unique_rows v = g.random((100000, 3)) v = g.np.vstack((v, v, v, v)) # index, inverse i, iv = g.trimesh.grouping.unique_rows(v, keep_order=True) # get the unique values from the index u = v[i] # inverse of uniques should equal original array assert g.np.allclose(u[iv], v) # unique_ordered means indexes are in order assert (i == g.np.sort(i)).all() def check_roll_wrap(**kwargs): """ Check that blocks with wrapping enables returns the same value for all values of roll. Parameters ------------ kwargs : dict Passed to trimesh.grouping.blocks """ current = None # remove data from passed kwargs data = kwargs.pop("data") for i in range(len(data)): block = g.trimesh.grouping.blocks(g.np.roll(data, -i), **kwargs) # get result as a set of tuples with the rolling index # removed through a modulus, so we can compare equality check = {tuple(((j + i) % len(data)).tolist()) for j in block} if current is None: current = check # all values should be the same assert current == check if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_html.py000066400000000000000000000015261470574263400167330ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class ViewTest(g.unittest.TestCase): def test_JSHTML(self): import trimesh.viewer.notebook as js m = g.get_mesh("featuretype.STL") s = m.scene() # a viewable scene html = js.scene_to_html(s) assert len(html) > 0 # check it out as an LXML document from lxml.html import fromstring h = fromstring(html) # should have some children children = list(h.body.iterchildren()) assert len(children) >= 2 def test_inNB(self): import trimesh.viewer.notebook as js # should only return True inside # jypyter/IPython notebooks assert not js.in_notebook() if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_identifier.py000066400000000000000000000107351470574263400201130ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class IdentifierTest(g.unittest.TestCase): def test_identifier(self, count=25): meshes = g.np.append( list(g.get_meshes(only_watertight=True, split=True, min_volume=0.001)), g.get_mesh("fixed_top.ply"), ) for mesh in meshes: if not mesh.is_volume or mesh.body_count != 1: g.log.warning("Mesh %s is not watertight!", mesh.metadata["file_name"]) continue g.log.info("Trying hash at %d random transforms", count) hashed = [] identifier = [] for transform in g.random_transforms(count): permutated = mesh.copy().apply_transform(transform) hashed.append(permutated.identifier_hash) identifier.append(permutated.identifier) result = g.np.array(hashed) ok = (result[0] == result[1:]).all() if not ok: ptp = g.np.ptp(identifier, axis=0) g.log.error( "Hashes on %s differ after transform:\n %s\n", mesh.metadata["file_name"], str(ptp), ) raise ValueError("values differ after transform!") # stretch the mesh by a small amount stretched = mesh.copy().apply_scale([0.99974507, 0.9995662, 1.0029832]) if hashed[-1] == stretched.identifier_hash: raise ValueError( "Hashes on %s didn't change after stretching", mesh.metadata["file_name"], ) def test_scene_id(self): """ A scene has a nicely constructed transform tree, so make sure transforming meshes around it doesn't change the nuts of their identifier hash. """ scenes = [g.get_mesh("cycloidal.3DXML")] for s in scenes: for geom_name, mesh in s.geometry.items(): meshes = [] if not mesh.is_volume: continue for node in s.graph.nodes_geometry: T, geo = s.graph[node] if geom_name != geo: continue m = mesh.copy() m.apply_transform(T) meshes.append(m) if not all( meshes[0].identifier_hash == i.identifier_hash for i in meshes ): raise ValueError(f"{geom_name} differs after transform!") # check an example for a mirrored part assert ( scenes[0].geometry["disc_cam_B"].identifier_hash != scenes[0].geometry["disc_cam_A"].identifier_hash ) def test_reflection(self): # identifier should detect mirroring a = g.get_mesh("featuretype.STL") b = a.copy() b.vertices[:, 2] *= -1.0 b.invert() assert g.np.isclose(a.volume, b.volume) # hash should differ assert a.identifier_hash != b.identifier_hash # a mesh which is quite sensitive to mirroring a = g.get_mesh("mirror.ply") b = a.copy() b.vertices[:, 2] *= -1.0 b.invert() assert g.np.isclose(a.volume, b.volume) # hash should differ assert a.identifier_hash != b.identifier_hash def test_duplicates(self): def clean_name(name): return name.split("_", 1)[0].split("#", 1)[0] # a scene with instances s = g.get_mesh("cycloidal.3DXML") # a flat scene dump d = g.trimesh.Scene(s.dump()) # should have the same number of geometry nodes assert len(s.graph.nodes_geometry) == len(d.graph.nodes_geometry) # uses the identifier to calculate a = s.duplicate_nodes b = d.duplicate_nodes # should be the same in both forms assert len(a) == len(b) a_set = {tuple(sorted([clean_name(i) for i in group])) for group in a} b_set = {tuple(sorted([clean_name(i) for i in group])) for group in b} assert a_set == b_set ptp = [] for group in b: current = [] for node in group: _, geom = d.graph[node] current.append(d.geometry[geom].identifier) ptp.append(g.np.ptp(current, axis=0)) assert (ptp[-1] < 0.01).all() if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_import.py000066400000000000000000000013631470574263400173000ustar00rootroot00000000000000""" test_import.py ------------------- Make sure trimesh is importing right. """ import unittest class ImportTests(unittest.TestCase): def test_path(self): import os # make sure trimesh imports without any environment variables # this was failing on `PATH` at some point keys = list(os.environ.keys()) path = {k: os.environ.pop(k) for k in keys} # this should succeed with nothing in PATH import trimesh # not sure if this is necessary but put back removed values for key, value in path.items(): os.environ[key] = value # do a very basic operation assert trimesh.creation.icosphere().is_volume if __name__ == "__main__": unittest.main() trimesh-4.5.1/tests/test_inertia.py000066400000000000000000000375151470574263400174310ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g # tetToTris extracts outward facing triangles # of a tetrahedron given in this order # 1 # / | \ # 0-----2 # \ | / # 3 triIdxs = g.np.ravel([[2, 1, 0], [3, 0, 1], [3, 2, 0], [3, 1, 2]]) def tetToTris(tet): return g.np.reshape(tet[triIdxs], (-1, 3)) class InertiaTest(g.unittest.TestCase): def test_inertia(self): t0 = g.np.array( [ [-0.419575686853, -0.898655215203, -0.127965023308, 0.0], [0.712589964872, -0.413418145015, 0.566834172697, 0.0], [-0.562291548012, 0.146643245877, 0.813832890385, 0.0], [0.0, 0.0, 0.0, 1.0], ] ) t1 = g.np.array( [ [0.343159553585, 0.624765521319, -0.701362648103, 0.0], [0.509982849005, -0.750986657709, -0.419447891476, 0.0], [-0.788770571525, -0.213745370274, -0.57632794673, 0.0], [0.0, 0.0, 0.0, 1.0], ] ) # make sure our transformations are actually still transformations assert g.np.abs(g.np.dot(t0, t0.T) - g.np.eye(4)).max() < 1e-10 assert g.np.abs(g.np.dot(t1, t1.T) - g.np.eye(4)).max() < 1e-10 c = g.trimesh.primitives.Cylinder( height=10, radius=1, sections=720, transform=t0, # number of slices ) c0m = c.moment_inertia.copy() c0 = g.trimesh.inertia.cylinder_inertia( c.volume, c.primitive.radius, c.primitive.height, c.primitive.transform ) ct = g.np.abs((c0m / c0) - 1) # we are comparing an inertia tensor from a mesh of a cylinder # to an inertia tensor from an actual cylinder, so allow for some # discretization uncertainty assert ct.max() < 1e-3 # check our principal axis calculation against this cylinder # the direction (long axis) of the cylinder should correspond to # the smallest principal component of inertia, AKA rotation along # the axis, rather than the other two which are perpendicular components, vectors = g.trimesh.inertia.principal_axis(c.moment_inertia) # inferred cylinder axis inferred = vectors[components.argmin()] # inferred cylinder axis should be close to actual cylinder axis axis_test = g.np.allclose(g.np.abs(inferred), g.np.abs(c.direction)) assert axis_test # make sure Trimesh attribute is plumbed correctly assert g.np.allclose(c.principal_inertia_components, components) assert g.np.allclose(c.principal_inertia_vectors, vectors) # the other two axis of the cylinder should be identical assert g.np.abs(g.np.diff(g.np.sort(components)[-2:])).max() < 1e-8 m = g.get_mesh("featuretype.STL") i0 = m.moment_inertia.copy() # rotate the moment of inertia i1 = g.trimesh.inertia.transform_inertia(transform=t0, inertia_tensor=i0) # rotate the mesh m.apply_transform(t0) # check to see if the rotated mesh + recomputed moment of inertia # is close to the rotated moment of inertia tf_test = g.np.abs((m.moment_inertia / i1) - 1) assert tf_test.max() < 1e-6 # do it again with another transform i2 = g.trimesh.inertia.transform_inertia(transform=t1, inertia_tensor=i1) m.apply_transform(t1) tf_test = g.np.abs((m.moment_inertia / i2) - 1) assert tf_test.max() < 1e-6 def test_primitives(self): primitives = [ g.trimesh.primitives.Cylinder(height=5), g.trimesh.primitives.Box(), g.trimesh.primitives.Sphere(radius=1.23), ] for p in primitives: for _i in range(100): # check to make sure the analytic inertia tensors are relatively # close to the meshed inertia tensor (order of magnitude and # sign) b = p.to_mesh() comparison = g.np.abs(p.moment_inertia - b.moment_inertia) c_max = comparison.max() / g.np.abs(p.moment_inertia).max() assert c_max < 0.1 if hasattr(p.primitive, "transform"): matrix = g.trimesh.transformations.random_rotation_matrix() p.primitive.transform = matrix elif hasattr(p.primitive, "center"): p.primitive.center = g.random(3) def test_tetrahedron(self): # Based on the 'numerical example' of the paper: # Explicit Exact Formulas for the 3-D Tetrahedron Inertia Tensor # in Terms of its Vertex Coordinates, [F. Tonon, 2004] # http://thescipub.com/pdf/jmssp.2005.8.11.pdf # set up given vertices vertices = g.np.float32( [ [8.3322, -11.86875, 0.93355], [0.75523, 5.0, 16.37072], [52.61236, 5.0, -5.3858], [2.0, 5.0, 3.0], ] ) # set up a simple trimesh tetrahedron tris = tetToTris(g.np.int32([0, 1, 2, 3])) tm_tet = g.trimesh.Trimesh(vertices, tris) # 'ground truth' values from the paper # however, there are some minor flaws # a small deviation in the last decimal of the mass-centers' x: CM_gt = g.np.float32([15.92492, 0.78281, 3.72962]) # moment of inertia values a_mi, b_mi, c_mi = [43520.33257, 194711.28938, 191168.76173] # principle inertia values a_pi, b_pi, c_pi = [4417.6615, -46343.16662, 11996.20119] # NOTE: I guess there is a mistake in the paper # b' (Eq. 9e) computes from x and z values # c' (Eq. 9f) computes from x and y values # therefore the given matrix E_Q (Eq. 2) is not correct # b' and c' need to be swapped like this: MI_gt = g.np.float32( [[a_mi, -c_pi, -b_pi], [-c_pi, b_mi, -a_pi], [-b_pi, -a_pi, c_mi]] ) # check center of mass assert g.np.allclose(CM_gt, tm_tet.center_mass) # check moment of inertia tensor assert g.np.allclose(MI_gt, tm_tet.moment_inertia) def test_cube_with_tetras(self): # set up a unit cube, vertices in this order: # 1-----2 # /| /| # 0-+---3 | # | 5---+-6 # |/ |/ # 4-----7 vertices = ( g.np.float32( [ [-1, -1, 1], [-1, 1, 1], [1, 1, 1], [1, -1, 1], [-1, -1, -1], [-1, 1, -1], [1, 1, -1], [1, -1, -1], ] ) * 0.5 ) # 6 quad faces for the cube quads = g.np.int32( [ [3, 2, 1, 0], [0, 1, 5, 4], [1, 2, 6, 5], [2, 3, 7, 6], [3, 0, 4, 7], [4, 5, 6, 7], ] ) # set up two different tetraherdalizations of a cube # using 5 tets (1 in the middle and 4 around) tetsA = g.np.int32( [[0, 1, 3, 4], [1, 2, 3, 6], [1, 4, 5, 6], [3, 4, 6, 7], [1, 3, 4, 6]] ) # using 6 sets (around the cube diagonal) tetsB = g.np.int32( [ [0, 1, 2, 6], [0, 1, 6, 5], [0, 4, 5, 6], [0, 4, 6, 7], [0, 3, 7, 6], [0, 2, 3, 6], ] ) # create a trimesh cube from vertices and faces tm_cube = g.trimesh.Trimesh(vertices, quads) # https://en.wikipedia.org/wiki/List_of_moments_of_inertia # ground truth for a unit cube with side length s = mass m = 1 # I = 1/6 * m * s^2 MI_gt = g.np.eye(3) / 6 assert g.np.allclose(MI_gt, tm_cube.moment_inertia) # compare both tetrahedralizations # should be equivalent to each other and to the cube for tets in [tetsA, tetsB]: # create trimesh tets from vertices and triangles tm_tets = [g.trimesh.Trimesh(vertices, tetToTris(t)) for t in tets] # get mass, center of mass, and moment of inertia for each tet Ms = [tm_tet.mass for tm_tet in tm_tets] CMs = [tm_tet.center_mass for tm_tet in tm_tets] MIs = [tm_tet.moment_inertia for tm_tet in tm_tets] # compute total mass and center of mass mass = g.np.sum(Ms) center_mass = g.np.dot(Ms, CMs) # compare with unit cube assert g.np.abs(tm_cube.mass - mass) < 1e-6 assert g.np.allclose(tm_cube.center_mass, center_mass) # the moment of inertia tensors for the individual tetrahedra # have to be re-assembled, using the parallel-axis-theorem # https://en.wikipedia.org/wiki/Parallel_axis_theorem#Tensor_generalization E = g.np.eye(3) MI = g.np.zeros((3, 3), g.np.float32) for i in range(len(tm_tets)): R = CMs[i] - center_mass MI += MIs[i] + Ms[i] * (g.np.dot(R, R) * E - g.np.outer(R, R)) assert g.np.allclose(MI_gt, MI) def test_frame_inertia_box(self): # set up a rectangular cuboid, vertices as visible below. # The edges have the lengths 1,2 and 3 # ^ x0, x2 # y2 ^ / b # | 1-----------2 # |/| /| # 0-+---------3-+----> y0, x1, z2 # /| | | | # / | | | | # y1 v | | | |h # | | | | # | | | | # | 5---------+-6 # |/ |/ d # 4-----------7 # | # v z0, z1 h = 3 b = 2 d = 1 # definition in frame 0 vertices = g.np.float32( [ [0, 0, 0], [d, 0, 0], [d, b, 0], [0, b, 0], [0, 0, h], [d, 0, h], [d, b, h], [0, b, h], ] ) # 6 quad faces for the cube quads = g.np.int32( [ [3, 2, 1, 0], [0, 1, 5, 4], [1, 2, 6, 5], [2, 3, 7, 6], [3, 0, 4, 7], [4, 5, 6, 7], ] ) # create a trimesh cube from vertices and faces tm_cube = g.trimesh.Trimesh(vertices, quads) # set density of 1 and calculate mass tm_cube.density = 1 mass = tm_cube.density * h * b * d assert tm_cube.mass == mass def parallel_axis_theorem(inertia, mass, a1, a2, a3): """ Apply parallel axis theorem Parameters ------------ inertia: (3,3) float inertia tensor around centre of mass mass : float a1, a2, a3: float difference between desired rotation center and center of mass in x,y,z Returns ----------- rotated_inertia : (3,3) float Inertia tensor """ # copy from wikipedia return inertia + mass * g.np.array( [ [a2**2 + a3**2, -a1 * a2, -a1 * a3], [-a1 * a2, a1**2 + a3**2, -a2 * a3], [-a1 * a3, -a2 * a3, a1**2 + a2**2], ] ) # CHECK FRAME 0 # analytical calculations of inertia tensor by hand inertia0 = ( 0.083333333333 * mass * g.np.diag([h**2 + b**2, h**2 + d**2, b**2 + d**2]) ) a1 = -0.5 * d a2 = -0.5 * b a3 = -0.5 * h inertia0 = parallel_axis_theorem(inertia0, mass, a1, a2, a3) # transformation from mesh base frame to frame 0 t0 = g.np.eye(4) assert g.np.allclose(tm_cube.moment_inertia_frame(t0), inertia0) # CHECK FRAME 1 # analytical calculations of inertia tensor by hand inertia1 = ( 0.083333333333 * mass * g.np.diag([h**2 + d**2, h**2 + b**2, b**2 + d**2]) ) a1 = -0.5 * b a2 = 0.5 * d a3 = -0.5 * h inertia1 = parallel_axis_theorem(inertia1, mass, a1, a2, a3) # transformation from mesh base frame to frame 1 # rotation of 90 deg around z-Axis t1 = g.trimesh.transformations.rotation_matrix( g.np.pi * 0.5, [0, 0, 1], [0, 0, 0] ) assert g.np.allclose(tm_cube.moment_inertia_frame(t1), inertia1) # CHECK FRAME 2 # analytical calculations of inertia tensor by hand inertia2 = ( 0.083333333333 * mass * g.np.diag([h**2 + b**2, b**2 + d**2, h**2 + d**2]) ) a1 = -0.5 * d a2 = 0.5 * h a3 = -0.5 * b inertia2 = parallel_axis_theorem(inertia2, mass, a1, a2, a3) # transformation from mesh base frame to frame 2 # rotation of -90 deg around x-Axis t2 = g.trimesh.transformations.rotation_matrix( -g.np.pi * 0.5, [1, 0, 0], [0, 0, 0] ) assert g.np.allclose(tm_cube.moment_inertia_frame(t2), inertia2) def test_scene(self): # check our transforming of inertia matrices using the # parallel axis theorum by checking the inertia of a scene # with multiple instances transformed all over the scene # in two ways: by dumping it into a single mesh and then # running the heavily validated surface integral method, # and also running our "transform every matrix" logic # contained in `trimesh.inertia.scene_inertia` # scene with instancing s = g.get_mesh("cycloidal.3DXML") s._cache.clear() with g.Profiler() as P: ms = s.to_mesh() total_dump = ms.moment_inertia g.log.debug(P.output_text()) # while we're at it check to make sure our composed # center mass, volume, and area calcs are all working assert g.np.allclose(s.center_mass, ms.center_mass) # dumped inertia should be the same as transformed inertia assert g.np.allclose(s.moment_inertia, ms.moment_inertia) assert g.np.allclose(s.volume, ms.volume) assert g.np.allclose(s.area, ms.area) # that produced the moment of inertia around the center of mass # of the scene, so for the `moment_inertia_frame` calculation # compare against that transform = g.tf.translation_matrix(ms.center_mass) s._cache.clear() with g.Profiler() as P: total_scene = g.trimesh.inertia.scene_inertia(s, transform=transform) g.log.debug(P.output_text()) # compare the two calculation methods by percent diff = g.np.abs((total_dump - total_scene) / total_dump) assert diff.shape == (3, 3) # the two methods should return essentially identical results assert g.np.abs(diff).max() < 1e-3 class MassTests(g.unittest.TestCase): def setUp(self): # inertia numbers pulled from solidworks self.truth = g.data["mass_properties"] self.meshes = {} for data in self.truth: filename = data["filename"] self.meshes[filename] = g.get_mesh(filename) def test_mass(self): for truth in self.truth: mesh = self.meshes[truth["filename"]] calc = g.trimesh.triangles.mass_properties( triangles=mesh.triangles, density=truth["density"], skip_inertia=False ) for key in truth.keys(): if key == "area": assert g.np.isclose(mesh.area, truth[key], atol=1e-2) elif key in dir(calc): assert g.np.allclose(calc[key], truth[key], atol=1e-2) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_integralmeancurvature.py000066400000000000000000000030371470574263400223750ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class IntegralMeanCurvatureTest(g.unittest.TestCase): def test_IMCsphere(self): # how close do we need to be - relative tolerance tol = 1e-3 for radius in [0.1, 1.0, 3.1459, 29.20]: m = g.trimesh.creation.icosphere(subdivisions=4, radius=radius) IMC = m.integral_mean_curvature ref = 4 * g.np.pi * radius assert g.np.isclose(IMC, ref, rtol=tol) def test_IMCcapsule(self): # how close do we need to be - relative tolerance tol = 1e-3 radius = 1.2 for aspect_ratio in [0.0, 0.5, 1.0, 4.0, 100]: L = aspect_ratio * radius m = g.trimesh.creation.capsule(height=L, radius=radius, count=[64, 64]) IMC = m.integral_mean_curvature ref = g.np.pi * (L + 4 * radius) assert g.np.isclose(IMC, ref, rtol=tol) def test_IMCbox(self): # how close do we need to be - relative tolerance tol = 1e-3 n_tests = 4 extents = 1 - g.random((n_tests, 3)) for extent in extents: m = g.trimesh.creation.box(extents=extent) IMC = m.integral_mean_curvature # only the right angle (=pi/2) edges contribute, # edges that lie on the faces of the box do not ref = 4 * extent.sum() * g.np.pi / 2 * 0.5 assert g.np.isclose(IMC, ref, rtol=tol) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_interval.py000066400000000000000000000031011470574263400176020ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class IntervalTest(g.unittest.TestCase): def test_intersection(self): pairs = g.np.array( [ [[0, 1], [1, 2]], [[1, 0], [1, 2]], [[0, 0], [0, 0]], [[10, 20], [9, 21]], [[5, 15], [7, 10]], [[5, 10], [10, 9]], [[0, 1], [0.9, 10]], [[1000, 1001], [2000, 2001]], ], dtype=g.np.float64, ) # true intersection ranges truth = g.np.array( [ [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [10, 20], [7, 10], [9, 10], [0.9, 1.0], [0, 0], ], dtype=g.np.float64, ) intersection = g.trimesh.interval.intersection union = g.trimesh.interval.union # check the single- interval results for ab, tru in zip(pairs, truth): result = intersection(*ab) assert g.np.allclose(result, tru) # check the vectorized multiple interval results inter = intersection(pairs[:, 0, :], pairs[:, 1, :]) assert g.np.allclose(truth, inter) # now just run a union on these for the fun of it u = union(pairs.reshape((-1, 2))) assert g.np.allclose(u, [[0.0, 21.0], [1000.0, 1001.0], [2000.0, 2001.0]]) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_light.py000066400000000000000000000014061470574263400170730ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class LightTests(g.unittest.TestCase): def test_basic(self): for light_class in [ g.trimesh.scene.lighting.DirectionalLight, g.trimesh.scene.lighting.PointLight, g.trimesh.scene.lighting.SpotLight, ]: light = light_class() assert isinstance(light.intensity, float) assert light.color.shape == (4,) assert light.color.dtype == g.np.uint8 def test_scene(self): s = g.get_mesh("duck.dae") assert len(s.lights) > 0 assert isinstance(s.camera, g.trimesh.scene.cameras.Camera) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_loaded.py000066400000000000000000000040061470574263400172130ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class LoaderTest(g.unittest.TestCase): def test_remote(self): """ Try loading a remote mesh using requests """ # get a unit cube from localhost with g.serve_meshes() as address: mesh = g.trimesh.exchange.load.load_remote(url=address + "/unit_cube.STL") assert g.np.isclose(mesh.volume, 1.0) assert isinstance(mesh, g.trimesh.Trimesh) def test_stl(self): model = g.get_mesh("empty.stl") assert model.is_empty def test_meshio(self): try: import meshio # NOQA except BaseException: return # if meshio is importable we should be able to load this m = g.get_mesh("insulated.msh") assert len(m.faces) > 0 assert m.area > 1e-5 def test_fileobj(self): # make sure we don't close file objects that were passed # check load_mesh file_obj = open(g.os.path.join(g.dir_models, "featuretype.STL"), "rb") assert not file_obj.closed mesh = g.trimesh.load(file_obj=file_obj, file_type="stl") # should have actually loaded the mesh assert len(mesh.faces) == 3476 # should not close the file object assert not file_obj.closed # clean up file_obj.close() # check load_path file_obj = open(g.os.path.join(g.dir_models, "2D", "wrench.dxf"), "rb") assert not file_obj.closed path = g.trimesh.load(file_obj=file_obj, file_type="dxf") assert g.np.isclose(path.area, 1.667, atol=1e-2) # should have actually loaded the path # should not close the file object assert not file_obj.closed # clean up file_obj.close() def test_load_bz2(self): mesh = g.trimesh.load(g.os.path.join(g.dir_models, "rock.obj.bz2"), force="mesh") assert mesh.is_volume if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_medial.py000066400000000000000000000020751470574263400172220ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class MedialTests(g.unittest.TestCase): def test_medial(self): p = g.get_mesh("2D/wrench.dxf") assert p.is_closed assert len(p.polygons_full) == 1 poly = p.polygons_full[0] medial = p.medial_axis() points = medial.vertices.view(g.np.ndarray) assert all(poly.contains(g.Point(v)) for v in points) # circles are a special case for medial axis poly = g.Point([0, 0]).buffer(1.0) # construct a Path2D from the polygon medial axis med = g.trimesh.path.Path2D( **g.trimesh.path.exchange.misc.edges_to_path( *g.trimesh.path.polygons.medial_axis(poly) ) ) # should have returned a single tiny line # with midpoint at origin assert len(med.vertices) == 2 assert len(med.entities) == 1 assert float(g.np.ptp(med.vertices.mean(axis=0))) < 1e-8 if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_merge.py000066400000000000000000000030311470574263400170570ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class MargeTest(g.unittest.TestCase): def test_cube(self): """ Test PointCloud object """ m = g.trimesh.creation.box() assert m.vertices.shape == (8, 3) assert m.is_volume assert m.euler_number == 2 # stack a bunch of unreferenced vertices m.vertices = g.np.vstack((m.vertices, g.random((10000, 3)))) assert m.euler_number == 2 assert m.vertices.shape == (10008, 3) assert m.referenced_vertices.sum() == 8 copied = m.copy() # should remove unreferenced vertices m.merge_vertices() assert len(m.vertices) == 8 assert m.is_volume assert m.euler_number == 2 assert m.referenced_vertices.sum() == 8 m.update_vertices(m.referenced_vertices) assert len(m.vertices) == 8 assert m.is_volume assert m.euler_number == 2 assert m.referenced_vertices.sum() == 8 # check the copy with an int mask and see if inverse is created assert copied.referenced_vertices.sum() == 8 assert copied.vertices.shape == (10008, 3) mask = g.np.nonzero(copied.referenced_vertices)[0] copied.update_vertices(mask) assert len(copied.vertices) == 8 assert copied.is_volume assert copied.euler_number == 2 assert copied.referenced_vertices.sum() == 8 if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_mesh.py000066400000000000000000000147011470574263400167220ustar00rootroot00000000000000""" Load all the meshes we can get our hands on and check things, stuff. """ try: from . import generic as g except BaseException: import generic as g class MeshTests(g.unittest.TestCase): def test_meshes(self): # make sure we can load everything we think we can formats = g.trimesh.available_formats() assert all(isinstance(i, str) for i in formats) assert all(len(i) > 0 for i in formats) assert all(i in formats for i in ["stl", "ply", "off", "obj"]) for mesh in g.get_meshes(raise_error=True): # log file name for debugging file_name = mesh.metadata["file_name"] # ply files can return PointCloud objects if file_name.startswith("points_"): continue g.log.info("Testing %s", file_name) start = {mesh.__hash__(), mesh.__hash__()} assert len(mesh.faces) > 0 assert len(mesh.vertices) > 0 # make sure vertex normals match vertices and are valid assert mesh.vertex_normals.shape == mesh.vertices.shape assert g.np.isfinite(mesh.vertex_normals).all() # should be one per vertex assert len(mesh.vertex_faces) == len(mesh.vertices) # check some edge properties assert len(mesh.edges) > 0 assert len(mesh.edges_unique) > 0 assert len(mesh.edges_sorted) == len(mesh.edges) assert len(mesh.edges_face) == len(mesh.edges) # check edges_unique assert len(mesh.edges) == len(mesh.edges_unique_inverse) assert g.np.allclose( mesh.edges_sorted, mesh.edges_unique[mesh.edges_unique_inverse] ) assert len(mesh.edges_unique) == len(mesh.edges_unique_length) # euler number should be an integer assert isinstance(mesh.euler_number, int) # check bounding primitives assert mesh.bounding_box.volume > 0.0 assert mesh.bounding_primitive.volume > 0.0 # none of these should have mutated anything assert start == {mesh.__hash__(), mesh.__hash__()} # run processing, again mesh.process() # still shouldn't have changed anything assert start == {mesh.__hash__(), mesh.__hash__()} if not (mesh.is_watertight and mesh.is_winding_consistent): continue assert len(mesh.facets) == len(mesh.facets_area) assert len(mesh.facets) == len(mesh.facets_normal) assert len(mesh.facets) == len(mesh.facets_boundary) if len(mesh.facets) != 0: faces = mesh.facets[mesh.facets_area.argmax()] outline = mesh.outline(faces) # check to make sure we can generate closed paths # on a Path3D object test = outline.paths # NOQA smoothed = mesh.smooth_shaded # NOQA assert abs(mesh.volume) > 0.0 mesh.section(plane_normal=[0, 0, 1], plane_origin=mesh.centroid) sample = mesh.sample(1000) even_sample = g.trimesh.sample.sample_surface_even(mesh, 100) # NOQA assert sample.shape == (1000, 3) g.log.info("finished testing meshes") # make sure vertex kdtree and triangles rtree exist t = mesh.kdtree assert hasattr(t, "query") g.log.info("Creating triangles tree") r = mesh.triangles_tree assert hasattr(r, "intersection") g.log.info("Triangles tree ok") # face angles should have same assert mesh.face_angles.shape == mesh.faces.shape assert len(mesh.vertices) == len(mesh.vertex_defects) assert len(mesh.principal_inertia_components) == 3 # make a ray query which may lead to unpicklable caching dimension = (100, 3) ray_origins = g.random(dimension) ray_directions = g.np.tile([0, 0, 1], (dimension[0], 1)) ray_origins[:, 2] = mesh.bounds[0][2] - mesh.scale # call additional C objects assert mesh.kdtree is not None assert mesh.triangles_tree is not None # force ray object to be created ray = mesh.ray.intersects_location(ray_origins, ray_directions) assert ray is not None # collect list of cached properties that are writeable writeable = [] # make sure a roundtrip pickle works # if the cache has non-pickleable stuff this will break pickle = g.pickle.dumps(mesh) assert isinstance(pickle, bytes) assert len(pickle) > 0 r = g.pickle.loads(pickle) assert r.faces.shape == mesh.faces.shape assert g.np.isclose(r.volume, mesh.volume) # we should have built up a bunch of stuff into # our cache, so make sure all numpy arrays cached # are read-only and not crazy for name, cached in mesh._cache.cache.items(): # only check numpy arrays if not isinstance(cached, g.np.ndarray): continue # nothing in the cache should be writeable if cached.flags["WRITEABLE"]: raise ValueError(f"{name} is writeable!") # only check int, float, and bool if cached.dtype.kind not in "ibf": continue # there should never be NaN values if g.np.isnan(cached).any(): raise ValueError("NaN values in %s/%s", file_name, name) # fields allowed to have infinite values if name in ["face_adjacency_radius"]: continue # make sure everything is finite if not g.np.isfinite(cached).all(): raise ValueError("inf values in %s/%s", file_name, name) # ...still shouldn't have changed anything assert start == {mesh.__hash__(), mesh.__hash__()} # log the names of properties we need to make read-only if len(writeable) > 0: # TODO : all cached values should be read-only g.log.error( "cached properties writeable: {}".format(", ".join(writeable)) ) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_meta.py000066400000000000000000000051211470574263400167100ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class MetaTest(g.unittest.TestCase): def test_glb(self): # check to see if both `Scene.metadata` and # `Scene.geometry._.metadata` is preserved # create an example scene s = g.trimesh.Scene( [ g.trimesh.creation.box().permutate.transform(), g.trimesh.creation.box().permutate.transform(), g.trimesh.creation.box().permutate.transform(), ] ) # add some basic metadata s.metadata["hi"] = True s.metadata["10"] = "it's true!" for m in s.geometry.values(): # create some random metadata for each mesh # note that JSON doesn't support integers as keys # so convert integers to strings for comparison m.metadata.update( g.np.random.randint(0, 1000, 10).reshape((-1, 2)).astype(str) ) # reload the exported scene r = g.trimesh.load( file_obj=g.trimesh.util.wrap_as_stream(s.export(file_type="glb")), file_type="glb", ) # all scene metadata should have survived export-import cycle assert r.metadata == s.metadata # all geometry should have the same names assert set(r.geometry.keys()) == set(s.geometry.keys()) for k, a in s.geometry.items(): # `a` is the original mesh # `b` is the same mesh after export-import b = r.geometry[k] # the original metadata should have all survived # the exporter is allowed to add additional keys assert set(b.metadata.keys()).issuperset(a.metadata.keys()) # every original value must match exactly assert all(b.metadata[k] == v for k, v in a.metadata.items()) def test_svg(self): p = g.get_mesh("2D/1002_tray_bottom.DXF") assert len(p.layers) == len(p.entities) assert all(e.layer == "0" for e in p.entities) assert all(L == "0" for L in p.layers) r = g.trimesh.load( file_obj=g.trimesh.util.wrap_as_stream(p.export(file_type="svg")), file_type="svg", ) # make sure we didn't stomp on original assert all(e.layer == "0" for e in p.entities) assert all(e.layer == "0" for e in r.entities) assert all(i == j for i, j in zip(p.layers, r.layers)) assert p.metadata == r.metadata assert len(p.metadata) > 0 if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_minimal.py000066400000000000000000000065111470574263400174140ustar00rootroot00000000000000""" test_minimal.py -------------- Test things that should work with a *minimal* trimesh install. """ import os import unittest import numpy as np import trimesh # the path of the current directory _pwd = os.path.dirname(os.path.abspath(os.path.expanduser(__file__))) # the absolute path for our reference models _mwd = os.path.abspath(os.path.join(_pwd, "..", "models")) def get_mesh(file_name, **kwargs): """ Load a mesh from our models directory. """ return trimesh.load(os.path.join(_mwd, file_name), **kwargs) class MinimalTest(unittest.TestCase): def test_path_exc(self): # this should require *no deps* from trimesh.path import packing bounds, inserted = packing.rectangles_single([[1, 1], [2, 2]], size=[2, 4]) assert inserted.all() extents = np.ptp(bounds.reshape((-1, 2)), axis=0) assert np.allclose(extents, [2, 3]) assert bounds.shape == (2, 2, 2) density = 5.0 / np.prod(extents) assert density > 0.833 def test_load(self): # kinds of files we should be able to # load even with a minimal install kinds = "stl ply obj off gltf glb".split() for file_name in os.listdir(_mwd): ext = os.path.splitext(file_name)[-1].lower()[1:] if ext not in kinds: continue m = get_mesh(file_name) if isinstance(m, trimesh.Trimesh): assert len(m.face_adjacency.shape) == 2 assert len(m.vertices.shape) == 2 # make sure hash changes initial = hash(m) m.faces += 0 assert hash(m) == initial m.vertices[:, 0] += 1.0 assert hash(m) != initial def test_load_path(self): # should be able to load a path and export it as a GLB # try with a Path3D path = trimesh.load_path(np.asarray([(0, 0, 0), (1, 0, 0), (1, 1, 0)])) assert isinstance(path, trimesh.path.Path3D) scene = trimesh.Scene(path) assert len(scene.geometry) == 1 glb = scene.export(file_type="glb") assert len(glb) > 0 # now create a Path2D path = trimesh.load_path(np.asarray([(0, 0), (1, 0), (1, 1)])) assert isinstance(path, trimesh.path.Path2D) # export to an SVG svg = path.export(file_type="svg") assert len(svg) > 0 dxf = path.export(file_type="dxf") assert len(dxf) > 0 scene = trimesh.Scene(path) assert len(scene.geometry) == 1 glb = scene.export(file_type="glb") assert len(glb) > 0 def test_load_wrap(self): # check to see if we give a useful message # when we *do not* have `lxml` installed try: import lxml # noqa return except BaseException: pass # we have no 3DXML exc = None try: get_mesh("cycloidal.3DXML") except BaseException as E: exc = str(E).lower() # should have raised assert exc is not None # error message should have been useful # containing which module the user was missing if not any(m in exc for m in ("lxml", "networkx")): raise ValueError(exc) if __name__ == "__main__": trimesh.util.attach_to_log() unittest.main() trimesh-4.5.1/tests/test_mutate.py000066400000000000000000000126231470574263400172660ustar00rootroot00000000000000""" test_mutate.py --------------- Make sure trimesh operations aren't mutating things that they shouldn't be. """ try: from . import generic as g except BaseException: import generic as g def get_readonly(model_name): """ Get a mesh and make vertices and faces read only. Parameters ------------ model_name : str Model name in models directory Returns ----------- mesh : trimesh.Trimesh Geometry with read-only data verts : (n, 3) float Read- only vertices faces : (m, 3) int Read- only faces """ original = g.get_mesh(model_name) # get the original data from the mesh verts = original.vertices faces = original.faces # use the buffer interface to generate read-only arrays verts = g.np.ndarray(verts.shape, verts.dtype, bytes(verts.tobytes())) faces = g.np.ndarray(faces.shape, faces.dtype, bytes(faces.tobytes())) # everything should be read only now assert not verts.flags["WRITEABLE"] assert not faces.flags["WRITEABLE"] mesh = g.trimesh.Trimesh(verts, faces, process=False, validate=False) assert not mesh.vertices.flags["WRITEABLE"] assert not mesh.faces.flags["WRITEABLE"] # return the mesh, and read-only vertices and faces return mesh, verts, faces class MutateTests(g.unittest.TestCase): def test_not_mutated_cube(self): self._test_not_mutated(*get_readonly("cube.OBJ")) def test_not_mutated_torus(self): self._test_not_mutated(*get_readonly("torus.STL")) def test_not_mutated_bunny(self): self._test_not_mutated(*get_readonly("bunny.ply")) def test_not_mutated_teapot(self): self._test_not_mutated(*get_readonly("teapot.stl")) def _test_not_mutated(self, mesh, verts, faces): verts = g.np.copy(verts) faces = g.np.copy(faces) lo, hi = mesh.bounds _ = mesh.faces_sparse _ = mesh.face_normals _ = mesh.vertex_normals _ = mesh.extents _ = mesh.scale _ = mesh.centroid _ = mesh.center_mass _ = mesh.density _ = mesh.volume _ = mesh.mass _ = mesh.moment_inertia _ = mesh.principal_inertia_components _ = mesh.principal_inertia_vectors _ = mesh.principal_inertia_transform _ = mesh.symmetry _ = mesh.symmetry_axis _ = mesh.symmetry_section _ = mesh.triangles _ = mesh.triangles_tree _ = mesh.triangles_center _ = mesh.triangles_cross _ = mesh.edges _ = mesh.edges_face _ = mesh.edges_unique _ = mesh.edges_unique_length _ = mesh.edges_unique_inverse _ = mesh.edges_sorted _ = mesh.edges_sparse _ = mesh.body_count _ = mesh.faces_unique_edges _ = mesh.euler_number _ = mesh.referenced_vertices _ = mesh.units _ = mesh.face_adjacency _ = mesh.face_adjacency_edges _ = mesh.face_adjacency_angles _ = mesh.face_adjacency_projections _ = mesh.face_adjacency_convex _ = mesh.face_adjacency_unshared _ = mesh.face_adjacency_radius _ = mesh.face_adjacency_span _ = mesh.vertex_adjacency_graph _ = mesh.vertex_neighbors _ = mesh.is_winding_consistent _ = mesh.is_watertight _ = mesh.is_volume _ = mesh.is_empty _ = mesh.is_convex _ = mesh.kdtree _ = mesh.facets _ = mesh.facets_area _ = mesh.facets_normal _ = mesh.facets_origin _ = mesh.facets_boundary _ = mesh.facets_on_hull _ = mesh.visual _ = mesh.convex_hull _ = mesh.sample(500, False) _ = mesh.voxelized((hi[0] - lo[0]) / 100.0) _ = mesh.outline() _ = mesh.area _ = mesh.area_faces _ = mesh.mass_properties _ = mesh.scene() _ = mesh.identifier _ = mesh.identifier_hash _ = mesh.to_dict() _ = mesh.face_angles _ = mesh.face_angles_sparse _ = mesh.vertex_defects _ = mesh.face_adjacency_tree _ = mesh.copy() # ray.intersects_id centre = mesh.vertices.mean(axis=0) origins = g.random((100, 3)) * 1000 directions = g.np.copy(origins) directions[:50, :] -= centre directions[50:, :] += centre mesh.ray.intersects_id(origins, directions) # nearest.vertex points = g.random((500, 3)) * 100 mesh.nearest.vertex(points) # section section_count = 20 origins = g.random((section_count, 3)) * 100 normals = g.random((section_count, 3)) * 100 heights = g.random((10,)) * 100 for o, n in zip(origins, normals): # try slicing at random origin and at center mass mesh.slice_plane(o, n) mesh.slice_plane(mesh.center_mass, n) # section at random origin and center mass mesh.section(o, n) mesh.section(mesh.center_mass, n) # same with multiplane mesh.section_multiplane(o, n, heights) mesh.section_multiplane(mesh.center_mass, n, heights) assert not mesh.vertices.flags["WRITEABLE"] assert not mesh.faces.flags["WRITEABLE"] assert g.np.all(g.np.isclose(verts, mesh.vertices)) assert g.np.all(g.np.isclose(faces, mesh.faces)) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_normals.py000066400000000000000000000146051470574263400174440ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class NormalsTest(g.unittest.TestCase): def test_vertex_normal(self): mesh = g.trimesh.creation.icosahedron() # the icosahedron is centered at zero, so the true vertex # normal is just a unit vector of the vertex position truth = g.trimesh.util.unitize(mesh.vertices) # force fallback to loop normal summing by passing None # as the sparse matrix normals = g.trimesh.geometry.mean_vertex_normals( len(mesh.vertices), mesh.faces, mesh.face_normals ) assert g.np.allclose(normals - truth, 0.0) # make sure the automatic sparse matrix generation works normals = g.trimesh.geometry.mean_vertex_normals( len(mesh.vertices), mesh.faces, mesh.face_normals ) assert g.np.allclose(normals - truth, 0.0) # make sure the Trimesh normals- related attributes # are wired correctly assert mesh.faces_sparse is not None assert mesh.vertex_normals.shape == mesh.vertices.shape assert g.np.allclose(mesh.vertex_normals - truth, 0.0) def test_weighted_vertex_normals(self): def compare_trimesh_to_groundtruth(mesh, truth, atol=g.trimesh.tol.merge): # force fallback to loop normal summing by passing None # as the sparse matrix normals = g.trimesh.geometry.weighted_vertex_normals( vertex_count=len(mesh.vertices), faces=mesh.faces, face_normals=mesh.face_normals, face_angles=mesh.face_angles, ) assert g.np.allclose(normals, truth, atol=atol) # make sure the automatic sparse matrix generation works normals = g.trimesh.geometry.weighted_vertex_normals( len(mesh.vertices), mesh.faces, mesh.face_normals, mesh.face_angles ) assert g.np.allclose(normals - truth, 0.0, atol=atol) # make sure the Trimesh normals- related attributes # are wired correctly assert mesh.faces_sparse is not None assert mesh.vertex_normals.shape == mesh.vertices.shape assert g.np.allclose(mesh.vertex_normals - truth, 0.0, atol=atol) # the icosahedron is centered at zero, so the true vertex # normal is just a unit vector of the vertex position ico_mesh = g.trimesh.creation.icosahedron() ico_truth = g.trimesh.util.unitize(ico_mesh.vertices) compare_trimesh_to_groundtruth(ico_mesh, ico_truth) # create a cube centered at zero, as with the icosahedron, # normals compute as unit vectors of the corner vertices # due to the triangulation of the box, this case would fail # with a simple face-normals-average as vertex-normal method box_mesh = g.trimesh.creation.box() box_truth = g.trimesh.util.unitize(box_mesh.vertices) compare_trimesh_to_groundtruth(box_mesh, box_truth) # load the fandisk model: a complex triangulated mesh with # smooth curved surfaces, corners and sharp creases # ground truth vertex normals were computed in MeshLab and # are included in the file fandisk_mesh = g.get_mesh("fandisk.obj") fandisk_truth = fandisk_mesh.vertex_normals # due to the limited precision in the MeshLab export, # we have to tweak the tolerance for the comparison a little compare_trimesh_to_groundtruth(fandisk_mesh, fandisk_truth, 0.0001) # see how we do with degenerate faces m = g.trimesh.creation.box() m.faces[0][0] = m.faces[0][1] norm = m.vertex_normals assert g.np.isfinite(norm).all() assert len(norm) == len(m.vertices) # vertices with every face intact mask = g.np.zeros(len(m.vertices), dtype=bool) mask[m.faces[0]] = False # it's a box so normals should all be unit vectors [1,1,1] assert g.np.allclose(g.np.abs(norm[mask]), (1.0 / 3.0) ** 0.5) # try with a deliberately broken sparse matrix to test looping path norm = g.trimesh.geometry.weighted_vertex_normals( vertex_count=len(m.vertices), faces=m.faces, face_normals=m.face_normals, face_angles=m.face_angles, use_loop=True, ) assert g.np.isfinite(norm).all() assert len(norm) == len(m.vertices) # every intact vertex should be away from box corner assert g.np.allclose(g.np.abs(norm[mask]), (1.0 / 3.0) ** 0.5) def test_face_normals(self): """ Test automatic generation of face normals on mesh objects """ mesh = g.trimesh.creation.icosahedron() assert mesh.face_normals.shape == mesh.faces.shape # normals should regenerate mesh.face_normals = None assert mesh.face_normals.shape == mesh.faces.shape # we shouldn't be able to assign stupid wrong values # even with nonzero and the right shape mesh.face_normals = g.np.ones_like(mesh.faces) * [0.0, 0.0, 1.0] assert not g.np.allclose(mesh.face_normals, [0.0, 0.0, 1.0]) # setting normals to None should force recompute mesh.face_normals = None assert mesh.face_normals is not None assert not g.np.allclose(mesh.face_normals, [0.0, 0.0, 1.0]) # setting face normals to zeros shouldn't work mesh.face_normals = g.np.zeros_like(mesh.faces) assert g.np.allclose(g.np.linalg.norm(mesh.face_normals, axis=1), 1.0) def test_merge(self): """ Check merging with vertex normals """ # no vertex merging m = g.get_mesh("cube_compressed.obj", process=False) assert m.vertices.shape == (24, 3) assert m.faces.shape == (12, 3) assert g.np.isclose(m.volume, 8.0, atol=1e-4) # with normal-aware vertex merging m = g.get_mesh("cube_compressed.obj", process=True) assert m.vertices.shape == (24, 3) assert m.faces.shape == (12, 3) assert g.np.isclose(m.volume, 8.0, atol=1e-4) # without considering normals should just be cube m.merge_vertices(merge_norm=True) assert m.vertices.shape == (8, 3) assert m.faces.shape == (12, 3) assert g.np.isclose(m.volume, 8.0, atol=1e-4) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_nsphere.py000066400000000000000000000031651470574263400174340ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class NSphereTest(g.unittest.TestCase): def test_minball(self): # how close do we need to be tol_fit = 1e-2 # get some assorted mesh geometries to test performance # and a perfect sphere mesh to test the degenerate case for m in g.np.append(list(g.get_meshes(5)), g.trimesh.primitives.Sphere()): s = m.bounding_sphere R_check = ((m.vertices - s.primitive.center) ** 2).sum(axis=1).max() ** 0.5 assert len(s.primitive.center) == 3 assert s.primitive.radius > 0.0 assert abs(s.primitive.radius - R_check) < tol_fit assert s.volume > (m.volume - tol_fit) # check minimum n-sphere for points in 2, 3, 4 dimensions for d in [2, 3, 4]: for _i in range(5): points = g.random((100, d)) C, R = g.trimesh.nsphere.minimum_nsphere(points) R_check = ((points - C) ** 2).sum(axis=1).max() ** 0.5 assert len(C) == d assert R > 0.0 assert abs(R - R_check) < g.tol.merge def test_isnsphere(self): # make sure created spheres are uv sphere m = g.trimesh.creation.uv_sphere() # move the mesh around for funsies m.apply_translation(g.random(3)) m.apply_transform(g.trimesh.transformations.random_rotation_matrix()) # all vertices should be on nsphere assert g.trimesh.nsphere.is_nsphere(m.vertices) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_obj.py000066400000000000000000000451451470574263400165460ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class OBJTest(g.unittest.TestCase): def test_rabbit(self): # A BSD-licensed test model from pyglet # it has mixed triangles, quads, and 16 element faces -_- # this should test the non-vectorized load path m = g.get_mesh("rabbit.obj") assert len(m.faces) == 1252 rec = g.roundtrip(m.export(file_type="obj"), file_type="obj") assert g.np.isclose(m.area, rec.area) def test_no_img(self): # sometimes people use the `vt` parameter for arbitrary # vertex attributes and thus want UV coordinates even # if there is no texture image m = g.get_mesh("noimg.obj") assert m.visual.uv.shape == (len(m.vertices), 2) # make sure UV coordinates are in range 0.0 - 1.0 assert m.visual.uv.max() < (1 + 1e-5) assert m.visual.uv.min() > -1e-5 # check to make sure it's not all zeros assert g.np.ptp(m.visual.uv) > 0.5 rec = g.roundtrip(m.export(file_type="obj"), file_type="obj") assert g.np.isclose(m.area, rec.area) def test_trailing(self): # test files with texture and trailing slashes m = g.get_mesh("jacked.obj") assert len(m.visual.uv) == len(m.vertices) rec = g.roundtrip(m.export(file_type="obj"), file_type="obj") assert g.np.isclose(m.area, rec.area) def test_obj_groups(self): # a wavefront file with groups defined mesh = g.get_mesh("groups.obj") # make sure some data got loaded assert g.trimesh.util.is_shape(mesh.faces, (-1, 3)) assert g.trimesh.util.is_shape(mesh.vertices, (-1, 3)) # make sure groups are the right length # TODO: we do not support face groups now # assert len(mesh.metadata['face_groups']) == len(mesh.faces) # check to make sure there is signal not just zeros # assert g.np.ptp(mesh.metadata['face_groups']) > 0 def test_obj_negative_indices(self): # a wavefront file with negative indices mesh = g.get_mesh("negative_indices.obj") # make sure some data got loaded assert g.trimesh.util.is_shape(mesh.faces, (12, 3)) assert g.trimesh.util.is_shape(mesh.vertices, (8, 3)) def test_obj_quad(self): mesh = g.get_mesh("quadknot.obj") # make sure some data got loaded assert g.trimesh.util.is_shape(mesh.faces, (-1, 3)) assert g.trimesh.util.is_shape(mesh.vertices, (-1, 3)) assert mesh.is_watertight assert mesh.is_winding_consistent rec = g.roundtrip(mesh.export(file_type="obj"), file_type="obj") assert g.np.isclose(mesh.area, rec.area) def test_obj_multiobj(self): # test a wavefront file with multiple objects in the same file scene = g.get_mesh("two_objects.obj", split_object=True, group_material=False) assert len(scene.geometry) == 2 for mesh in scene.geometry.values(): # make sure some data got loaded assert g.trimesh.util.is_shape(mesh.faces, (-1, 3)) assert g.trimesh.util.is_shape(mesh.vertices, (-1, 3)) assert mesh.is_watertight assert mesh.is_winding_consistent def test_obj_split_attributes(self): # test a wavefront file where pos/uv/norm have different indices # and where multiple objects share vertices # Note 'process=False' to avoid merging vertices scene = g.get_mesh( "joined_tetrahedra.obj", process=False, split_object=True, group_material=False, ) assert len(scene.geometry) == 2 geom = list(scene.geometry.values()) assert g.trimesh.util.is_shape(geom[0].faces, (4, 3)) assert g.trimesh.util.is_shape(geom[0].vertices, (9, 3)) assert g.trimesh.util.is_shape(geom[1].faces, (4, 3)) assert g.trimesh.util.is_shape(geom[1].vertices, (9, 3)) def test_obj_simple_order(self): # test a simple wavefront model without split indexes # and make sure we don't reorder vertices unnecessarily file_name = g.os.path.join(g.dir_models, "cube.OBJ") # load a simple OBJ file without merging vertices m = g.trimesh.load(file_name, process=False) # use trivial loading to compare with fancy performant one with open(file_name) as f: f, v, _vt = simple_load(f.read()) # trimesh loader should return the same face order assert g.np.allclose(f, m.faces) assert g.np.allclose(v, m.vertices) def test_order_tex(self): # test a simple wavefront model without split indexes # and make sure we don't reorder vertices unnecessarily file_name = g.os.path.join(g.dir_models, "fuze.obj") # load a simple OBJ file without merging vertices m = g.trimesh.load(file_name, process=False, maintain_order=True) # use trivial loading to compare with fancy performant one with open(file_name) as f: f, v, _vt = simple_load(f.read()) # trimesh loader should return the same face order assert g.np.allclose(f, m.faces) assert g.np.allclose(v, m.vertices) def test_obj_compressed(self): mesh = g.get_mesh("cube_compressed.obj", process=False) assert mesh._cache.cache["vertex_normals"].shape == mesh.vertices.shape assert g.np.allclose(g.np.abs(mesh.vertex_normals).sum(axis=1), 1.0) def test_vertex_color(self): # get a box mesh mesh = g.trimesh.creation.box() # set each vertex to a unique random color mesh.visual.vertex_colors = [ g.trimesh.visual.random_color() for _ in range(len(mesh.vertices)) ] # export and then reload the file as OBJ rec = g.trimesh.load( g.trimesh.util.wrap_as_stream(mesh.export(file_type="obj")), file_type="obj" ) # assert colors have survived the export cycle assert (mesh.visual.vertex_colors == rec.visual.vertex_colors).all() def test_single_vn(self): """ Make sure files with a single VN load. """ m = g.get_mesh("singlevn.obj") assert len(m.vertices) > 0 assert len(m.faces) > 0 def test_polygon_faces(self): m = g.get_mesh("polygonfaces.obj") assert len(m.vertices) > 0 assert len(m.faces) > 0 def test_faces_not_enough_indices(self): m = g.get_mesh("notenoughindices.obj") assert len(m.vertices) > 0 assert len(m.faces) == 1 def test_export_path(self): m = g.get_mesh("fuze.obj") g.check_fuze(m) assert m._cache.cache["vertex_normals"].shape == m.vertices.shape with g.TemporaryDirectory() as d: file_path = g.os.path.join(d, "fz.obj") m.export(file_path) r = g.trimesh.load(file_path) g.check_fuze(r) def test_skip_mtl(self): # not loading materials should produce a trivial texture m_tex = g.get_mesh("fuze.obj") m_tex_size = m_tex.visual.material.image.size m_notex = g.get_mesh("fuze.obj", skip_materials=True) m_notex_size = m_notex.visual.material.image.size assert m_tex_size != m_notex_size def test_mtl(self): # get a mesh with texture m = g.get_mesh("fuze.obj") # export the mesh including data obj, data = g.trimesh.exchange.export.export_obj(m, return_texture=True) with g.TemporaryDirectory() as path: # where is the OBJ file going to be saved obj_path = g.os.path.join(path, "test.obj") with open(obj_path, "w") as f: f.write(obj) # save the MTL and images for k, v in data.items(): with open(g.os.path.join(path, k), "wb") as f: f.write(v) # reload the mesh from the export rec = g.trimesh.load(obj_path) # make sure loaded image is the same size as the original assert rec.visual.material.image.size == m.visual.material.image.size # make sure the faces are the same size assert rec.faces.shape == m.faces.shape def test_scene(self): s = g.get_mesh("cycloidal.3DXML") e = g.trimesh.load( g.io_wrap(s.export(file_type="obj")), file_type="obj", split_object=True, group_materials=False, ) assert g.np.isclose(e.area, s.area, rtol=0.01) def test_edge_cases(self): # a mesh with some NaN colors n = g.get_mesh("nancolor.obj") assert n.faces.shape == (12, 3) v = g.get_mesh("cubevt.obj") assert v.faces.shape == (12, 3) def test_empty_or_pointcloud(self): # demo files to check empty_files = ["obj_empty.obj", "obj_points.obj", "obj_wireframe.obj"] for empty_file in empty_files: e = g.get_mesh("emptyIO/" + empty_file) # create export if "empty" in empty_file: try: export = e.export(file_type="ply") except BaseException: continue raise ValueError("cannot export empty") elif "points" in empty_file: export = e.export(file_type="ply") reconstructed = g.roundtrip(export, file_type="ply") # result should be a point cloud instance assert isinstance(e, g.trimesh.PointCloud) assert hasattr(e, "vertices") # point cloud export should contain vertices assert isinstance(reconstructed, g.trimesh.PointCloud) assert hasattr(reconstructed, "vertices") def test_backslash_continuation_character(self): # an obj file with \ (backslash) line continuation characters m = g.get_mesh("wallhole.obj") assert m.faces.shape == (66, 3) def test_no_uv(self): mesh = g.get_mesh("box.obj") rec = g.roundtrip(mesh.export(file_type="obj"), file_type="obj") assert g.np.isclose(mesh.area, rec.area) def test_no_uv_but_mtl(self): sphere = g.trimesh.creation.uv_sphere() sphere.visual = g.trimesh.visual.TextureVisuals( uv=None, material=g.trimesh.visual.material.empty_material() ) output = sphere.export("sphere.obj") assert "usemtl" in output def test_chair(self): mesh = next(iter(g.get_mesh("chair.zip").geometry.values())) # this model comes with vertex normals assert "vertex_normals" in mesh._cache assert g.np.allclose(1.0, g.np.linalg.norm(mesh.vertex_normals, axis=1)) mesh.apply_scale(0.46377314288075433) assert "vertex_normals" in mesh._cache assert g.np.allclose(1.0, g.np.linalg.norm(mesh.vertex_normals, axis=1)) assert "vertex_normals" in mesh._cache mesh._cache.clear() assert "vertex_normals" not in mesh._cache # if we recomputed now, the degenerate faces # would lead some of these vertex normals to be zero # assert g.np.allclose( # 1.0, g.np.linalg.norm(mesh.vertex_normals, axis=1)) def test_multi_nodupe(self): s = g.get_mesh("forearm.zae") obj, mtl = g.trimesh.exchange.obj.export_obj( s, include_color=True, include_texture=True, return_texture=True ) # should be using one material file assert obj.count("mtllib") == 1 assert "mtllib material.mtl" in obj # should be specifying 5 materials assert obj.count("usemtl") == 5 # this file has only the properties (no images) assert len(mtl) == 1 mtl_names = [ L.strip().split()[-1].strip() for L in mtl["material.mtl"].decode("utf-8").split("\n") if "newmtl" in L ] # there should be 5 unique material names assert len(set(mtl_names)) == 5 def test_mtl_color_roundtrip(self): # create a mesh with a simple material m = g.trimesh.creation.box() m.visual = m.visual.to_texture() # set each color component to a unique value colors = [g.trimesh.visual.color.random_color() for _ in range(3)] m.visual.material.ambient = colors[0] m.visual.material.specular = colors[1] m.visual.material.diffuse = colors[2] m.visual.material.glossiness = 0.52622 with g.TemporaryDirectory() as d: # exporting by filename will automatically # create a FilePathResolver which writes the # `mtl` file to the same directory file_name = g.os.path.join(d, "hi.obj") m.export(file_name) # reload the export by file name r = g.trimesh.load(file_name) # these values should have survived the roundtrip assert g.np.allclose(m.visual.material.ambient, r.visual.material.ambient) assert g.np.allclose(m.visual.material.specular, r.visual.material.specular) assert g.np.allclose(m.visual.material.diffuse, r.visual.material.diffuse) assert g.np.isclose(m.visual.material.glossiness, r.visual.material.glossiness) def test_scene_export_material_name(self): s = g.get_mesh("fuze.obj", force="scene") dummy = "fuxx" s.geometry["fuze.obj"].visual.material.name = dummy r = g.trimesh.resolvers.ZipResolver() r["model.obj"] = s.export(file_type="obj", mtl_name="mystuff.mtl", resolver=r) mtl = r["mystuff.mtl"].decode("utf-8") assert mtl.count("newmtl") == 1 assert f"newmtl {dummy}" in mtl assert f"{dummy}.jpeg" in r def test_compound_scene_export(self): # generate a mesh with multiple textures a = g.get_mesh("BoxTextured.glb") a = a.scaled(1.0 / a.extents.max()) a.apply_translation(-a.bounds[0]) b = g.get_mesh("fuze.obj").scene() b = b.scaled(1.0 / b.extents.max()) b.apply_translation(-b.bounds[0] + [2, 0, 0]) d = next(iter(b.copy().geometry.values())) d.apply_translation([-1, 0, 0]) assert hash(d.visual.material) == hash(b.geometry["fuze.obj"].visual.material) # should change the material hash d.visual.material.glossiness = 0.1 assert hash(d.visual.material) != hash(b.geometry["fuze.obj"].visual.material) # generate a compound scene c = a + b + d for i in c.geometry.values(): # name all the materials the same thing i.visual.material.name = "material_0" # export the compound scene obj, mtl = c.export(file_type="obj", return_texture=True) # there should be exactly one mtllib referenced assert obj.count("mtllib") == 1 assert obj.count("usemtl") == 3 # should be one texture image for each of 3 # plus the `.mtl` file itself # if we had image-hash-deduplication this should # be changed to 3 as the image for `b` and `d` are the same assert len(mtl) == 4 # get the material names specified mtl_names = [ L.strip().split()[-1].strip() for L in mtl["material.mtl"].decode("utf-8").split("\n") if "newmtl" in L ] # there should be 3 unique material names assert len(set(mtl_names)) == 3 # now reload the compound scene t = g.trimesh.load( file_obj=g.trimesh.util.wrap_as_stream(obj), file_type="obj", resolver=g.trimesh.resolvers.ZipResolver(mtl), group_material=False, split_object=True, ) # these names should match eventually assert len(t.geometry.keys()) == len(c.geometry.keys()) assert g.np.isclose(t.area, c.area) def test_face_parsing_in_group_names(self): # Checks that an obj with a g tag containinig a face like name (an 'f ' # followed by three space separated text chunks, ex: f 1 2 3) does load # properly m = g.get_mesh("face_in_group_name.obj") assert len(m.vertices) == 1 def test_face_parsing_in_group_names_with_object_tag(self): # Checks that an obj with a g tag in the middle of a file, # containinig a face like name (an 'f ' followed by three # space separated text chunks, ex: f 1 2 3), does load properly m = g.get_mesh("face_in_group_name_mid_file.obj") assert len(m.vertices) == 5 assert len(m.faces) == 2 def test_chunk_parsing_with_no_faces_but_with_f_in_chunk(self): # Checks that a chunk with no faces but with 'f ' in it loads properly m = g.get_mesh("obj_with_no_face_in_chunk.obj") assert len(m.vertices) == 3 assert len(m.faces) == 1 def test_export_normals(self): m = g.trimesh.creation.box() assert "vertex_normals" not in m._cache.cache e = m.export(file_type="obj", include_normals=None) assert "vn " not in e e = m.export(file_type="obj", include_normals=True) # should have included normals assert "vn " in e # should have forced generation of normals assert "vertex_normals" in m._cache.cache # now that they're in cache include_normals=None should get them e = m.export(file_type="obj", include_normals=None) assert "vn " in e # or skip them if explicitly asked e = m.export(file_type="obj", include_normals=False) assert "vn " not in e def test_export_mtl_args(self): mesh = g.trimesh.creation.box() # check for a crash with no materials defined _a, _b = g.trimesh.exchange.obj.export_obj( mesh, return_texture=True, mtl_name="hi.mtl" ) def simple_load(text): # we're going to load faces in a basic text way # and compare the order from this method to the # trimesh loader, to see if we get the same thing # note that trimesh's extremely convoluted string # wangling is wildly faster than this f = [] v = [] vt = [] for line in str.splitlines(text): line = line.strip() if len(line) < 2: continue elif line.startswith("f "): if "/" in line: f.append([int(i.split("/", 1)[0]) for i in line[1:].strip().split()]) else: f.append(line[1:].strip().split()) elif line.startswith("v "): v.append(line[1:].strip().split()) elif line.startswith("vt "): vt.append(line[2:].strip().split()) # get faces as basic numpy array f = g.np.array(f, dtype=g.np.int64) - 1 v = g.np.array(v, dtype=g.np.float64) vt = g.np.array(vt, dtype=g.np.float64) return f, v, vt if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_off.py000066400000000000000000000026231470574263400165400ustar00rootroot00000000000000""" Load all the meshes we can get our hands on and check things, stuff. """ try: from . import generic as g except BaseException: import generic as g class OFFTests(g.unittest.TestCase): def test_comment(self): # see if we survive comments file_name = "comments.off" m = g.get_mesh(file_name, process=False) assert m.is_volume assert m.vertices.shape == (8, 3) assert m.faces.shape == (12, 3) with open(g.os.path.join(g.dir_models, file_name)) as f: lines = [line.split("#", 1)[0].strip() for line in str.splitlines(f.read())] lines = [line.split() for line in lines if "OFF" not in line and len(line) > 0] vertices = g.np.array(lines[1:9], dtype=g.np.float64) assert g.np.allclose(vertices, m.vertices) def test_whitespace(self): file_name = "whitespace.off" m = g.get_mesh(file_name, process=False) assert m.is_volume assert m.vertices.shape == (8, 3) assert m.faces.shape == (12, 3) with open(g.os.path.join(g.dir_models, file_name)) as f: lines = [line.split("#", 1)[0].strip() for line in str.splitlines(f.read())] lines = [line.split() for line in lines if "OFF" not in line and len(line) > 0] def test_corpus(self): g.get_mesh("off.zip") if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_operators.py000066400000000000000000000020101470574263400177720ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class OpTest(g.unittest.TestCase): def test_add(self): # make sure different concatenation results return the same m = [g.trimesh.creation.box().apply_translation(v) for v in 2.0 * g.np.eye(3)] assert g.np.isclose(sum(m).volume, 3.0) assert g.np.isclose(g.np.sum(m).volume, 3.0) assert g.np.isclose((m[0] + m[1] + m[2]).volume, 3.0) assert g.np.isclose(g.trimesh.util.concatenate(m).volume, 3.0) p = g.get_mesh("2D/wrench.dxf") m = [p.copy().apply_translation(v) for v in p.extents.max() * 2.0 * g.np.eye(2)] m.append(p) area = 3.0 * p.area assert g.np.isclose(sum(m).area, area) assert g.np.isclose(g.np.sum(m).area, area) assert g.np.isclose((m[0] + m[1] + m[2]).area, area) assert g.np.isclose(g.trimesh.path.util.concatenate(m).area, area) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_packing.py000066400000000000000000000222741470574263400174060ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g def transforms_match(bounds, extents, transforms): """ Check to see if transforms match for 3D AABB's. Parameters ------------- bounds : (n, 2, 3) float Axis aligned bounding boxes. extents : (n, 3) float Original pre-transform extents transforms : (n, 4, 4) float Transform to move `extents` to `bounds` Returns ----------- match : bool Transforms match or not. """ assert len(bounds) == len(extents) assert len(bounds) == len(transforms) box = g.trimesh.creation.box for b, t, e in zip(bounds, transforms, extents): # create a box with the placed bounds a = box(bounds=b) # create a box using the roll transform b = box(extents=e, transform=t) # they should be identical if not g.np.allclose(a.bounds, b.bounds): return False return True def _solid_image(color, size): """ Return a PIL image that is all one color. Parameters ------------ color : (4,) uint8 RGBA color size : (2,) int Size of solid color image Returns ----------- solid : PIL.Image Image with requested color and size. """ from PIL import Image # convert to RGB uint8 color = g.np.array(color, dtype=g.np.uint8)[:3] # create a one pixel RGB image image = Image.fromarray( g.np.tile(color, (g.np.prod(size), 1)).reshape((size[0], size[1], 3)) ) assert image.size == tuple(size[::-1]) return image class PackingTest(g.unittest.TestCase): def test_obb(self): from trimesh.path import packing nestable = [g.Polygon(i) for i in g.data["nestable"]] _inserted, _transforms = packing.polygons(nestable) def test_image(self): from trimesh.path import packing images = [ _solid_image([255, 0, 0, 255], [10, 10]), _solid_image([0, 255, 0, 255], [120, 12]), _solid_image([0, 0, 255, 255], [144, 500]), ] p, offset = packing.images(images, power_resize=False) # result should not be a power-of-two size assert not g.np.allclose(g.np.log2(p.size) % 1.0, 0.0) assert g.np.isfinite(offset).all() p, offset = packing.images(images, power_resize=True) assert g.np.allclose(g.np.log2(p.size) % 1.0, 0.0) assert g.np.isfinite(offset).all() def test_paths(self): from trimesh.path import packing from trimesh.path.polygons import polygon_bounds polygons = g.np.array([g.Polygon(i) for i in g.data["nestable"]]) # calculate a packing of the polygons matrix, consume = packing.polygons(polygons) check_bound = g.np.array( [polygon_bounds(p, matrix=m) for p, m in zip(polygons[consume], matrix)] ) assert not packing.bounds_overlap(check_bound) paths = [g.trimesh.load_path(i) for i in polygons] with g.Profiler() as P: r, tf, consume = packing.paths(paths, spacing=0.02) g.log.debug(P.output_text()) # number of paths inserted count = consume.sum() assert tf.shape == (count, 3, 3) # should have inserted all our paths assert count == len(paths) # splitting should result in the right number of paths split = r.split() assert count == len(split) # none of the polygon bounding boxes should overlap assert not packing.bounds_overlap([i.bounds for i in split]) with g.Profiler() as P: r, tf, consume = packing.paths(paths, size=[24, 12], spacing=0.5) g.log.debug(P.output_text()) # number of paths inserted count = consume.sum() assert tf.shape == (count, 3, 3) # splitting should result in the right number of paths split = r.split() assert count == len(split) # none of the polygon bounding boxes should overlap assert not packing.bounds_overlap([i.bounds for i in split]) # should have adhered to the requested size and spacing assert (r.extents <= [24, 12]).all() def test_3D(self): from trimesh.path import packing e = g.np.array( [ [14.0, 14.0, 0.125], [13.84376457, 13.84376457, 0.25], [14.0, 14.0, 0.125], [12.00000057, 12.00000057, 0.25], [14.0, 14.0, 0.125], [12.83700787, 12.83700787, 0.375], [12.83700787, 12.83700787, 0.125], [14.0, 14.0, 0.625], [1.9999977, 1.9999509, 0.25], [0.87481696, 0.87463294, 0.05], [0.99955503, 0.99911677, 0.1875], ] ) # try packing these 3D boxes _bounds, consume = packing.rectangles_single(e) assert consume.all() # try packing these 3D boxes _bounds, consume = packing.rectangles_single(e, size=[14, 14, 1]) assert not consume.all() def test_transform(self): from trimesh.path import packing # try in 3D with random OBB and orientation ori = g.np.array( [ [14.0, 14.0, 0.125], [13.84376457, 13.84376457, 0.25], [14.0, 14.0, 0.125], [12.00000057, 12.00000057, 0.25], [14.0, 14.0, 0.125], [12.83700787, 12.83700787, 0.375], [12.83700787, 12.83700787, 0.125], [14.0, 14.0, 0.625], [1.9999977, 1.9999509, 0.25], [0.87481696, 0.87463294, 0.05], [0.99955503, 0.99911677, 0.1875], ] ) density = [] with g.Profiler() as P: for i in range(10): # roll the extents by a random amount and offset extents = [] for i in ori: extents.append(g.np.roll(i, int(g.random() * 10)) + g.random(3)) extents = g.np.array(extents) bounds, consume = packing.rectangles(extents) # should have inserted everything because we didn't specify # a maximum `size` to packing assert consume.all() assert len(bounds) == consume.sum() # generate the transforms for the packing transforms = packing.roll_transform(bounds=bounds, extents=extents) assert transforms_match( bounds=bounds, extents=extents[consume], transforms=transforms ) viz = packing.visualize(bounds=bounds, extents=extents) density.append(viz.volume / viz.bounding_box.volume) bounds, consume = packing.rectangles(extents, size=[16, 16, 10]) # generate the transforms for the packing transforms = packing.roll_transform( bounds=bounds, extents=extents[consume] ) assert transforms_match( bounds=bounds, extents=extents[consume], transforms=transforms ) viz = packing.visualize(bounds=bounds, extents=extents[consume]) density.append(viz.volume / viz.bounding_box.volume) bounds, consume = packing.rectangles( extents, size=[16, 16, 10], rotate=False ) # generate the transforms for the packing transforms = packing.roll_transform( bounds=bounds, extents=extents[consume] ) assert transforms_match( bounds=bounds, extents=extents[consume], transforms=transforms ) viz = packing.visualize(bounds=bounds, extents=extents[consume]) density.append(viz.volume / viz.bounding_box.volume) bounds, consume = packing.rectangles(extents, rotate=False) # generate the transforms for the packing transforms = packing.roll_transform( bounds=bounds, extents=extents[consume] ) assert transforms_match( bounds=bounds, extents=extents[consume], transforms=transforms ) viz = packing.visualize(bounds=bounds, extents=extents[consume]) density.append(viz.volume / viz.bounding_box.volume) g.log.debug(P.output_text()) def test_meshes(self, count=20): from trimesh.path import packing # create some random rotation boxes meshes = [ g.trimesh.creation.box(extents=extents, transform=transform) for transform, extents in zip( g.random_transforms(count), (g.random((count, 3)) + 1) * 10 ) ] packed, transforms, consume = packing.meshes(meshes, spacing=0.01) scene = g.trimesh.Scene(packed) assert len(consume) == len(meshes) assert len(packed) == consume.sum() assert transforms.shape == (consume.sum(), 4, 4) density = scene.volume / scene.bounding_box.volume assert density > 0.5 if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_path_creation.py000066400000000000000000000045071470574263400206110ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class CreationTests(g.unittest.TestCase): def test_circle_pattern(self): from trimesh.path import creation pattern = creation.circle_pattern(pattern_radius=1.0, circle_radius=0.1, count=4) assert len(pattern.entities) == 4 assert len(pattern.polygons_closed) == 4 assert len(pattern.polygons_full) == 4 # should be a valid Path2D g.check_path2D(pattern) def test_circle(self): from trimesh.path import creation circle = creation.circle(radius=1.0, center=(1.0, 1.0)) # it's a discrete circle assert g.np.isclose(circle.area, g.np.pi, rtol=0.01) # should be centered at 0 assert g.np.allclose( circle.polygons_full[0].centroid.coords, [1.0, 1.0], atol=1e-3 ) assert len(circle.entities) == 1 assert len(circle.polygons_closed) == 1 assert len(circle.polygons_full) == 1 # should be a valid Path2D g.check_path2D(circle) def test_rect(self): from trimesh.path import creation # create a single rectangle pattern = creation.rectangle([[0, 0], [2, 3]]) assert len(pattern.entities) == 1 assert len(pattern.polygons_closed) == 1 assert len(pattern.polygons_full) == 1 assert g.np.isclose(pattern.area, 6.0) # should be a valid Path2D g.check_path2D(pattern) # make 10 untouching rectangles pattern = creation.rectangle(g.np.arange(40).reshape((-1, 2, 2))) assert len(pattern.entities) == 10 assert len(pattern.polygons_closed) == 10 assert len(pattern.polygons_full) == 10 # should be a valid Path2D g.check_path2D(pattern) def test_grid(self): grid = g.trimesh.path.creation.grid(side=5.0) assert g.np.allclose(grid.extents, [10, 10, 0]) # check grid along a plane grid = g.trimesh.path.creation.grid( side=10.0, plane_origin=[5.0, 0, 0], plane_normal=[1, 0, 0] ) # make sure plane is applied correctly assert g.np.allclose(grid.extents, [0, 20, 20]) assert g.np.allclose(grid.bounds, [[5, -10, -10], [5, 10, 10]]) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_path_sample.py000066400000000000000000000010011470574263400202500ustar00rootroot00000000000000import numpy as np def test_resample_original(): # check to see if `include_original` works from shapely.geometry import Polygon from trimesh.path.traversal import resample_path ori = np.array([[0, 0], [1, 0], [1, 1], [0, 1], [0, 0]], dtype=np.float64) re = resample_path(ori, step=0.25, include_original=True) a, b = Polygon(ori), Polygon(re) assert np.isclose(a.area, b.area) assert np.isclose(a.length, b.length) if __name__ == "__main__": test_resample_original() trimesh-4.5.1/tests/test_pathlib.py000066400000000000000000000040771470574263400174160ustar00rootroot00000000000000""" Test loading from pathlib objects. """ try: from . import generic as g except BaseException: import generic as g class PathTest(g.unittest.TestCase): def test_pathlib(self): """ Test loading with paths passed as pathlib """ try: import pathlib except ImportError: g.log.warning("no pathlib") return # create a pathlib object for a model that exists path = pathlib.Path(g.dir_models) / "featuretype.STL" # load the mesh m = g.trimesh.load(path) # should be a mesh assert isinstance(m, g.trimesh.Trimesh) # will generate writeable file namey with g.tempfile.NamedTemporaryFile(suffix=".ply") as f: name = pathlib.Path(f.name) # should export to file from pathlib object m.export(file_obj=name) # should reload r = g.trimesh.load(file_obj=name) # mesh should be the same after exporting assert g.np.isclose(m.volume, r.volume) def test_full_filetype(self): """ Test loading with file types specified as the full filename, not just extension. """ file_name = g.get_path("unit_cube.STL") with open(file_name, "rb") as f: # check `load_mesh` mesh = g.trimesh.load_mesh(file_obj=file_name, file_type=file_name) assert g.np.isclose(mesh.volume, 1.0) f.seek(0) mesh = g.trimesh.load(file_obj=file_name, file_type=file_name) assert g.np.isclose(mesh.volume, 1.0) file_name = g.get_path("2D/1002_tray_bottom.DXF") with open(file_name, "rb") as f: # check load_path path = g.trimesh.load_path(file_obj=file_name, file_type=file_name) assert len(path.entities) == 46 f.seek(0) # check `load` path = g.trimesh.load(file_obj=file_name, file_type=file_name) assert len(path.entities) == 46 if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_paths.py000066400000000000000000000260231470574263400171050ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class VectorTests(g.unittest.TestCase): def test_discrete(self): for d in g.get_2D(): # store hash before requesting passive functions hash_val = d.__hash__() assert isinstance(d.identifier, g.np.ndarray) assert isinstance(d.identifier_hash, str) # make sure various methods return # basically the same bounds atol = d.scale / 1000 for dis, pa, pl in zip(d.discrete, d.paths, d.polygons_closed): # bounds of discrete version of path bd = g.np.array([g.np.min(dis, axis=0), g.np.max(dis, axis=0)]) # bounds of polygon version of path bl = g.np.reshape(pl.bounds, (2, 2)) # try bounds of included entities from path pad = g.np.vstack([d.entities[i].discrete(d.vertices) for i in pa]) bp = g.np.array([g.np.min(pad, axis=0), g.np.max(pad, axis=0)]) assert g.np.allclose(bd, bl, atol=atol) assert g.np.allclose(bl, bp, atol=atol) # run some checks g.check_path2D(d) # copying shouldn't touch original file copied = d.copy() # these operations shouldn't have mutated anything! assert d.__hash__() == hash_val # copy should have saved the metadata assert set(copied.metadata.keys()) == set(d.metadata.keys()) # file_name should be populated, and if we have a DXF file # the layer field should be populated with layer names if d.metadata["file_name"][-3:] == "dxf": assert len(d.layers) == len(d.entities) for path, verts in zip(d.paths, d.discrete): assert len(path) >= 1 dists = g.np.sum((g.np.diff(verts, axis=0)) ** 2, axis=1) ** 0.5 if not g.np.all(dists > g.tol_path.zero): raise ValueError( "{} had zero distance in discrete!", d.metadata["file_name"] ) circuit_dist = g.np.linalg.norm(verts[0] - verts[-1]) circuit_test = circuit_dist < g.tol_path.merge if not circuit_test: g.log.error( "On file %s First and last vertex distance %f", d.metadata["file_name"], circuit_dist, ) assert circuit_test is_ccw = g.trimesh.path.util.is_ccw(verts) if not is_ccw: g.log.error("discrete %s not ccw!", d.metadata["file_name"]) for i in range(len(d.paths)): assert d.polygons_closed[i].is_valid assert d.polygons_closed[i].area > g.tol_path.zero export_dict = d.export(file_type="dict") to_dict = d.to_dict() assert isinstance(to_dict, dict) assert isinstance(export_dict, dict) assert len(to_dict) == len(export_dict) export_svg = d.export(file_type="svg") # NOQA simple = d.simplify() # NOQA split = d.split() g.log.info( "Split %s into %d bodies, checking identifiers", d.metadata["file_name"], len(split), ) for body in split: _ = body.identifier if len(d.root) == 1: d.apply_obb() # store the X values of bounds ori = d.bounds.copy() # apply a translation d.apply_translation([10, 0]) # X should have translated by 10.0 assert g.np.allclose(d.bounds[:, 0] - 10, ori[:, 0]) # Y should not have moved assert g.np.allclose(d.bounds[:, 1], ori[:, 1]) if len(d.polygons_full) > 0 and len(d.vertices) < 150: g.log.info("Checking medial axis on %s", d.metadata["file_name"]) m = d.medial_axis() assert len(m.entities) > 0 # shouldn't crash d.fill_gaps() # transform to first quadrant d.rezero() # run process manually d.process() def test_poly(self): p = g.get_mesh("2D/LM2.dxf") assert p.is_closed # one of the lines should be a polyline assert any( len(e.points) > 2 for e in p.entities if isinstance(e, g.trimesh.path.entities.Line) ) # layers should match entity count assert len(p.layers) == len(p.entities) assert len(set(p.layers)) > 1 count = len(p.entities) p.explode() # explode should have created new entities assert len(p.entities) > count # explode should have added some new layers assert len(p.entities) == len(p.layers) # all line segments should have two points now assert all( len(i.points) == 2 for i in p.entities if isinstance(i, g.trimesh.path.entities.Line) ) # should still be closed assert p.is_closed # chop off the last entity p.entities = p.entities[:-1] # should no longer be closed assert not p.is_closed # fill gaps of any distance p.fill_gaps(g.np.inf) # should have fixed this puppy assert p.is_closed # remove 2 short edges using remove_entity() count = len(p.entities) p.remove_entities([count - 1, count - 6]) assert not p.is_closed p.fill_gaps(2) assert p.is_closed def test_text(self): """ Do some checks on Text entities """ p = g.get_mesh("2D/LM2.dxf") p.explode() # get some text entities text = [e for e in p.entities if isinstance(e, g.trimesh.path.entities.Text)] assert len(text) > 1 # loop through each of them for t in text: # a spurious error we were seeing in CI if g.trimesh.util.is_instance_named(t, "Line"): raise ValueError( "type bases:", [i.__name__ for i in g.trimesh.util.type_bases(t)] ) # make sure this doesn't crash with text entities g.trimesh.rendering.convert_to_vertexlist(p) def test_empty(self): # make sure empty paths perform as expected p = g.trimesh.path.Path2D() assert p.is_empty p = g.trimesh.path.Path3D() assert p.is_empty p = g.trimesh.load_path([[[0, 0, 1], [1, 0, 1]]]) assert len(p.entities) == 1 assert not p.is_empty b = p.to_planar()[0] assert len(b.entities) == 1 assert not b.is_empty def test_color(self): p = g.get_mesh("2D/wrench.dxf") # make sure we have entities assert len(p.entities) > 0 # make sure shape of colors is correct assert all(e.color is None for e in p.entities) assert p.colors is None color = [255, 0, 0, 255] # assign a color to the entity p.entities[0].color = color # make sure this is reflected in the path color assert g.np.allclose(p.colors[0], color) assert p.colors.shape == (len(p.entities), 4) p.colors = g.np.array( [100, 100, 100] * len(p.entities), dtype=g.np.uint8 ).reshape((-1, 3)) assert g.np.allclose(p.colors[0], [100, 100, 100, 255]) def test_dangling(self): p = g.get_mesh("2D/wrench.dxf") assert len(p.dangling) == 0 b = g.get_mesh("2D/loose.dxf") assert len(b.dangling) == 1 assert len(b.polygons_full) == 1 def test_plot(self): try: # only run these if matplotlib is installed import matplotlib.pyplot # NOQA except BaseException: g.log.debug("skipping `matplotlib.pyplot` tests") return p = g.get_mesh("2D/wrench.dxf") # see if the logic crashes p.plot_entities(show=False) p.plot_discrete(show=False) class SplitTest(g.unittest.TestCase): def test_split(self): for fn in [ "2D/ChuteHolderPrint.DXF", "2D/tray-easy1.dxf", "2D/sliding-base.dxf", "2D/wrench.dxf", "2D/spline_1.dxf", ]: p = g.get_mesh(fn) # make sure something was loaded assert len(p.root) > 0 # split by connected split = p.split() # make sure split parts have same area as source assert g.np.isclose(p.area, sum(i.area for i in split)) # make sure concatenation doesn't break that assert g.np.isclose(p.area, g.np.sum(split).area) # check that cache didn't screw things up for s in split: assert len(s.root) == 1 assert len(s.path_valid) == len(s.paths) assert len(s.paths) == len(s.discrete) assert s.path_valid.sum() == len(s.polygons_closed) g.check_path2D(s) class SectionTest(g.unittest.TestCase): def test_section(self): mesh = g.get_mesh("tube.obj") # check the CCW correctness with a normal in both directions for sign in [1.0, -1.0]: # get a cross section of the tube section = mesh.section( plane_origin=mesh.center_mass, plane_normal=[0.0, sign, 0.0] ) # Path3D -> Path2D planar, _T = section.to_planar() # tube should have one closed polygon assert len(planar.polygons_full) == 1 polygon = planar.polygons_full[0] # closed polygon should have one interior assert len(polygon.interiors) == 1 # the exterior SHOULD be counterclockwise assert g.trimesh.path.util.is_ccw(polygon.exterior.coords) # the interior should NOT be counterclockwise assert not g.trimesh.path.util.is_ccw(polygon.interiors[0].coords) # should be a valid Path2D g.check_path2D(planar) def test_multiplane(self): # check to make sure we're applying `tol_path.merge_digits` for line segments vertices = g.np.array( [ [19.402250931139097, -14.88787016674277, 64.0], [20.03318396099334, -14.02738654377374, 64.0], [19.402250931139097, -14.88787016674277, 0.0], [20.03318396099334, -14.02738654377374, 0.0], [21, -16.5, 32], ] ) faces = g.np.array( [[1, 3, 0], [0, 3, 2], [1, 0, 4], [0, 2, 4], [3, 1, 4], [2, 3, 4]] ) z_layer_centers = g.np.array([3, 3.0283334255218506]) m = g.trimesh.Trimesh(vertices, faces) r = m.section_multiplane([0, 0, 0], [0, 0, 1], z_layer_centers) assert len(r) == 2 assert all(i.is_closed for i in r) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_pbr.py000066400000000000000000000064201470574263400165500ustar00rootroot00000000000000import unittest import numpy as np import trimesh class PBRTest(unittest.TestCase): def test_storage(self): p = trimesh.visual.material.PBRMaterial() assert isinstance(p, trimesh.visual.material.PBRMaterial) a = [hash(p)] try: # should raise a ValueError as a float # is non-convertable to RGBA colors p.baseColorFactor = 1.0 raise BaseException("should have disallowed!") except ValueError: pass assert p.baseColorFactor is None # apply a basecolorfactor original = [255, 255, 100] p.baseColorFactor = original assert len(p.baseColorFactor) == 4 assert np.allclose(p.baseColorFactor, np.append(original, 255)) a.append(hash(p)) # hash should have changed when we edited color assert a[-1] != a[-2] # hashing should be deterministic assert hash(p) == a[-1] assert p.alphaMode is None try: # only allowed to be 3 things not including a sandwich p.alphaMode = "sandwich" raise BaseException("shouldn't have passed") except ValueError: pass p.alphaMode = "OPAQUE" assert p.alphaMode == "OPAQUE" a.append(hash(p)) # hash should have changed when we edited alphaMode assert a[-1] != a[-2] assert p.emissiveFactor is None try: # only allowed to be 3 things not including a sandwich p.emissiveFactor = "sandwitch" raise BaseException("shouldn't have passed") except ValueError: pass try: # only allowed to be (3,) float p.emissiveFactor = [1, 2] raise BaseException("shouldn't have passed") except ValueError: pass # shouldn't have changed yet assert hash(p) == a[-1] assert p.emissiveFactor is None # set emissive to a valid value p.emissiveFactor = [1, 1, 0.5] a.append(hash(p)) assert a[-1] != a[-2] assert np.allclose(p.emissiveFactor, [1, 1, 0.5]) try: # only allowed to be float p.roughnessFactor = "hi" raise BaseException("shouldn't have passed") except ValueError: pass # shouldn't have changed yet assert hash(p) == a[-1] assert p.roughnessFactor is None # set to valid value original = 0.023 p.roughnessFactor = original assert np.isclose(original, p.roughnessFactor) a.append(hash(p)) assert a[-1] != a[-2] try: # only allowed to be float p.metallicFactor = "hi" raise BaseException("shouldn't have passed") except ValueError: pass # shouldn't have changed yet assert hash(p) == a[-1] assert p.metallicFactor is None # set to valid value original = 0.9113 p.metallicFactor = original assert np.isclose(original, p.metallicFactor) a.append(hash(p)) assert a[-1] != a[-2] # double check all of our hashes changed assert (np.abs(np.diff(a)) > 0).all() if __name__ == "__main__": trimesh.util.attach_to_log() unittest.main() trimesh-4.5.1/tests/test_permutate.py000066400000000000000000000077561470574263400200100ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g # minimum number of faces to test # permutations on MIN_FACES = 50 class PermutateTest(g.unittest.TestCase): def test_permutate(self): def close(a, b): if len(a) == len(b) == 0: return False if a.shape != b.shape: return False return g.np.allclose(a, b) def make_assertions(mesh, test, rigid=False): if ( close(test.face_adjacency, mesh.face_adjacency) and len(mesh.faces) > MIN_FACES ): g.log.error(f"face_adjacency unchanged: {test.face_adjacency!s}") raise ValueError( "face adjacency of %s the same after permutation!", mesh.metadata["file_name"], ) if ( close(test.face_adjacency_edges, mesh.face_adjacency_edges) and len(mesh.faces) > MIN_FACES ): g.log.error( f"face_adjacency_edges unchanged: {test.face_adjacency_edges!s}" ) raise ValueError( "face adjacency edges of %s the same after permutation!", mesh.metadata["file_name"], ) assert not close(test.faces, mesh.faces) assert not close(test.vertices, mesh.vertices) assert not test.__hash__() == mesh.__hash__() # rigid transforms don't change area or volume if rigid: assert g.np.allclose(mesh.area, test.area) # volume is very dependent on meshes being watertight and sane if ( mesh.is_watertight and test.is_watertight and mesh.is_winding_consistent and test.is_winding_consistent ): assert g.np.allclose(mesh.volume, test.volume, rtol=0.05) for mesh in g.get_meshes(5): if len(mesh.faces) < MIN_FACES: continue # warp the mesh to be a unit cube mesh.vertices /= mesh.extents original = mesh.copy() for _i in range(5): mesh = original.copy() noise = g.trimesh.permutate.noise(mesh, magnitude=mesh.scale / 50.0) # make sure that if we permutate vertices with no magnitude # area and volume remain the same no_noise = g.trimesh.permutate.noise(mesh, magnitude=0.0) transform = g.trimesh.permutate.transform(mesh) tessellate = g.trimesh.permutate.tessellation(mesh) make_assertions(mesh, noise, rigid=False) make_assertions(mesh, no_noise, rigid=True) make_assertions(mesh, transform, rigid=True) make_assertions(mesh, tessellate, rigid=True) # make sure permutate didn't alter the original mesh assert original.__hash__() == mesh.__hash__() def test_tesselation(self): for mesh in g.get_meshes(5): tess = g.trimesh.permutate.tessellation(mesh) # g.log.debug(tess.area-mesh.area) assert abs(tess.area - mesh.area) < g.tol.merge volume_check = abs(tess.volume - mesh.volume) / mesh.scale assert volume_check < g.tol.merge assert len(mesh.faces) < len(tess.faces) if mesh.is_winding_consistent: assert tess.is_winding_consistent if mesh.is_watertight: assert tess.is_watertight def test_base(self): for mesh in g.get_meshes(1): tess = mesh.permutate.tessellation() # NOQA noise = mesh.permutate.noise() noise = mesh.permutate.noise(magnitude=mesh.scale / 10) # NOQA transform = mesh.permutate.transform() # NOQA if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_ply.py000066400000000000000000000235471470574263400166020ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class PlyTest(g.unittest.TestCase): def test_ply_dtype(self): # make sure all ply dtype strings are valid dtypes dtypes = g.trimesh.exchange.ply._dtypes for d in dtypes.values(): # will raise if dtype string not valid g.np.dtype(d) def test_ply(self): m = g.get_mesh("machinist.XAML") assert m.visual.kind == "face" assert g.np.ptp(m.visual.face_colors, axis=0).max() > 0 export = m.export(file_type="ply") reconstructed = g.roundtrip(export, file_type="ply") assert reconstructed.visual.kind == "face" assert g.np.allclose(reconstructed.visual.face_colors, m.visual.face_colors) m = g.get_mesh("reference.ply") assert m.visual.kind == "vertex" assert g.np.ptp(m.visual.vertex_colors, axis=0).max() > 0 export = m.export(file_type="ply") reconstructed = g.roundtrip(export, file_type="ply") assert reconstructed.visual.kind == "vertex" assert g.np.allclose(reconstructed.visual.vertex_colors, m.visual.vertex_colors) def test_points(self): # Test reading point clouds from PLY files m = g.get_mesh("points_ascii.ply") assert isinstance(m, g.trimesh.PointCloud) assert m.vertices.shape == (5, 3) m = g.get_mesh("points_bin.ply") assert m.vertices.shape == (5, 3) assert isinstance(m, g.trimesh.PointCloud) m = g.get_mesh("points_emptyface.ply") assert m.vertices.shape == (1024, 3) assert isinstance(m, g.trimesh.PointCloud) def test_list_properties(self): """ Test reading point clouds with the following metadata: - lists of differing length - multiple list properties - single-element properties that come after list properties """ m = g.get_mesh("points_ascii_with_lists.ply") point_list = m.metadata["_ply_raw"]["point_list"]["data"] assert g.np.array_equal( point_list["point_indices1"][0], g.np.array([10, 11, 12], dtype=g.np.uint32) ) assert g.np.array_equal( point_list["point_indices1"][1], g.np.array([10, 11], dtype=g.np.uint32) ) assert g.np.array_equal( point_list["point_indices2"][0], g.np.array([13, 14], dtype=g.np.uint32) ) assert g.np.array_equal( point_list["point_indices2"][1], g.np.array([12, 13, 14], dtype=g.np.uint32) ) assert g.np.array_equal( point_list["some_float"], g.np.array([1.1, 2.2], dtype=g.np.float32) ) def test_vertex_attributes(self): """ Test writing vertex attributes to a ply, by reading them back and asserting the written attributes array matches """ m = g.get_mesh("box.STL") test_1d_attribute = g.np.copy(m.vertices[:, 0]) test_nd_attribute = g.np.copy(m.vertices) m.vertex_attributes["test_1d_attribute"] = test_1d_attribute m.vertex_attributes["test_nd_attribute"] = test_nd_attribute export = m.export(file_type="ply") reconstructed = g.roundtrip(export, file_type="ply") vertex_attributes = reconstructed.metadata["_ply_raw"]["vertex"]["data"] result_1d = vertex_attributes["test_1d_attribute"] result_nd = vertex_attributes["test_nd_attribute"]["f1"] g.np.testing.assert_almost_equal(result_1d, test_1d_attribute) g.np.testing.assert_almost_equal(result_nd, test_nd_attribute) def test_face_attributes(self): # Test writing face attributes to a ply, by reading # them back and asserting the written attributes array matches for encoding in ["binary", "ascii"]: for dt in [g.np.float32, g.np.float64]: m = g.get_mesh("box.STL") test_1d_attribute = g.np.copy(m.face_angles[:, 0]) test_nd_attribute = g.np.copy(m.face_angles) m.face_attributes["test_1d_attribute"] = test_1d_attribute.astype(dt) m.face_attributes["test_nd_attribute"] = test_nd_attribute.astype(dt) export = m.export( file_type="ply", include_attributes=True, encoding=encoding ) reconstructed = g.roundtrip(export, file_type="ply", process=False) face_attributes = reconstructed.metadata["_ply_raw"]["face"]["data"] result_1d = face_attributes["test_1d_attribute"] if encoding == "binary": # only binary format allows this result_nd = face_attributes["test_nd_attribute"]["f1"] else: result_nd = face_attributes["test_nd_attribute"] g.np.testing.assert_almost_equal(result_1d, test_1d_attribute) g.np.testing.assert_almost_equal(result_nd, test_nd_attribute) no_attr = m.export(file_type="ply", include_attributes=False) assert len(no_attr) < len(export) def test_cases(self): a = g.get_mesh("featuretype.STL") b = g.get_mesh("featuretype.ply") assert a.faces.shape == b.faces.shape # has mixed quads and triangles m = g.get_mesh("suzanne.ply") assert len(m.faces) > 0 def test_ascii_color(self): mesh = g.trimesh.creation.box() en = g.roundtrip(mesh.export(file_type="ply", encoding="ascii"), file_type="ply") assert en.visual.kind is None color = [255, 0, 0, 255] mesh.visual.vertex_colors = color # try exporting and reloading raw eb = g.roundtrip(mesh.export(file_type="ply"), file_type="ply") assert g.np.allclose(eb.visual.vertex_colors[0], color) assert eb.visual.kind == "vertex" ea = g.roundtrip(mesh.export(file_type="ply", encoding="ascii"), file_type="ply") assert g.np.allclose(ea.visual.vertex_colors, color) assert ea.visual.kind == "vertex" def test_empty_or_pointcloud(self): # demo files to check empty_files = [ "ply_empty_ascii.ply", "ply_empty_bin.ply", "ply_empty_header.ply", "ply_points_ascii.ply", "ply_points_bin.ply", ] for empty_file in empty_files: e = g.get_mesh("emptyIO/" + empty_file) if "empty" in empty_file: # result should be an empty scene try: e.export(file_type="ply") except BaseException: continue raise ValueError("should not export empty") elif "points" in empty_file: # create export export = e.export(file_type="ply") reconstructed = g.roundtrip(export, file_type="ply") # result should be a point cloud instance assert isinstance(e, g.trimesh.PointCloud) assert hasattr(e, "vertices") # point cloud export should contain vertices assert isinstance(reconstructed, g.trimesh.PointCloud) assert hasattr(reconstructed, "vertices") def test_blender_uv(self): # test texture coordinate loading for Blender exported ply files mesh_names = [] # test texture coordinate loading for simple triangulated # Blender-export mesh_names.append("cube_blender_uv.ply") # same mesh but re-exported from meshlab as binary ply (and with # changed header) mesh_names.append("cube_blender_uv_meshlab.ply") # test texture coordinate loading for mesh with mixed quads and # triangles mesh_names.append("suzanne.ply") for mesh_name in mesh_names: m = g.get_mesh(mesh_name) assert hasattr(m, "visual") and hasattr(m.visual, "uv") assert m.visual.uv.shape[0] == m.vertices.shape[0] def test_uv_export(self): m = g.get_mesh("fuze.ply") assert hasattr(m, "visual") and hasattr(m.visual, "uv") assert m.visual.uv.shape[0] == m.vertices.shape[0] # create empty file to export to with g.TemporaryDirectory() as D: name = g.os.path.join(D, "file.ply") # export should contain the uv data m.export(name) m2 = g.trimesh.load(name) assert hasattr(m2, "visual") and hasattr(m2.visual, "uv") assert g.np.allclose(m.visual.uv, m2.visual.uv) def test_fix_texture(self): # test loading of face indices when uv-coordinates are also contained m1 = g.get_mesh("plane.ply") m2 = g.get_mesh("plane_tri.ply") assert m1.faces.shape == (2, 3) assert m2.faces.shape == (2, 3) def test_texturefile(self): # try loading a PLY with texture m = g.get_mesh("fuze.ply") # run the checks to make sure fuze has the # correct number of vertices and has texture loaded g.check_fuze(m) def test_skip_texturefile(self): # not loading the texture should produce a trivial texture m_tex = g.get_mesh("fuze.ply") m_tex_size = m_tex.visual.material.image.size m_notex = g.get_mesh("fuze.ply", skip_materials=True) m_notex_size = m_notex.visual.material.image.size assert m_tex_size != m_notex_size def test_metadata(self): mesh = g.get_mesh("metadata.ply") assert ( g.np.array([[12], [90]]) == mesh.metadata["_ply_raw"]["face"]["data"]["face_type"] ).all() def test_point_uv(self): # points with UV coordinates # TODO shouldn't they be saved as a vertex attribute or something s = g.get_mesh("point_uv.ply.zip") p = next(iter(s.geometry.values())) assert p.vertices.shape == (1000, 3) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_points.py000066400000000000000000000255471470574263400173140ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class PointsTest(g.unittest.TestCase): def test_pointcloud(self): """ Test PointCloud object """ shape = (100, 3) # random points points = g.random(shape) # make sure randomness never gives duplicates by offsetting points += g.np.arange(shape[0]).reshape((-1, 1)) # make some duplicate vertices points[:10] = points[0] # create a pointcloud object cloud = g.trimesh.points.PointCloud(points) initial_hash = hash(cloud) assert cloud.convex_hull.volume > 0.0 # check shapes of data assert cloud.vertices.shape == shape assert cloud.shape == shape assert cloud.extents.shape == (3,) assert cloud.bounds.shape == (2, 3) assert hash(cloud) == initial_hash # set some random colors cloud.colors = g.random((shape[0], 4)) # remove the duplicates we created cloud.merge_vertices() # new shape post- merge new_shape = (shape[0] - 9, shape[1]) # make sure vertices and colors are new shape assert cloud.vertices.shape == new_shape assert len(cloud.colors) == new_shape[0] assert hash(cloud) != initial_hash # AABB volume should be same as points assert g.np.isclose( cloud.bounding_box.volume, g.np.prod(g.np.ptp(points, axis=0)) ) # will populate all bounding primitives assert cloud.bounding_primitive.volume > 0.0 # ... except AABB (it uses OBB) assert cloud.bounding_box.volume > 0.0 # check getitem and setitem cloud[0] = [10, 10, 10] assert g.np.allclose(cloud[0], [10, 10, 10]) # cloud should have copied assert not g.np.allclose(points[0], [10, 10, 10]) # check to see if copy works assert g.np.allclose(cloud.vertices, cloud.copy().vertices) assert hash(cloud.visual) == hash(cloud.copy().visual) def test_empty(self): p = g.trimesh.PointCloud(None) assert p.is_empty assert p.copy().is_empty p.vertices = [[0, 1, 2]] assert not p.is_empty def test_vertex_only(self): """ Test to make sure we can instantiate a mesh with just vertices and no faces for some unknowable reason """ v = g.random((1000, 3)) v[g.np.floor(g.random(90) * len(v)).astype(int)] = v[0] mesh = g.trimesh.Trimesh(v) assert len(mesh.vertices) < 950 assert len(mesh.vertices) > 900 def test_plane(self): # make sure plane fitting works for 2D points in space for _i in range(10): # create a random rotation matrix = g.trimesh.transformations.random_rotation_matrix() # create some random points in spacd p = g.random((1000, 3)) # make them all lie on the XY plane so we know # the correct normal to check against p[:, 2] = 0 # transform them into random frame p = g.trimesh.transform_points(p, matrix) # we made the Z values zero before transforming # so the true normal should be Z then rotated truth = g.trimesh.transform_points([[0, 0, 1]], matrix, translate=False)[0] # run the plane fit _C, N = g.trimesh.points.plane_fit(p) # sign of normal is arbitrary on fit so check both assert g.np.allclose(truth, N) or g.np.allclose(truth, -N) # make sure plane fit works with multiple point sets at once nb_points_sets = 20 for _i in range(10): # create a random rotation matrices = [ g.trimesh.transformations.random_rotation_matrix() for _ in range(nb_points_sets) ] # create some random points in spacd p = g.random((nb_points_sets, 1000, 3)) # make them all lie on the XY plane so we know # the correct normal to check against p[..., 2] = 0 # transform them into random frame for j, matrix in enumerate(matrices): p[j, ...] = g.trimesh.transform_points(p[j, ...], matrix) # p = g.trimesh.transform_points(p, matrix) # we made the Z values zero before transforming # so the true normal should be Z then rotated truths = g.np.zeros((len(p), 3)) for j, matrix in enumerate(matrices): truths[j, :] = g.trimesh.transform_points( [[0, 0, 1]], matrix, translate=False )[0] # run the plane fit _C, N = g.trimesh.points.plane_fit(p) # sign of normal is arbitrary on fit so check both cosines = g.np.einsum("ij,ij->i", N, truths) assert g.np.allclose(g.np.abs(cosines), g.np.ones_like(cosines)) def test_kmeans(self, cluster_count=5, points_per_cluster=100): """ Test K-means clustering """ clustered = [] # get random-ish points in a -0.5:+0.5 interval points = g.random((points_per_cluster * cluster_count, 3)) - 0.5 for index, group in enumerate(g.np.array_split(points, cluster_count)): # move the cluster along the XYZ vector clustered.append((group / 1000) + (index * 100)) clustered = g.np.vstack(clustered) # run k- means clustering on our nicely separated data centroids, klabel = g.trimesh.points.k_means(points=clustered, k=cluster_count) # reshape to make sure all groups have the same index variance = g.np.ptp(klabel.reshape((cluster_count, points_per_cluster)), axis=1) assert len(centroids) == cluster_count assert (variance == 0).all() def test_tsp(self): """ Test our solution for visiting every point in order. """ for dimension in [2, 3]: for count in [2, 10, 100]: for _i in range(10): points = g.random((count, dimension)) # find a path that visits every point quickly idx, dist = g.trimesh.points.tsp(points, start=0) # indexes should visit every point exactly once assert set(idx) == set(range(len(points))) assert len(idx) == len(points) assert len(dist) == len(points) - 1 # shouldn't be any negative indexes assert (idx >= 0).all() # make sure distances returned are correct dist_check = g.np.linalg.norm(g.np.diff(points[idx], axis=0), axis=1) assert g.np.allclose(dist_check, dist) def test_xyz(self): """ Test XYZ file loading """ # test a small file from cloudcompare p = g.get_mesh("points_cloudcompare.xyz") assert p.vertices.shape == (101, 3) assert p.colors.shape == (101, 4) # test a small file from agisoft p = g.get_mesh("points_agisoft.xyz") assert p.vertices.shape == (100, 3) assert p.colors.shape == (100, 4) # test exports e = p.export(file_type="xyz") p = g.trimesh.load(g.trimesh.util.wrap_as_stream(e), file_type="xyz") assert p.vertices.shape == (100, 3) assert p.colors.shape == (100, 4) def test_obb(self): p = g.get_mesh("points_agisoft.xyz") original = p.bounds.copy() matrix = p.apply_obb() assert matrix.shape == (4, 4) assert not g.np.allclose(p.bounds, original) def test_ply(self): p = g.get_mesh("points_agisoft.xyz") assert isinstance(p, g.trimesh.PointCloud) assert len(p.vertices) > 0 # initial color CRC initial = hash(p.visual) # set to random colors p.colors = g.random((len(p.vertices), 4)) # visual CRC should have changed assert hash(p.visual) != initial # test exporting a pointcloud to a PLY file r = g.roundtrip(p.export(file_type="ply"), file_type="ply") assert r.vertices.shape == p.vertices.shape # make sure colors survived the round trip assert g.np.allclose(r.colors, p.colors) def test_glb(self): p = g.get_mesh("points_agisoft.xyz") assert isinstance(p, g.trimesh.PointCloud) assert len(p.vertices) > 0 # test exporting a pointcloud to a GLTF # TODO : WE SHOULD IMPLEMENT THE IMPORTER TOO r = p.export(file_type="gltf") assert len(g.json.loads(r["model.gltf"].decode("utf-8"))["meshes"]) == 1 def test_remove_close(self): # create 100 unique points p = g.np.arange(300).reshape((100, 3)) # should return the original 100 points culled, mask = g.trimesh.points.remove_close(g.np.vstack((p, p)), radius=0.1) assert culled.shape == (100, 3) assert mask.shape == (200,) def test_add_operator(self): points_1 = g.random((10, 3)) points_2 = g.random((20, 3)) colors_1 = [[123, 123, 123, 255]] * len(points_1) colors_2 = [[255, 0, 123, 255]] * len(points_2) # Test: Both cloud's colors are preserved cloud_1 = g.trimesh.points.PointCloud(points_1, colors=colors_1) cloud_2 = g.trimesh.points.PointCloud(points_2, colors=colors_2) cloud_sum = cloud_1 + cloud_2 assert g.np.allclose( cloud_sum.colors, g.np.vstack((cloud_1.colors, cloud_2.colors)) ) # Next test: Only second cloud has colors cloud_1 = g.trimesh.points.PointCloud(points_1) cloud_2 = g.trimesh.points.PointCloud(points_2, colors=colors_2) cloud_sum = cloud_1 + cloud_2 assert g.np.allclose(cloud_sum.colors[len(cloud_1.vertices) :], cloud_2.colors) # Next test: Only first cloud has colors cloud_1 = g.trimesh.points.PointCloud(points_1, colors=colors_1) cloud_2 = g.trimesh.points.PointCloud(points_2) cloud_sum = cloud_1 + cloud_2 assert g.np.allclose(cloud_sum.colors[: len(cloud_1.vertices)], cloud_1.colors) def test_radial_sort(self): theta = g.np.linspace(0.0, g.np.pi * 2.0, 1000) points = g.np.column_stack( (g.np.cos(theta), g.np.sin(theta), g.np.zeros(len(theta))) ) points *= g.random(len(theta)).reshape((-1, 1)) # apply a random order to the points order = g.np.random.permutation(g.np.arange(len(points))) # get the sorted version of these points # when we pass them the randomly ordered points sort = g.trimesh.points.radial_sort( points[order], origin=[0, 0, 0], normal=[0, 0, 1] ) # should have re-established original order assert g.np.allclose(points, sort) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_polygons.py000066400000000000000000000242431470574263400176420ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class PolygonTests(g.unittest.TestCase): def test_edges(self): """ Test edges_to_polygon """ m = g.get_mesh("featuretype.STL") # get a polygon for the second largest facet index = m.facets_area.argsort()[-2] normal = m.facets_normal[index] origin = m._cache["facets_origin"][index] T = g.trimesh.geometry.plane_transform(origin, normal) vertices = g.trimesh.transform_points(m.vertices, T)[:, :2] # find boundary edges for the facet edges = m.edges_sorted.reshape((-1, 6))[m.facets[index]].reshape((-1, 2)) group = g.trimesh.grouping.group_rows(edges, require_count=1) # run the polygon conversion polygon = g.trimesh.path.polygons.edges_to_polygons( edges=edges[group], vertices=vertices ) assert len(polygon) == 1 assert g.np.isclose(polygon[0].area, m.facets_area[index]) # try transforming the polygon around M = g.np.eye(3) M[0][2] = 10.0 P2 = g.trimesh.path.polygons.transform_polygon(polygon[0], M) distance = ( g.np.array(P2.centroid.coords)[0] - g.np.array(polygon[0].centroid.coords)[0] ) assert g.np.allclose(distance, [10.0, 0]) def test_random_polygon(self): """ Test creation of random polygons """ p = g.trimesh.path.polygons.random_polygon() assert p.area > 0.0 assert p.is_valid def test_sample(self): """ Test random sampling of polygons """ p = g.Point([0, 0]).buffer(1.0) count = 100 s = g.trimesh.path.polygons.sample(p, count=count) assert len(s) <= count assert s.shape[1] == 2 radius = (s**2).sum(axis=1).max() assert radius < (1.0 + 1e-8) # test Path2D sample wiring path = g.trimesh.load_path(p) s = path.sample(count=count) assert len(s) <= count assert s.shape[1] == 2 radius = (s**2).sum(axis=1).max() assert radius < (1.0 + 1e-8) # try getting OBB of samples _T, extents = g.trimesh.path.polygons.polygon_obb(s) # OBB of samples should be less than diameter of circle diameter = g.np.ptp(g.np.reshape(p.bounds, (2, 2)), axis=0).max() assert (extents <= diameter).all() # test sampling with multiple bodies for i in range(3): assert g.np.isclose(path.area, p.area * (i + 1)) path = path + g.trimesh.load_path(g.Point([(i + 2) * 2, 0]).buffer(1.0)) s = path.sample(count=count) assert s.shape[1] == 2 def test_project(self): m = g.trimesh.creation.icosphere(subdivisions=4) p = [g.trimesh.path.polygons.projected(m, normal=n) for n in g.random((100, 3))] # sphere projection should never have interiors assert all(len(i.interiors) == 0 for i in p) # sphere projected area should always be close to pi assert g.np.allclose([i.area for i in p], g.np.pi, atol=0.05) def test_project_backface(self): m = g.trimesh.Trimesh( vertices=[[0, 0, 0], [0, 1, 0], [1, 0, 0]], faces=[[0, 1, 2]] ) # check ignore_sign argument front = m.projected(m.face_normals[0], ignore_sign=False) assert len(front.entities) == 1 front = m.projected(m.face_normals[0], ignore_sign=True) assert len(front.entities) == 1 back = m.projected(-m.face_normals[0], ignore_sign=False) assert len(back.entities) == 0 back = m.projected(-m.face_normals[0], ignore_sign=True) assert len(back.entities) == 1 def test_project_multi(self): mesh = g.trimesh.creation.box() + g.trimesh.creation.box().apply_translation( [3, 0, 0] ) proj = mesh.projected(normal=[0, 0, 1]) assert mesh.body_count == 2 assert len(proj.root) == 2 assert g.np.isclose(proj.area, 2.0) def test_second_moment(self): def rectangle(extents): # return the boundary of an origin-centered # rectangle as a numpy array a = g.np.abs(g.np.array(extents) / 2.0) lower, upper = -a, a return g.np.array([lower, [upper[0], lower[1]], upper, [lower[0], upper[1]]]) def poly(bh, bhi=None): # return a rectangle centered at the origin # as a shapely Polygon shell = rectangle(bh) if bhi is not None: holes = [rectangle(bhi)] else: holes = [] return Polygon(shell=shell, holes=holes) def poly_corner(bh): # return a rectangle with one corner # at the origin and the rest in positive space shell = rectangle(bh) shell += shell.min(axis=0) return Polygon(shell=shell) def poly_doublecorner(bh): # returns two equal sized rectangles as one polygon # Same as poly_corner(), but the rectangle gets # mirrored by 180 deg at the origin # This puts the centroid in the origin with Ixy != 0 shell_1 = rectangle(bh) shell_1 += shell_1.min(axis=0) shell_2 = -shell_1 shell = g.np.concatenate( (shell_1[2:, :], shell_1[:2, :], shell_2[2:, :], shell_2[:2, :]), axis=0 ) return Polygon(shell=shell) def truth(bh, bhi=None): # return the analytical second moment of area # for a rectangle with centroid at the origin # and width-height of `bh` and an interior # rectangle width-height of `bhi` if bhi is None: bhi = g.np.zeros(2) b, h = bh bi, hi = bhi return ( g.np.array( [b * h**3 - bi * hi**3, h * b**3 - hi * bi**3, 0.0], dtype=g.np.float64, ) / 12 ) def truth_corner(bh): # check a rectangle with one corner # at the origin and the rest in positive space b, h = bh return g.np.array( [b * h**3 / 3.0, h * b**3 / 3.0, 0.5 * b**2 * 0.5 * h**2], dtype=g.np.float64, ) from shapely.geometry import Polygon from trimesh.path.polygons import second_moments, transform_polygon heights = g.np.array([[0.01, 0.01], [1, 1], [10, 2], [3, 21]]) for bh in heights: # check the second moment of a rectangle # as polygon is already centered, centered doesn't have any effect O_moments, O_principal_moments, O_alpha, O_transform = second_moments( poly(bh), return_centered=True ) # check against wikipedia t = truth(bh) # for a centered rectangle, the principal axis are already aligned # with the frame axis assert g.np.allclose(O_moments, t) assert g.np.any(g.np.isclose(O_moments, O_principal_moments[0])) assert g.np.isclose(O_moments[2], 0) # Ixy = 0 assert g.np.isclose(O_alpha, 0) assert g.np.allclose(O_transform, g.np.eye(3)) # now check a rectangle with the corner, so Ixy != 0 # First we test with centering. The results should be same as # with the initially centered rectangles C_moments, C_principal_moments, C_alpha, C_transform = second_moments( poly_corner(bh), return_centered=True ) assert g.np.allclose(O_moments, C_moments) assert g.np.allclose(O_principal_moments, C_principal_moments) assert g.np.isclose(O_alpha, C_alpha) assert g.np.allclose(O_transform[:, :2], C_transform[:, :2]) # Now without centering moments = second_moments(poly_corner(bh), return_centered=False) t = truth_corner(bh) assert g.np.allclose(moments, t) # Now we will get the transform for a double rectangle. Then we will apply # the transform and test if Ixy == 0, alpha == 0 etc. C_moments, C_principal_moments, C_alpha, C_transform = second_moments( poly_doublecorner(bh), return_centered=True ) # apply the outputted transform to the polygon T_polygon = transform_polygon(poly_doublecorner(bh), C_transform) # call the function on the transformed polygon T_moments, T_principal_moments, T_alpha, T_transform = second_moments( T_polygon, return_centered=True ) assert g.np.any(g.np.isclose(T_moments, C_principal_moments[0])) assert g.np.allclose(C_principal_moments, T_principal_moments) assert g.np.isclose(T_alpha, 0, atol=1e-7) assert g.np.allclose(T_transform, g.np.eye(3)) # check polygons with interior for bhi in heights: # only check if interior is smaller than exterior if not (bhi < bh).all(): continue # check a rectangle with interiors c = second_moments(poly(bh, bhi), return_centered=False) t = truth(bh, bhi) assert g.np.allclose(c, t) def test_native_centroid(self): # check our native implementation of the shoelace algorithm # against the results from shapely which we use for native # checks of counter-clockwise 2D coordinate loops # get some polygons without interiors polygons = [g.Polygon(i) for i in g.data["nestable"]] # same data as (n, 2) float arrays coords = [g.np.array(i) for i in g.data["nestable"]] for p, c in zip(polygons, coords): # area will be signed with respect to counter-clockwise _ccw, area, centroid = g.trimesh.util.is_ccw(c, return_all=True) assert g.np.allclose(centroid, g.np.array(p.centroid.coords)[0]) assert g.np.isclose(abs(area), p.area) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_poses.py000066400000000000000000000036451470574263400171240ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class PosesTest(g.unittest.TestCase): def test_nonsampling_poses(self): mesh = g.trimesh.creation.icosahedron() # Compute the stable poses of the icosahedron trans, probs = mesh.compute_stable_poses() # Probabilities should all be 0.05 (20 faces) self.assertTrue(g.np.allclose(g.np.array(probs) - 0.05, 0.0)) self.assertTrue(len(trans) == 20) self.assertTrue(len(probs) == 20) def test_multiple(self): for mesh in [g.trimesh.creation.icosahedron(), g.get_mesh("unit_cube.STL")]: vectors = g.trimesh.util.grid_linspace([[0.0, 0], [1, 1.0]], 5)[1:] vectors = g.trimesh.unitize( g.np.column_stack((vectors, g.np.ones(len(vectors)))) ) for vector, angle in zip(vectors, g.np.linspace(0.0, g.np.pi, len(vectors))): matrix = g.trimesh.transformations.rotation_matrix(angle, vector) copied = mesh.copy() copied.apply_transform(matrix) # Compute the stable poses of the icosahedron _trans, probs = copied.compute_stable_poses() # we are only testing primitives with point symmetry # AKA 3 principal components of inertia are the same facet_count = len(mesh.facets) if facet_count == 0: facet_count = len(mesh.faces) probability = 1.0 / float(facet_count) assert g.np.allclose(g.np.array(probs) - probability, 0.0) def test_round(self): mesh = g.trimesh.primitives.Cylinder(radius=1.0, height=10.0) _transforms, _probabilities = mesh.compute_stable_poses() _transforms, _probabilities = mesh.compute_stable_poses(n_samples=10) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_primitives.py000066400000000000000000000324411470574263400201620ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g try: import triangle # NOQA has_triangle = True except ImportError: g.log.warning("Not testing extrude primitives!") has_triangle = False class PrimitiveTest(g.unittest.TestCase): def setUp(self): self.primitives = [] # do it with a flag in case there is more than one ImportError if has_triangle: e = g.trimesh.primitives.Extrusion() e.primitive.polygon = g.trimesh.path.polygons.random_polygon() e.primitive.height = 1.0 self.primitives.append(e) self.primitives.append( g.trimesh.primitives.Extrusion( polygon=g.trimesh.path.polygons.random_polygon(), height=293292.322 ) ) self.primitives.append(e.buffer(0.25)) self.primitives.append( g.trimesh.primitives.Extrusion( polygon=g.Point([0, 0]).buffer(0.5), height=1.0 ) ) self.primitives.append( g.trimesh.primitives.Extrusion( polygon=g.Point([0, 0]).buffer(0.5), height=-1.0 ) ) self.primitives.append(g.trimesh.primitives.Sphere()) self.primitives.append( g.trimesh.primitives.Sphere(center=[0, 0, 100], radius=10.0, subdivisions=5) ) self.primitives.append(g.trimesh.primitives.Box()) try: self.primitives.append( g.trimesh.primitives.Box( center=[102.20, 0, 102.0], extents=[29, 100, 1000] ) ) raise ValueError("Box shouldn't have accepted `center`!") except TypeError: # this should have raised a TypeError as `center` is not a kwarg pass self.primitives.append( g.trimesh.primitives.Box( extents=[10, 20, 30], transform=g.trimesh.transformations.random_rotation_matrix(), ) ) self.primitives.append(g.trimesh.primitives.Cylinder()) self.primitives.append( g.trimesh.primitives.Cylinder(radius=10, height=1, sections=40) ) self.primitives.append(g.trimesh.primitives.Capsule()) self.primitives.append(g.trimesh.primitives.Capsule(radius=1.5, height=10)) def test_scaling(self): # try a simple scaling test p = g.trimesh.primitives.Sphere(radius=1.0) m = p.to_mesh() assert g.np.allclose(p.extents, 2.0) assert g.np.allclose(m.extents, 2.0) p.apply_scale(0.5) m.apply_scale(0.5) assert g.np.isclose(p.primitive.radius, 0.5) assert g.np.allclose(p.extents, 1.0) assert g.np.allclose(m.extents, 1.0) assert g.np.allclose(p.extents, m.extents, atol=1e-3) p = g.trimesh.primitives.Box() p.apply_translation([0.5, 0.5, 0.5]) p.apply_scale(5.0) assert g.np.allclose(p.bounds, [[0, 0, 0], [5, 5, 5]]) try: raised = False p.apply_scale([2, 3, 4]) except BaseException: raised = True if not raised: raise ValueError("primitives should raise on non-uniform scaling") # now try with more complicated generated data prims = [ g.trimesh.primitives.Sphere(radius=1.0), g.trimesh.primitives.Sphere(radius=112.007), g.trimesh.primitives.Cylinder(radius=1.0, height=10.0), g.trimesh.primitives.Box(), g.trimesh.primitives.Box(extents=[12, 32, 31]), g.trimesh.primitives.Cylinder(radius=1.1212, height=0.001), g.trimesh.primitives.Capsule(radius=1.0, height=7.0), ] for original in prims: perm = [original, original.copy(), original.copy(), original.copy()] # try with a simple translation perm[1].primitive.transform = g.tf.translation_matrix([0, 0, 7]) perm[2].apply_transform(g.tf.rotation_matrix(g.np.pi / 4, [0, 0, 1])) # try with a gnarly rotation perm[3].primitive.transform = g.tf.random_rotation_matrix(translate=1000) fields = set(dir(original.primitive)) ori_radius, ori_height = None, None if "radius" in fields: ori_radius = original.primitive.radius if "height" in fields: ori_height = original.primitive.height for scale in [1e-2, 0.123, 0.5, 100.2]: for po in perm: # converting to mesh will do all scaling # and transformations on simple discrete # copy of primitive and should match with # only tessellation differences p = po.copy() m = p.to_mesh() # make sure we have the types we think we do assert isinstance(p, g.trimesh.primitives.Primitive) assert isinstance(m, g.trimesh.Trimesh) assert g.np.allclose(p.extents, m.extents) p.apply_scale(scale) m.apply_scale(scale) # matrix should never have scale assert g.tf.is_rigid(p.primitive.transform) if ori_radius is not None: assert g.np.isclose(p.primitive.radius, ori_radius * scale) if ori_height is not None: assert g.np.isclose(p.primitive.height, ori_height * scale) # should be the same size assert g.np.allclose(p.extents, m.extents, atol=1e-3 * scale) # should be in the same place assert g.np.allclose(p.bounds, m.bounds, atol=1e-3 * scale) def test_mesh_schema(self): # this schema should define every primitive. schema = g.trimesh.resources.get_schema("primitive/trimesh.schema.json") # make sure a mesh passes the schema m = g.trimesh.creation.box() g.jsonschema.validate(m.to_dict(), schema) def test_primitives(self): kind = {i.__class__.__name__ for i in self.primitives} # make sure our test data has every primitive kinds = {"Box", "Capsule", "Cylinder", "Sphere"} if has_triangle: kinds.add("Extrusion") assert kind == kinds # this schema should define every primitive. schema = g.trimesh.resources.get_schema("primitive/primitive.schema.json") for primitive in self.primitives: # convert to a dict d = primitive.to_dict() # validate the output of the to-dict method g.jsonschema.validate(d, schema) # just triple-check that we have a transform # this should have been validated by the schema assert g.np.shape(d["transform"]) == (4, 4) assert g.trimesh.transformations.is_rigid(d["transform"]) # make sure the value actually json-dumps assert len(g.json.dumps(d)) > 0 # make sure faces and vertices are correct assert g.trimesh.util.is_shape(primitive.faces, (-1, 3)) assert g.trimesh.util.is_shape(primitive.vertices, (-1, 3)) # check dtype of faces and vertices assert primitive.faces.dtype.kind == "i" assert primitive.vertices.dtype.kind == "f" assert primitive.volume > 0.0 assert primitive.area > 0.0 # convert to base class trimesh as_mesh = primitive.to_mesh() assert as_mesh.volume > 0.0 assert as_mesh.area > 0.0 assert g.np.allclose(primitive.extents, as_mesh.extents) assert g.np.allclose(primitive.bounds, as_mesh.bounds) assert g.np.isclose(primitive.volume, as_mesh.volume, rtol=0.05) assert g.np.isclose(primitive.area, as_mesh.area, rtol=0.05) assert primitive.is_winding_consistent assert primitive.is_watertight assert as_mesh.is_winding_consistent assert as_mesh.is_watertight # check that overload of dir worked assert len([i for i in dir(primitive.primitive) if "_" not in i]) > 0 if hasattr(primitive, "direction"): assert primitive.direction.shape == (3,) centroid = primitive.centroid.copy() translation = [0, 0, 5] primitive.apply_translation(translation) # centroid should have translated correctly assert g.np.allclose(primitive.centroid - centroid, translation) def test_sample(self): transform = g.trimesh.transformations.random_rotation_matrix() box = g.trimesh.primitives.Box(transform=transform, extents=[20, 10, 100]) for kwargs in [ {"step": 8}, {"step": [10, 0.4, 10]}, {"count": 8}, {"count": [10, 3, 5]}, ]: grid = box.sample_grid(**kwargs) assert g.trimesh.util.is_shape(grid, (-1, 3)) assert (box.nearest.signed_distance(grid) > -1e-6).all() def test_box(self): """ Test the setter on box primitives """ start = [20, 10, 100] box = g.trimesh.primitives.Box(extents=start) assert g.np.allclose(box.primitive.extents, start) assert g.np.allclose(box.extents, start) if g.has_path: # check to see if outline function works assert g.np.allclose(box.as_outline().extents, start) def test_transform_return(self): # make sure primitives return `self` Box = g.trimesh.primitives.Box assert isinstance(Box().apply_transform(g.np.eye(4)), Box) assert isinstance(Box().apply_transform(g.transforms[0]), Box) def test_cyl_buffer(self): # test our inflation of cylinder primitives c = g.trimesh.primitives.Cylinder( radius=1.0, height=10.0, transform=g.trimesh.transformations.random_rotation_matrix(), ) # inflate cylinder b = c.buffer(1.0) assert g.np.isclose(b.primitive.height, 12.0) assert g.np.isclose(b.primitive.radius, 2.0) # should contain all vertices of source mesh assert b.contains(c.vertices).all() # should contain line segment assert b.contains(c.segment).all() def test_transform_attribute(self): for primitive in self.primitives: assert hasattr(primitive, "transform") assert g.trimesh.util.is_shape(primitive.transform, (4, 4)) if hasattr(primitive.primitive, "center"): assert g.np.allclose( primitive.primitive.center, primitive.transform[:3, 3] ) def test_sphere_center(self): s = g.trimesh.primitives.Sphere(center=[0, 0, 100], radius=10.0, subdivisions=5) assert g.np.allclose(s.center, [0, 0, 100]) s.center = [1, 1, 1] assert g.np.allclose(s.center, [1, 1, 1]) s.center[:2] = [0, 3] assert g.np.allclose(s.center, [0, 3, 1]) def test_box_bounds_constructor(self): # check to see that we can construct a box using AABB bounds = [[0.2, 0.3, 0.4], [10, 11, 12.2]] prim = g.trimesh.primitives.Box(bounds=bounds) # bounds should match requesta assert g.np.allclose(prim.bounds, bounds) try: # should raise a ValueError g.trimesh.primitives.Box(extents=bounds[0], bounds=bounds) raise AssertionError("box shouldn't have accepted both bounds and extents!") except ValueError: pass def test_copy(self): start = [20, 10, 100] # check that copy preserves overridden density and center-mass # for both Primitive objects and regular Trimesh objects. meshes = [ g.trimesh.primitives.Box(extents=start), g.trimesh.creation.box(extents=start), ] for box in meshes: box.density = 0.3 box.center_mass = g.np.array([0.1, -0.6, 11.3]) box.metadata["foo"] = "bar" box_copy = box.copy() assert box.density == box_copy.density assert g.np.allclose(box.center_mass, box_copy.center_mass) assert box.metadata["foo"] == box_copy.metadata["foo"] def test_sphere_subdivisions(self): # make sure we don't subdivide when asked not to a = g.trimesh.creation.icosphere(subdivisions=0) assert a.faces.shape == g.trimesh.creation.icosahedron().faces.shape # now apply the subdivisions ourself a = a.subdivide().subdivide() # should have the same subdivisions as manually doing this b = g.trimesh.primitives.Sphere(subdivisions=2) assert a.faces.shape == b.faces.shape def test_sphere_subdivisions_radius(self): tf = list(g.random_transforms(4)) for r in [1e-4, 1.1, 3, 1213.22]: for subd in range(4): s = g.trimesh.primitives.Sphere( radius=r, transform=tf[subd], subdivisions=subd ) rc = g.np.linalg.norm(s.vertices - s.center_mass, axis=1) assert g.np.isclose(rc.mean(), r) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_project.py000066400000000000000000000015671470574263400174420ustar00rootroot00000000000000try: import generic as g except ImportError: from . import generic as g def test_projection_already_2D(): # get a flat part with the flat dimension pointed in +Y m = g.get_mesh("1002_tray_bottom.STL") # align the mesh with +Z m.apply_transform(g.trimesh.geometry.align_vectors([0, 1, 0], [0, 0, 1])) # make sure we rotated it correctly so the flat axis # is along +Z assert m.extents.argmin() == 2 # get the outline in 3D path_3D = m.outline(m.facets[m.facets_area.argmax()]) # get the projection onto the plane path_2D, _to_3D = path_3D.to_planar() # just slice off the third column path_3D.vertices = path_3D.vertices[:, :2] assert path_3D.vertices.shape[1] == 2 check, to_3D = path_3D.to_planar() assert g.np.isclose(check.area, path_2D.area) if __name__ == "__main__": test_projection_already_2D() trimesh-4.5.1/tests/test_proximity.py000066400000000000000000000224241470574263400200330ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class NearestTest(g.unittest.TestCase): def test_naive(self): """ Test the naive nearest point function """ # generate a unit sphere mesh sphere = g.trimesh.primitives.Sphere(subdivisions=4) # randomly sample surface of a unit sphere, then expand to radius 2.0 points = g.trimesh.sample.sample_surface_sphere(100) * 2 # use the triangles from the unit sphere triangles = sphere.triangles # NOQA # do the check closest, distance, _tid = g.trimesh.proximity.closest_point_naive(sphere, points) # the distance from a sphere of radius 1.0 to a sphere of radius 2.0 # should be pretty darn close to 1.0 assert (g.np.abs(distance - 1.0) < 0.01).all() # the vector for the closest point should be the same as the vector # to the query point vector = g.trimesh.util.diagonal_dot(closest, points / 2.0) assert (g.np.abs(vector - 1.0) < 0.01).all() def test_helper(self): # just make sure the plumbing returns something for mesh in g.get_meshes(2): points = (g.random((100, 3)) - 0.5) * 100 a = mesh.nearest.on_surface(points) assert a is not None b = mesh.nearest.vertex(points) assert b is not None def test_nearest_naive(self): funs = [ g.trimesh.proximity.closest_point_naive, g.trimesh.proximity.closest_point, ] data_points = g.deque() data_dist = g.deque() tic = [g.time.time()] for i in funs: p, d = self.check_nearest_point_function(i) data_points.append(p) data_dist.append(d) tic.append(g.time.time()) assert g.np.ptp(data_points, axis=0).max() < g.tol.merge assert g.np.ptp(data_dist, axis=0).max() < g.tol.merge log_msg = "\n".join( f"{i}: {j}s" for i, j in zip([i.__name__ for i in funs], g.np.diff(tic)) ) g.log.info("Compared the following nearest point functions:\n" + log_msg) def check_nearest_point_function(self, fun): # def plot_tri(tri, color='g'): # plottable = g.np.vstack((tri, tri[0])) # plt.plot(plottable[:, 0], plottable[:, 1], color=color) def points_on_circle(count): theta = g.np.linspace(0, g.np.pi * 2, count + 1)[:count] s = g.np.column_stack((theta, [g.np.pi / 2] * count)) t = g.trimesh.util.spherical_to_vector(s) return t # generate some pseudorandom triangles # use our random to avoid spurious failures triangles = g.random((100, 3, 3)) - 0.5 # put them on- plane triangles[:, :, 2] = 0.0 # make one of the triangles equilaterial triangles[-1] = points_on_circle(3) # a circle of points surrounding the triangle query = points_on_circle(63) * 2 # set the points up in space query[:, 2] = 10 # a circle of points inside-ish the triangle query = g.np.vstack((query, query * 0.1)) # loop through each triangle for triangle in triangles: # create a mesh with one triangle mesh = g.Trimesh(**g.trimesh.triangles.to_kwargs([triangle])) result, result_distance, _result_tid = fun(mesh, query) polygon = g.Polygon(triangle[:, 0:2]) polygon_buffer = polygon.buffer(1e-5) # all of the points returned should be on the triangle we're # querying assert all(polygon_buffer.intersects(g.Point(i)) for i in result[:, 0:2]) # see what distance shapely thinks the nearest point # is for the 2D triangle and the query points distance_shapely = g.np.array( [polygon.distance(g.Point(i)) for i in query[:, :2]] ) # see what distance our function returned for the nearest point distance_ours = ((query[:, :2] - result[:, :2]) ** 2).sum(axis=1) ** 0.5 # how far was our distance from the one shapely gave distance_test = g.np.abs(distance_shapely - distance_ours) # NOQA # we should have calculated the same distance as shapely assert g.np.allclose(distance_ours, distance_shapely) # now check to make sure closest point doesn't depend on # the frame, IE the results should be the same after # any rigid transform # chop query off to same length as triangles assert len(query) > len(triangles) query = query[: len(triangles)] # run the closest point query as a corresponding query close = g.trimesh.triangles.closest_point(triangles=triangles, points=query) # distance between closest point and query point # this should stay the same regardless of frame distance = g.np.linalg.norm(close - query, axis=1) for T in g.transforms: # transform the query points points = g.trimesh.transform_points(query, T) # transform the triangles we're checking tri = g.trimesh.transform_points(triangles.reshape((-1, 3)), T).reshape( (-1, 3, 3) ) # run the closest point check check = g.trimesh.triangles.closest_point(triangles=tri, points=points) check_distance = g.np.linalg.norm(check - points, axis=1) # should be the same in any frame assert g.np.allclose(check_distance, distance) return result, result_distance def test_coplanar_signed_distance(self): mesh = g.trimesh.primitives.Box() # should be well outside the box but coplanar with a face # so the signed distance should be negative distance = mesh.nearest.signed_distance([mesh.bounds[0] + [100, 0, 0]]) assert distance[0] < 0.0 # constructed so origin is inside but also coplanar with # the nearest face mesh = g.get_mesh("origin_inside.STL") # origin should be inside, so distance should be positive distance = mesh.nearest.signed_distance([[0, 0, 0]]) assert distance[0] > 0.0 def test_noncoplanar_signed_distance(self): mesh = g.trimesh.primitives.Box() # should be well outside the box and not coplanar with a face # so the signed distance should be negative distance = mesh.nearest.signed_distance([mesh.bounds[0] + [100, 100, 100]]) assert distance[0] < 0.0 def test_edge_case(self): mesh = g.get_mesh("20mm-xyz-cube.stl") assert (mesh.nearest.signed_distance([[-51, 4.7, -20.6]]) < 0.0).all() def test_acute_edge_case(self): # acute tetrahedron with a sharp edge vertices = [[-1, 0.5, 0], [1, 0.5, 0], [0, -1, -0.5], [0, -1, 0.5]] faces = [[0, 1, 2], [0, 2, 3], [0, 3, 1], [3, 2, 1]] mesh = g.trimesh.Trimesh(vertices, faces) # a set of points on a line outside of the tetrahedron # their closest surface point is [0, 0.5, 0] on the sharp edge # for a point exactly in the middle a closest face is still ambiguous # -> take an even number of points n = 20 n += n % 2 pts = g.np.transpose([g.np.zeros(n), g.np.ones(n), g.np.linspace(-1, 1, n)]) # the faces facing the points should differ for first and second half of the set # check their indices for inequality faceIdxsA, faceIdxsB = g.np.split(mesh.nearest.on_surface(pts)[-1], 2) assert ( g.np.all(faceIdxsA == faceIdxsA[0]) and g.np.all(faceIdxsB == faceIdxsB[0]) and faceIdxsA[0] != faceIdxsB[0] ) def test_candidates(self): mesh = g.trimesh.creation.random_soup(2000) points = g.random((2000, 3)) g.trimesh.proximity.nearby_faces(mesh=mesh, points=points) def test_returns_correct_point_in_ambiguous_cases(self): mesh = g.trimesh.Trimesh( vertices=[ [0.0, 0.0, 0.0], [0.0, 1.0, 0.0], [-1.0, 0.0, 0.0], [0.0, 0.0, -1.0], ], faces=[[0, 1, 2], [0, 1, 3]], process=False, ) # Query point is closer to face 0 but lies in face 1 normal direction closest, _, closest_face_index = g.trimesh.proximity.closest_point( mesh, [[-0.25 - 1e-9, 0.0, -0.25]] ) g.np.testing.assert_almost_equal(closest[0], [0.0, 0.0, -0.25]) self.assertEqual(closest_face_index[0], 1) def test_unreferenced_vertex(self): # check to see that meshes with unreferenced vertices # return correct values and ignore the unreferenced points query_point = [-1.0, -1.0, -1.0] mesh = g.trimesh.Trimesh( vertices=[ [1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0], [-0.5, -0.5, -0.5], ], faces=[[0, 1, 2]], process=False, ) proximity_query = g.trimesh.proximity.ProximityQuery(mesh) q = proximity_query.on_surface([query_point]) assert len(q) == 3 assert all(len(i) == 1 for i in q) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_quadric.py000066400000000000000000000013501470574263400174120ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g def test_quadric_simplification(): if not g.trimesh.util.has_module("fast_simplification"): return m = g.get_mesh("rabbit.obj") assert len(m.faces) > 600 # should be about half as large a = m.simplify_quadric_decimation(percent=0.5) assert g.np.isclose(len(a.faces), len(m.faces) // 2, rtol=0.2) # should have the requested number of faces a = m.simplify_quadric_decimation(face_count=200) assert len(a.faces) == 200 # see if aggression does anything a = m.simplify_quadric_decimation(percent=0.25, aggression=5) assert len(a.faces) > 0 if __name__ == "__main__": test_quadric_simplification() trimesh-4.5.1/tests/test_raster.py000066400000000000000000000052751470574263400172740ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class RasterTest(g.unittest.TestCase): def test_rasterize(self): p = g.get_mesh("2D/wrench.dxf") origin = p.bounds[0] pitch = p.extents.max() / 600 resolution = g.np.ceil(p.extents / pitch).astype(int) # rasterize with filled filled = p.rasterize( origin=origin, pitch=pitch, resolution=resolution, fill=True, width=None ) # rasterize just the outline outline = p.rasterize( origin=origin, pitch=pitch, resolution=resolution, fill=False, width=2.0 ) # rasterize both both = p.rasterize( origin=origin, pitch=pitch, resolution=resolution, fill=True, width=2.0 ) # rasterize with two-dimensional pitch pitch = p.extents / 600 filled_2dpitch = p.rasterize( origin=origin, pitch=pitch, resolution=resolution, fill=True, width=None ) # count the number of filled pixels fill_cnt = g.np.array(filled).sum() fill_2dpitch_cnt = g.np.array(filled_2dpitch).sum() both_cnt = g.np.array(both).sum() outl_cnt = g.np.array(outline).sum() # filled should have more than an outline assert fill_cnt > outl_cnt # filled+outline should have more than outline assert both_cnt > outl_cnt # filled+outline should have more than filled assert both_cnt > fill_cnt # A different pitch results in a different image assert fill_2dpitch_cnt != fill_cnt def test_nested(self): # make a test path with nested circles theta = g.np.linspace(0, g.np.pi * 2, 100) unit = g.np.column_stack((g.np.cos(theta), g.np.sin(theta))) radii = g.np.linspace(1.0, 10.0, 10) g.np.random.shuffle(radii) paths = [] for R in radii: paths.append(g.trimesh.load_path(R * unit)) path = g.trimesh.path.util.concatenate(paths) # split and extrude should both show 5 regions assert len(path.split()) == 5 assert len(path.extrude(1.0)) == 5 pitch = path.extents.max() / 1000 origin = path.bounds[0] - pitch resolution = (g.np.ceil(path.extents / pitch) + 2).astype(int) # rasterize using the settings r = path.rasterize(pitch=pitch, origin=origin, resolution=resolution) # it's a boolean image so filled cells times # pitch area should be about the same as the area filled = g.np.array(r).sum() * pitch**2 assert g.np.isclose(filled, path.area, rtol=0.01) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_ray.py000066400000000000000000000212411470574263400165560ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class RayTests(g.unittest.TestCase): def test_rays(self): meshes = [g.get_mesh(**k) for k in g.data["ray_data"]["load_kwargs"]] rays = g.data["ray_data"]["rays"] names = [m.metadata["file_name"] for m in meshes] hit_id = [] hit_loc = [] hit_any = [] for m in meshes: name = m.metadata["file_name"] hit_any.append(m.ray.intersects_any(**rays[name])) hit_loc.append(m.ray.intersects_location(**rays[name])[0]) hit_id.append(m.ray.intersects_id(**rays[name])) hit_any = g.np.array(hit_any, dtype=g.np.int64) for i in g.trimesh.grouping.group(g.np.unique(names, return_inverse=True)[1]): broken = g.np.ptp(hit_any[i].astype(g.np.int64), axis=0).sum() assert broken == 0 def test_rps(self): for use_embree in [True, False]: dimension = (10000, 3) sphere = g.get_mesh("unit_sphere.STL", use_embree=use_embree) ray_origins = g.random(dimension) ray_directions = g.np.tile([0, 0, 1], (dimension[0], 1)) ray_origins[:, 2] = -5 # force ray object to allocate tree before timing it # tree = sphere.ray.tree tic = [g.time.time()] a = sphere.ray.intersects_id(ray_origins, ray_directions) tic.append(g.time.time()) b = sphere.ray.intersects_location(ray_origins, ray_directions) tic.append(g.time.time()) # make sure ray functions always return numpy arrays assert all(len(i.shape) >= 0 for i in a) assert all(len(i.shape) >= 0 for i in b) rps = dimension[0] / g.np.diff(tic) g.log.info("Measured %s rays/second with embree %d", str(rps), use_embree) def test_empty(self): """ Test queries with no hits """ for use_embree in [True, False]: dimension = (100, 3) sphere = g.get_mesh("unit_sphere.STL", use_embree=use_embree) # should never hit the sphere ray_origins = g.random(dimension) ray_directions = g.np.tile([0, 1, 0], (dimension[0], 1)) ray_origins[:, 2] = -5 # make sure ray functions always return numpy arrays # these functions return multiple results all of which # should always be a numpy array assert all( len(i.shape) >= 0 for i in sphere.ray.intersects_id(ray_origins, ray_directions) ) assert all( len(i.shape) >= 0 for i in sphere.ray.intersects_location(ray_origins, ray_directions) ) def test_contains(self): scale = 1.5 for use_embree in [True, False]: mesh = g.get_mesh("unit_cube.STL", use_embree=use_embree) g.log.info("Contains test ray engine: " + str(mesh.ray.__class__)) test_on = mesh.ray.contains_points(mesh.vertices) # NOQA test_in = mesh.ray.contains_points(mesh.vertices * (1.0 / scale)) assert test_in.all() test_out = mesh.ray.contains_points(mesh.vertices * scale) assert not test_out.any() points_way_out = (g.random((30, 3)) * 100) + 1.0 + mesh.bounds[1] test_way_out = mesh.ray.contains_points(points_way_out) assert not test_way_out.any() test_centroid = mesh.ray.contains_points([mesh.center_mass]) assert test_centroid.all() def test_on_vertex(self): for use_embree in [False]: m = g.trimesh.creation.box(use_embree=use_embree) origins = g.np.zeros_like(m.vertices) vectors = m.vertices.copy() assert m.ray.intersects_any(ray_origins=origins, ray_directions=vectors).all() (_locations, index_ray, _index_tri) = m.ray.intersects_location( ray_origins=origins, ray_directions=vectors ) hit_count = g.np.bincount(index_ray, minlength=len(origins)) assert (hit_count == 1).all() def test_on_edge(self): for use_embree in [True, False]: m = g.get_mesh("7_8ths_cube.stl", use_embree=use_embree) points = [[4.5, 0, -23], [4.5, 0, -2], [0, 0, -1e-6], [0, 0, -1]] truth = [False, True, True, True] result = g.trimesh.ray.ray_util.contains_points(m.ray, points) assert (result == truth).all() def test_multiple_hits(self): """ """ # Set camera focal length (in pixels) f = g.np.array([1000.0, 1000.0]) h, w = 256, 256 # Set up a list of ray directions - one for each pixel in our (256, # 256) output image. ray_directions = g.trimesh.util.grid_arange( [[-h / 2, -w / 2], [h / 2, w / 2]], step=2.0 ) ray_directions = g.np.column_stack( (ray_directions, g.np.ones(len(ray_directions)) * f[0]) ) # Initialize the camera origin to be somewhere behind the cube. cam_t = g.np.array([0, 0, -15.0]) # Duplicate to ensure we have an camera_origin per ray direction ray_origins = g.np.tile(cam_t, (ray_directions.shape[0], 1)) for use_embree in [True, False]: # Generate a 1 x 1 x 1 cube using the trimesh box primitive cube_mesh = g.trimesh.creation.box(extents=[2, 2, 2], use_embree=use_embree) # Perform 256 * 256 raycasts, one for each pixel on the image # plane. We only want the 'first' hit. index_triangles, _index_ray = cube_mesh.ray.intersects_id( ray_origins=ray_origins, ray_directions=ray_directions, multiple_hits=False, ) assert len(g.np.unique(index_triangles)) == 2 index_triangles, _index_ray = cube_mesh.ray.intersects_id( ray_origins=ray_origins, ray_directions=ray_directions, multiple_hits=True ) assert len(g.np.unique(index_triangles)) > 2 def test_contain_single(self): # not watertight mesh = g.get_mesh("teapot.stl", use_embree=False) # sample a grid of points (n,3) points = mesh.bounding_box.sample_grid(step=2.0) # to a contains check on every point contained = mesh.ray.contains_points(points) assert len(points) == len(contained) # not contained and should surface a bug for point in mesh.bounding_box.vertices: mesh.ray.contains_points([point]) def test_box(self): """ Run box- ray intersection along Z and make sure XY match ray origin XY. """ for kwargs in [{"use_embree": True}, {"use_embree": False}]: mesh = g.get_mesh("unit_cube.STL", **kwargs) # grid is across meshes XY profile origins = g.trimesh.util.grid_linspace( mesh.bounds[:, :2] + g.np.reshape([-0.02, 0.02], (-1, 1)), 100 ) origins = g.np.column_stack((origins, g.np.ones(len(origins)) * -100)) # all vectors are along Z axis vectors = g.np.ones((len(origins), 3)) * [0, 0, 1.0] # (n,3) float intersection position in space # (n,) int, index of original ray # (m,) int, index of mesh.faces pos, ray, _tri = mesh.ray.intersects_location( ray_origins=origins, ray_directions=vectors ) for p, r in zip(pos, ray): # intersect location XY should match ray origin XY assert g.np.allclose(p[:2], origins[r][:2]) # the Z of the hit should be on the cube's # top or bottom face assert g.np.isclose(p[2], mesh.bounds[:, 2]).any() def test_broken(self): """ Test a mesh with badly defined face normals """ ray_origins = g.np.array( [[0.12801793, 24.5030052, -5.0], [0.12801793, 24.5030052, -5.0]] ) ray_directions = g.np.array( [[-0.13590759, -0.98042506, 0.0], [0.13590759, 0.98042506, -0.0]] ) for kwargs in [{"use_embree": True}, {"use_embree": False}]: mesh = g.get_mesh("broken.STL", **kwargs) locations, _index_ray, _index_tri = mesh.ray.intersects_location( ray_origins=ray_origins, ray_directions=ray_directions ) # should be same number of location hits assert len(locations) == len(ray_origins) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_registration.py000066400000000000000000000356261470574263400205110ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class RegistrationTest(g.unittest.TestCase): def test_procrustes(self): # every combination of possible boolean options # a_flip and a_scale are apply-to-test-data opt = list(g.itertools.combinations([True, False] * 6, 6)) # generate deterministic but random-ish transforms matrices = iter(g.random_transforms(count=len(opt))) for reflection, translation, scale, a_flip, a_scale, weight in opt: # create random points in space points_a = (g.random((1000, 3)) - 0.5) * 1000 # get a random transform from the iterator matrix = next(matrices) # apply a flip (reflection) to test data if a_flip: matrix = g.np.dot( matrix, g.trimesh.transformations.reflection_matrix( point=[0, 0, 0], normal=[0, 1, 0] ), ) # apply scale to test data if a_scale: matrix = g.np.dot( matrix, g.trimesh.transformations.scale_matrix(0.1235234) ) # apply transform to points A points_b = g.trimesh.transform_points(points_a, matrix) # weight points or not if weight: weights = (g.random(len(points_a)) + 9) / 10 else: weights = None # run the solver (matrixN, transformed, cost) = g.trimesh.registration.procrustes( points_a, points_b, reflection=reflection, translation=translation, scale=scale, weights=weights, ) # if we're not weighting the results # should be identical with None vs all-ones (matrixN_C, transformed_C, cost_C) = g.trimesh.registration.procrustes( points_a, points_b, reflection=reflection, translation=translation, scale=scale, weights=g.np.ones(len(points_a)), ) if weight: # weights should have changed the matrix assert not g.np.allclose(matrixN, matrixN_C) else: # no weights so everything should be identical assert g.np.allclose(matrixN, matrixN_C) assert g.np.allclose(transformed_C, transformed) assert g.np.isclose(cost, cost_C) # the points should be identical if the function # was allowed to translate in space # and there were no weights, scaling, or reflection identical = ( translation and (not weight) and (not a_flip or reflection) and (not a_scale or scale) ) if identical: assert cost < 0.001 # it should have found the matrix we used assert g.np.allclose(matrixN, matrix) # if reflection is not allowed, the determinant # should always be close to 1.0 for the rotation det = g.np.linalg.det(matrixN[:3, :3]) # reflection not allowed if not reflection: # determinant should always be positive assert det > 1e-8 if not scale: # no reflection or scale means determinant # of 1.0 assert g.np.isclose(det, 1.0) # scaling not allowed if not scale: # allowed to be -1.0 or 1.0 assert g.np.isclose(g.np.abs(det), 1.0) # points have a flip applied # procrustes is allowed to use reflection # and there is no scaling in the matrix if a_flip and reflection and not scale: assert g.np.isclose(det, -1.0) def test_icp_mesh(self): # see if ICP alignment works with meshes m = g.trimesh.creation.box() X = m.sample(10) X = X + [0.1, 0.1, 0.1] _matrix, _transformed, cost = g.trimesh.registration.icp(X, m, scale=False) assert cost < 0.01 def test_icp_points(self): # see if ICP alignment works with point clouds # create random points in space points_a = (g.random((1000, 3)) - 0.5) * 1000 # create a random transform # matrix = g.trimesh.transformations.random_rotation_matrix() # create a small transform # ICP will not work at all with large transforms matrix = g.trimesh.transformations.rotation_matrix(g.np.radians(1.0), [0, 0, 1]) # take a few randomly chosen points and make # sure the order is permutated index = g.np.random.choice(g.np.arange(len(points_a)), 20) # transform and apply index points_b = g.trimesh.transform_points(points_a[index], matrix) # tun the solver matrixN, transformed, cost = g.trimesh.registration.icp(points_b, points_a) assert cost < 1e-3 assert g.np.allclose(matrix, g.np.linalg.inv(matrixN)) assert g.np.allclose(transformed, points_a[index]) def test_mesh(self): noise = 0.05 extents = [6, 12, 3] # create the mesh as a simple box mesh = g.trimesh.creation.box(extents=extents) # subdivide until we have more faces than we want for _i in range(3): mesh = mesh.subdivide() # apply tessellation and random noise mesh = mesh.permutate.noise(noise) # randomly rotation with translation transform = g.trimesh.transformations.random_rotation_matrix() transform[:3, 3] = (g.random(3) - 0.5) * 1000 mesh.apply_transform(transform) scan = mesh # create a "true" mesh truth = g.trimesh.creation.box(extents=extents) for a, b in [[truth, scan], [scan, truth]]: a_to_b, _cost = a.register(b) a_check = a.copy() a_check.apply_transform(a_to_b) assert g.np.linalg.norm(a_check.centroid - b.centroid) < (noise * 2) # find the distance from the truth mesh to each scan vertex distance = a_check.nearest.on_surface(b.vertices)[1] assert distance.max() < (noise * 2) # try our registration with points points = g.trimesh.transform_points( scan.sample(100), matrix=g.trimesh.transformations.random_rotation_matrix() ) truth_to_points, _cost = truth.register(points) truth.apply_transform(truth_to_points) distance = truth.nearest.on_surface(points)[1] assert distance.mean() < noise def test_nricp(self): # Get two meshes that have a comparable shape source = g.get_mesh("reference.obj", process=False) target = g.get_mesh("target.obj", process=False) # Vertex indices of landmarks source / target landmarks_vertex_indices = g.np.array( [ [177, 1633], [181, 1561], [614, 1556], [610, 1629], [114, 315], [398, 413], [812, 412], [227, 99], [241, 87], [674, 86], [660, 98], [362, 574], [779, 573], ] ) source_markers_vertices = source.vertices[landmarks_vertex_indices[:, 0]] target_markers_vertices = target.vertices[landmarks_vertex_indices[:, 1]] T = g.trimesh.registration.procrustes( source_markers_vertices, target_markers_vertices )[0] source.vertices = g.trimesh.transformations.transform_points(source.vertices, T) # Just for the sake of using barycentric coordinates... use_barycentric_coordinates = True if use_barycentric_coordinates: source_markers_vertices = source.vertices[landmarks_vertex_indices[:, 0]] source_markers_tids = g.trimesh.proximity.closest_point( source, source_markers_vertices )[2] source_markers_barys = g.trimesh.triangles.points_to_barycentric( source.triangles[source_markers_tids], source_markers_vertices ) source_landmarks = (source_markers_tids, source_markers_barys) else: source_landmarks = landmarks_vertex_indices[:, 0] # Make copies to check nothing is modified source_copy = source.copy() target_copy = target.copy() # Parameters for nricp_amberg wl = 3 max_iter = 10 wn = 0.5 steps_amberg = [ # ws, wl, wn, max_iter [0.02, wl, wn, max_iter], [0.007, wl, wn, max_iter], [0.002, wl, wn, max_iter], ] # Parameters for nricp_sumner wl = 1000 wi = 0.0001 ws = 1 wn = 1 steps_sumner = [ # wc, wi, ws, wl, wn [0.1, wi, ws, wl, wn], [0.1, wi, ws, wl, wn], [1, wi, ws, wl, wn], [5, wi, ws, wl, wn], [10, wi, ws, wl, wn], [50, wi, ws, wl, wn], [100, wi, ws, wl, wn], [1000, wi, ws, wl, wn], [10000, wi, ws, wl, wn], ] # Amberg et. al 2007 records_amberg_no_ldm = g.trimesh.registration.nricp_amberg( source, target, distance_threshold=0.05, steps=steps_amberg, return_records=True, ) records_amberg_ldm = g.trimesh.registration.nricp_amberg( source, target, source_landmarks=source_landmarks, target_positions=target_markers_vertices, steps=steps_amberg, return_records=True, distance_threshold=0.05, ) try: g.trimesh.registration.nricp_amberg(source, target) except KeyError: raise AssertionError() # related to #1724 # Sumner and Popovic 2004 records_sumner_no_ldm = g.trimesh.registration.nricp_sumner( source, target, distance_threshold=0.05, steps=steps_sumner, return_records=True, ) records_sumner_ldm = g.trimesh.registration.nricp_sumner( source, target, source_landmarks=source_landmarks, target_positions=target_markers_vertices, steps=steps_sumner, return_records=True, distance_threshold=0.05, ) try: g.trimesh.registration.nricp_sumner(source, target) except KeyError: raise AssertionError() # related to #1724 d_amberg_no_ldm = g.trimesh.proximity.closest_point( target, records_amberg_no_ldm[-1] )[1] d_amberg_ldm = g.trimesh.proximity.closest_point(target, records_amberg_ldm[-1])[ 1 ] d_sumner_no_ldm = g.trimesh.proximity.closest_point( target, records_sumner_no_ldm[-1] )[1] d_sumner_ldm = g.trimesh.proximity.closest_point(target, records_sumner_ldm[-1])[ 1 ] # Meshes should remain untouched assert g.np.allclose(source.vertices, source_copy.vertices) assert g.np.allclose(target.vertices, target_copy.vertices) # Basically a lot of check to check if the return values change somehow assert d_amberg_no_ldm.min() < 1e-7 assert d_amberg_no_ldm.max() > 0.05 assert d_amberg_no_ldm.mean() < 1e-3 assert d_amberg_ldm.min() > 1e-7 assert d_amberg_ldm.max() < 0.06 assert d_amberg_ldm.mean() < 1e-3 assert d_sumner_no_ldm.min() < 1e-8 assert d_sumner_no_ldm.max() < 0.03 assert d_sumner_no_ldm.mean() < 1e-3 assert d_sumner_ldm.min() < 1e-8 assert d_sumner_ldm.max() > 0.05 assert d_sumner_ldm.mean() < 1e-3 dl_amberg_no_ldm = g.np.linalg.norm( records_amberg_no_ldm[-1][landmarks_vertex_indices[:, 0]] - target_markers_vertices, axis=-1, ) dl_amberg_ldm = g.np.linalg.norm( records_amberg_ldm[-1][landmarks_vertex_indices[:, 0]] - target_markers_vertices, axis=-1, ) dl_sumner_no_ldm = g.np.linalg.norm( records_sumner_no_ldm[-1][landmarks_vertex_indices[:, 0]] - target_markers_vertices, axis=-1, ) dl_sumner_ldm = g.np.linalg.norm( records_sumner_ldm[-1][landmarks_vertex_indices[:, 0]] - target_markers_vertices, axis=-1, ) assert dl_amberg_no_ldm.min() > 0.01 assert dl_amberg_no_ldm.max() > 0.1 assert dl_amberg_no_ldm.mean() > 0.05 assert dl_amberg_ldm.min() < 0.0002 assert dl_amberg_ldm.max() < 0.001 assert dl_amberg_ldm.mean() < 0.0004 assert dl_sumner_no_ldm.min() > 0.01 assert dl_sumner_no_ldm.max() > 0.1 assert dl_sumner_no_ldm.mean() > 0.05 assert dl_sumner_ldm.min() < 0.0007 assert dl_sumner_ldm.max() < 0.006 assert dl_sumner_ldm.mean() < 0.004 def test_query_from_points(self): points = [[1, 0, 0], [0, 1, 0], [0, 0, 1]] query_point = [[0, 0.5, 0]] qres = g.trimesh.registration._from_points( points, query_point, return_normals=False ) assert qres["vertex_indices"][0] == 1 assert g.np.all(qres["nearest"][0] == [0, 1, 0]) assert "normals" not in qres qres = g.trimesh.registration._from_points( points, query_point, return_normals=True ) normal = g.np.ones(3) normal = normal / g.np.linalg.norm(normal) assert g.np.allclose(qres["normals"][0], normal) or g.np.allclose( qres["normals"][0], -normal ) def test_query_from_mesh(self): points = [[1, 0, 0], [0, 1, 0], [0, 0, 1]] faces = [[0, 1, 2]] mesh = g.trimesh.Trimesh(vertices=points, faces=faces) query_point = [[0, 0.5, 0]] qres = g.trimesh.registration._from_mesh( mesh, query_point, return_barycentric_coordinates=False, return_normals=False, return_interpolated_normals=False, ) assert "normals" not in qres assert "barycentric_coordinates" not in qres assert "interpolated_normals" not in qres qres = g.trimesh.registration._from_mesh( mesh, query_point, return_barycentric_coordinates=False, return_normals=False, return_interpolated_normals=True, ) assert "normals" not in qres assert "barycentric_coordinates" in qres assert "interpolated_normals" in qres if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_remesh.py000066400000000000000000000243771470574263400172630ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class SubDivideTest(g.unittest.TestCase): def test_subdivide(self): meshes = [ g.get_mesh("soup.stl"), # a soup of random triangles g.get_mesh("cycloidal.ply"), # a mesh with multiple bodies g.get_mesh("featuretype.STL"), ] # a mesh with a single body for m in meshes: sub = m.subdivide() assert g.np.allclose(m.area, sub.area) assert len(sub.faces) > len(m.faces) max_edge = m.scale / 50 sub, idx = m.subdivide_to_size(max_edge=max_edge, return_index=True) assert g.np.allclose(m.area, sub.area) edge_len = ( g.np.diff(sub.vertices[sub.edges_unique], axis=1).reshape((-1, 3)) ** 2 ).sum(axis=1) ** 0.5 assert (edge_len < max_edge).all() # should be the same order of magnitude size assert g.np.allclose(m.extents, sub.extents, rtol=2) # should be one index per new face assert len(idx) == len(sub.faces) # every face should be subdivided assert idx.max() == (len(m.faces) - 1) # check the original face index using barycentric coordinates epsilon = 1e-3 for vid in sub.faces.T: # find the barycentric coordinates bary = g.trimesh.triangles.points_to_barycentric( m.triangles[idx], sub.vertices[vid] ) # if face indexes are correct they will be on the triangle # which means all barycentric coordinates are between 0.0-1.0 assert bary.max() < (1 + epsilon) assert bary.min() > -epsilon # make sure it's not all zeros assert g.np.ptp(bary) > epsilon v, f = g.trimesh.remesh.subdivide(vertices=m.vertices, faces=m.faces) max_edge = m.scale / 50 v, f, idx = g.trimesh.remesh.subdivide_to_size( vertices=m.vertices, faces=m.faces, max_edge=max_edge, return_index=True ) ms = g.trimesh.Trimesh(vertices=v, faces=f) assert g.np.allclose(m.area, ms.area) edge_len = ( g.np.diff(ms.vertices[ms.edges_unique], axis=1).reshape((-1, 3)) ** 2 ).sum(axis=1) ** 0.5 assert (edge_len < max_edge).all() # should be one index per new face assert len(idx) == len(f) # every face should be subdivided assert idx.max() == (len(m.faces) - 1) # check the original face index using barycentric coordinates epsilon = 1e-3 for vid in f.T: # find the barycentric coordinates bary = g.trimesh.triangles.points_to_barycentric(m.triangles[idx], v[vid]) # if face indexes are correct they will be on the triangle # which means all barycentric coordinates are between 0.0-1.0 assert bary.max() < (1 + epsilon) assert bary.min() > -epsilon # make sure it's not all zeros assert g.np.ptp(bary) > epsilon check = m.subdivide_to_size( max_edge=m.extents.sum(), max_iter=1, return_index=False ) assert check.faces.shape == m.faces.shape def test_sub(self): # try on some primitives meshes = [g.trimesh.creation.box(), g.trimesh.creation.icosphere()] for m in meshes: s = m.subdivide(face_index=[0, len(m.faces) - 1]) # shouldn't have subdivided in-place assert len(s.faces) > len(m.faces) # area should be the same assert g.np.isclose(m.area, s.area) # volume should be the same assert g.np.isclose(m.volume, s.volume) max_edge = m.scale / 50 s = m.subdivide_to_size(max_edge=max_edge) # shouldn't have subdivided in-place assert len(s.faces) > len(m.faces) # area should be the same assert g.np.isclose(m.area, s.area) # volume should be the same assert g.np.isclose(m.volume, s.volume) def test_loop(self): meshes = [ g.get_mesh("soup.stl"), # a soup of random triangles g.get_mesh("featuretype.STL"), ] # a mesh with a single body for m in meshes: sub = m.subdivide_loop(iterations=1) # number of faces should increase assert len(sub.faces) > len(m.faces) # subdivided faces are smaller assert sub.area_faces.mean() < m.area_faces.mean() def test_loop_multibody(self): # a mesh with multiple bodies mesh = g.get_mesh("cycloidal.ply") sub = mesh.subdivide_loop(iterations=2) # number of faces should increase assert len(sub.faces) > len(mesh.faces) # subdivided faces are smaller assert sub.area_faces.mean() < mesh.area_faces.mean() # should be the same order of magnitude area # rtol=2 means it can be up to twice/half assert g.np.isclose(sub.area, mesh.area, rtol=2) # should have the same number of bodies assert len(mesh.split()) == len(sub.split()) def test_loop_multi_simple(self, count=10): meshes = [] for i in range(count): current = g.trimesh.creation.icosahedron() current.apply_translation([i * 1.5, 0, 0]) meshes.append(current) # concatenate into a single multibody mesh m = g.trimesh.util.concatenate(meshes) # run subdivision on that a = m.subdivide_loop(iterations=4) # make sure it splits and is watertight split = a.split() assert len(split) == count assert all(i.is_watertight for i in split) def test_loop_correct(self): box = g.trimesh.creation.box() big_sphere = g.trimesh.creation.icosphere(radius=0.5) small_sphere = g.trimesh.creation.icosphere(radius=0.4) sub = box.subdivide_loop(iterations=2) # smaller than 0.5 sphere assert big_sphere.contains(sub.vertices).all() # bigger than 0.4 sphere assert (~small_sphere.contains(sub.vertices)).all() def test_loop_bound(self): def _get_boundary_vertices(mesh): boundary_groups = g.trimesh.grouping.group_rows( mesh.edges_sorted, require_count=1 ) return mesh.vertices[g.np.unique(mesh.edges_sorted[boundary_groups])] box = g.trimesh.creation.box() bottom_mask = g.np.zeros(len(box.faces), dtype=bool) bottom_faces = [1, 5] bottom_mask[bottom_faces] = True # eliminate bottom of the box box.update_faces(~bottom_mask) bottom_vrts = _get_boundary_vertices(box) # subdivide box sub = box.subdivide_loop(iterations=2) sub_bottom_vrts = _get_boundary_vertices(sub) # y value of bottom boundary vertices should not be changed assert g.np.isclose( bottom_vrts[:, 1].mean(), sub_bottom_vrts[:, 1].mean(), atol=1e-5 ) def test_uv(self): # get a mesh with texture m = g.get_mesh("fuze.obj") # m.show() # get the shape of the initial mesh shape = m.vertices.shape # subdivide the mesh s = m.subdivide() # shouldn't have changed source mesh assert m.vertices.shape == shape # subdivided mesh should have more vertices assert s.vertices.shape[0] > shape[0] # should have UV coordinates matching vertices assert s.vertices.shape[0] == s.visual.uv.shape[0] # original UV coordinates with faces ov = m.visual.uv[m.faces] # subdivided mesh faces sv = s.visual.uv[s.faces] # both subdivided and original should have faces # that don't vary wildly assert g.np.ptp(ov, axis=1).mean(axis=0).max() < 0.1 assert g.np.ptp(sv, axis=1).mean(axis=0).max() < 0.1 max_edge = m.scale / 50 s = m.subdivide_to_size(max_edge=max_edge) # shouldn't have changed source mesh assert m.vertices.shape == shape # subdivided mesh should have more vertices assert s.vertices.shape[0] > shape[0] # should have UV coordinates matching vertices assert s.vertices.shape[0] == s.visual.uv.shape[0] # original UV coordinates with faces ov = m.visual.uv[m.faces] # subdivided mesh faces sv = s.visual.uv[s.faces] # both subdivided and original should have faces # that don't vary wildly assert g.np.ptp(ov, axis=1).mean(axis=0).max() < 0.1 assert g.np.ptp(sv, axis=1).mean(axis=0).max() < 0.1 def test_max_iter(self): m = g.trimesh.creation.box() try: m.subdivide_to_size(0.01, max_iter=1) raise BaseException("that shouldn't have worked!") except ValueError: # this shouldn't have worked pass # this should be enough iterations r = m.subdivide_to_size(0.01, max_iter=10) assert r.is_watertight def test_idx_simple(self): vertices = g.np.array([0, 0, 0, 0, 1, 0, 1, 1, 0, 1, 0, 0]).reshape((-1, 3)) * 10 faces = g.np.array( [ 0, 1, 2, 0, 2, 3, ] ).reshape((-1, 3)) def test(fidx): v, f, idx = g.trimesh.remesh.subdivide( vertices, faces, face_index=fidx, return_index=True ) eps = 1e-8 for fid in fidx: # get the new triangles, as indicated by the index tri_new = v[f[idx[fid]]] # this is the original triangle original = vertices[faces[g.np.tile(fid, len(tri_new) * 3)]] bary = g.trimesh.triangles.points_to_barycentric( triangles=original, points=tri_new.reshape((-1, 3)) ) assert (bary < 1 + eps).all() assert (bary > -eps).all() test([0, 1]) test([1, 0]) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_render.py000066400000000000000000000045021470574263400172430ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class RenderTest(g.unittest.TestCase): """ Test to make sure we can convert trimesh objects to pyglet objects for rendering. """ def test_args(self): # not imported to trimesh by __init__ # so we don't have a pyglet import attempt # unless we explicitly ask for it (like during # a viewer show() call) from trimesh import rendering files = ["featuretype.STL", "fuze.obj", "points_bin.ply"] for file_name in files: m = g.get_mesh(file_name) args = rendering.convert_to_vertexlist(m) if isinstance(m, g.trimesh.Trimesh): # try turning smoothing off and on rendering.mesh_to_vertexlist(m, smooth_threshold=0) rendering.mesh_to_vertexlist(m, smooth_threshold=g.np.inf) P30 = m.section(plane_normal=[0, 0, 1], plane_origin=m.centroid) args = rendering.path_to_vertexlist(P30) args_auto = rendering.convert_to_vertexlist(P30) assert len(args) == 6 assert len(args_auto) == len(args) P20, _T = P30.to_planar() args = rendering.path_to_vertexlist(P20) args_auto = rendering.convert_to_vertexlist(P20) assert len(args) == 6 assert len(args_auto) == len(args) P21 = g.get_mesh("2D/wrench.dxf") args = rendering.path_to_vertexlist(P21) args_auto = rendering.convert_to_vertexlist(P21) assert len(args) == 6 assert len(args_auto) == len(args) P22 = g.random((100, 2)) args = rendering.points_to_vertexlist(P22) args_auto = rendering.convert_to_vertexlist(P22) assert len(args) == 6 assert len(args_auto) == len(args) P31 = g.random((100, 3)) args = rendering.points_to_vertexlist(P31) args_auto = rendering.convert_to_vertexlist(P31) assert len(args) == 6 assert len(args_auto) == len(args) P32 = g.trimesh.points.PointCloud(P31) args = rendering.convert_to_vertexlist(P32) assert len(args) == 6 assert len(args_auto) == len(args) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_repair.py000066400000000000000000000142771470574263400172600ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class RepairTests(g.unittest.TestCase): def test_fill_holes(self): for mesh_name in [ "unit_cube.STL", "machinist.XAML", "round.stl", "sphere.ply", "teapot.stl", "soup.stl", "featuretype.STL", "angle_block.STL", "quadknot.obj", ]: mesh = g.get_mesh(mesh_name) if not mesh.is_watertight: # output of fill_holes should match watertight status returned = mesh.fill_holes() assert returned == mesh.is_watertight continue hashes = [{mesh._data.__hash__(), hash(mesh)}] mesh.faces = mesh.faces[1:-1] assert not mesh.is_watertight assert not mesh.is_volume # color some faces g.trimesh.repair.broken_faces(mesh, color=[255, 0, 0, 255]) hashes.append({mesh._data.__hash__(), hash(mesh)}) assert hashes[0] != hashes[1] # run the fill holes operation should succeed assert mesh.fill_holes() # should be a superset of the last two assert mesh.is_volume assert mesh.is_watertight assert mesh.is_winding_consistent hashes.append({mesh._data.__hash__(), hash(mesh)}) assert hashes[1] != hashes[2] # try broken faces on a watertight mesh g.trimesh.repair.broken_faces(mesh, color=[255, 255, 0, 255]) def test_fix_normals(self): for mesh in g.get_meshes(5): mesh.fix_normals() def test_winding(self): """ Reverse some faces and make sure fix_face_winding flips them back. """ meshes = [ g.get_mesh(i) for i in [ "unit_cube.STL", "machinist.XAML", "round.stl", "quadknot.obj", "soup.stl", ] ] for i, mesh in enumerate(meshes): # turn scenes into multibody meshes if g.trimesh.util.is_instance_named(mesh, "Scene"): meta = mesh.metadata meshes[i] = mesh.dump().sum() meshes[i].metadata = meta timing = {} for mesh in meshes: # save the initial state is_volume = mesh.is_volume winding = mesh.is_winding_consistent tic = g.time.time() # flip faces to break winding mesh.faces[:4] = g.np.fliplr(mesh.faces[:4]) # run the operation mesh.fix_normals() # make sure mesh is repaired to former glory assert mesh.is_volume == is_volume assert mesh.is_winding_consistent == winding # save timings timing[mesh.metadata["file_name"]] = g.time.time() - tic # print timings as a warning g.log.warning(g.json.dumps(timing, indent=4)) def test_inversion(self): """Make sure fix_inversion switches all reversed faces back""" orig_mesh = g.get_mesh("unit_cube.STL") orig_verts = orig_mesh.vertices.copy() orig_faces = orig_mesh.faces.copy() mesh = g.Trimesh(orig_verts, orig_faces[:, ::-1]) inv_faces = mesh.faces.copy() # check not fixed on the way in assert not g.np.allclose(inv_faces, orig_faces) g.trimesh.repair.fix_inversion(mesh) assert not g.np.allclose(mesh.faces, inv_faces) assert g.np.allclose(mesh.faces, orig_faces) def test_multi(self): """ Try repairing a multibody geometry """ # create a multibody mesh with two cubes a = g.get_mesh("unit_cube.STL") b = a.copy() b.apply_translation([2, 0, 0]) m = a + b # should be a volume: watertight, correct winding assert m.is_volume # flip one face of A a.faces[:1] = g.np.fliplr(a.faces[:1]) # flip every face of A a.invert() # flip one face of B b.faces[:1] = g.np.fliplr(b.faces[:1]) m = a + b # not a volume assert not m.is_volume m.fix_normals(multibody=False) # shouldn't fix inversion of one cube assert not m.is_volume # run fix normal with multibody mode m.fix_normals() # should be volume again assert m.is_volume # mesh should be volume of two boxes, and positive assert g.np.isclose(m.volume, 2.0) def test_flip(self): # create two spheres a = g.trimesh.creation.icosphere() b = g.trimesh.creation.icosphere().apply_translation([2, 3, 0]) # invert the second sphere b.faces = g.np.fliplr(b.faces) m = a + b # make sure normals are in cache assert m.face_normals.shape == m.faces.shape m.fix_normals(multibody=True) assert g.np.isclose(m.volume, a.volume * 2.0) def test_fan(self): # start by creating an icosphere and removing # all faces that include a single vertex to make # a nice hole in the mesh m = g.trimesh.creation.icosphere() clip = m.vertex_faces[0] clip = clip[clip >= 0] assert len(clip) > 4 mask = g.np.ones(len(m.faces), dtype=bool) mask[clip] = False # should have been watertight assert m.is_watertight assert m.is_winding_consistent m.update_faces(mask) # now should not be watertight assert not m.is_watertight assert m.is_winding_consistent # create a triangle fan to cover the hole stitch = g.trimesh.repair.stitch(m) # should be an (n, 3) int assert len(stitch.shape) == 2 assert stitch.shape[1] == 3 assert stitch.dtype.kind == "i" # now check our stitch to see if it handled the hole repair = g.trimesh.Trimesh( vertices=m.vertices.copy(), faces=g.np.vstack((m.faces, stitch)) ) assert repair.is_watertight assert repair.is_winding_consistent if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_repr.py000066400000000000000000000021171470574263400167340ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class ReprTest(g.unittest.TestCase): def test_repr(self): m = g.trimesh.creation.icosphere() r = str(m) assert "trimesh.Trimesh" in r assert "vertices" in r assert "faces" in r s = m.scene() assert isinstance(s, g.trimesh.Scene) r = str(s) assert "Scene" in r assert "geometry" in r p = g.trimesh.PointCloud(m.vertices) r = str(p) assert "trimesh.PointCloud" in r assert "vertices" in r p = g.trimesh.path.creation.rectangle([[0, 0], [1, 1]]) assert isinstance(p, g.trimesh.path.Path2D) r = str(p) assert "trimesh.Path2D" in r assert "entities" in r assert "vertices" in r p = p.to_3D() assert isinstance(p, g.trimesh.path.Path3D) r = str(p) assert "trimesh.Path3D" in r assert "entities" in r assert "vertices" in r if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_resolvers.py000066400000000000000000000050071470574263400200110ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class ResolverTest(g.unittest.TestCase): def test_filepath_namespace(self): # check the namespaced method models = g.dir_models subdir = "2D" # create a resolver for the models directory resolver = g.trimesh.resolvers.FilePathResolver(models) # should be able to get an asset assert len(resolver.get("rabbit.obj")) > 0 # check a few file path keys check = {"ballA.off", "featuretype.STL"} assert set(resolver.keys()).issuperset(check) # try a namespaced resolver ns = resolver.namespaced(subdir) assert not set(ns.keys()).issuperset(check) assert set(ns.keys()).issuperset(["tray-easy1.dxf", "single_arc.dxf"]) def test_web_namespace(self): base = "https://example.com" name = "stuff" target = "hi.gltf" # check with a trailing slash a = g.trimesh.resolvers.WebResolver(base + "/") b = g.trimesh.resolvers.WebResolver(base + "//") c = g.trimesh.resolvers.WebResolver(base) d = a.namespaced(name) # base URL's should always be the same with one trailing slash assert a.base_url == b.base_url assert b.base_url == c.base_url assert c.base_url == base + "/" # check namespaced assert d.base_url == base + "/" + name + "/" # should have correct slashes truth = "/".join([base, name, target]) assert a.base_url + name + "/" + target == truth assert d.base_url + target == truth def test_items(self): # check __getitem__ and __setitem__ archive = {} resolver = g.trimesh.resolvers.ZipResolver(archive) assert len(set(resolver.keys())) == 0 resolver["hi"] = b"what" # should have one item assert set(resolver.keys()) == {"hi"} # should have the right value assert resolver["hi"] == b"what" # original archive should have been modified assert set(archive.keys()) == {"hi"} # add a subdirectory key resolver["stuff/nah"] = b"sup" assert set(archive.keys()) == {"hi", "stuff/nah"} assert set(resolver.keys()) == {"hi", "stuff/nah"} # try namespacing ns = resolver.namespaced("stuff") assert ns["nah"] == b"sup" g.log.debug(ns.keys()) assert set(ns.keys()) == {"nah"} if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_runlength.py000066400000000000000000000201561470574263400177750ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g from trimesh.voxel import runlength as rl np = g.np def random_rle_encoding(n=20, max_value=255, dtype=np.uint8): return ( np.random.uniform( size=(n,), ) * (max_value - 1) + 1 ).astype(np.uint8) def random_brle_encoding(n=20, max_value=255, dtype=np.uint8): return (np.random.uniform(size=(n,)) * (max_value - 1) + 1).astype(dtype) class RleTest(g.unittest.TestCase): """Tests should inherit from this class along with unittest.TestCase.""" def test_rle_encode_decode(self): small = np.array([3] * 500 + [5] * 1000 + [2], dtype=np.uint8) rand = (np.random.uniform(size=(10000,)) > 0.05).astype(np.uint8) for original in [small, rand]: for dtype in [np.uint8, np.int64]: enc = rl.dense_to_rle(original, dtype=dtype) dec = rl.rle_to_dense(enc) np.testing.assert_equal(original, dec) def test_rle_decode_encode(self): small = [3, 5, 5, 10, 2, 1] rand = random_rle_encoding() for original in [small, rand]: for dtype in [np.uint8, np.int64]: dec = rl.brle_to_dense(original) enc = rl.dense_to_brle(dec, dtype=dtype) np.testing.assert_equal(original, enc) def test_merge_rle_lengths(self): v0, l0 = [5, 5, 2], [10, 10, 1] v1, l1 = [5, 2], [20, 1] v0, l0 = rl.merge_rle_lengths(v0, l0) np.testing.assert_equal(v0, v1) np.testing.assert_equal(l0, l1) def test_split_long_rle_lengths(self): v0, l0 = [5], [300] v1, l1 = [5, 5], [255, 45] v0, l0 = rl.split_long_rle_lengths(v0, l0, dtype=np.uint8) np.testing.assert_equal(v0, v1) np.testing.assert_equal(l0, l1) v0, l0 = [5, 2, 3], [10, 1000, 4] v1, l1 = [5, 2, 2, 2, 2, 3], [10, 255, 255, 255, 235, 4] v0, l0 = rl.split_long_rle_lengths(v0, l0, dtype=np.uint8) np.testing.assert_equal(v0, v1) np.testing.assert_equal(l0, l1) def test_rle_length(self): np.testing.assert_equal( rl.rle_length([0, 5, 1, 3, 0, 6]), rl.brle_length([5, 3, 6, 0]) ) def test_rle_to_brle(self): np.testing.assert_equal(rl.rle_to_brle([0, 5, 1, 3, 0, 10]), [5, 3, 10, 0]) np.testing.assert_equal(rl.rle_to_brle([0, 5, 0, 3, 1, 10]), [8, 10]) np.testing.assert_equal(rl.rle_to_brle([1, 5, 0, 3, 1, 10]), [0, 5, 3, 10]) np.testing.assert_equal(rl.rle_to_brle([1, 5, 0, 2]), [0, 5, 2, 0]) def test_rle_to_dense(self): np.testing.assert_equal(rl.rle_to_dense([5, 3, 4, 10]), [5] * 3 + [4] * 10) np.testing.assert_equal(rl.rle_to_dense([5, 300, 4, 100]), [5] * 300 + [4] * 100) def test_brle_encode_decode(self): small = np.array([False] * 500 + [True] * 1000 + [False], dtype=bool) rand = np.random.uniform(size=(10000,)) > 0.05 for original in [small, rand]: for dtype in [np.uint8, np.int64]: enc = rl.dense_to_brle(original, dtype=dtype) dec = rl.brle_to_dense(enc) np.testing.assert_equal(original, dec) def test_brle_decode_encode(self): small = [3, 5, 5, 10, 2, 1] rand = random_brle_encoding() for original in [small, rand]: for dtype in [np.uint8, np.int64]: dec = rl.brle_to_dense(original) enc = rl.dense_to_brle(dec, dtype=dtype) np.testing.assert_equal(original, enc) def test_brle_logical_not(self): original = random_brle_encoding(dtype=np.int64) notted = rl.brle_logical_not(original) dense_notted = rl.brle_to_dense(notted) dense_original = rl.brle_to_dense(original) np.testing.assert_equal(dense_notted, np.logical_not(dense_original)) def test_merge_brle_lengths(self): np.testing.assert_equal(rl.merge_brle_lengths([10, 0, 10, 2]), [20, 2]) np.testing.assert_equal(rl.merge_brle_lengths([10, 0, 10, 2]), [20, 2]) np.testing.assert_equal(rl.merge_brle_lengths([10, 1, 10, 2]), [10, 1, 10, 2]) np.testing.assert_equal(rl.merge_brle_lengths([0, 10, 2, 3]), [0, 10, 2, 3]) def test_split_long_brle_lengths(self): np.testing.assert_equal( rl.split_long_brle_lengths([300, 600, 10], np.uint8), [255, 0, 45, 255, 0, 255, 0, 90, 10], ) def test_brle_split_merge(self): # TODO: REMOVE RETURN if True: return # TODO: FIGURE OUT WHY THIS FAILS x = [300, 600, 10, 0] split = rl.split_long_brle_lengths(x, np.uint8) merged = rl.merge_brle_lengths(split) np.testing.assert_equal(merged, x) def test_brle_to_rle(self): brle_data = random_brle_encoding() brle_dense = rl.brle_to_dense(brle_data) rle_data = rl.brle_to_rle(brle_data) rle_dense = rl.rle_to_dense(rle_data) np.testing.assert_equal(brle_dense, rle_dense) np.testing.assert_equal(rl.brle_to_rle([0, 5, 2, 0]), [1, 5, 0, 2]) def test_dense_to_brle(self): # should be an (300, 200, 1000) array x = np.array([False] * 300 + [True] * 200 + [False] * 1000) # TODO: REMOVE RETURN if True: return # TODO: FIGURE OUT WHY THIS FAILS np.testing.assert_equal(rl.dense_to_brle(x), [300, 200, 1000, 0]) np.testing.assert_equal( rl.dense_to_brle(x, np.uint8), [255, 0, 45, 200, 255, 0, 255, 0, 255, 0, 235, 0], ) def test_brle_to_dense(self): np.testing.assert_equal( rl.brle_to_dense(np.array([300, 200, 1000, 0], dtype=np.int64)), [False] * 300 + [True] * 200 + [False] * 1000, ) np.testing.assert_equal( rl.brle_to_dense( np.array( [255, 0, 45, 200, 255, 0, 255, 0, 255, 0, 235, 0], dtype=np.int64 ) ), [False] * 300 + [True] * 200 + [False] * 1000, ) def test_brle_length(self): enc = random_brle_encoding(dtype=np.int64) dec = rl.brle_to_dense(enc) np.testing.assert_equal(len(dec), rl.brle_length(enc)) def test_rle_mask(self): rle_data = random_rle_encoding() dense = rl.rle_to_dense(rle_data) mask = np.random.uniform(size=dense.shape) > 0.8 expected = dense[mask] actual = tuple(rl.rle_mask(rle_data, mask)) np.testing.assert_equal(actual, expected) def test_brle_mask(self): brle_data = random_brle_encoding() dense = rl.brle_to_dense(brle_data) mask = np.random.uniform(size=dense.shape) > 0.8 expected = dense[mask] actual = tuple(rl.brle_mask(brle_data, mask)) np.testing.assert_equal(actual, expected) def test_rle_strip(self): for rle_data, expected_rle, expected_padding in ( ([0, 5, 1, 3, 0, 10], [1, 3], (5, 10)), ([1, 3, 0, 10], [1, 3], (0, 10)), ([0, 5, 1, 3], [1, 3], (5, 0)), ([0, 5, 1, 3, 0, 0], [1, 3], (5, 0)), ([0, 5, 1, 3, 0, 10, 0, 5], [1, 3], (5, 15)), ([0, 5, 0, 3, 1, 3, 0, 10, 0, 5], [1, 3], (8, 15)), ([1, 3], [1, 3], (0, 0)), ): actual_rle, actual_padding = rl.rle_strip(rle_data) np.testing.assert_equal(actual_rle, expected_rle) np.testing.assert_equal(actual_padding, expected_padding) def test_brle_strip(self): for brle_data, expected_brle, expected_padding in ( ([5, 3, 10], [0, 3], [5, 10]), ([0, 3, 10], [0, 3], [0, 10]), ([5, 3], [0, 3], [5, 0]), ([5, 3, 0, 0], [0, 3], (5, 0)), ([5, 3, 10, 0, 5], [0, 3], (5, 15)), ([5, 0, 3, 3, 10, 0, 5], [0, 3], (8, 15)), ([0, 3], [0, 3], (0, 0)), ): actual_brle, actual_padding = rl.brle_strip(brle_data) np.testing.assert_equal(actual_brle, expected_brle) np.testing.assert_equal(actual_padding, expected_padding) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_sample.py000066400000000000000000000062071470574263400172510ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class SampleTest(g.unittest.TestCase): def test_sample(self): m = g.get_mesh("featuretype.STL") samples = m.sample(1000) # check to make sure all samples are on the mesh surface distance = m.nearest.signed_distance(samples) assert g.np.abs(distance).max() < 1e-4 even, _index = g.trimesh.sample.sample_surface_even(m, 1000) # check to make sure all samples are on the mesh surface distance = m.nearest.signed_distance(even) assert g.np.abs(distance).max() < 1e-4 def test_weights(self): m = g.trimesh.creation.box() # weigh all faces except first as zero weights = g.np.zeros(len(m.faces)) weights[0] = 1.0 # sample with passed weights _points, fid = m.sample(count=100, return_index=True, face_weight=weights) # all faces should be on single face assert (fid == 0).all() # oversample box to make sure weights aren't screwing # up ability to get every face when weighted by area assert set(g.np.unique(m.sample(100000, return_index=True)[1])) == set( range(len(m.faces)) ) def test_color(self): # check to see if sampling by color works # sample a textured mesh m = g.get_mesh("fuze.obj") points, _index, color = g.trimesh.sample.sample_surface(m, 100, sample_color=True) assert len(points) == len(color) # sample a color mesh m = g.get_mesh("machinist.XAML") assert m.visual.kind == "face" points, _index, color = g.trimesh.sample.sample_surface(m, 100, sample_color=True) assert len(points) == len(color) def test_sample_volume(self): m = g.trimesh.creation.icosphere() samples = g.trimesh.sample.volume_mesh(mesh=m, count=100) # all samples should be approximately within the sphere radii = g.np.linalg.norm(samples, axis=1) assert (radii < 1.00000001).all() def sample_volume_rectangular(self): # check to see if our OBB volume sampling runs m = g.get_mesh("rabbit.obj") obb = m.bounding_box_oriented # should use a box-specific volume sampling method samples = obb.sample_volume(100) assert samples.shape == (100, 3) def test_deterministic_sample(self): m = g.get_mesh("featuretype.STL") # Without seed passed should return non-deterministic results even_first, index_first = g.trimesh.sample.sample_surface(m, 10000) even_last, index_last = g.trimesh.sample.sample_surface(m, 10000) assert not (even_first == even_last).all() assert not (index_first == index_last).all() # With seed passed should return identical results even_first, index_first = g.trimesh.sample.sample_surface(m, 10000, seed=10) even_last, index_last = g.trimesh.sample.sample_surface(m, 10000, seed=10) assert (even_first == even_last).all() assert (index_first == index_last).all() if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_scene.py000066400000000000000000000451031470574263400170630ustar00rootroot00000000000000import numpy as np try: from . import generic as g except BaseException: import generic as g class SceneTests(g.unittest.TestCase): def test_scene(self): for file_name in ["cycloidal.ply", "sphere.ply"]: mesh = g.get_mesh(file_name) if mesh.units is None: mesh.units = "in" scene_split = g.trimesh.scene.split_scene(mesh) scene_split.convert_units("in") scene_base = g.trimesh.Scene(mesh) # save hash of scene before concat pre = [scene_split.__hash__(), scene_base.__hash__()] # make sure hash's give the same result twice assert scene_split.__hash__() == pre[0] assert scene_base.__hash__() == pre[1] # __hash__ is a long int which fails isinstance in Python 2 assert type(scene_base.__hash__()).__name__ in ("int", "long") # try out scene appending concat = scene_split + scene_base # make sure concat didn't mess with original scenes assert scene_split.__hash__() == pre[0] assert scene_base.__hash__() == pre[1] # make sure concatenate appended things, stuff assert len(concat.geometry) == ( len(scene_split.geometry) + len(scene_base.geometry) ) for s in [scene_split, scene_base]: pre = s.__hash__() assert len(s.geometry) > 0 assert s.is_valid flattened = s.graph.to_flattened() g.json.dumps(flattened) edgelist = s.graph.to_edgelist() g.json.dumps(edgelist) assert s.bounds.shape == (2, 3) assert s.centroid.shape == (3,) assert s.extents.shape == (3,) assert isinstance(s.scale, float) assert g.trimesh.util.is_shape(s.triangles, (-1, 3, 3)) assert len(s.triangles) == len(s.triangles_node) assert s.__hash__() == pre assert s.__hash__() is not None # should be some duplicate nodes assert len(s.duplicate_nodes) > 0 # should be a single scene camera assert isinstance(s.camera, g.trimesh.scene.cameras.Camera) # should be autogenerated lights assert len(s.lights) > 0 # all lights should be lights assert all( isinstance(L, g.trimesh.scene.lighting.Light) for L in s.lights ) # all lights should be added to scene graph assert all(L.name in s.graph for L in s.lights) # should have put a transform in scene graph assert s.camera.name in s.graph r = s.dump() gltf = s.export(file_type="gltf") assert isinstance(gltf, dict) assert len(gltf) > 0 assert len(gltf["model.gltf"]) > 0 glb = s.export(file_type="glb") assert len(glb) > 0 assert isinstance(glb, bytes) for export_format in ["dict", "dict64"]: # try exporting the scene as a dict # then make sure json can serialize it e = g.json.dumps(s.export(file_type=export_format)) # reconstitute the dict into a scene r = g.trimesh.load(g.json.loads(e)) # make sure the extents are similar before and after assert g.np.allclose(g.np.prod(s.extents), g.np.prod(r.extents)) # move the scene to origin s.rezero() # if our cache dump was bad this will fail assert g.np.allclose(s.centroid, 0, atol=1e-5) # make sure explode doesn't crash s.explode() def test_cam_gltf(self): # Test that the camera is stored and loaded successfully into a Scene from a gltf. cam = g.trimesh.scene.cameras.Camera(fov=[60, 90], name="cam1") box = g.trimesh.creation.box(extents=[1, 2, 3]) scene = g.trimesh.Scene( geometry=[box], camera=cam, camera_transform=np.array( [[0, 1, 0, -1], [1, 0, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]] ), ) with g.TemporaryDirectory() as d: # exports by path allow files to be written path = g.os.path.join(d, "tmp.glb") scene.export(path) r = g.trimesh.load(path, force="scene") # ensure no added nodes assert set(r.graph.nodes) == {"world", "geometry_0", "cam1"} # ensure same camera parameters and extrinsics assert (r.camera_transform == scene.camera_transform).all() assert r.camera.name == cam.name assert (r.camera.fov == cam.fov).all() assert r.camera.z_near == cam.z_near def test_scaling(self): # Test the scaling of scenes including unit conversion. scene = g.get_mesh("cycloidal.3DXML") hash_val = scene.__hash__() extents = scene.bounding_box_oriented.primitive.extents.copy() # TODO: have OBB return sorted extents # and adjust the transform to be correct factor = 10.0 scaled = scene.scaled(factor) # the oriented bounding box should scale exactly # with the scaling factor assert g.np.allclose( scaled.bounding_box_oriented.primitive.extents / extents, factor ) # check bounding primitives assert scene.bounding_box.volume > 0.0 assert scene.bounding_primitive.volume > 0.0 # we shouldn't have modified the original scene assert scene.__hash__() == hash_val assert scaled.__hash__() != hash_val # 3DXML comes in as mm assert all(m.units == "mm" for m in scene.geometry.values()) assert scene.units == "mm" converted = scene.convert_units("in") assert g.np.allclose( converted.bounding_box_oriented.primitive.extents / extents, 1.0 / 25.4, atol=1e-3, ) # shouldn't have changed the original extents assert g.np.allclose(extents, scene.bounding_box_oriented.primitive.extents) # original shouldn't have changed assert converted.units == "in" assert all(m.units == "in" for m in converted.geometry.values()) assert scene.units == "mm" # we shouldn't have modified the original scene assert scene.__hash__() == hash_val assert converted.__hash__() != hash_val def test_scaling_3D(self): scene = g.get_mesh("cycloidal.3DXML") extents = scene.extents.copy() factor = [0.2, 1.3, 3.3] scaled = scene.scaled(factor) assert g.np.allclose(scaled.extents / extents, factor) factor = [3.0, 3.0, 3.0] scaled = scene.scaled(factor) assert g.np.allclose(scaled.extents / extents, factor) def test_mixed_units(self): # create two boxes in a scene a = g.trimesh.creation.box() a.units = "in" b = g.trimesh.creation.box() b.units = "m" # mixed units should be None s = g.trimesh.Scene([a, b]) assert len(s.geometry) == 2 assert s.units is None # now all units should be meters and scene should report that a.units = "m" assert s.units == "m" def test_scaling_3D_mixed(self): # same as test_scaling_3D but input scene contains 2D and 3D geometry scene = g.get_mesh("scenes.zip", mixed=True) extents = scene.extents.copy() factor = [0.2, 1.3, 3.3] scaled = scene.scaled(factor) assert g.np.allclose(scaled.extents / extents, factor) factor = [3.0, 3.0, 3.0] scaled = scene.scaled(factor) assert g.np.allclose(scaled.extents / extents, factor) def test_add_geometry(self): # list-typed geometry should create multiple nodes, # e.g., below code is equivalent to # scene.add_geometry(geometry[0], node_name='voxels') # scene.add_geometry(geometry[1], parent_node_name='voxels') scene = g.trimesh.Scene() geometry = [g.trimesh.creation.box(), g.trimesh.creation.box()] scene.add_geometry(geometry) assert len(scene.graph.nodes_geometry) == 2 def test_add_concat(self): # create a scene with just a box in it a = g.trimesh.creation.box().scene() # do the same but move the box first b = g.trimesh.creation.box().apply_translation([2, 2, 2]).scene() # add the second scene to the first a.add_geometry(b) assert len(b.geometry) == 1 assert len(a.geometry) == 2 assert len(a.graph.nodes_geometry) == 2 def test_delete(self): # check to make sure our geometry delete cleans up a = g.trimesh.creation.icosphere() b = g.trimesh.creation.icosphere().apply_translation([2, 0, 0]) s = g.trimesh.Scene({"a": a, "b": b}) assert len(s.geometry) == 2 assert len(s.graph.nodes_geometry) == 2 # make sure every node has a transform [s.graph[n] for n in s.graph.nodes] # delete a geometry s.delete_geometry("a") assert len(s.geometry) == 1 assert len(s.graph.nodes_geometry) == 1 # if we screwed up the delete this will crash [s.graph[n] for n in s.graph.nodes] def test_dupe(self): m = g.get_mesh("tube.obj", merge_norm=True, merge_tex=True) assert m.body_count == 1 s = g.trimesh.scene.split_scene(m) assert len(s.graph.nodes) == 2 assert len(s.graph.nodes_geometry) == 1 assert len(s.duplicate_nodes) == 1 assert len(s.duplicate_nodes[0]) == 1 c = s.copy() assert len(c.graph.nodes) == 2 assert len(c.graph.nodes_geometry) == 1 assert len(c.duplicate_nodes) == 1 assert len(c.duplicate_nodes[0]) == 1 u = s.convert_units("in", guess=True) assert len(u.graph.nodes_geometry) == 1 assert len(u.duplicate_nodes) == 1 assert len(u.duplicate_nodes[0]) == 1 def test_dedupe(self): # create a scene with two identical meshes a = g.trimesh.creation.box() b = g.trimesh.creation.box().apply_translation([2, 2, 2]) s = g.trimesh.Scene([a, b]) # should have 2 geometries assert len(s.geometry) == 2 assert len(s.graph.nodes_geometry) == 2 # get a de-duplicated scene d = s.deduplicated() # should not have mutated original assert len(s.geometry) == 2 assert len(s.graph.nodes_geometry) == 2 # should only have one geometry assert len(d.geometry) == 1 assert len(d.graph.nodes_geometry) == 1 def test_3DXML(self): s = g.get_mesh("rod.3DXML") assert len(s.geometry) == 3 assert len(s.graph.nodes_geometry) == 29 dupe = s.duplicate_nodes assert len(dupe) == 3 assert sum(len(i) for i in dupe) == 29 # test cache dumping and survivability of bad # non-existent geometry specified in node_geometry s.graph.update(dupe[0][0], geometry="GARBAGE") # make sure geometry was updated assert s.graph[dupe[0][0]][1] == "GARBAGE" # get the regenerated duplicates dupe = s.duplicate_nodes assert len(dupe) == 3 # should have been cleanly dropped assert sum(len(i) for i in dupe) == 28 def test_tri(self): scene = g.get_mesh("cycloidal.3DXML") # scene should have triangles assert g.trimesh.util.is_shape(scene.triangles, (-1, 3, 3)) assert len(scene.triangles_node) == len(scene.triangles) # node name of inserted 2D geometry node = scene.add_geometry(g.get_mesh("2D/wrench.dxf")) # should be in the graph assert node in scene.graph.nodes # should have geometry defined assert node in scene.graph.nodes_geometry # 2D geometry has no triangles assert node not in scene.triangles_node # every geometry node except the one 2D thing # we inserted should be in triangles_node assert len(set(scene.triangles_node)) == len(scene.graph.nodes_geometry) - 1 def test_empty(self): m = g.get_mesh("bunny.ply") # not watertight so will result in empty scene s = g.trimesh.scene.split_scene(m) assert len(s.geometry) == 0 s = s.convert_units("inches") n = s.duplicate_nodes assert len(n) == 0 def test_zipped(self): # Make sure a zip file with multiple file types # is returned as a single scene. # allow mixed 2D and 3D geometry m = g.get_mesh("scenes.zip", mixed=True) assert len(m.geometry) >= 6 assert len(m.graph.nodes_geometry) >= 10 assert any(isinstance(i, g.trimesh.path.Path2D) for i in m.geometry.values()) assert any(isinstance(i, g.trimesh.Trimesh) for i in m.geometry.values()) m = g.get_mesh("scenes.zip", mixed=False) assert len(m.geometry) < 6 def test_doubling(self): s = g.get_mesh("cycloidal.3DXML") # make sure we parked our car where we thought assert len(s.geometry) == 13 # concatenate a scene with itself r = s + s # new scene should have twice as much geometry assert len(r.geometry) == (2 * len(s.geometry)) assert g.np.allclose(s.extents, r.extents) # duplicate node groups should be twice as long set_ori = {len(i) * 2 for i in s.duplicate_nodes} set_dbl = {len(i) for i in r.duplicate_nodes} assert set_ori == set_dbl def test_empty_scene(self): # test an empty scene empty = g.trimesh.Trimesh([], []) assert empty.bounds is None assert empty.extents is None assert g.np.isclose(empty.scale, 1.0) # create a sphere sphere = g.trimesh.creation.icosphere() # empty scene should have None for bounds scene = empty.scene() assert scene.bounds is None # add a sphere to the empty scene scene.add_geometry(sphere) # bounds should now be populated assert scene.bounds.shape == (2, 3) assert g.np.allclose(scene.bounds, sphere.bounds) def test_transform(self): # check transforming scenes scene = g.trimesh.creation.box() assert g.np.allclose(scene.bounds, [[-0.5, -0.5, -0.5], [0.5, 0.5, 0.5]]) scene.apply_translation([1, 0, 1]) assert g.np.allclose(scene.bounds, [[0.5, -0.5, 0.5], [1.5, 0.5, 1.5]]) def test_material_group(self): # check scene is correctly grouped by materials s = g.get_mesh("box.obj", group_material=True) assert set(s.geometry.keys()) == {"Material", "SecondMaterial"} assert len(s.geometry["Material"].faces) == 8 assert len(s.geometry["SecondMaterial"].faces) == 4 # make sure our flag does something s = g.get_mesh("box.obj", group_material=False) assert set(s.geometry.keys()) != {"Material", "SecondMaterial"} def test_strip(self): m = g.get_mesh("cycloidal.3DXML") assert any(g.visual.kind is not None for g in m.geometry.values()) m.strip_visuals() assert all(g.visual.kind is None for g in m.geometry.values()) def test_export_concat(self): # Scenes exported in mesh formats should be # concatenating the meshes somewhere. original = g.trimesh.creation.icosphere(radius=0.123312) original_hash = original.identifier_hash scene = g.trimesh.Scene() scene.add_geometry(original) with g.TemporaryDirectory() as d: for ext in ["stl", "ply"]: file_name = g.os.path.join(d, "mesh." + ext) scene.export(file_name) loaded = g.trimesh.load(file_name) assert g.np.isclose(loaded.volume, original.volume) # nothing should have changed assert original.identifier_hash == original_hash def test_exact_bounds(self): m = g.get_mesh("cycloidal.3DXML") assert isinstance(m, g.trimesh.Scene) dump = m.to_mesh() assert isinstance(dump, g.trimesh.Trimesh) # scene bounds should exactly match mesh bounds assert g.np.allclose(m.bounds, dump.bounds) def test_concatenate_mixed(self): scene = g.trimesh.Scene( [ g.trimesh.creation.icosphere(), g.trimesh.path.creation.rectangle([[0, 0], [1, 1]]), ] ) dump = scene.to_mesh() assert isinstance(dump, g.trimesh.Trimesh) def test_append_scenes(self): scene_0 = g.trimesh.Scene(base_frame="not_world") scene_1 = g.trimesh.Scene(base_frame="not_world") scene_sum = g.trimesh.scene.scene.append_scenes( (scene_0, scene_1), common=["not_world"], base_frame="not_world" ) assert scene_sum.graph.base_frame == "not_world" def test_scene_concat(self): # check that primitives get upgraded to meshes a = g.trimesh.Scene( [g.trimesh.primitives.Sphere(center=[5, 5, 5]), g.trimesh.primitives.Box()] ) c = a.to_mesh() assert isinstance(c, g.trimesh.Trimesh) assert g.np.allclose(c.bounds, a.bounds) c = a.dump(concatenate=False) assert len(c) == len(a.geometry) # scene 2D scene_2D = g.trimesh.Scene(g.get_mesh("2D/250_cycloidal.DXF").split()) concat = scene_2D.to_geometry() assert isinstance(concat, g.trimesh.path.Path2D) dump = scene_2D.dump(concatenate=False) assert len(dump) == len(scene_2D.geometry) assert all(isinstance(i, g.trimesh.path.Path2D) for i in dump) # all Path3D objects scene_3D = g.trimesh.Scene( [i.to_3D() for i in g.get_mesh("2D/250_cycloidal.DXF").split()] ) dump = scene_3D.dump(concatenate=False) assert len(dump) >= 5 assert all(isinstance(i, g.trimesh.path.Path3D) for i in dump) concat = scene_3D.to_geometry() assert isinstance(concat, g.trimesh.path.Path3D) mixed = list(scene_2D.geometry.values()) mixed.extend(scene_3D.geometry.values()) scene_mixed = g.trimesh.Scene(mixed) dump = scene_mixed.dump(concatenate=False) assert len(dump) == len(mixed) concat = scene_mixed.to_geometry() assert isinstance(concat, g.trimesh.path.Path3D) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_scenegraph.py000066400000000000000000000277421470574263400201160ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g from trimesh.scene.transforms import EnforcedForest def random_chr(): return chr(ord("a") + int(round(g.random() * 25))) class GraphTests(g.unittest.TestCase): def test_forest(self): graph = EnforcedForest() for _i in range(5000): graph.add_edge(random_chr(), random_chr()) def test_cache(self): for _i in range(10): scene = g.trimesh.Scene() scene.add_geometry(g.trimesh.creation.box()) mod = [scene.graph.__hash__()] scene.set_camera() mod.append(scene.graph.__hash__()) assert mod[-1] != mod[-2] assert not g.np.allclose(scene.camera_transform, g.np.eye(4)) scene.camera_transform = g.np.eye(4) mod.append(scene.graph.__hash__()) assert mod[-1] != mod[-2] assert g.np.allclose(scene.camera_transform, g.np.eye(4)) assert mod[-1] != mod[-2] def test_successors(self): s = g.get_mesh("CesiumMilkTruck.glb") assert len(s.graph.nodes_geometry) == 5 # world should be root frame assert s.graph.transforms.successors(s.graph.base_frame) == set(s.graph.nodes) for n in s.graph.nodes: # successors should always return subset of nodes succ = s.graph.transforms.successors(n) assert succ.issubset(s.graph.nodes) # we self-include node in successors assert n in succ # test getting a subscene from successors ss = s.subscene("3") assert len(ss.geometry) == 1 assert len(ss.graph.nodes_geometry) == 1 assert isinstance(s.graph.to_networkx(), g.nx.DiGraph) def test_nodes(self): # get a scene graph graph = g.get_mesh("cycloidal.3DXML").graph # get any non-root node node = next(iter(set(graph.nodes).difference([graph.base_frame]))) # remove that node graph.transforms.remove_node(node) # should have dumped the cache and removed the node assert node not in graph.nodes def test_remove_geometries(self): # remove geometries from a scene graph scene = g.get_mesh("cycloidal.3DXML") # only keep geometry instances of these keep = {"disc_cam_A", "disc_cam_B", "vxb-6800-2rs"} assert len(scene.duplicate_nodes) == 12 # should remove instance references except `keep` scene.graph.remove_geometries(set(scene.geometry.keys()).difference(keep)) # there should now be three groups of duplicate nodes assert len(scene.duplicate_nodes) == len(keep) def test_kwargs(self): # test the function that converts various # arguments into a homogeneous transformation f = g.trimesh.scene.transforms.kwargs_to_matrix # no arguments should be an identity matrix assert g.np.allclose(f(), g.np.eye(4)) # a passed matrix should return immediately fix = g.random((4, 4)) assert g.np.allclose(f(matrix=fix), fix) quat = g.trimesh.unitize([1, 2, 3, 1]) trans = [1.0, 2.0, 3.0] rot = g.trimesh.transformations.quaternion_matrix(quat) # should be the same as passed to transformations assert g.np.allclose(rot, f(quaternion=quat)) # try passing both quaternion and translation combine = f(quaternion=quat, translation=trans) # should be the same as passed and computed assert g.np.allclose(combine[:3, :3], rot[:3, :3]) assert g.np.allclose(combine[:3, 3], trans) def test_remove_node(self): s = g.get_mesh("CesiumMilkTruck.glb") assert len(s.graph.nodes_geometry) == 5 assert len(s.graph.nodes) == 9 assert len(s.graph.transforms.node_data) == 9 assert len(s.graph.transforms.edge_data) == 8 assert len(s.graph.transforms.parents) == 8 assert s.graph.transforms.remove_node("1") assert len(s.graph.nodes_geometry) == 5 assert len(s.graph.nodes) == 8 assert len(s.graph.transforms.node_data) == 8 assert len(s.graph.transforms.edge_data) == 6 assert len(s.graph.transforms.parents) == 6 def test_subscene(self): s = g.get_mesh("CesiumMilkTruck.glb") assert len(s.graph.nodes) == 9 assert len(s.graph.transforms.node_data) == 9 assert len(s.graph.transforms.edge_data) == 8 ss = s.subscene("3") assert ss.graph.base_frame == "3" assert set(ss.graph.nodes) == {"3", "4"} assert len(ss.graph.transforms.node_data) == 2 assert len(ss.graph.transforms.edge_data) == 1 assert list(ss.graph.transforms.edge_data.keys()) == [("3", "4")] def test_scene_transform(self): # get a scene graph scene = g.get_mesh("cycloidal.3DXML") # copy the original bounds of the scene's convex hull b = scene.convex_hull.bounds.tolist() # dump it into a single mesh m = scene.to_mesh() # mesh bounds should match exactly assert g.np.allclose(m.bounds, b) assert g.np.allclose(scene.convex_hull.bounds, b) # get a random rotation matrix T = g.trimesh.transformations.random_rotation_matrix() # apply it to both the mesh and the scene m.apply_transform(T) scene.apply_transform(T) # the mesh and scene should have the same bounds assert g.np.allclose(m.convex_hull.bounds, scene.convex_hull.bounds) # should have moved from original position assert not g.np.allclose(m.convex_hull.bounds, b) def test_simplify(self): if not g.trimesh.util.has_module("fast_simplification"): return # get a scene graph scene: g.trimesh.Scene = g.get_mesh("cycloidal.3DXML") original = scene.to_mesh() scene.simplify_quadric_decimation(percent=0.0, aggression=0) assert len(scene.to_mesh().vertices) < len(original.vertices) def test_reverse(self): tf = g.trimesh.transformations s = g.trimesh.scene.Scene() s.add_geometry( g.trimesh.creation.box(), parent_node_name="world", node_name="foo", transform=tf.translation_matrix([0, 0, 1]), ) s.add_geometry( g.trimesh.creation.box(), parent_node_name="foo", node_name="foo2", transform=tf.translation_matrix([0, 0, 1]), ) assert len(s.graph.transforms.edge_data) == 2 a = s.graph.get(frame_from="world", frame_to="foo2") assert len(s.graph.transforms.edge_data) == 2 # try going backward i = s.graph.get(frame_from="foo2", frame_to="world") # matrix should be inverted if you're going the other way assert g.np.allclose(a[0], g.np.linalg.inv(i[0])) # try getting foo2 with shorthand b = s.graph.get(frame_to="foo2") c = s.graph["foo2"] # matrix should be inverted if you're going the other way assert g.np.allclose(a[0], c[0]) assert g.np.allclose(b[0], c[0]) # get should not have edited edge data assert len(s.graph.transforms.edge_data) == 2 def test_shortest_path(self): # compare the EnforcedForest shortest path algo # to the more general networkx.shortest_path algo if g.sys.version_info < (3, 7): # old networkx is a lot different return tf = g.trimesh.transformations # start with a known good random tree edges = [tuple(row) for row in g.data["random_tree"]] tree = g.nx.from_edgelist(edges, create_using=g.nx.DiGraph) r_choices = g.random((len(edges), 2)) r_matrices = g.random_transforms(len(edges)) edgelist = {} for e, r_choice, r_mat in zip(edges, r_choices, r_matrices): data = {} if r_choice[0] > 0.5: # if a matrix is omitted but an edge exists it is # the same as passing an identity matrix data["matrix"] = r_mat if r_choice[1] > 0.4: # a geometry is not required for a node data["geometry"] = str(int(r_choice[1] * 1e8)) edgelist[e] = data # now apply the random data to an EnforcedForest forest = g.trimesh.scene.transforms.EnforcedForest() for k, v in edgelist.items(): forest.add_edge(*k, **v) # generate a lot of random queries queries = g.np.random.choice(list(forest.nodes), 10000).reshape((-1, 2)) # filter out any self-queries as networkx doesn't handle them queries = queries[g.np.ptp(queries, axis=1) > 0] # now run our shortest path algorithm in a profiler with g.Profiler() as P: ours = [forest.shortest_path(*q) for q in queries] # print this way to avoid a python2 syntax error g.log.debug(P.output_text()) # check truth from networkx with an undirected graph undir = tree.to_undirected() with g.Profiler() as P: truth = [g.nx.shortest_path(undir, *q) for q in queries] g.log.debug(P.output_text()) # now compare our shortest path with networkx for a, b, q in zip(truth, ours, queries): if tuple(a) != tuple(b): # raise the query that killed us raise ValueError(q) # now try creating this as a full scenegraph sg = g.trimesh.scene.transforms.SceneGraph() [ sg.update(frame_from=k[0], frame_to=k[1], **kwargs) for k, kwargs in edgelist.items() ] with g.Profiler() as P: matgeom = [sg.get(frame_from=q[0], frame_to=q[1]) for q in queries] g.log.debug(P.output_text()) # all of the matrices should be rigid transforms assert all(tf.is_rigid(mat) for mat, _ in matgeom) def test_scaling_order(self): s = g.trimesh.creation.box().scene() scaling = 1.0 / 3.0 c = s.scaled(scaling) factor = c.geometry["geometry_0"].vertices / s.geometry["geometry_0"].vertices assert g.np.allclose(factor, scaling) # should be returning itself r = s.apply_translation([10.5, 10.5, 10.5]) assert g.np.allclose(r.bounds, [[10, 10, 10], [11, 11, 11]]) assert g.np.allclose(s.bounds, [[10, 10, 10], [11, 11, 11]]) def test_translation_cache(self): # scene with non-geometry nodes c = g.get_mesh("cycloidal.3DXML") s = c.scaled(1.0 / c.extents) # get the pre-translation bounds ori = s.bounds.copy() # apply a translation s.apply_translation([10, 10, 10]) assert g.np.allclose(s.bounds, ori + 10) def test_translation_origin(self): # check to see if we can translate to the origin c = g.get_mesh("cycloidal.3DXML") c.apply_transform(g.trimesh.transformations.random_rotation_matrix()) s = c.scaled(1.0 / c.extents) # shouldn't be at the origin assert not g.np.allclose(s.bounds[0], 0.0) # should move to the origin s.apply_translation(-s.bounds[0]) assert g.np.allclose(s.bounds[0], 0) def test_reconstruct(self): original = g.get_mesh("cycloidal.3DXML") assert isinstance(original, g.trimesh.Scene) # get the scene as "baked" meshes with no scene graph dupe = g.trimesh.Scene(original.dump()) assert len(dupe.geometry) > len(original.geometry) with g.Profiler() as P: # reconstruct the instancing using `duplicate_nodes` and `procrustes` rec = dupe.reconstruct_instances() g.log.info(P.output_text()) assert len(rec.graph.nodes_geometry) == len(original.graph.nodes_geometry) assert len(rec.geometry) == len(original.geometry) assert g.np.allclose(rec.extents, original.extents, rtol=1e-8) assert g.np.allclose(rec.center_mass, original.center_mass, rtol=1e-8) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_section.py000066400000000000000000000431731470574263400174370ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class SectionTest(g.unittest.TestCase): def test_section(self): mesh = g.get_mesh("featuretype.STL") # this hits many edge cases step = 0.125 # step through mesh z_levels = g.np.arange( start=mesh.bounds[0][2], stop=mesh.bounds[1][2] + 2 * step, step=step ) # randomly order Z so first level is probably not zero z_levels = g.np.random.permutation(z_levels) # rotate around so we're not just testing XY parallel planes for angle in [0.0, g.np.radians(1.0), g.np.radians(11.11232)]: # arbitrary test rotation axis axis = g.trimesh.unitize([1.0, 2.0, 0.32343]) # rotate plane around axis to test along non- parallel planes base = g.trimesh.transformations.rotation_matrix(angle=angle, direction=axis) # to return to parallel to XY plane base_inv = g.np.linalg.inv(base) # transform normal to be slightly rotated plane_normal = g.trimesh.transform_points( [[0, 0, 1.0]], base, translate=False )[0] # store Path2D and Path3D results sections = [None] * len(z_levels) sections_3D = [None] * len(z_levels) for index, z in enumerate(z_levels): # move origin into rotated frame plane_origin = [0, 0, z] plane_origin = g.trimesh.transform_points([plane_origin], base)[0] section = mesh.section( plane_origin=plane_origin, plane_normal=plane_normal ) if section is None: # section will return None if the plane doesn't # intersect the mesh # assert z > (mesh.bounds[1][2] - # g.trimesh.constants.tol.merge) continue # move back section.apply_transform(base_inv) # Z should be in plane frame assert g.np.allclose(section.vertices[:, 2], z) assert len(section.centroid) == 3 planar, _to_3D = section.to_planar() assert planar.is_closed assert len(planar.polygons_full) > 0 assert len(planar.centroid) == 2 sections[index] = planar sections_3D[index] = section # try getting the sections as Path2D through # the multiplane method paths = mesh.section_multiplane( plane_origin=[0, 0, 0], plane_normal=plane_normal, heights=z_levels ) # call the multiplane method directly lines, _faces, _T = g.trimesh.intersections.mesh_multiplane( mesh=mesh, plane_origin=[0, 0, 0], plane_normal=plane_normal, heights=z_levels, ) # make sure various methods return the same results for index in range(len(z_levels)): if sections[index] is None: assert len(lines[index]) == 0 # make sure mesh.multipath_section is the same assert paths[index] is None continue # reconstruct path from line segments rc = g.trimesh.load_path(lines[index]) assert g.np.isclose(rc.area, sections[index].area) assert g.np.isclose(rc.area, paths[index].area) # send Path2D back to 3D using the transform returned by # section back_3D = paths[index].to_3D(paths[index].metadata["to_3D"]) # move to parallel test plane back_3D.apply_transform(base_inv) # make sure all vertices have constant Z assert g.np.ptp(back_3D.vertices[:, 2]) < 1e-8 assert g.np.ptp(sections_3D[index].vertices[:, 2]) < 1e-8 # make sure reconstructed 3D section is at right height assert g.np.isclose( back_3D.vertices[:, 2].mean(), sections_3D[index].vertices[:, 2].mean(), ) # make sure reconstruction is at z of frame assert g.np.isclose(back_3D.vertices[:, 2].mean(), z_levels[index]) def test_multi_index(self): # make sure returned face indexes on a section are correct mesh = g.trimesh.creation.box() normal = g.np.array([0, 0, 1]) # point for plane origin origin = mesh.center_mass # pick some offsets from the plane heights = g.np.linspace(0, 0.1, 2) # compute the multiple crosss sections with `section_multiplane` multi = mesh.section_multiplane(origin, normal, heights) # get the face indexes this should have hit by checking the normal idx = set( g.np.nonzero(g.np.isclose(g.np.dot(mesh.face_normals, normal), 0, atol=1e-4))[ 0 ] ) # make sure all indexes are set correctly assert all(set(m.metadata["face_index"] == idx) for m in multi) class PlaneLine(g.unittest.TestCase): def test_planes(self): count = 10 z = g.np.linspace(-1, 1, count) plane_origins = g.np.column_stack((g.random((count, 2)), z)) plane_normals = g.np.tile([0, 0, -1], (count, 1)) line_origins = g.np.tile([0, 0, 0], (count, 1)) line_directions = g.random((count, 3)) i, valid = g.trimesh.intersections.planes_lines( plane_origins=plane_origins, plane_normals=plane_normals, line_origins=line_origins, line_directions=line_directions, ) assert valid.all() assert (g.np.abs(i[:, 2] - z) < g.tol.merge).all() class SliceTest(g.unittest.TestCase): def test_slice(self): mesh = g.trimesh.creation.box() # Cut corner off of box and make sure the bounds and number of faces is correct # Tests new triangles, but not new quads or triangles contained # entirely plane_origin = mesh.bounds[1] - 0.05 plane_normal = mesh.bounds[1] sliced = mesh.slice_plane(plane_origin=plane_origin, plane_normal=plane_normal) assert g.np.isclose(sliced.bounds[0], mesh.bounds[1] - 0.15).all() assert g.np.isclose(sliced.bounds[1], mesh.bounds[1]).all() assert len(sliced.faces) == 5 # Cut top off of box and make sure bounds and number of faces is correct # Tests new quads and entirely contained triangles plane_origin = mesh.bounds[1] - 0.05 plane_normal = g.np.array([0, 0, 1]) sliced = mesh.slice_plane(plane_origin=plane_origin, plane_normal=plane_normal) assert g.np.isclose( sliced.bounds[0], mesh.bounds[0] + g.np.array([0, 0, 0.95]) ).all() assert g.np.isclose(sliced.bounds[1], mesh.bounds[1]).all() assert len(sliced.faces) == 14 # non- watertight more complex mesh bunny = g.get_mesh("bunny.ply") origin = bunny.bounds.mean(axis=0) normal = g.trimesh.unitize([1, 1, 2]) sliced = bunny.slice_plane(plane_origin=origin, plane_normal=normal) assert len(sliced.faces) > 0 # check the projections manually dot = g.np.dot(normal, (sliced.vertices - origin).T) # should be lots of stuff at the plane and nothing behind assert g.np.isclose(dot.min(), 0.0) # Cut part of top off of box with multiple planes at once # and make sure bounds and number of faces is correct plane_origins = [mesh.bounds[1] - 0.05, mesh.bounds[1] - 0.05] plane_normals = [g.np.array([0, 0, 1]), g.np.array([0, 1, 0])] sliced = mesh.slice_plane(plane_origin=plane_origins, plane_normal=plane_normals) assert g.np.isclose( sliced.bounds[0], mesh.bounds[0] + g.np.array([0, 0.95, 0.95]) ).all() assert g.np.isclose(sliced.bounds[1], mesh.bounds[1]).all() assert len(sliced.faces) == 11 # Try with more complicated mesh and make sure we get correct projections # and some faces origins = [ bunny.bounds.mean(axis=0), bunny.bounds.mean(axis=0) + 0.01 * g.trimesh.unitize([1, 1, 2]), ] normals = [g.trimesh.unitize([1, 1, 2]), -g.trimesh.unitize([1, 1, 2])] sliced = bunny.slice_plane(plane_origin=origins, plane_normal=normals) assert len(sliced.faces) > 0 for o, n in zip(origins, normals): # check the projections manually dot = g.np.dot(n, (sliced.vertices - o).T) # should be lots of stuff at the plane and nothing behind assert g.np.isclose(dot.min(), 0.0) # Test cap on more complicated watertight mesh to make sure the # resulting mesh is still watertight and slice is correct featuretype = g.get_mesh("featuretype.STL") origins = [ featuretype.center_mass, featuretype.center_mass + 0.01 * g.trimesh.unitize([1, 0, 2]), ] normals = [g.trimesh.unitize([1, 1, 1]), g.trimesh.unitize([1, 2, 3])] def test_slice_onplane(self): m = g.get_mesh("featuretype.STL") # on a plane with a lot of coplanar triangles n = g.np.array([0, 0, 1.0]) o = g.np.array([0, 0, 1.0]) # slice the mesh in two pieces a = m.slice_plane(plane_origin=o, plane_normal=-n, cap=True) b = m.slice_plane(plane_origin=o, plane_normal=n, cap=True) # both slices should be watertiight assert a.is_watertight assert b.is_watertight # volume should match original assert g.np.isclose(m.volume, a.volume + b.volume) def test_slice_submesh(self): bunny = g.get_mesh("bunny.ply") # Find the faces on the body. neck_plane_origin = g.np.array([-0.0441905, 0.124347, 0.0235287]) neck_plane_normal = g.np.array([0.35534835, -0.93424839, -0.03012456]) dots = g.np.einsum( "i,ij->j", neck_plane_normal, (bunny.vertices - neck_plane_origin).T ) signs = g.np.zeros(len(bunny.vertices), dtype=g.np.int8) signs[dots < -g.tol.merge] = 1 signs[dots > g.tol.merge] = -1 signs = signs[bunny.faces] signs_sum = signs.sum(axis=1, dtype=g.np.int8) signs_asum = g.np.abs(signs).sum(axis=1, dtype=g.np.int8) body_face_mask = signs_sum == -signs_asum body_face_index = body_face_mask.nonzero()[0] slicing_plane_origin = bunny.bounds.mean(axis=0) slicing_plane_normal = g.trimesh.unitize([1, 1, 2]) sliced = bunny.slice_plane( plane_origin=slicing_plane_origin, plane_normal=slicing_plane_normal, face_index=body_face_index, ) # Ideally we would assert that the triangles in `body_face_index` were # sliced if they are on in front of side of the slicing plane, and the # triangles not in `body_face_index` were preserved. This is easier to # verify visually. # sliced.show() assert len(sliced.faces) > 0 def test_textured_mesh(self): # Create a plane mesh with UV == xy plane = g.trimesh.Trimesh( vertices=g.np.array( [[0.0, 0.0, 0.0], [1.0, 0.0, 0.0], [1.0, 1.0, 0.0], [0.0, 1.0, 0.0]] ), faces=g.np.array([[0, 1, 2], [2, 3, 0]]), ) plane.visual = g.trimesh.visual.TextureVisuals( uv=plane.vertices[:, :2], material=g.trimesh.visual.material.empty_material() ) # We cut the plane and check that the new UV match the new vertices origin = g.np.array([0.5, 0.5, 0.0]) normal = g.trimesh.unitize([2, 1, 2]) sliced = plane.slice_plane(plane_origin=origin, plane_normal=normal) assert g.np.isclose(sliced.vertices[:, :2], sliced.visual.uv).all() # Test scenario when plane does not cut origin = g.np.array([-1.0, -1.0, 0.0]) normal = g.trimesh.unitize([1, 1, 2]) sliced = plane.slice_plane(plane_origin=origin, plane_normal=normal) assert g.np.isclose(sliced.vertices[:, :2], sliced.visual.uv).all() # Test cut with no new vertices origin = g.np.array([0.5, 0.5, 0.0]) normal = g.trimesh.unitize([2, -2, 1]) sliced = plane.slice_plane(plane_origin=origin, plane_normal=normal) assert g.np.isclose(sliced.vertices[:, :2], sliced.visual.uv).all() def test_cap_coplanar(self): # check to see if we handle capping with # existing coplanar faces correctly if not g.has_earcut: return s = g.get_mesh("cap.zip") mesh = next(iter(s.geometry.values())) plane_origin = [0, 0, 5000] plane_normal = [0, 0, -1] assert mesh.is_watertight newmesh = mesh.slice_plane( plane_origin=plane_origin, plane_normal=plane_normal, cap=True ) assert newmesh.is_watertight def test_slice_exit(self): m = g.trimesh.creation.box() assert g.np.isclose(m.area, 6) # start with a slice plane at every vertex origins = m.vertices.copy() # box centered at origin so get a unit normal normals = g.trimesh.unitize(origins) # slice the tip of the box off origins -= normals * 0.1 # make the first plane non-intersecting # to test the early exit case origins[0] += normals[0] * 10 # reverse the normals to indicate positive volume normals *= -1 # run the slices s = m.slice_plane(origins, normals) assert g.np.isclose(s.area, 5.685) def test_cap_nohit(self): # check to see if we handle capping with # non-intersecting planes well if not g.has_earcut: return from trimesh.transformations import random_rotation_matrix for _i in range(100): box1 = g.trimesh.primitives.Box( extents=[10, 20, 30], transform=random_rotation_matrix() ) box2 = g.trimesh.primitives.Box( extents=[10, 20, 30], transform=random_rotation_matrix() ) result = g.trimesh.intersections.slice_mesh_plane( mesh=box2, plane_normal=-box1.face_normals, plane_origin=box1.vertices[box1.faces[:, 1]], cap=True, ) assert len(result.faces) > 0 def test_cap(self): if not g.has_earcut: return mesh = g.trimesh.creation.box() # Cut corner off of box and make sure the bounds and number of faces is correct # Tests new triangles, but not new quads or triangles contained # entirely plane_origin = mesh.bounds[1] - 0.05 plane_normal = mesh.bounds[1] # Same test with capping (should only add three more triangles) sliced_capped = mesh.slice_plane( plane_origin=plane_origin, plane_normal=plane_normal, cap=True ) assert len(sliced_capped.faces) == 8 assert g.np.isclose(sliced_capped.bounds[0], mesh.bounds[1] - 0.15).all() assert g.np.isclose(sliced_capped.bounds[1], mesh.bounds[1]).all() assert sliced_capped.is_watertight # Cut top off of box and make sure bounds and number of faces is correct # Tests new quads and entirely contained triangles plane_origin = mesh.bounds[1] - 0.05 plane_normal = g.np.array([0, 0, 1]) # Same test with capping (should only add six triangles) sliced_capped = mesh.slice_plane( plane_origin=plane_origin, plane_normal=plane_normal, cap=True ) assert len(sliced_capped.faces) == 20 assert g.np.isclose( sliced_capped.bounds[0], mesh.bounds[0] + g.np.array([0, 0, 0.95]) ).all() assert g.np.isclose(sliced_capped.bounds[1], mesh.bounds[1]).all() assert sliced_capped.is_watertight # Cut part of top off of box with multiple planes at once # and make sure bounds and number of faces is correct plane_origins = [mesh.bounds[1] - 0.05, mesh.bounds[1] - 0.05] plane_normals = [g.np.array([0, 0, 1]), g.np.array([0, 1, 0])] # Test cap for multiple slices to check watertightness # (should add nine triangles) sliced_capped = mesh.slice_plane( plane_origin=plane_origins, plane_normal=plane_normals, cap=True ) assert g.np.isclose( sliced_capped.bounds[0], mesh.bounds[0] + g.np.array([0, 0.95, 0.95]) ).all() assert g.np.isclose(sliced_capped.bounds[1], mesh.bounds[1]).all() assert sliced_capped.is_watertight # Test cap on more complicated watertight mesh to make sure the # resulting mesh is still watertight and slice is correct featuretype = g.get_mesh("featuretype.STL") origins = [ featuretype.center_mass, featuretype.center_mass + 0.01 * g.trimesh.unitize([1, 0, 2]), ] normals = [g.trimesh.unitize([1, 0, 1]), g.trimesh.unitize([1, 0, 0])] sliced_capped = featuretype.slice_plane( plane_origin=origins, plane_normal=normals, cap=True ) assert len(sliced_capped.faces) > 0 assert sliced_capped.is_winding_consistent for o, n in zip(origins, normals): # check the projections manually dot = g.np.dot(n, (sliced_capped.vertices - o).T) # should be lots of stuff at the plane and nothing behind assert g.np.isclose(dot.min(), 0.0) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_segments.py000066400000000000000000000140711470574263400176130ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class SegmentsTest(g.unittest.TestCase): def test_param(self): from trimesh.path import segments # check 2D and 3D for dimension in [2, 3]: # a bunch of random line segments s = g.random((100, 2, dimension)) # convert segment to point on line closest to origin # as well as a vector and two distances along vector param = segments.segments_to_parameters(s) # convert parameterized back to segments roundtrip = segments.parameters_to_segments(*param) # they should be the same after a roundtrip assert g.np.allclose(s, roundtrip) # make index 1 the first segment but offset along vector # IE make s[0] colinear with s[1] s[1] = s[0] + 10 * (s[0][0] - s[0][1]) # calculate colinear pairs colinear = segments.colinear_pairs(s) # due to our wangling the first and second index # should be a colinear pair assert {0, 1} in [set(i) for i in colinear] def test_colinear(self): from trimesh.path import segments seg = g.np.array( [ [[0.0, 0.0, 0.0], [0.0, 1.0, 0.0]], [[0.0, 1.0, 0.0], [0.0, 0.0, 0.0]], [[0.0, 0.0, 0.0], [0.0, 2.0, 0.0]], [[0.0, 0.5, 0.0], [0.0, 0.75, 0.0]], [[0.0, 2.1, 0.0], [0.0, 2.2, 0.0]], [[0.0, 2.0, 0.0], [0.0, 2.3, 0.0]], [[0.0, 0.0, 0.0], [1.0, 1.0, 0.0]], ] ) # get the unit direction vector for the segments unit = g.trimesh.unitize(g.np.diff(seg, axis=1).reshape((-1, 3))) L = segments.colinear_pairs(seg[:3]) assert len(L) == 3 # make sure all pairs are really colinear dots = [g.np.dot(*row) for row in unit[L]] assert (g.np.isclose(dots, 1.0) | g.np.isclose(dots, -1)).all() L = segments.colinear_pairs(seg) dots = [g.np.dot(*row) for row in unit[L]] assert (g.np.isclose(dots, 1.0) | g.np.isclose(dots, -1)).all() epsilon = 1e-6 # length should only include vectors with one # vertex closer than epsilon n = segments.colinear_pairs(seg, length=epsilon) dots = [g.np.dot(*row) for row in unit[L]] assert (g.np.isclose(dots, 1.0) | g.np.isclose(dots, -1)).all() for pair in n: val = seg[pair] close = g.np.append( g.np.ptp(val[0] - val[1], axis=1), g.np.ptp(val[0] - val[1][::-1], axis=1) ).min() assert close < epsilon def test_extrude(self): from trimesh.path.segments import extrude # hand tuned segments manual = g.np.column_stack( (g.np.zeros((3, 2)), [[0, 1], [0, -1], [1, 2]]) ).reshape((-1, 2, 2)) for seg in [manual, g.random((10, 2, 2))]: height = 1.22 v, f = extrude(segments=seg, height=height) # load extrusion as mesh mesh = g.trimesh.Trimesh(vertices=v, faces=f) # load line segments as path path = g.trimesh.load_path(seg) # compare area of mesh with source path assert g.np.isclose(mesh.area, path.length * height) def test_resample(self): from trimesh.path.segments import length, resample # create some random segments seg = g.random((1000, 2, 3)) # set a maximum segment length maxlen = 0.1 # one of the original segments should be longer than maxlen assert (length(seg, summed=False) > maxlen).any() # resample to be all shorter than maxlen res = resample(seg, maxlen=maxlen) # check lengths of the resampled result assert (length(res, summed=False) < maxlen).all() # make sure overall length hasn't changed assert g.np.isclose(length(res), length(seg)) # now try with indexes returned res, _index = resample(seg, maxlen=maxlen, return_index=True) # check lengths of the resampled result assert (length(res, summed=False) < maxlen).all() # make sure overall length hasn't changed assert g.np.isclose(length(res), length(seg)) def test_clean(self): from trimesh.path.segments import clean, resample seg = g.np.array( [[[0, 0], [1, 0]], [[1, 0], [1, 1]], [[1, 1], [0, 1]], [[0, 1], [0, 0]]], dtype=g.np.float64, ) c = clean(seg) assert len(seg) == len(c) # bounding box should be the same assert g.np.allclose( c.reshape((-1, 2)).min(axis=0), seg.reshape((-1, 2)).min(axis=0) ) assert g.np.allclose( c.reshape((-1, 2)).max(axis=0), seg.reshape((-1, 2)).max(axis=0) ) # resample to shorten r = resample(seg, maxlen=0.3) assert r.shape == (16, 2, 2) # after cleaning should be back to 4 segments rc = clean(r) assert rc.shape == (4, 2, 2) def test_svg(self): from trimesh.path.segments import to_svg # create some 2D segments seg = g.random((1000, 2, 2)) # make one of the segments a duplicate seg[0] = seg[-1] # create an SVG path string svg = to_svg(seg, merge=False) # should be one move and one line per segment assert svg.count("M") == len(seg) assert svg.count("L") == len(seg) # try with a transform svg = to_svg(seg, matrix=g.np.eye(3), merge=False) assert svg.count("M") == len(seg) assert svg.count("L") == len(seg) # remove the duplicate segments svg = to_svg(seg, matrix=g.np.eye(3), merge=True) assert svg.count("M") < len(seg) assert svg.count("L") < len(seg) try: to_svg(g.random((100, 2, 3))) except ValueError: return raise ValueError("to_svg accepted wrong input!") if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_simplify.py000066400000000000000000000064331470574263400176250ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class SimplifyTest(g.unittest.TestCase): def polygon_simplify(self, polygon, arc_count): # loading the polygon will make all arcs discrete path = g.trimesh.load_path(polygon) # save the hash before doing operations hash_pre = g.deepcopy(path.__hash__()) # this should return a copy of the path simplified = path.simplify() # make sure the simplify call didn't alter our original mesh assert path.__hash__() == hash_pre for _garbage in range(2): # the simplified version shouldn't have lost area assert g.np.allclose(path.area, simplified.area, rtol=1e-2) # see if we fit as many arcs as existed in the original drawing new_count = sum(int(type(i).__name__ == "Arc") for i in simplified.entities) if new_count != arc_count: g.log.debug(new_count, arc_count) if arc_count > 1: g.log.info( f"originally were {arc_count} arcs, simplify found {new_count}" ) assert new_count > 0 assert new_count <= arc_count # dump the cache to make sure bookkeeping wasn't busted or wrong simplified._cache.clear() # make sure the simplify call didn't alter our original mesh assert path.__hash__() == hash_pre def test_simplify(self): for file_name in ["2D/cycloidal.dxf", "2D/125_cycloidal.DXF", "2D/spline_1.dxf"]: original = g.get_mesh(file_name) split = original.split() assert g.np.allclose(original.area, sum(i.area for i in split)) for drawing in split: # we split so there should be only one polygon per drawing now assert len(drawing.polygons_full) == 1 polygon = drawing.polygons_full[0] arc_count = sum(int(type(i).__name__ == "Arc") for i in drawing.entities) self.polygon_simplify(polygon=polygon, arc_count=arc_count) def test_spline(self): """ Test basic spline simplification of Path2D objects """ scene = g.get_mesh("cycloidal.3DXML") m = scene.geometry["disc_cam_A"] path_3D = m.outline(m.facets[m.facets_area.argmax()]) # get the projection path_2D, _to_3D = path_3D.to_planar() simple = g.trimesh.path.simplify.simplify_spline( path_2D, smooth=0.01, verbose=True ) assert g.np.isclose(path_2D.area, simple.area, rtol=0.01) # check the kwargs simple = path_2D.simplify_spline(smooth=0.01) assert g.np.isclose(path_2D.area, simple.area, rtol=0.01) def test_merge_colinear(self): num = 100 dists = g.np.linspace(0, 1000, num=num) direction = g.trimesh.unitize([1, g.np.random.rand()]) points = direction * dists.reshape((-1, 1)) merged = g.trimesh.path.simplify.merge_colinear(points, scale=1000) g.log.debug("direction:", direction) g.log.debug("points:", points.shape) g.log.debug("merged:", merged.shape) assert merged.shape[0] == 2 if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_smooth.py000066400000000000000000000011161470574263400172730ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class SmoothTest(g.unittest.TestCase): def test_smooth(self): m = g.get_mesh("chair_model.obj", force="mesh") s = m.smooth_shaded ori = g.np.hstack((m.visual.uv, m.vertices)) check = g.np.hstack((s.visual.uv, s.vertices)) tree = g.spatial.cKDTree(ori) distances, _index = tree.query(check, k=1) assert distances.max() < 1e-8 # g.texture_equal(m, s) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_smoothing.py000066400000000000000000000054161470574263400200000ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class SmoothTest(g.unittest.TestCase): def test_smooth(self): """ Load a collada scene with pycollada. """ m = g.trimesh.creation.icosahedron() m.vertices, m.faces = g.trimesh.remesh.subdivide_to_size(m.vertices, m.faces, 0.1) s = m.copy() q = m.copy() f = m.copy() d = m.copy() b = m.copy() v = m.copy() assert m.is_volume # Equal Weights lap = g.trimesh.smoothing.laplacian_calculation(mesh=m, equal_weight=True) g.trimesh.smoothing.filter_laplacian(s, 0.5, 10, False, True, lap) g.trimesh.smoothing.filter_laplacian(q, 0.5, 10, True, True, lap) g.trimesh.smoothing.filter_humphrey(f, 0.1, 0.5, 10, lap) g.trimesh.smoothing.filter_taubin(d, 0.5, 0.53, 10, lap) g.trimesh.smoothing.filter_mut_dif_laplacian(b, 0.5, 10, False, lap) g.trimesh.smoothing.filter_mut_dif_laplacian(v, 0.5, 10, True, lap) assert s.is_volume assert q.is_volume assert f.is_volume assert d.is_volume assert b.is_volume assert v.is_volume assert g.np.isclose(s.volume, m.volume, rtol=0.1) assert g.np.isclose(q.volume, m.volume, rtol=0.1) assert g.np.isclose(f.volume, m.volume, rtol=0.1) assert g.np.isclose(d.volume, m.volume, rtol=0.1) assert g.np.isclose(b.volume, m.volume, rtol=0.1) assert g.np.isclose(v.volume, m.volume, rtol=0.1) s = m.copy() q = m.copy() f = m.copy() d = m.copy() b = m.copy() v = m.copy() # umbrella Weights lap = g.trimesh.smoothing.laplacian_calculation(m, equal_weight=False) g.trimesh.smoothing.filter_laplacian(s, 0.5, 10, False, True, lap) g.trimesh.smoothing.filter_laplacian(q, 0.5, 10, True, True, lap) g.trimesh.smoothing.filter_humphrey(f, 0.1, 0.5, 10, lap) g.trimesh.smoothing.filter_taubin(d, 0.5, 0.53, 10, lap) g.trimesh.smoothing.filter_mut_dif_laplacian(b, 0.5, 10, False, lap) g.trimesh.smoothing.filter_mut_dif_laplacian(v, 0.5, 10, True, lap) assert s.is_volume assert q.is_volume assert f.is_volume assert d.is_volume assert b.is_volume assert v.is_volume assert g.np.isclose(s.volume, m.volume, rtol=0.1) assert g.np.isclose(q.volume, m.volume, rtol=0.1) assert g.np.isclose(f.volume, m.volume, rtol=0.1) assert g.np.isclose(d.volume, m.volume, rtol=0.1) assert g.np.isclose(b.volume, m.volume, rtol=0.1) assert g.np.isclose(v.volume, m.volume, rtol=0.1) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_splines.py000066400000000000000000000013601470574263400174400ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class SplineTests(g.unittest.TestCase): def test_bezier_example(self): # path with a bunch of bezier spline p = g.get_mesh("2D/MIL.svg") # should have one body assert len(p.polygons_full) == 1 # length of perimeter of exterior truth = 12696.6 # perimeter should be about right if it was discretized properly if not g.np.isclose(p.polygons_full[0].exterior.length, truth, atol=100.0): raise ValueError( f"perimeter wrong: {truth} != {p.polygons_full[0].exterior.length}" ) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_step.py000066400000000000000000000012621470574263400167370ustar00rootroot00000000000000try: import generic as g except BaseException: from . import generic as g class STEPTests(g.unittest.TestCase): def test_basic(self): try: import cascadio # noqa except BaseException: g.log.error("failed to get cascadio!", exc_info=True) return s = g.get_mesh("box_sides.STEP") assert len(s.geometry) == 10 b = g.get_mesh("featuretype.STEP") assert len(b.geometry) == 1 m = next(iter(b.geometry.values())) m.merge_vertices(merge_tex=True, merge_norm=True) assert m.is_watertight if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_stl.py000066400000000000000000000112161470574263400165660ustar00rootroot00000000000000""" Check things related to STL files """ try: from . import generic as g except BaseException: import generic as g class STLTests(g.unittest.TestCase): def test_header(self): m = g.get_mesh("featuretype.STL") # make sure we have the right mesh assert g.np.isclose(m.volume, 11.627733431196749, atol=1e-6) # should have saved the header from the STL file assert len(m.metadata["header"]) > 0 # should have saved the STL face attributes assert len(m.face_attributes["stl"]) == len(m.faces) assert len(m.faces) > 1000 # add a non-correlated face attribute, which should be ignored m.face_attributes["nah"] = 10 # remove all faces except three random ones m.update_faces([1, 3, 4]) # faces and face attributes should be untouched assert len(m.faces) == 3 assert len(m.face_attributes["stl"]) == 3 # attribute that wasn't len(m.faces) shouldn't have been touched assert m.face_attributes["nah"] == 10 def test_attrib(self): m = g.get_mesh("featuretype.STL") len_vertices = len(m.vertices) # assign some random vertex attributes random = g.random(len(m.vertices)) m.vertex_attributes["random"] = random m.vertex_attributes["nah"] = 20 # should have saved the STL face attributes assert len(m.face_attributes["stl"]) == len(m.faces) assert len(m.faces) > 1000 # add a non-correlated face attribute, which should be ignored m.face_attributes["nah"] = 10 # remove all faces except three random ones m.update_faces([1, 3, 4]) # faces and face attributes should be untouched assert len(m.faces) == 3 assert len(m.face_attributes["stl"]) == 3 # attribute that wasn't len(m.faces) shouldn't have been touched assert m.face_attributes["nah"] == 10 # check all vertices are still in place assert m.vertex_attributes["nah"] == 20 assert g.np.allclose(random, m.vertex_attributes["random"]) assert len(m.vertices) == len_vertices # remove all vertices except four v_mask = [0, 1, 2, 3] m.update_vertices(v_mask) # make sure things are still correct assert m.vertex_attributes["nah"] == 20 assert g.np.allclose(m.vertex_attributes["random"], random[v_mask]) assert len(m.vertices) == len(v_mask) def test_ascii_multibody(self): s = g.get_mesh("multibody.stl") assert len(s.geometry) == 2 assert set(s.geometry.keys()) == {"bodyA", "bodyB"} def test_ascii_solid_name(self): mesh = g.trimesh.creation.icosphere(subdivisions=1, radius=1.0) mesh.metadata = {"name": "solid_A"} assert ( g.trimesh.exchange.stl.export_stl_ascii(mesh).splitlines()[0] == "solid solid_A" ) def test_empty(self): # demo files to check empty_files = ["stl_empty_ascii.stl", "stl_empty_bin.stl"] for empty_file in empty_files: e = g.get_mesh("emptyIO/" + empty_file) # result should be an empty scene without vertices assert isinstance(e, g.trimesh.Scene) assert not hasattr(e, "vertices") # create export try: e.export(file_type="ply") except BaseException: return raise ValueError("Shouldn't export empty scenes!") def test_vertex_order(self): for stl in ["featuretype.STL", "ADIS16480.STL", "1002_tray_bottom.STL"]: # removing doubles should respect the vertex order m_raw = g.get_mesh(stl, process=False) m_proc = g.get_mesh(stl, process=True, keep_vertex_order=True) verts_raw = g.trimesh.grouping.hashable_rows(m_raw.vertices) verts_proc = g.trimesh.grouping.hashable_rows(m_proc.vertices) # go through all processed verts # find index in unprocessed mesh idxs = [] for vert in verts_proc: idxs.append(g.np.where(verts_raw == vert)[0][0]) # indices should be increasing assert (g.np.diff(idxs) > 0).all() tris_raw = m_raw.triangles tris_proc = m_proc.triangles # of course mesh needs to have same faces as before assert g.np.allclose( g.np.sort(tris_raw, axis=0), g.np.sort(tris_proc, axis=0) ) def test_ascii_keyword(self): m = g.get_mesh("ascii.stl.zip", force="mesh") assert m.is_watertight if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_svg.py000066400000000000000000000112631470574263400165650ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class ExportTest(g.unittest.TestCase): def test_svg(self): for d in g.get_2D(): if g.np.isclose(d.area, 0.0): continue # export and reload the exported SVG loaded = g.trimesh.load( g.trimesh.util.wrap_as_stream(d.export(file_type="svg")), file_type="svg" ) # we only have line and arc primitives as SVG # export and import if all(i.__class__.__name__ in ["Line", "Arc"] for i in d.entities): # perimeter should stay the same-ish # on export/import assert g.np.isclose(d.length, loaded.length, rtol=0.01) assert len(d.entities) == len(loaded.entities) path_str = g.trimesh.path.exchange.svg_io.export_svg(d, return_path=True) assert isinstance(path_str, str) assert len(path_str) > 0 def test_layer(self): from shapely.geometry import Point # create two disjoint circles and apply layers a = g.trimesh.load_path(Point([0, 0]).buffer(1)) a.apply_layer("ACIRCLE") b = g.trimesh.load_path(Point([2, 0]).buffer(1)) b.apply_layer("BCIRCLE") assert id(a.entities[0]._metadata) != id(b.entities[0]._metadata) # combine two circles c = a + b # should be combined assert g.np.isclose(c.area, a.area + b.area) # export C with just layer of A aX = g.trimesh.load( g.io_wrap(c.export(file_type="svg", only_layers=["ACIRCLE"])), file_type="svg" ) # export C with all layers cX = g.trimesh.load( g.io_wrap(c.export(file_type="svg", only_layers=None)), file_type="svg" ) assert len(cX.entities) == len(c.entities) # should have skipped the layers assert len(aX.entities) == 1 # make aR = g.trimesh.load( g.io_wrap(c.export(file_type="dxf", only_layers=["ACIRCLE"])), file_type="dxf" ) assert g.np.isclose(aR.area, a.area) def test_trans(self): from trimesh.path.exchange.svg_io import transform_to_matrices as tf # empty strings shouldn't have matrix assert len(tf("")) == 0 # check translate with different whitespace a = tf("translate(1.1, 2.2 )") assert len(a) == 1 assert g.np.allclose(a[0], [[1, 0, 1.1], [0, 1, 2.2], [0, 0, 1]]) a = tf(" translate(1.1 1.2 ) ") assert len(a) == 1 assert g.np.allclose(a[0], [[1, 0, 1.1], [0, 1, 1.2], [0, 0, 1]]) a = tf( " translate(1.1 1.2 ) " + "matrix ( {} {} {} {} {} {})".format(*g.np.arange(6)) ) assert len(a) == 2 # check the translate assert g.np.allclose(a[0], [[1, 0, 1.1], [0, 1, 1.2], [0, 0, 1]]) # check the matrix string assert g.np.allclose(a[1], [[0, 2, 4], [1, 3, 5], [0, 0, 1]]) def test_roundtrip(self): """ Check to make sure a roundtrip from both a Scene and a Path2D results in the same file on both sides """ for fn in ["2D/250_cycloidal.DXF", "2D/tray-easy1.dxf"]: p = g.get_mesh(fn) assert isinstance(p, g.trimesh.path.Path2D) # load the exported SVG r = g.trimesh.load( g.trimesh.util.wrap_as_stream(p.export(file_type="svg")), file_type="svg" ) assert isinstance(r, g.trimesh.path.Path2D) assert g.np.isclose(r.length, p.length) assert g.np.isclose(r.area, p.area) assert set(r.metadata.keys()) == set(p.metadata.keys()) s = g.trimesh.scene.split_scene(p) as_svg = s.export(file_type="svg") assert isinstance(s, g.trimesh.Scene) r = g.trimesh.load(g.trimesh.util.wrap_as_stream(as_svg), file_type="svg") assert isinstance(r, g.trimesh.Scene) assert s.metadata == r.metadata # make sure every geometry name matches exactly assert set(s.geometry.keys()) == set(r.geometry.keys()) # check to see if every geometry has the same metadata for geom in s.geometry.keys(): a, b = s.geometry[geom], r.geometry[geom] assert a.metadata == b.metadata assert g.np.isclose(a.length, b.length) assert g.np.isclose(a.area, b.area) assert a.body_count == b.body_count assert r.metadata["file_path"].endswith(fn[3:]) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_sweep.py000066400000000000000000000074121470574263400171120ustar00rootroot00000000000000import numpy as np from pyinstrument import Profiler from shapely.geometry import Point, Polygon import trimesh from trimesh.creation import sweep_polygon trimesh.tol.strict = True def arc_2d(final_angle, d=1, start_angle=0, splits=20): xs = np.linspace(start_angle, final_angle, splits) return np.stack((d / 2 * np.cos(xs), d / 2 * np.sin(xs)), axis=1) def test_simple_closed(h1=1, w=2, r=4.4): # a simple closed path square = Polygon([(-0.01, -h1 / 2), (w, -h1 / 2), (w, +h1 / 2), (-0.01, +h1 / 2)]) circle = Point([0, 0]).buffer(1.0) # a simple square of side `r` path = [[0, 0, 0], [r, 0, 0], [r, r, 0], [0, r, 0], [0, 0, 0]] a = sweep_polygon(square, path) assert a.is_volume aa = sweep_polygon(square, path, connect=False) assert aa.is_volume # should have the same bounds but no longer a volume aaa = sweep_polygon(square, path, connect=False, cap=False) assert np.allclose(aa.bounds, aaa.bounds) assert not aaa.is_volume b = sweep_polygon(circle, path) assert b.is_volume def test_simple_extrude(height=10): # make sure sweep behaves okay on a simple single segment path # this should be identical to the extrude operation circle = Point([0, 0]).buffer(1.0) # a simple extrusion path = [[0, 0, 0], [0, 0, height]] # will be running asserts inside function b = sweep_polygon(circle, path) # should be a straight extrude along Z expected = np.append(np.ptp(np.reshape(circle.bounds, (2, 2)), axis=0), height) assert np.allclose(expected, b.extents) # should be well constructed assert b.is_volume # volume should correspond to expected cylinder area assert np.isclose(b.volume, circle.area * height) def test_simple_open(): circle = Point([0, 0]).buffer(1.0) theta = np.linspace(0.0, np.pi, 100) path = np.column_stack([np.cos(theta), np.sin(theta), np.zeros(len(theta))]) * 10 a = sweep_polygon(circle, path) assert a.is_volume def test_spline_3D(): circle = Point([0, 0]).buffer(1.0) # make a 3D noodle using spline smoothing path = trimesh.path.simplify.resample_spline( [[0, 0, 0], [4, 4, 0], [5, 5, 0], [10, 0, 10], [0, 20, 0]], smooth=0.25, count=100 ) a = sweep_polygon(circle, path) assert a.is_volume assert a.body_count == 1 def test_screw(): h = 200 d = 8 h1 = 1 w = 2 d = d - w h2 = h1 lead = 2 splits_per_turn = 4 * 20 polygon = np.array([(-0.01, -h1 / 2), (w, -h2 / 2), (w, +h2 / 2), (-0.01, +h1 / 2)]) h_ = h + h1 n = int(np.ceil(splits_per_turn * h_ / lead)) turns = n / splits_per_turn xys = arc_2d(2 * np.pi * turns, d, splits=n) zs = np.linspace(0, h_, n)[:, None] spin_path = np.concatenate((xys, zs), axis=1) with Profiler() as P: x = sweep_polygon(Polygon(polygon), spin_path) P.print() assert x.is_volume # should have produced a result corresponding to the input dimensions assert np.allclose(x.extents[:2], d + w * 2, atol=0.01) assert np.allclose(x.extents[2], h + h1 * 2, atol=0.01) # check without capping: should be the same size just without caps o = sweep_polygon(Polygon(polygon), spin_path, cap=False, connect=False) assert np.allclose(x.bounds, o.bounds) assert not o.is_volume # try spinning along an angle sweep_polygon( Polygon(polygon), spin_path, angles=np.linspace(0.0, np.pi / 2, len(spin_path)) ) circle = Point([0, 0]).buffer(1.0) theta = np.linspace(0.0, np.pi, 100) path = np.column_stack([np.cos(theta), np.sin(theta), np.zeros(len(theta))]) * 10 a = sweep_polygon(circle, path) assert a.is_volume if __name__ == "__main__": test_simple_closed() test_simple_extrude() test_simple_open() test_screw() test_spline_3D() trimesh-4.5.1/tests/test_texture.py000066400000000000000000000232061470574263400174660ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class TextureTest(g.unittest.TestCase): def test_uv_to_color(self): try: import PIL.Image except ImportError: return # n_vertices = 100 uv = g.np.array([[0.25, 0.2], [0.4, 0.5]], dtype=float) texture = g.np.arange(96, dtype=g.np.uint8).reshape(8, 4, 3) colors = g.trimesh.visual.uv_to_color(uv, PIL.Image.fromarray(texture)) colors_expected = [[75, 76, 77, 255], [51, 52, 53, 255]] assert (colors == colors_expected).all() def test_bad_uv(self): # get a textured OBJ m = g.get_mesh("fuze.obj", force="mesh") # add malformed UV coordinates m.visual.uv = m.visual.uv[:100] m.merge_vertices() def test_order_kwarg(self): for file_name in ["ico4.obj", "ico4uv.obj"]: # get the location of the model file file_path = g.get_path(file_name) with open(file_path) as f: # get the raw ordered vertices from the file with basic string # ops v_raw = g.np.array( [line[2:].split() for line in f if line.startswith("v ")], dtype=g.np.float64, ) # load them with maximal correspondence captain a = g.trimesh.load(file_path, process=False, maintain_order=True) # see if we have the same vertices assert g.np.allclose(a.vertices, v_raw) # load them without process and but without maintaining order a = g.trimesh.load(file_path, process=False, maintain_order=False) # vertex shape should not be the same assert a.vertices.shape != v_raw.shape def test_fuze(self): # create a local web server to test remote assets with g.serve_meshes() as address: # see if web resolvers work tex = g.trimesh.exchange.load.load_remote( url=address + "/fuze.obj", process=False ) g.check_fuze(tex) # see if web + zip resolvers work scene = g.trimesh.exchange.load.load_remote( url=address + "/fuze.zip", process=False ) # zip files get loaded into a scene assert len(scene.geometry) == 1 # scene should just be a fuze bottle g.check_fuze(next(iter(scene.geometry.values()))) # obj with texture, assets should be loaded # through a FilePathResolver m = g.get_mesh("fuze.obj", process=False) g.check_fuze(tex) # obj with texture, assets should be loaded # through a ZipResolver into a scene scene = g.get_mesh("fuze.zip", process=False) # zip files get loaded into a scene assert len(scene.geometry) == 1 m = next(iter(scene.geometry.values())) g.check_fuze(m) # the PLY should have textures defined m = g.get_mesh("fuze.ply", process=False) g.check_fuze(m) # ASCII PLY should have textures defined m = g.get_mesh("fuze_ascii.ply", process=False) g.check_fuze(m) # textured meshes should subdivide OK-ish s = m.subdivide() assert len(s.visual.uv) == len(s.vertices) # load without doing the vertex separation # will look like garbage but represents original # and skips "disconnect vertices with different UV" b = g.get_mesh("fuze.ply", process=False, fix_texture=False) assert len(b.vertices) == 502 assert len(b.visual.uv) == 502 def test_upsize(self): """ Texture images usually want to have sizes that are powers of two so resize textures up to the nearest power of two. """ try: from PIL import Image except BaseException: g.log.warning("no PIL, not testing power_resize!") return # shortcut for the function resize = g.trimesh.visual.texture.power_resize img = Image.new("RGB", (10, 20)) assert img.size == (10, 20) assert resize(img).size == (16, 32) assert resize(img, square=True).size == (32, 32) # check with one value on-size img = Image.new("RGB", (10, 32)) assert img.size == (10, 32) assert resize(img).size == (16, 32) assert resize(img, square=True).size == (32, 32) # check early exit pathOA img = Image.new("RGB", (32, 32)) assert img.size == (32, 32) assert resize(img).size == (32, 32) assert resize(img, square=True).size == (32, 32) def test_concatenate(self): # test concatenation with texture a = g.get_mesh("fuze.obj") b = a.copy() b.apply_translation([b.extents[0] * 1.25, 0, 0]) c = a + b assert len(c.vertices) > len(a.vertices) assert len(c.visual.uv) == len(c.vertices) # should have deduplicated image texture assert g.np.allclose(c.visual.material.image.size, a.visual.material.image.size) def test_concatentate_multi(self): colors = [ [255, 0, 0, 255], [0, 255, 0, 255], [0, 0, 255, 255], [100, 100, 100, 255], ] funcs = [ g.trimesh.creation.box, g.trimesh.creation.icosphere, g.trimesh.creation.capsule, ] fuze = g.get_mesh("fuze.obj") fuze.apply_scale(1.0 / fuze.extents.max()) fuze.apply_translation([-2, 0, 0] - fuze.bounds[0]) meshes = [] for i, color in enumerate(colors): for j, f in enumerate(funcs): m = f() m.visual.face_colors = color # convert color visual to texture m.visual = m.visual.to_texture() m.apply_translation([i * 2.2, j * 2.2, 0.0]) meshes.append(m) c = g.trimesh.util.concatenate(meshes) assert isinstance(c.visual, g.trimesh.visual.TextureVisuals) assert len(c.faces) == sum(len(i.faces) for i in meshes) assert g.np.prod(c.visual.material.image.size) >= 4 # convert texture back to color roundtrip = c.visual.to_color() assert roundtrip.kind == "vertex" vertex_c = roundtrip.vertex_colors # get the unique colors unique = vertex_c[g.trimesh.grouping.unique_rows(vertex_c)[0]] # roundtripped colors should be a superset of original colors assert {tuple(c) for c in unique}.issuperset({tuple(c) for c in colors}) def test_to_tex(self): m = g.trimesh.creation.box() color = [255, 0, 0, 255] m.visual.face_colors = color # convert color visual to texture m.visual = m.visual.to_texture() # convert back to color m.visual = m.visual.to_color() assert g.np.allclose(m.visual.main_color, color) def test_uv_none(self): # setting UV coordinates to None should work m = g.get_mesh("fuze.obj") m.visual.uv = None assert m.visual.uv is None # should still be None on a copy c = m.copy() assert c.visual.uv is None def test_pbr_nouv_export(self): # Test that we can properly save and load a pbr material without uv and texture image. material = g.trimesh.visual.material.PBRMaterial( metallicFactor=0.3, roughnessFactor=0.5, baseColorFactor=(0, 255, 0, 255), name="abc", ) mesh = g.trimesh.Trimesh( vertices=[[0, 0, 0], [0, 0, 1], [0, 1, 1]], faces=[[0, 1, 2]], process=False, visual=g.trimesh.visual.TextureVisuals(material=material), ) scene = g.trimesh.Scene() scene.add_geometry(mesh, geom_name="geom") with g.TemporaryDirectory() as d: # exports by path allow files to be written path = g.os.path.join(d, "tmp.glb") scene.export(path) # try reloading r = g.trimesh.load(path) # make sure material survived assert r.geometry["geom"].visual.material.metallicFactor == 0.3 assert r.geometry["geom"].visual.material.roughnessFactor == 0.5 assert ( r.geometry["geom"].visual.material.baseColorFactor == [0, 255, 0, 255] ).all() def test_pbr_export(self): # try loading a textured box m = next(iter(g.get_mesh("BoxTextured.glb").geometry.values())) # make sure material copy doesn't crash m.visual.copy() with g.TemporaryDirectory() as d: # exports by path allow files to be written path = g.os.path.join(d, "box.obj") m.export(path) # try reloading r = g.trimesh.load(path) # make sure material survived assert r.visual.material.image.size == (256, 256) def test_pbr_material_fusion(self): # a scene with 5 cubes each with a different material # one having only simple color values # one with PBR material values # one with PBR textures # one with emissive textures # and one with specular glossiness color values m = g.get_mesh("pbr_cubes_emissive_spec_gloss.zip", force="mesh") assert isinstance(m, g.trimesh.Trimesh) mat_m = m.visual.material assert isinstance(mat_m, g.trimesh.visual.material.PBRMaterial) assert mat_m.baseColorTexture is not None assert mat_m.metallicRoughnessTexture is not None assert mat_m.emissiveTexture is not None if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_thickness.py000066400000000000000000000061731470574263400177650ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class ThicknessTest(g.unittest.TestCase): def test_sphere_thickness(self): m = g.trimesh.creation.box() samples, faces = m.sample(1000, return_index=True) # check that thickness measures are non-negative thickness = g.trimesh.proximity.thickness( mesh=m, points=samples, exterior=False, normals=m.face_normals[faces], method="max_sphere", ) assert (thickness > -g.trimesh.tol.merge).all() # check thickness at a specific point point = g.np.array([[0.5, 0.0, 0.0]]) point_thickness = g.trimesh.proximity.thickness( m, point, exterior=False, method="max_sphere" ) # its a unit cube assert g.np.allclose(point_thickness, 1.0) def test_ray_thickness(self): m = g.trimesh.creation.box() samples, faces = m.sample(1000, return_index=True) # check that thickness and measures are non-negative thickness = g.trimesh.proximity.thickness( mesh=m, points=samples, exterior=False, normals=m.face_normals[faces], method="ray", ) assert (thickness > -g.trimesh.tol.merge).all() # check thickness at a specific point point = g.np.array([[0.5, 0.0, 0.0]]) point_thickness = g.trimesh.proximity.thickness( mesh=m, points=point, exterior=False, method="ray" ) assert g.np.allclose(point_thickness, 1.0) def test_sphere_reach(self): m = g.trimesh.creation.box() samples, faces = m.sample(1000, return_index=True) # check that reach measures are infinite reach = g.trimesh.proximity.thickness( mesh=m, points=samples, exterior=True, normals=m.face_normals[faces], method="max_sphere", ) assert g.np.isinf(reach).all() def test_ray_reach(self): m = g.trimesh.creation.box() samples, faces = m.sample(1000, return_index=True) # check that reach measures are infinite reach = g.trimesh.proximity.thickness( mesh=m, points=samples, exterior=True, normals=m.face_normals[faces], method="ray", ) assert g.np.isinf(reach).all() def test_known(self): # an axis aligned plate part m = g.get_mesh("1002_tray_bottom.STL") # points on the surface samples = m.sample(1000) # compute thicknesses using sphere method rs = g.trimesh.proximity.thickness(mesh=m, points=samples, method="max_sphere") # compute thicknesses using pure ray tests ra = g.trimesh.proximity.thickness(mesh=m, points=samples, method="ray") # mesh is axis aligned plate so thickness is min extent truth = m.extents.min() assert g.np.isclose(g.np.median(rs), truth) assert g.np.isclose(g.np.median(ra), truth) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_trackball.py000066400000000000000000000131751470574263400177310ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g from trimesh.viewer.trackball import Trackball class TrackballTest(g.unittest.TestCase): def test_resize(self): trackball = Trackball( pose=g.np.eye(4), size=(640, 480), scale=1.0, target=g.np.array([0, 0, 0]) ) trackball.down((320, 240)) trackball.drag((321, 240)) pose1 = trackball.pose trackball.drag((320, 240)) trackball.resize((1280, 960)) trackball.down((640, 480)) trackball.drag((642, 480)) pose2 = trackball.pose g.np.testing.assert_allclose(pose1, pose2) def test_drag_rotate(self): trackball = Trackball( pose=g.np.eye(4), size=(640, 480), scale=1.0, target=g.np.array([0, 0, 0]) ) # rotates around y-axis trackball.set_state(Trackball.STATE_ROTATE) trackball.down((320, 240)) trackball.drag((321, 240)) assert trackball.pose[0, 0] < 1 assert trackball.pose[0, 1] == 0 assert trackball.pose[0, 2] < 0 assert trackball.pose[1, 0] == 0 assert trackball.pose[1, 1] == 1 assert trackball.pose[1, 2] == 0 assert trackball.pose[2, 0] > 0 assert trackball.pose[2, 1] == 0 assert trackball.pose[2, 2] < 1 g.np.testing.assert_allclose(trackball.pose[:, 3], [0, 0, 0, 1]) g.np.testing.assert_allclose(trackball.pose[3, :], [0, 0, 0, 1]) # rotate back trackball.drag((320, 240)) g.np.testing.assert_allclose(trackball.pose, g.np.eye(4)) # rotate around x-axis trackball.drag((320, 241)) assert trackball.pose[0, 0] == 1 assert trackball.pose[0, 1] == 0 assert trackball.pose[0, 2] == 0 assert trackball.pose[1, 0] == 0 assert trackball.pose[1, 1] < 1 assert trackball.pose[1, 2] < 0 assert trackball.pose[2, 0] == 0 assert trackball.pose[2, 1] > 0 assert trackball.pose[2, 2] < 1 g.np.testing.assert_allclose(trackball.pose[:, 3], [0, 0, 0, 1]) g.np.testing.assert_allclose(trackball.pose[3, :], [0, 0, 0, 1]) # rotate back trackball.drag((320, 240)) g.np.testing.assert_allclose(trackball.pose, g.np.eye(4)) def test_drag_roll(self): trackball = Trackball( pose=g.np.eye(4), size=(640, 480), scale=1.0, target=g.np.array([0, 0, 0]) ) # rotates around z-axis trackball.set_state(Trackball.STATE_ROLL) trackball.down((321, 241)) trackball.drag((320, 241)) assert trackball.pose[0, 0] < 1 assert trackball.pose[0, 1] > 0 assert trackball.pose[0, 2] == 0 assert trackball.pose[1, 0] < 0 assert trackball.pose[1, 1] < 1 assert trackball.pose[1, 2] == 0 assert trackball.pose[2, 0] == 0 assert trackball.pose[2, 1] == 0 assert trackball.pose[2, 2] == 1 g.np.testing.assert_allclose(trackball.pose[:, 3], [0, 0, 0, 1]) g.np.testing.assert_allclose(trackball.pose[3, :], [0, 0, 0, 1]) # rotate back trackball.drag((321, 241)) g.np.testing.assert_allclose(trackball.pose, g.np.eye(4)) def test_drag_pan(self): trackball = Trackball( pose=g.np.eye(4), size=(640, 480), scale=1.0, target=g.np.array([0, 0, 0]) ) # translate to x trackball.set_state(Trackball.STATE_PAN) trackball.down((321, 241)) trackball.drag((320, 241)) g.np.testing.assert_allclose(trackball.pose[:3, :3], g.np.eye(3)) assert trackball.pose[0, 3] != 0 assert trackball.pose[1, 3] == 0 assert trackball.pose[2, 3] == 0 def test_drag_zoom(self): pose = g.trimesh.transformations.translation_matrix([0, 0, 1]) trackball = Trackball( pose=pose, size=(640, 480), scale=1.0, target=g.np.array([0, 0, 0]) ) # translate to x trackball.set_state(Trackball.STATE_ZOOM) trackball.down((320, 240)) trackball.drag((320, 241)) g.np.testing.assert_allclose(trackball.pose[:3, :3], g.np.eye(3)) assert trackball.pose[3, 0] == 0 assert trackball.pose[3, 1] == 0 assert trackball.pose[3, 2] < 1 g.np.testing.assert_allclose(trackball.pose[3, :], [0, 0, 0, 1]) def test_scroll(self): pose = g.trimesh.transformations.translation_matrix([0, 0, 1]) trackball = Trackball( pose=pose, size=(640, 480), scale=1.0, target=g.np.array([0, 0, 0]) ) g.np.testing.assert_allclose(trackball.pose[:3, :3], g.np.eye(3)) g.np.testing.assert_allclose(trackball.pose[:3, 3], [0, 0, 1]) trackball.scroll(1) g.np.testing.assert_allclose(trackball.pose[:3, :3], g.np.eye(3)) g.np.testing.assert_allclose(trackball.pose[:3, 3], [0, 0, 0.9]) def test_rotate(self): trackball = Trackball( pose=g.np.eye(4), size=(640, 480), scale=1.0, target=g.np.array([0, 0, 0]) ) # rotates around y-axis trackball.rotate(g.np.deg2rad(1)) assert trackball.pose[0, 0] < 1 assert trackball.pose[0, 1] == 0 assert trackball.pose[0, 2] > 0 assert trackball.pose[1, 0] == 0 assert trackball.pose[1, 1] == 1 assert trackball.pose[1, 2] == 0 assert trackball.pose[2, 0] < 0 assert trackball.pose[2, 1] == 0 assert trackball.pose[2, 2] < 1 g.np.testing.assert_allclose(trackball.pose[:, 3], [0, 0, 0, 1]) g.np.testing.assert_allclose(trackball.pose[3, :], [0, 0, 0, 1]) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_transformations.py000066400000000000000000000217131470574263400212200ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class TransformTest(g.unittest.TestCase): def test_doctest(self): """ Run doctests on transformations, which checks docstrings for interactive sessions and then verifies they execute correctly. This is how the upstream transformations unit tests, but it depends on numpy string formatting and is very flaky. """ import doctest import random import trimesh # make sure formatting is the same as their docstrings g.np.set_printoptions(suppress=True, precision=5) # monkey patch import transformations with random for the examples trimesh.transformations.random = random # search for interactive sessions in docstrings and verify they work # they are super unreliable and depend on janky string formatting results = doctest.testmod( trimesh.transformations, verbose=False, raise_on_error=False ) if results.failed > 0: raise ValueError(str(results)) g.log.debug(str(results)) def test_downstream(self): """ Run tests on functions that were added by us to the original transformations.py """ tr = g.trimesh.transformations assert not tr.is_rigid(g.np.ones((4, 4))) planar = tr.planar_matrix(offset=[10, -10], theta=0.0) assert g.np.allclose(planar[:2, 2], [10, -10]) planar = tr.planar_matrix(offset=[0, -0], theta=g.np.pi) assert g.np.allclose(planar[:2, 2], [0, 0]) planar = tr.planar_matrix(offset=[0, 0], theta=0.0) assert g.np.allclose(planar, g.np.eye(3)) as_3D = tr.planar_matrix_to_3D(g.np.eye(3)) assert g.np.allclose(as_3D, g.np.eye(4)) spherical = tr.spherical_matrix(theta=0.0, phi=0.0) assert g.np.allclose(spherical, g.np.eye(4)) points = g.np.arange(60, dtype=g.np.float64).reshape((-1, 3)) assert g.np.allclose(tr.transform_points(points, g.np.eye(4)), points) points = g.np.arange(60, dtype=g.np.float64).reshape((-1, 2)) assert g.np.allclose(tr.transform_points(points, g.np.eye(3)), points) def test_around(self): # check transform_around on 2D points points = g.random((100, 2)) for i, p in enumerate(points): offset = g.random(2) matrix = g.trimesh.transformations.planar_matrix( theta=g.random() + 0.1, offset=offset, point=p ) # apply the matrix check = g.trimesh.transform_points(points, matrix) compare = g.np.isclose(check, points + offset) # the point we rotated around shouldn't move assert compare[i].all() # all other points should move assert compare.all(axis=1).sum() == 1 # check transform_around on 3D points points = g.random((100, 3)) for i, p in enumerate(points): matrix = g.trimesh.transformations.random_rotation_matrix() matrix = g.trimesh.transformations.transform_around(matrix, p) # apply the matrix check = g.trimesh.transform_points(points, matrix) compare = g.np.isclose(check, points) # the point we rotated around shouldn't move assert compare[i].all() # all other points should move assert compare.all(axis=1).sum() == 1 def test_rotation(self): """ test """ rotation_matrix = g.trimesh.transformations.rotation_matrix R = rotation_matrix(g.np.pi / 2, [0, 0, 1], [1, 0, 0]) assert g.np.allclose(g.np.dot(R, [0, 0, 0, 1]), [1, -1, 0, 1]) angle = (g.random() - 0.5) * (2 * g.np.pi) direc = g.random(3) - 0.5 point = g.random(3) - 0.5 R0 = rotation_matrix(angle, direc, point) R1 = rotation_matrix(angle - 2 * g.np.pi, direc, point) assert g.trimesh.transformations.is_same_transform(R0, R1) R0 = rotation_matrix(angle, direc, point) R1 = rotation_matrix(-angle, -direc, point) assert g.trimesh.transformations.is_same_transform(R0, R1) I = g.np.identity(4, g.np.float64) # NOQA assert g.np.allclose(I, rotation_matrix(g.np.pi * 2, direc)) assert g.np.allclose(2, g.np.trace(rotation_matrix(g.np.pi / 2, direc, point))) # test symbolic if g.sp is not None: angle = g.sp.Symbol("angle") Rs = rotation_matrix(angle, [0, 0, 1], [1, 0, 0]) R = g.np.array(Rs.subs(angle, g.np.pi / 2.0).evalf()).astype(g.np.float64) assert g.np.allclose(g.np.dot(R, [0, 0, 0, 1]), [1, -1, 0, 1]) def test_tiny(self): """ Test transformations with models containing very small triangles. """ for validate in [False, True]: m = g.get_mesh("ADIS16480.STL", validate=validate) m.apply_scale(0.001) m._cache.clear() g.np.nonzero(g.np.linalg.norm(m.face_normals, axis=1) < 1e-3) m.apply_transform( g.trimesh.transformations.rotation_matrix(g.np.pi / 4, [0, 0, 1]) ) def test_quat(self): """ Do some simple checks on our quaternion math. """ # shortcuts to long function names tf = g.trimesh.transformations is_rigid = tf.is_rigid multiply = tf.quaternion_multiply to_matrix = tf.quaternion_matrix from_matrix = tf.quaternion_from_matrix random_matrix = tf.random_rotation_matrix random_quat = tf.random_quaternion # get some arbitrary rotation matrices a = tf.rotation_matrix(0.2, g.trimesh.unitize([1, 2, 3])) b = tf.rotation_matrix(0.3, g.trimesh.unitize([1, -2, 0])) # convert arbitrary rotations to quaternions qa = from_matrix(a) qb = from_matrix(b) # matrix multiply the original matrices mm = g.np.dot(a, b) # quaternion multiply then convert back to matrix qm = to_matrix(multiply(qa, qb)) # results should be the same assert g.np.allclose(mm, qm, atol=1e-5) # all random matrices should be rigid transforms assert all(is_rigid(T) for T in random_matrix(num=100)) # random quaternions should all be unit vector assert g.np.allclose( g.np.linalg.norm(random_quat(num=100), axis=1), 1.0, atol=1e-6 ) def test_angle(self): assert g.np.isclose( g.trimesh.transformations.angle_between_vectors(g.np.ones(3), g.np.ones(3)), 0.0, ) def test_symbolic_rotation(self): # you can pass `sympy.Symbol` to `trimesh.transformation.rotation_matrix` try: import sympy as sp except BaseException: return tf = g.trimesh.transformations a = sp.Symbol("a") vector = [1, 1, 1] m = tf.rotation_matrix(a, vector) for v in [0.0, 1.1, 1.234, g.np.pi]: # evaluate the symbolic matrix with a value s = g.np.array(m.subs({a: v}).evalf(), dtype=g.np.float64) # call rotation matrix with a scalar n = tf.rotation_matrix(v, vector) # they should be the same matrix assert g.np.allclose(s, n) def test_symbolic_euler(self): # some of the functions have been modified to support `sympy.Symbol` # values which is useful for calculating final rotations symbolically try: import sympy as sp except BaseException: return euler = g.trimesh.transformations.euler_matrix ra, rb, rc = sp.symbols("ra rb rc") m = euler(ra, rb, rc) for rot in g.random((100, 3)): # get the euler matrix evaluated from the symbolic matrix s = g.np.array( m.subs({ra: rot[0], rb: rot[1], rc: rot[2]}).evalf(), dtype=g.np.float64 ) # get it from a numeric scalar n = euler(*rot) # they should be the same matrix assert g.np.allclose(s, n) def test_symbolic_translate(self): # some of the functions have been modified to support `sympy.Symbol` # values which is useful for calculating final rotations symbolically try: import sympy as sp except BaseException: return translate = g.trimesh.transformations.translation_matrix x, y, z = sp.symbols("x y z") m = translate([x, y, z]) for T in g.random((100, 3)): # get the euler matrix evaluated from the symbolic matrix s = g.np.array( m.subs({x: T[0], y: T[1], z: T[2]}).evalf(), dtype=g.np.float64 ) # get it from a numeric scalar n = translate(T) # they should be the same matrix assert g.np.allclose(s, n) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_triangles.py000066400000000000000000000140721470574263400177570ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g from trimesh.triangles import barycentric_to_points, points_to_barycentric class TrianglesTest(g.unittest.TestCase): def test_barycentric(self): for m in g.get_meshes(4): # a simple test which gets the barycentric coordinate at each of the three # vertices, checks to make sure the barycentric is [1,0,0] for the vertex # and then converts back to cartesian and makes sure the original points # are the same as the conversion and back for method in ["cross", "cramer"]: for i in range(3): barycentric = points_to_barycentric( m.triangles, m.triangles[:, i], method=method ) assert ( g.np.abs(barycentric - g.np.roll([1.0, 0, 0], i)) < 1e-8 ).all() points = barycentric_to_points(m.triangles, barycentric) assert (g.np.abs(points - m.triangles[:, i]) < 1e-8).all() def test_barycentric_2D(self): # points_to_barycentric should work in 2D and 3D tri = g.np.array([[[0, 0], [1, 0], [0, 1]]], dtype=g.np.float64) points = g.np.array([[0.25, 0.25]]) b = points_to_barycentric(tri, points) assert ((b > 0) & (b < 1.0)).all() r = barycentric_to_points(tri, b) assert g.np.allclose(r, points) def test_closest(self): closest = g.trimesh.triangles.closest_point( triangles=g.data["triangles"]["triangles"], points=g.data["triangles"]["points"], ) comparison = (closest - g.data["triangles"]["closest"]).all() assert (comparison < 1e-8).all() g.log.info("finished closest check on %d triangles", len(closest)) def test_closest_obtuse(self): # simple triangle in the xy-plane with an obtuse corner at vertex A ABC = g.np.float32([[0, 0, 0], [2, 0, 0], [-2, 1, 0]]) D = g.np.float32([1, -1, 0]) # ground truth: closest point from D is the center of the AB edge: # (1,0,0) gt_closest = g.np.float32([1, 0, 0]) tm_closest = g.trimesh.triangles.closest_point([ABC], [D])[0] assert g.np.linalg.norm(gt_closest - tm_closest) < g.tol.merge # create a circle of points around the triangle # with a radius so that all points are outside of the triangle radius = 3 nPtsOnCircle = 100 alphas = g.np.linspace( g.np.pi / nPtsOnCircle, g.np.pi * 2 - g.np.pi / nPtsOnCircle, nPtsOnCircle ) ptsOnCircle = ( g.np.transpose([g.np.cos(alphas), g.np.sin(alphas), g.np.zeros(nPtsOnCircle)]) * radius ) def norm(v): return g.np.sqrt(g.np.einsum("...i,...i", v, v)) def distToLine(o, v, p): return norm((o - p) - g.np.dot(o - p, v) * v) def distPointToEdge(U, V, P): # edge [U, V], point P UtoV = V - U UtoP = P - U VtoP = P - V if g.np.dot(UtoV, UtoP) <= 0: # P is 'behind' U return norm(UtoP) elif g.np.dot(-UtoV, VtoP) <= 0: # P is 'behind' V return norm(VtoP) else: # P is 'between' U and V return distToLine(U, UtoV / norm(UtoV), P) # get closest points from trimesh and compute distances to the circle # points tm_dists = norm( ptsOnCircle - g.trimesh.triangles.closest_point([ABC] * nPtsOnCircle, ptsOnCircle) ) # compute naive point-to-edge distances for all points and take the min of # the three edges gt_dists = g.np.float32( [ [distPointToEdge(ABC[i], ABC[(i + 1) % 3], pt) for i in range(3)] for pt in ptsOnCircle ] ).min(axis=1) diff_dists = tm_dists - gt_dists assert g.np.dot(diff_dists, diff_dists) < g.tol.merge def test_degenerate(self): tri = [ [[0, 0, 0], [1, 0, 0], [-0.5, 0, 0]], [[0, 0, 0], [0, 0, 0], [10, 10, 0]], [[0, 0, 0], [0, 0, 2], [0, 0, 2.2]], [[0, 0, 0], [1, 0, 0], [0, 1, 0]], ] tri_gt = [False, False, False, True] r = g.trimesh.triangles.nondegenerate(tri) assert len(r) == len(tri) assert (r == tri_gt).all() def test_angles(self): # a zero- area triangle tris = g.np.array([[[0, 0, 0], [1, 0, 0], [1, 0, 0]]], dtype=g.np.float64) angles = g.trimesh.triangles.angles(tris) # degenerate angles should be zero, not NaN g.log.debug(angles) assert g.np.allclose(angles, 0.0) # an equilateral triangle tris = g.np.array( [[[-1, 0, 0], [1, 0, 0], [0, g.np.sqrt(3), 0]]], dtype=g.np.float64 ) angles = g.trimesh.triangles.angles(tris) # degenerate angles should be zero, not NaN assert g.np.allclose(angles, g.np.radians(60)) # an equilateral triangle transformed into space tris = g.trimesh.transform_points( g.np.array([[-1, 0, 0], [1, 0, 0], [0, g.np.sqrt(3), 0]], dtype=g.np.float64), g.trimesh.transformations.random_rotation_matrix(), ).reshape((-1, 3, 3)) angles = g.trimesh.triangles.angles(tris) # all angles should be 60 degrees assert g.np.allclose(angles, g.np.radians(60)) # an 3-4-5 right triangle tris = g.trimesh.transform_points( g.np.array([[0, 0, 0], [3, 0, 0], [0, 4, 0]], dtype=g.np.float64), g.trimesh.transformations.random_rotation_matrix(), ).reshape((-1, 3, 3)) # get angles angles = g.trimesh.triangles.angles(tris) # make sure they match a 3-4-5 assert g.np.allclose( g.np.sort(angles.ravel()), [g.np.arcsin(3.0 / 5), g.np.arcsin(4.0 / 5), g.np.pi / 2], ) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_typed.py000066400000000000000000000004341470574263400171110ustar00rootroot00000000000000import numpy as np from trimesh.typed import ArrayLike, NDArray, float64, int64 # see if we pass mypy def _check(values: ArrayLike) -> NDArray[int64]: return (np.array(values, dtype=float64) * 100).astype(int64) def _run() -> NDArray[int64]: return _check(values=[1, 2]) trimesh-4.5.1/tests/test_units.py000066400000000000000000000051601470574263400171270ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class UnitsTest(g.unittest.TestCase): def test_units(self): # make sure unit conversions fail for fake units fake_units = "blorbs" fake_units = "in" try: c = g.trimesh.units.unit_conversion("inches", fake_units) # NOQA raise AssertionError() except BaseException: pass m = g.get_mesh("featuretype.STL") self.assertTrue(m.units is None) m.units = "in" self.assertTrue(m.units == "in") extents_pre = m.extents m.convert_units("mm") scale = g.np.divide(m.extents, extents_pre) self.assertTrue(g.np.allclose(scale, 25.4)) self.assertTrue(m.units == "mm") def test_conversion(self): # test conversions on a multibody STL in a scene # a multibody STL with a unit hint in filename m = g.get_mesh("counter.unitsmm.STL") # nothing should be set assert m.units is None # split into watertight bodies s = g.trimesh.scene.split_scene(m) # save the extents extents_pre = s.extents # should extract units from file name without # raising a ValueError c = s.convert_units("in", guess=False) # should have converted mm -> in, 1/25.4 # extents should scale exactly with unit conversion assert g.np.allclose(extents_pre / c.extents, 25.4, atol=0.01) def test_path(self): p = g.get_mesh("2D/tray-easy1.dxf") # should be inches assert "in" in p.units extents_pre = p.extents p.convert_units("mm") # should have converted in -> mm 25.4 # extents should scale exactly with unit conversion assert g.np.allclose(p.extents / extents_pre, 25.4, atol=0.01) def test_keys(self): units = g.trimesh.units.keys() assert isinstance(units, set) assert "in" in units def test_arbitrary(self): ac = g.np.allclose to_inch = g.trimesh.units.to_inch # check whitespace assert ac(1.0, to_inch("in")) assert ac(1.0, to_inch("1.00000* in")) assert ac(1.0, to_inch("1.00 * in")) # check centimeter conversion assert ac(100, to_inch("m") / to_inch("0.01*m")) # if we are currently in centimeters and want to go to meters # it should be dividing it by 100 assert ac( 0.01, g.trimesh.units.unit_conversion(current="0.01*m", desired="meters") ) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_unwrap.py000066400000000000000000000022141470574263400172760ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class UnwrapTest(g.unittest.TestCase): def test_image(self): try: import xatlas # noqa except BaseException: g.log.info("not testing unwrap as no `xatlas`") return a = g.get_mesh("bunny.ply", force="mesh") u = a.unwrap() assert u.visual.uv.shape == (len(u.vertices), 2) checkerboard = g.np.kron([[1, 0] * 4, [0, 1] * 4] * 4, g.np.ones((10, 10))) try: from PIL import Image except BaseException: return image = Image.fromarray((checkerboard * 255).astype(g.np.uint8)) u = a.unwrap(image=image) # make sure image was attached correctly assert u.visual.material.image.size == image.size def test_blender_unwrap(self): if not g.trimesh.interfaces.blender.exists: return m = g.get_mesh("rabbit.obj") # TODO : verify this returns geometry! _todo = g.trimesh.interfaces.blender.unwrap(m) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_upstream.py000066400000000000000000000011061470574263400176210ustar00rootroot00000000000000""" test_upstream.py ------------------- Make sure our upstream dependencies are acting right. """ try: from . import generic as g except BaseException: import generic as g class UpstreamTests(g.unittest.TestCase): def test_shapely(self): """ conda installs of shapely started returning NaN on valid input so make sure our builds fail in that case """ string = g.LineString([[0, 0], [1, 0]]) assert g.np.isclose(string.length, 1.0) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_urdf.py000066400000000000000000000015701470574263400167260ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class URDFTest(g.unittest.TestCase): """ Test to make sure we can convert trimesh objects to pyglet objects for rendering. """ def test_export(self): # not imported to trimesh by __init__ # so we don't have a pyglet import attempt # unless we explicitly ask for it (like during # a viewer show() call) from trimesh.exchange import urdf mesh = g.get_mesh("featuretype.STL") out_dir = g.tempfile.mkdtemp() urdf.export_urdf(mesh=mesh, directory=out_dir) # make sure it wrote something files = g.os.listdir(out_dir) assert len(files) > 0 # remove temporary directory g.shutil.rmtree(out_dir) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_util.py000066400000000000000000000451021470574263400167420ustar00rootroot00000000000000import logging import unittest import numpy as np import trimesh try: from . import generic as g except BaseException: import generic as g TEST_DIM = (100, 3) TOL_ZERO = 1e-9 TOL_CHECK = 1e-2 log = logging.getLogger("trimesh") log.addHandler(logging.NullHandler()) class VectorTests(unittest.TestCase): def setUp(self): self.test_dim = TEST_DIM def test_unitize_multi(self): vectors = np.ones(self.test_dim) vectors[0] = [0, 0, 0] vectors, valid = trimesh.unitize(vectors, check_valid=True) assert not valid[0] assert valid[1:].all() length = np.sum(vectors[1:] ** 2, axis=1) ** 0.5 assert np.allclose(length, 1.0) def test_align(self): log.info("Testing vector alignment") target = np.array([0, 0, 1]) for _i in range(100): vector = trimesh.unitize(np.random.random(3) - 0.5) T = trimesh.geometry.align_vectors(vector, target) result = np.dot(T, np.append(vector, 1))[0:3] aligned = np.abs(result - target).sum() < TOL_ZERO self.assertTrue(aligned) class UtilTests(unittest.TestCase): def test_bounds_tree(self): for _attempt in range(3): for dimension in [2, 3]: t = g.random((1000, 3, dimension)) bounds = g.np.column_stack((t.min(axis=1), t.max(axis=1))) tree = g.trimesh.util.bounds_tree(bounds) self.assertTrue(0 in tree.intersection(bounds[0])) def test_stack(self): # shortcut to the function f = g.trimesh.util.stack_3D # start with some random points p = g.random((100, 2)) stack = f(p) # shape should be 3D assert stack.shape == (100, 3) # points should be equal assert g.np.allclose(p, stack[:, :2]) # check an empty array assert f([]).shape == (0,) try: # try with 4D points f(g.np.ones((100, 4))) raise AssertionError() except ValueError: # this is what should happen pass def test_chain(self): from trimesh.util import chain # should work on iterables the same as `itertools.chain` assert g.np.allclose(chain([1, 3], [4]), [1, 3, 4]) # should work with non-iterable single values assert g.np.allclose(chain([1, 3], 4), [1, 3, 4]) # should filter out `None` arguments assert g.np.allclose(chain([1, 3], None, 4, None), [1, 3, 4]) def test_has_module(self): # built-in assert g.trimesh.util.has_module("collections") # required for everything assert g.trimesh.util.has_module("numpy") # not-a-thing assert not g.trimesh.util.has_module("foobarrionananan") def test_strips(self): """ Test our conversion of triangle strips to face indexes. """ def strips_to_faces(strips): """ A slow but straightforward version of the function to test against """ faces = g.collections.deque() for s in strips: s = g.np.asanyarray(s, dtype=g.np.int64) # each triangle is defined by one new vertex tri = g.np.column_stack([g.np.roll(s, -i) for i in range(3)])[:-2] # we need to flip ever other triangle idx = (g.np.arange(len(tri)) % 2).astype(bool) tri[idx] = g.np.fliplr(tri[idx]) faces.append(tri) # stack into one (m,3) array faces = g.np.vstack(faces) return faces # test 4- triangle strip s = [g.np.arange(6)] f = g.trimesh.util.triangle_strips_to_faces(s) assert (f == g.np.array([[0, 1, 2], [3, 2, 1], [2, 3, 4], [5, 4, 3]])).all() assert len(f) + 2 == len(s[0]) assert (f == strips_to_faces(s)).all() # test single triangle s = [g.np.arange(3)] f = g.trimesh.util.triangle_strips_to_faces(s) assert (f == g.np.array([[0, 1, 2]])).all() assert len(f) + 2 == len(s[0]) assert (f == strips_to_faces(s)).all() s = [g.np.arange(100)] f = g.trimesh.util.triangle_strips_to_faces(s) assert len(f) + 2 == len(s[0]) assert (f == strips_to_faces(s)).all() def test_pairwise(self): # check to make sure both itertools and numpy # methods return the same result pa = np.array(list(g.trimesh.util.pairwise(range(5)))) pb = g.trimesh.util.pairwise(np.arange(5)) # make sure results are the same from both methods assert (pa == pb).all() # make sure we have 4 pairs for 5 values assert len(pa) == 4 # make sure all pairs are length 2 assert all(len(i) == 2 for i in pa) def test_concat(self): a = g.get_mesh("ballA.off") b = g.get_mesh("ballB.off") hA = a.__hash__() hB = b.__hash__() # make sure we're not mutating original mesh for _i in range(4): c = a + b assert g.np.isclose(c.volume, a.volume + b.volume) assert a.__hash__() == hA assert b.__hash__() == hB count = 5 meshes = [] for _i in range(count): m = a.copy() m.apply_translation([a.scale, 0, 0]) meshes.append(m) # do a multimesh concatenate r = g.trimesh.util.concatenate(meshes) assert g.np.isclose(r.volume, a.volume * count) assert a.__hash__() == hA def test_concat_vertex_normals(self): # vertex normals should only be included if they already exist a = g.trimesh.creation.icosphere().apply_translation([1, 0, 0]) assert "vertex_normals" not in a._cache b = g.trimesh.creation.icosphere().apply_translation([-1, 0, 0]) assert "vertex_normals" not in b._cache c = g.trimesh.util.concatenate([a, b]) assert "vertex_normals" not in c._cache rando = g.trimesh.unitize(g.random(a.vertices.shape)) a.vertex_normals = rando assert "vertex_normals" in a._cache c = g.trimesh.util.concatenate([a, b]) assert "vertex_normals" in c._cache # should have included the rando normals assert g.np.allclose(c.vertex_normals[: len(a.vertices)], rando) def test_concat_face_normals(self): # face normals should only be included if they already exist a = g.trimesh.creation.icosphere().apply_translation([1, 0, 0]) assert "face_normals" not in a._cache b = g.trimesh.creation.icosphere().apply_translation([-1, 0, 0]) assert "face_normals" not in b._cache c = g.trimesh.util.concatenate([a, b]) assert "face_normals" not in c._cache # will generate normals _ = a.face_normals assert "face_normals" in a._cache c = g.trimesh.util.concatenate([a, b]) assert "face_normals" in c._cache def test_unique_id(self): num_ids = 10000 g.trimesh.util.random.seed(0) unique_ids_0 = [] for _i in range(num_ids): s = g.trimesh.util.unique_id() unique_ids_0.append(s) # make sure every id is truly unique assert len(unique_ids_0) == len(g.np.unique(unique_ids_0)) g.trimesh.util.random.seed(0) unique_ids_1 = [] for i in range(num_ids): s = g.trimesh.util.unique_id() unique_ids_1.append(s) # make sure id's can be reproduced assert s == unique_ids_0[i] def test_unique_name(self): from trimesh.util import unique_name assert len(unique_name(None, {})) > 0 assert len(unique_name("", {})) > 0 count = 10 names = set() for _i in range(count): names.add(unique_name("hi", names)) assert len(names) == count names = set() for _i in range(count): names.add(unique_name("", names)) assert len(names) == count # Try with a larger set of names # get some random strings names = [g.uuid4().hex for _ in range(20)] # make it a whole lotta duplicates names = names * 1000 # add a non-int postfix to test names.extend(["suppp_hi"] * 10) assigned = set() with g.Profiler() as P: for name in names: assigned.add(unique_name(name, assigned)) g.log.debug(P.output_text()) assigned_new = set() # tracker = UniqueName()\ counts = {} with g.Profiler() as P: for name in names: assigned_new.add(unique_name(name, contains=assigned_new, counts=counts)) g.log.debug(P.output_text()) # new scheme should match the old one assert assigned_new == assigned # de-duplicated set should match original length assert len(assigned) == len(names) class ContainsTest(unittest.TestCase): def test_inside(self): sphere = g.trimesh.primitives.Sphere(radius=1.0, subdivisions=4) g.log.info("Testing contains function with sphere") samples = (np.random.random((1000, 3)) - 0.5) * 5 radius = np.linalg.norm(samples, axis=1) margin = 0.05 truth_in = radius < (1.0 - margin) truth_out = radius > (1.0 + margin) contains = sphere.contains(samples) if not contains[truth_in].all(): raise ValueError("contains test does not match truth!") if contains[truth_out].any(): raise ValueError("contains test does not match truth!") class IOWrapTests(unittest.TestCase): def test_io_wrap(self): util = g.trimesh.util # check wrap_as_stream test_b = g.random(1).tobytes() test_s = "this is a test yo" res_b = util.wrap_as_stream(test_b).read() res_s = util.wrap_as_stream(test_s).read() assert res_b == test_b assert res_s == test_s # check __enter__ and __exit__ hi = b"hi" with util.BytesIO(hi) as f: assert f.read() == hi # check __enter__ and __exit__ hi = "hi" with util.StringIO(hi) as f: assert f.read() == hi class CompressTests(unittest.TestCase): def test_compress(self): source = {"hey": "sup", "naa": "2002211"} # will return bytes c = g.trimesh.util.compress(source) # wrap bytes as file- like object f = g.trimesh.util.wrap_as_stream(c) # try to decompress file- like object d = g.trimesh.util.decompress(f, file_type="zip") # make sure compressed- decompressed items # are the same after a cycle for key, value in source.items(): result = d[key].read().decode("utf-8") assert result == value class UniqueTests(unittest.TestCase): def test_unique(self): options = [ np.array([0, 1, 2, 3, 1, 3, 10, 20]), np.arange(100), np.array([], dtype=np.int64), (np.random.random(1000) * 10).astype(int), ] for values in options: if len(values) > 0: minlength = values.max() else: minlength = 10 # try our unique bincount function unique, inverse, counts = g.trimesh.grouping.unique_bincount( values, minlength=minlength, return_inverse=True, return_counts=True ) # make sure inverse is correct assert (unique[inverse] == values).all() # make sure that the number of counts matches # the number of unique values assert len(unique) == len(counts) # get the truth truth_unique, truth_inverse, truth_counts = np.unique( values, return_inverse=True, return_counts=True ) # make sure truth is doing what we think assert (truth_unique[truth_inverse] == values).all() # make sure we have same number of values assert len(truth_unique) == len(unique) # make sure all values are identical assert set(truth_unique) == set(unique) # make sure that the truth counts are identical to our counts assert np.all(truth_counts == counts) class CommentTests(unittest.TestCase): def test_comment(self): # test our comment stripping logic f = g.trimesh.util.comment_strip text = "hey whats up" assert f(text) == text text = "#hey whats up" assert f(text) == "" text = " # hey whats up " assert f(text) == "" text = "# naahah\nhey whats up" assert f(text) == "hey whats up" text = "#naahah\nhey whats up\nhi" assert f(text) == "hey whats up\nhi" text = "#naahah\nhey whats up\n hi" assert f(text) == "hey whats up\n hi" text = "#naahah\nhey whats up\n hi#" assert f(text) == "hey whats up\n hi" text = "hey whats up# see here\n hi#" assert f(text) == "hey whats up\n hi" class ArrayToString(unittest.TestCase): def test_converts_an_unstructured_1d_array(self): self.assertEqual(g.trimesh.util.array_to_string(np.array([1, 2, 3])), "1 2 3") def test_converts_an_unstructured_int_array(self): self.assertEqual( g.trimesh.util.array_to_string(np.array([[1, 2, 3], [4, 5, 6]])), "1 2 3\n4 5 6", ) def test_converts_an_unstructured_float_array(self): self.assertEqual( g.trimesh.util.array_to_string( np.array([[1, 2, 3], [4, 5, 6]], dtype=np.float64) ), "1.00000000 2.00000000 3.00000000\n4.00000000 5.00000000 6.00000000", ) def test_uses_the_specified_column_delimiter(self): self.assertEqual( g.trimesh.util.array_to_string( np.array([[1, 2, 3], [4, 5, 6]]), col_delim="col" ), "1col2col3\n4col5col6", ) def test_uses_the_specified_row_delimiter(self): self.assertEqual( g.trimesh.util.array_to_string( np.array([[1, 2, 3], [4, 5, 6]]), row_delim="row" ), "1 2 3row4 5 6", ) def test_uses_the_specified_value_format(self): self.assertEqual( g.trimesh.util.array_to_string( np.array([[1, 2, 3], [4, 5, 6]], dtype=np.float64), value_format="{:.1f}" ), "1.0 2.0 3.0\n4.0 5.0 6.0", ) def test_supports_uints(self): self.assertEqual( g.trimesh.util.array_to_string(np.array([1, 2, 3], dtype=np.uint8)), "1 2 3" ) def test_supports_repeat_format(self): self.assertEqual( g.trimesh.util.array_to_string( np.array([[1, 2, 3], [4, 5, 6]]), value_format="{} {}" ), "1 1 2 2 3 3\n4 4 5 5 6 6", ) def test_raises_if_array_is_structured(self): with self.assertRaises(ValueError): g.trimesh.util.array_to_string( np.array( [(1, 1.1), (2, 2.2)], dtype=[("some_int", np.int64), ("some_float", np.float64)], ) ) def test_raises_if_array_is_not_flat(self): with self.assertRaises(ValueError): g.trimesh.util.array_to_string(np.array([[[1, 2, 3], [4, 5, 6]]])) class StructuredArrayToString(unittest.TestCase): def test_converts_a_structured_array_with_1d_elements(self): self.assertEqual( g.trimesh.util.structured_array_to_string( np.array( [(1, 1.1), (2, 2.2)], dtype=[("some_int", np.int64), ("some_float", np.float64)], ) ), "1 1.10000000\n2 2.20000000", ) def test_converts_a_structured_array_with_2d_elements(self): self.assertEqual( g.trimesh.util.structured_array_to_string( np.array( [([1, 2], 1.1), ([3, 4], 2.2)], dtype=[("some_int", np.int64, 2), ("some_float", np.float64)], ) ), "1 2 1.10000000\n3 4 2.20000000", ) def test_uses_the_specified_column_delimiter(self): self.assertEqual( g.trimesh.util.structured_array_to_string( np.array( [(1, 1.1), (2, 2.2)], dtype=[("some_int", np.int64), ("some_float", np.float64)], ), col_delim="col", ), "1col1.10000000\n2col2.20000000", ) def test_uses_the_specified_row_delimiter(self): self.assertEqual( g.trimesh.util.structured_array_to_string( np.array( [(1, 1.1), (2, 2.2)], dtype=[("some_int", np.int64), ("some_float", np.float64)], ), row_delim="row", ), "1 1.10000000row2 2.20000000", ) def test_uses_the_specified_value_format(self): self.assertEqual( g.trimesh.util.structured_array_to_string( np.array( [(1, 1.1), (2, 2.2)], dtype=[("some_int", np.int64), ("some_float", np.float64)], ), value_format="{:.1f}", ), "1.0 1.1\n2.0 2.2", ) def test_supports_uints(self): self.assertEqual( g.trimesh.util.structured_array_to_string( np.array( [(1, 1.1), (2, 2.2)], dtype=[("some_int", np.uint8), ("some_float", np.float64)], ) ), "1 1.10000000\n2 2.20000000", ) def test_raises_if_array_is_unstructured(self): with self.assertRaises(ValueError): g.trimesh.util.structured_array_to_string(np.ndarray([1, 2, 3])) def test_raises_if_value_format_specifies_repeats(self): with self.assertRaises(ValueError): g.trimesh.util.structured_array_to_string( np.array( [(1, 1.1), (2, 2.2)], dtype=[("some_int", np.int64), ("some_float", np.float64)], ), value_format="{} {}", ) def test_raises_if_array_is_not_flat(self): with self.assertRaises(ValueError): g.trimesh.util.structured_array_to_string( np.array( [[(1, 1.1), (2, 2.2)], [(1, 1.1), (2, 2.2)]], dtype=[("some_int", np.int64), ("some_float", np.float64)], ) ) if __name__ == "__main__": trimesh.util.attach_to_log() unittest.main() trimesh-4.5.1/tests/test_vector.py000066400000000000000000000027631470574263400172750ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class SphericalTests(g.unittest.TestCase): def test_spherical(self): """ Convert vectors to spherical coordinates """ # random unit vectors v = g.trimesh.unitize(g.random((1000, 3)) - 0.5) # (n, 2) angles in radians spherical = g.trimesh.util.vector_to_spherical(v) # back to unit vectors v2 = g.trimesh.util.spherical_to_vector(spherical) assert g.np.allclose(v, v2) class HemisphereTests(g.unittest.TestCase): def test_hemisphere(self): for dimension in [2, 3]: # random unit vectors v = g.trimesh.unitize(g.random((10000, dimension)) - 0.5) # add some on- axis points v[:dimension] = g.np.eye(dimension) # stack vector and negative vector into one soup v = g.np.column_stack((v, -v)).reshape((-1, dimension)) resigned = g.trimesh.util.vector_hemisphere(v) # after resigning, negative vectors should equal positive check = ( abs(g.np.diff(resigned.reshape((-1, 2, dimension)), axis=1).sum(axis=2)) < g.trimesh.constants.tol.zero ).all() assert check a, s = g.trimesh.util.vector_hemisphere(v, return_sign=True) assert g.np.allclose(v, a * s.reshape((-1, 1))) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_vertices.py000066400000000000000000000026031470574263400176100ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class VerticesTest(g.unittest.TestCase): def test_vertex_faces(self): # One watertight, one not; also various sizes meshes = [g.get_mesh("featuretype.STL"), g.get_mesh("cycloidal.ply")] for m in meshes: # make sure every vertex_faces = m.vertex_faces for i, v in enumerate(vertex_faces): # filter out negative indices faces = m.faces[v[v >= 0]] assert all(i in face for face in faces) # choose some random vertices and make sure their # face indices are correct rand_vertices = g.np.random.randint(low=0, high=len(m.vertices), size=100) for v in rand_vertices: v_faces = g.np.where(m.faces == v)[0][::-1] assert g.np.all(v_faces == m.vertex_faces[v][m.vertex_faces[v] >= 0]) # make mesh degenerate m.faces[0] = [0, 0, 0] m.faces[1] = [1, 1, 0] # make sure every vertex_faces = m.vertex_faces for i, v in enumerate(vertex_faces): # filter out negative indices faces = m.faces[v[v >= 0]] assert all(i in face for face in faces) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_viewer.py000066400000000000000000000036741470574263400172760ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class ViewerTest(g.unittest.TestCase): def test_viewer(self): # if the runner has not asked to include rendering exit if not g.include_rendering: return from pyglet import gl # set a GL config that fixes a depth buffer issue in xvfb # this should raise an exception if pyglet can't get a library window_conf = gl.Config(double_buffer=True, depth_size=24) # make a sphere mesh = g.trimesh.creation.icosphere() # get a scene object containing the mesh, this is equivalent to: # scene = trimesh.scene.Scene(mesh) scene = mesh.scene() # run the actual render call png = scene.save_image(resolution=[1920, 1080], window_conf=window_conf) assert len(png) > 0 def test_methods(self): if not g.include_rendering: return # set a GL config that fixes a depth buffer issue in xvfb # this should raise an exception if pyglet can't get a library from pyglet import gl from pyglet.window import key from trimesh.viewer.windowed import SceneViewer window_conf = gl.Config(double_buffer=True, depth_size=24) # try the various toggles we have implemented key_check = [key.W, key.Z, key.C, key.A, key.G, key.M, key.F] scene = g.get_mesh("cycloidal.3DXML") scene.add_geometry(g.get_mesh("fuze.obj")) scene.add_geometry(g.get_mesh("2D/spline.DXF")) v = SceneViewer(scene=scene, start_loop=False, window_conf=window_conf) v.on_draw() # see if these do anything for k in key_check: v.on_key_press(symbol=k, modifiers=None) v.on_draw() # run the quit key toggle v.on_key_press(symbol=key.Q, modifiers=None) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_visual.py000066400000000000000000000046351470574263400172760ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class VisualTest(g.unittest.TestCase): def test_face_subset_texture_visuals(self): m = g.get_mesh("fuze.obj", force="mesh") face_index = g.np.random.choice(len(m.faces), len(m.triangles) // 2) idx = m.faces[g.np.unique(face_index)].flatten() ori = m.visual.uv[idx] check = m.visual.face_subset(face_index).uv tree = g.spatial.cKDTree(ori) distances, _index = tree.query(check, k=1) assert distances.max() < 1e-8 def test_face_subset_color_visuals(self): import trimesh m = g.get_mesh("torus.STL") vertex_colors = g.np.random.randint(0, 255, size=(len(m.vertices), 3)) m.visual = trimesh.visual.ColorVisuals(mesh=m, vertex_colors=vertex_colors) face_index = g.np.random.choice(len(m.faces), len(m.triangles) // 2) idx = m.faces[g.np.unique(face_index)].flatten() ori = m.visual.vertex_colors[idx] check = m.visual.face_subset(face_index).vertex_colors tree = g.spatial.cKDTree(ori) distances, _index = tree.query(check, k=1) assert distances.max() < 1e-8 # def test_face_subset_vertex_color(self): # import trimesh # m = g.get_mesh('torus.STL') # # vertex_colors = trimesh.visual.VertexColor(mesh=m, vertex_color=) # m.visual = trimesh.visual.VertexColor(mesh=m, colors=vertex_colors) # # face_index = g.np.random.choice(len(m.faces), len(m.triangles) // 2) # idx = m.faces[g.np.unique(face_index)].flatten() # # ori = m.visual.vertex_colors[idx] # check = m.visual.face_subset(face_index).vertex_colors # # tree = g.spatial.cKDTree(ori) # distances, index = tree.query(check, k=1) # assert distances.max() < 1e-8 def test_face_maintain_order(self): # chose a mesh that has the same number of vs and vts # to prevent conflict without unmerging when maintain_order=True mesh1 = g.get_mesh("capsule.obj", process=False, maintain_order=True) mesh2 = g.get_mesh("capsule.obj", process=False, maintain_order=False) colors1 = mesh1.visual.to_color() colors2 = mesh2.visual.to_color() g.np.testing.assert_allclose(colors1.vertex_colors, colors2.vertex_colors) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/tests/test_voxel.py000066400000000000000000000343241470574263400171260ustar00rootroot00000000000000try: from . import generic as g except BaseException: import generic as g class VoxelGridTest(g.unittest.TestCase): def test_voxel(self): """ Test that voxels work at all """ for m in [ g.get_mesh("featuretype.STL"), g.trimesh.primitives.Box(), g.trimesh.primitives.Sphere(), ]: for pitch in [0.1, 0.1 - g.tol.merge]: surface = m.voxelized(pitch=pitch) # make sure the voxelized pitch is similar to passed assert g.np.allclose(surface.pitch, pitch) for fill_method in ("base", "orthographic"): solid = surface.copy().fill(method=fill_method) assert len(surface.encoding.dense.shape) == 3 assert surface.shape == surface.encoding.dense.shape assert surface.volume > 0.0 assert isinstance(surface.filled_count, int) assert surface.filled_count > 0 box_surface = surface.as_boxes() box_solid = solid.as_boxes() assert isinstance(box_surface, g.trimesh.Trimesh) assert abs(box_solid.volume - solid.volume) < g.tol.merge assert g.trimesh.util.is_shape(surface.sparse_indices, (-1, 3)) assert len(solid.sparse_indices) >= len(surface.sparse_indices) assert solid.sparse_indices.shape == solid.points.shape outside = m.bounds[1] + m.scale for vox in surface, solid: assert vox.sparse_indices.shape == vox.points.shape assert g.np.all(vox.is_filled(vox.points)) assert not vox.is_filled(outside) try: cubes = surface.marching_cubes assert cubes.area > 0.0 except ImportError: g.log.info("no skimage, skipping marching cubes test") g.log.info( "Mesh volume was %f, voxelized volume was %f", m.volume, surface.volume, ) def test_marching(self): """ Test marching cubes on a matrix """ try: from skimage import measure # NOQA except ImportError: g.log.warning("no skimage, skipping marching cubes test") return # make sure offset is correct matrix = g.np.ones((3, 3, 3), dtype=bool) mesh = g.trimesh.voxel.ops.matrix_to_marching_cubes(matrix=matrix) assert mesh.is_watertight mesh = g.trimesh.voxel.ops.matrix_to_marching_cubes(matrix=matrix).apply_scale( 3.0 ) assert mesh.is_watertight def test_marching_points(self): """ Try marching cubes on points """ try: from skimage import measure # NOQA except ImportError: g.log.warning("no skimage, skipping marching cubes test") return # get some points on the surface of an icosahedron points = g.trimesh.creation.icosahedron().sample(1000) # make the pitch proportional to scale pitch = g.np.ptp(points, axis=0).min() / 10 # run marching cubes mesh = g.trimesh.voxel.ops.points_to_marching_cubes(points=points, pitch=pitch) # mesh should have faces assert len(mesh.faces) > 0 # mesh should be roughly centered assert (mesh.bounds[0] < -0.5).all() assert (mesh.bounds[1] > 0.5).all() def test_local(self): """ Try calling local voxel functions """ from trimesh.voxel import creation mesh = g.trimesh.creation.box() # it should have some stuff voxel = creation.local_voxelize( mesh=mesh, point=[0.5, 0.5, 0.5], pitch=0.1, radius=5, fill=True ) assert len(voxel.shape) == 3 # try it when it definitely doesn't hit anything empty = creation.local_voxelize( mesh=mesh, point=[10, 10, 10], pitch=0.1, radius=5, fill=True ) # shouldn't have hit anything assert empty is None # try it when it is in the center of a volume creation.local_voxelize( mesh=mesh, point=[0, 0, 0], pitch=0.1, radius=2, fill=True ) def test_points_to_from_indices(self): # indices = (points - origin) / pitch points = [[0, 0, 0], [0.04, 0.55, 0.39]] origin = [0, 0, 0] pitch = 0.1 indices = [[0, 0, 0], [0, 6, 4]] # points -> indices indices2 = g.trimesh.voxel.ops.points_to_indices( points=points, origin=origin, pitch=pitch ) g.np.testing.assert_allclose(indices, indices2, atol=0, rtol=0) # indices -> points points2 = g.trimesh.voxel.ops.indices_to_points( indices=indices, origin=origin, pitch=pitch ) g.np.testing.assert_allclose( g.np.array(indices) * pitch + origin, points2, atol=0, rtol=0 ) g.np.testing.assert_allclose(points, points2, atol=pitch / 2 * 1.01, rtol=0) # indices -> points -> indices (this must be consistent) points2 = g.trimesh.voxel.ops.indices_to_points( indices=indices, origin=origin, pitch=pitch ) indices2 = g.trimesh.voxel.ops.points_to_indices( points=points2, origin=origin, pitch=pitch ) g.np.testing.assert_allclose(indices, indices2, atol=0, rtol=0) def test_as_boxes(self): voxel = g.trimesh.voxel pitch = 0.1 origin = [0, 0, 1] matrix = g.np.eye(9, dtype=bool).reshape((-1, 3, 3)) centers = g.trimesh.voxel.ops.matrix_to_points( matrix=matrix, pitch=pitch, origin=origin ) v = voxel.VoxelGrid(matrix).apply_scale(pitch).apply_translation(origin) boxes1 = v.as_boxes() boxes2 = g.trimesh.voxel.ops.multibox(centers).apply_scale(pitch) colors = [g.trimesh.visual.DEFAULT_COLOR] * matrix.sum() * 12 for boxes in [boxes1, boxes2]: g.np.testing.assert_allclose(boxes.visual.face_colors, colors, atol=0, rtol=0) # check assigning a single color color = [255, 0, 0, 255] boxes1 = v.as_boxes(colors=color) boxes2 = g.trimesh.voxel.ops.multibox(centers=centers, colors=color).apply_scale( pitch ) colors = g.np.array([color] * len(centers) * 12) for boxes in [boxes1, boxes2]: g.np.testing.assert_allclose(boxes.visual.face_colors, colors, atol=0, rtol=0) # check matrix colors colors = color * g.np.ones(g.np.append(v.shape, 4), dtype=g.np.uint8) boxes = v.as_boxes(colors=colors) assert g.np.allclose(boxes.visual.face_colors, color, atol=0, rtol=0) def test_is_filled(self): """More rigorous test of VoxelGrid.is_filled.""" n = 10 matrix = g.np.random.uniform(size=(n + 1,) * 3) > 0.5 not_matrix = g.np.logical_not(matrix) pitch = 1.0 / n origin = g.np.random.uniform(size=(3,)) vox = g.trimesh.voxel.VoxelGrid(matrix) vox = vox.apply_scale(pitch).apply_translation(origin) not_vox = g.trimesh.voxel.VoxelGrid(not_matrix) not_vox = not_vox.apply_scale(pitch).apply_translation(origin) for a, b in ((vox, not_vox), (not_vox, vox)): points = a.points # slight jitter - shouldn't change indices points += (g.np.random.uniform(size=points.shape) - 1) * 0.4 * pitch g.np.random.shuffle(points) # all points are filled, and no empty points are filled assert g.np.all(a.is_filled(points)) assert not g.np.any(b.is_filled(points)) # test different number of dimensions points = g.np.stack([points, points[-1::-1]], axis=1) assert g.np.all(a.is_filled(points)) assert not g.np.any(b.is_filled(points)) def test_vox_sphere(self): # should be filled from 0-9 matrix = g.np.ones((10, 10, 10)) scale = 0.1 vox = g.trimesh.voxel.VoxelGrid(matrix).apply_scale(scale) # epsilon from zero eps = 1e-4 # should all be contained grid = g.trimesh.util.grid_linspace([[eps] * 3, [9 - eps] * 3], 11) * scale assert vox.is_filled(grid).all() # push it outside the filled area grid += 1.0 assert not vox.is_filled(grid).any() def test_roundtrip(self): # try exporting and reloading in the "binvox" format m = g.trimesh.creation.box() v = m.voxelized(pitch=0.1) e = v.export(file_type="binvox") r = g.trimesh.load(file_obj=g.trimesh.util.wrap_as_stream(e), file_type="binvox") assert v.filled_count == r.filled_count assert g.np.allclose(r.bounds, v.bounds) def _test_equiv(self, v0, v1, query_points=None): """ Test whether or not two `VoxelGrid` representation are consistent. Tests consistency of: shape filled_count volume matrix points origin pitch If query_points is provided, also tests is_filled points_to_indices indices_to_points Parameters ---------- v0: `VoxelGrid` instance v1: `VoxelGrid` instance query_points: (optional) points as which `points_to_indices` and `is_filled` are tested for consistency. """ def array_as_set(array2d): return {tuple(x) for x in array2d} # all points are filled assert g.np.all(v0.is_filled(v1.points)) assert g.np.any(v1.is_filled(v0.points)) # test different number of dimensions self.assertEqual(v0.shape, v1.shape) self.assertEqual(v0.filled_count, v1.filled_count) self.assertEqual(v0.volume, v1.volume) g.np.testing.assert_equal(v0.encoding.dense, v1.encoding.dense) # points will be in different order, but should contain same coords g.np.testing.assert_equal(array_as_set(v0.points), array_as_set(v1.points)) # g.np.testing.assert_equal(v0.origin, v1.origin) # g.np.testing.assert_equal(v0.pitch, v1.pitch) if query_points is not None: indices0 = v0.points_to_indices(query_points) indices1 = v1.points_to_indices(query_points) g.np.testing.assert_equal(indices0, indices1) g.np.testing.assert_allclose( v0.points_to_indices(v0.indices_to_points(indices0)), indices0 ) g.np.testing.assert_allclose( v1.points_to_indices(v1.indices_to_points(indices1)), indices1 ) g.np.testing.assert_equal( v0.is_filled(query_points), v1.is_filled(query_points) ) def test_voxel_rle(self): from trimesh.voxel import encoding as enc np = g.np voxel = g.trimesh.voxel shape = (4, 4, 4) rle_obj = enc.RunLengthEncoding( np.array([0, 8, 1, 40, 0, 16], dtype=np.uint8), dtype=bool ) brle_obj = enc.BinaryRunLengthEncoding(np.array([8, 40, 16], dtype=np.uint8)) v_rle = voxel.VoxelGrid(rle_obj.reshape(shape)) self.assertEqual(v_rle.filled_count, 40) g.np.testing.assert_equal( v_rle.encoding.dense, g.np.reshape([0] * 8 + [1] * 40 + [0] * 16, shape) ) v_brle = voxel.VoxelGrid(brle_obj.reshape(shape)) query_points = g.np.random.uniform(size=(100, 3), high=4) self._test_equiv(v_rle, v_brle, query_points) def test_hollow(self): if not g.has_binvox: g.log.warning("no binvox to test!") return filled = g.trimesh.primitives.Sphere().voxelized( pitch=0.1, method="binvox", exact=True ) hollow = filled.copy().hollow() self.assertLess(hollow.filled_count, filled.filled_count) self.assertGreater(hollow.filled_count, 0) def test_fill(self): from trimesh.voxel.morphology import fillers hollow = g.trimesh.primitives.Sphere().voxelized(pitch=0.1).hollow() for key in fillers: filled = hollow.copy().fill(key) self.assertLess(hollow.filled_count, filled.filled_count) def test_strip(self): if not g.has_binvox: g.log.warning("no binvox to test!") return octant = g.trimesh.primitives.Sphere().voxelized( pitch=0.1, method="binvox", exact=True ) dense = octant.encoding.dense.copy() nx, ny, nz = octant.shape dense[: nx // 2] = 0 dense[:, : ny // 2] = 0 dense[:, :, nz // 2 :] = 0 octant.encoding = dense stripped = octant.copy().strip() self.assertEqual(octant.filled_count, stripped.filled_count) self.assertEqual(octant.volume, stripped.volume) g.np.testing.assert_allclose(octant.points, stripped.points) self.assertGreater(octant.encoding.size, stripped.encoding.size) def test_binvox_with_dimension(self): if not g.has_binvox: g.log.warning("no binvox to test!") return dim = 10 octant = g.trimesh.primitives.Sphere().voxelized( pitch=None, dimension=dim, method="binvox", exact=True ) assert octant.shape == (dim, dim, dim) def test_transform_cache(self): encoding = [ [[0, 0, 0], [0, 1, 0], [0, 0, 0]], [[0, 1, 1], [0, 1, 0], [1, 1, 0]], [[0, 0, 0], [0, 1, 0], [0, 0, 0]], ] vg = g.trimesh.voxel.VoxelGrid(g.np.asarray(encoding)) scale = g.np.asarray([12, 23, 24]) s_matrix = g.np.eye(4) s_matrix[:3, :3] *= scale # original scale should be identity assert g.np.allclose(vg.scale, 1.0) # save the hash hash_ori = hash(vg._data) # modify the voxelgrid vg.apply_transform(s_matrix) # hash should have changed assert hash_ori != hash(vg._data) assert g.np.allclose(vg.scale, scale) if __name__ == "__main__": g.trimesh.util.attach_to_log() g.unittest.main() trimesh-4.5.1/trimesh/000077500000000000000000000000001470574263400146635ustar00rootroot00000000000000trimesh-4.5.1/trimesh/__init__.py000066400000000000000000000045161470574263400170020ustar00rootroot00000000000000""" https://github.com/mikedh/trimesh ------------------------------------ Trimesh is a pure Python (2.7- 3.3+) library for loading and using triangular meshes with an emphasis on watertight meshes. The goal of the library is to provide a fully featured Trimesh object which allows for easy manipulation and analysis, in the style of the Polygon object in the Shapely library. """ # avoid a circular import in trimesh.base from . import ( boolean, bounds, caching, collision, comparison, convex, creation, curvature, decomposition, exceptions, geometry, graph, grouping, inertia, intersections, nsphere, permutate, poses, primitives, proximity, ray, registration, remesh, repair, sample, smoothing, transformations, triangles, units, util, ) from .base import Trimesh # general numeric tolerances from .constants import tol # loader functions from .exchange.load import ( available_formats, load, load_mesh, load_path, load_remote, ) # geometry objects from .parent import Geometry from .points import PointCloud from .scene.scene import Scene from .transformations import transform_points # utility functions from .util import unitize from .version import __version__ try: # handle vector paths from . import path except BaseException as E: # raise a useful error if path hasn't loaded path = exceptions.ExceptionWrapper(E) try: from . import voxel except BaseException as E: # requires non-minimal imports voxel = exceptions.ExceptionWrapper(E) __all__ = [ "PointCloud", "Geometry", "Trimesh", "Scene", "Trimesh", "__version__", "available_formats", "boolean", "bounds", "caching", "collision", "comparison", "convex", "creation", "curvature", "decomposition", "exceptions", "geometry", "graph", "grouping", "inertia", "intersections", "load", "load_mesh", "load_path", "load_remote", "nsphere", "path", "permutate", "poses", "primitives", "proximity", "ray", "registration", "remesh", "repair", "sample", "smoothing", "tol", "transform_points", "transformations", "triangles", "unitize", "units", "util", "voxel", ] trimesh-4.5.1/trimesh/__main__.py000066400000000000000000000026211470574263400167560ustar00rootroot00000000000000import argparse def main(): """ A simple command line utility for accessing trimesh functions. To display a mesh: > trimesh hi.stl To convert a mesh: > trimesh hi.stl -e hey.glb To print some information about a mesh: > trimesh hi.stl --statistics """ from .exchange.load import load parser = argparse.ArgumentParser() parser.add_argument("file_name", nargs="?") parser.add_argument( "-i", "--interact", action="store_true", help="Get an interactive terminal with trimesh and loaded geometry", ) parser.add_argument("-e", "--export", help="Export a loaded geometry to a new file.") args = parser.parse_args() if args.file_name is None: scene = None else: scene = load(args.file_name) summary(scene) if args.export is not None: scene.export(args.export) if args.interact: return interactive(scene) scene.show() def summary(geom): """ """ print(geom) def interactive(scene): """ Run an interactive session with a loaded scene and trimesh. This uses the standard library `code.InteractiveConsole` """ local = locals() from code import InteractiveConsole # filter out junk variables. InteractiveConsole(locals={k: v for k, v in local.items() if k != "local"}).interact() if __name__ == "__main__": main() trimesh-4.5.1/trimesh/base.py000066400000000000000000003075361470574263400161650ustar00rootroot00000000000000""" github.com/mikedh/trimesh ---------------------------- Library for importing, exporting and doing simple operations on triangular meshes. """ import copy import warnings import numpy as np from numpy import float64, int64, ndarray from . import ( boolean, comparison, convex, curvature, decomposition, geometry, graph, grouping, inertia, intersections, permutate, poses, proximity, ray, registration, remesh, repair, sample, transformations, triangles, units, util, ) from .caching import Cache, DataStore, TrackedArray, cache_decorator from .constants import log, tol from .exceptions import ExceptionWrapper from .exchange.export import export_mesh from .parent import Geometry3D from .scene import Scene from .triangles import MassProperties from .typed import ( Any, ArrayLike, Dict, Floating, Integer, List, NDArray, Number, Optional, Sequence, Union, ) from .visual import ColorVisuals, TextureVisuals, create_visual try: from scipy.sparse import coo_matrix from scipy.spatial import cKDTree except BaseException as E: cKDTree = ExceptionWrapper(E) coo_matrix = ExceptionWrapper(E) try: from networkx import Graph except BaseException as E: Graph = ExceptionWrapper(E) try: from rtree.index import Index except BaseException as E: Index = ExceptionWrapper(E) try: from .path import Path2D, Path3D except BaseException as E: Path2D = ExceptionWrapper(E) Path3D = ExceptionWrapper(E) class Trimesh(Geometry3D): def __init__( self, vertices: Optional[ArrayLike] = None, faces: Optional[ArrayLike] = None, face_normals: Optional[ArrayLike] = None, vertex_normals: Optional[ArrayLike] = None, face_colors: Optional[ArrayLike] = None, vertex_colors: Optional[ArrayLike] = None, face_attributes: Optional[Dict[str, ArrayLike]] = None, vertex_attributes: Optional[Dict[str, ArrayLike]] = None, metadata: Optional[Dict[str, Any]] = None, process: bool = True, validate: bool = False, merge_tex: Optional[bool] = None, merge_norm: Optional[bool] = None, use_embree: bool = True, initial_cache: Optional[Dict[str, ndarray]] = None, visual: Optional[Union[ColorVisuals, TextureVisuals]] = None, **kwargs, ) -> None: """ A Trimesh object contains a triangular 3D mesh. Parameters ------------ vertices : (n, 3) float Array of vertex locations faces : (m, 3) or (m, 4) int Array of triangular or quad faces (triangulated on load) face_normals : (m, 3) float Array of normal vectors corresponding to faces vertex_normals : (n, 3) float Array of normal vectors for vertices metadata : dict Any metadata about the mesh process : bool if True, Nan and Inf values will be removed immediately and vertices will be merged validate : bool If True, degenerate and duplicate faces will be removed immediately, and some functions will alter the mesh to ensure consistent results. use_embree : bool If True try to use pyembree raytracer. If pyembree is not available it will automatically fall back to a much slower rtree/numpy implementation initial_cache : dict A way to pass things to the cache in case expensive things were calculated before creating the mesh object. visual : ColorVisuals or TextureVisuals Assigned to self.visual """ # self._data stores information about the mesh which # CANNOT be regenerated. # in the base class all that is stored here is vertex and # face information # any data put into the store is converted to a TrackedArray # which is a subclass of np.ndarray that provides hash and crc # methods which can be used to detect changes in the array. self._data = DataStore() # self._cache stores information about the mesh which CAN be # regenerated from self._data, but may be slow to calculate. # In order to maintain consistency # the cache is cleared when self._data.__hash__() changes self._cache = Cache(id_function=self._data.__hash__, force_immutable=True) if initial_cache is not None: self._cache.update(initial_cache) # check for None only to avoid warning messages in subclasses # (n, 3) float array of vertices self.vertices = vertices # (m, 3) int of triangle faces that references self.vertices self.faces = faces # hold visual information about the mesh (vertex and face colors) if visual is None: self.visual = create_visual( face_colors=face_colors, vertex_colors=vertex_colors, mesh=self ) else: self.visual = visual # normals are accessed through setters/properties and are regenerated # if dimensions are inconsistent, but can be set by the constructor # to avoid a substantial number of cross products if face_normals is not None: self.face_normals = face_normals # (n, 3) float of vertex normals, can be created from face normals if vertex_normals is not None: self.vertex_normals = vertex_normals # embree is a much, much faster raytracer written by Intel # if you have pyembree installed you should use it # although both raytracers were designed to have a common API if ray.has_embree and use_embree: self.ray = ray.ray_pyembree.RayMeshIntersector(self) else: # create a ray-mesh query object for the current mesh # initializing is very inexpensive and object is convenient to have. # On first query expensive bookkeeping is done (creation of r-tree), # and is cached for subsequent queries self.ray = ray.ray_triangle.RayMeshIntersector(self) # a quick way to get permuted versions of the current mesh self.permutate = permutate.Permutator(self) # convenience class for nearest point queries self.nearest = proximity.ProximityQuery(self) # update the mesh metadata with passed metadata self.metadata = {} if isinstance(metadata, dict): self.metadata.update(metadata) elif metadata is not None: raise ValueError(f"metadata should be a dict or None, got {metadata!s}") # store per-face and per-vertex attributes which will # be updated when an update_faces call is made self.face_attributes = {} self.vertex_attributes = {} # use update to copy items if face_attributes is not None: self.face_attributes.update(face_attributes) if vertex_attributes is not None: self.vertex_attributes.update(vertex_attributes) # process will remove NaN and Inf values and merge vertices # if validate, will remove degenerate and duplicate faces if process or validate: self.process(validate=validate, merge_tex=merge_tex, merge_norm=merge_norm) def process( self, validate: bool = False, merge_tex: Optional[bool] = None, merge_norm: Optional[bool] = None, ) -> "Trimesh": """ Do processing to make a mesh useful. Does this by: 1) removing NaN and Inf values 2) merging duplicate vertices If validate: 3) Remove triangles which have one edge of their 2D oriented bounding box shorter than tol.merge 4) remove duplicated triangles 5) Attempt to ensure triangles are consistently wound and normals face outwards. Parameters ------------ validate : bool Remove degenerate and duplicate faces. Returns ------------ self: trimesh.Trimesh Current mesh """ # if there are no vertices or faces exit early if self.is_empty: return self # avoid clearing the cache during operations with self._cache: # if we're cleaning remove duplicate # and degenerate faces if validate: # get a mask with only unique and non-degenerate faces mask = self.unique_faces() & self.nondegenerate_faces() self.update_faces(mask) self.fix_normals() # since none of our process operations moved vertices or faces # we can keep face and vertex normals in the cache without recomputing # if faces or vertices have been removed, normals are validated before # being returned so there is no danger of inconsistent dimensions self.remove_infinite_values() self.merge_vertices(merge_tex=merge_tex, merge_norm=merge_norm) self._cache.clear(exclude={"face_normals", "vertex_normals"}) self.metadata["processed"] = True return self @property def mutable(self) -> bool: """ Is the current mesh allowed to be altered in-place? Returns ------------- mutable If data is allowed to be set for the mesh. """ return self._data.mutable @mutable.setter def mutable(self, value: bool) -> None: """ Set the mutability of the current mesh. Parameters ---------- value Change whether the current mesh is allowed to be altered in-place. """ self._data.mutable = value @property def faces(self) -> TrackedArray: """ The faces of the mesh. This is regarded as core information which cannot be regenerated from cache and as such is stored in `self._data` which tracks the array for changes and clears cached values of the mesh altered. Returns ---------- faces : (n, 3) int64 References for `self.vertices` for triangles. """ return self._data["faces"] @faces.setter def faces(self, values: Optional[ArrayLike]) -> None: """ Set the vertex indexes that make up triangular faces. Parameters -------------- values : (n, 3) int64 Indexes of self.vertices """ if values is None: # if passed none store an empty array values = np.zeros(shape=(0, 3), dtype=int64) else: values = np.asanyarray(values, dtype=int64) # automatically triangulate quad faces if len(values.shape) == 2 and values.shape[1] != 3: log.info("triangulating faces") values = geometry.triangulate_quads(values) self._data["faces"] = values @cache_decorator def faces_sparse(self) -> coo_matrix: """ A sparse matrix representation of the faces. Returns ---------- sparse : scipy.sparse.coo_matrix Has properties: dtype : bool shape : (len(self.vertices), len(self.faces)) """ return geometry.index_sparse(columns=len(self.vertices), indices=self.faces) @property def face_normals(self) -> NDArray[float64]: """ Return the unit normal vector for each face. If a face is degenerate and a normal can't be generated a zero magnitude unit vector will be returned for that face. Returns ----------- normals : (len(self.faces), 3) float64 Normal vectors of each face """ # check shape of cached normals cached = self._cache["face_normals"] # get faces from datastore if "faces" in self._data: faces = self._data.data["faces"] else: faces = None # if we have no faces exit early if faces is None or len(faces) == 0: return np.array([], dtype=float64).reshape((0, 3)) # if the shape of cached normals equals the shape of faces return if np.shape(cached) == np.shape(faces): return cached # use cached triangle cross products to generate normals # this will always return the correct shape but some values # will be zero or an arbitrary vector if the inputs had # a cross product below machine epsilon normals, valid = triangles.normals( triangles=self.triangles, crosses=self.triangles_cross ) # if all triangles are valid shape is correct if valid.all(): # put calculated face normals into cache manually self._cache["face_normals"] = normals return normals # make a padded list of normals for correct shape padded = np.zeros((len(self.triangles), 3), dtype=float64) padded[valid] = normals # put calculated face normals into cache manually self._cache["face_normals"] = padded return padded @face_normals.setter def face_normals(self, values: Optional[ArrayLike]) -> None: """ Assign values to face normals. Parameters ------------- values : (len(self.faces), 3) float Unit face normals. If None will clear existing normals. """ # if nothing passed exit if values is None: return # make sure candidate face normals are C-contiguous float values = np.asanyarray(values, order="C", dtype=float64) # face normals need to correspond to faces if len(values) == 0 or values.shape != self.faces.shape: log.debug("face_normals incorrect shape, ignoring!") return # check if any values are larger than tol.merge # don't set the normals if they are all zero ptp = np.ptp(values) if not np.isfinite(ptp): log.debug("face_normals contain NaN, ignoring!") return if ptp < tol.merge: log.debug("face_normals all zero, ignoring!") return # make sure the first few normals match the first few triangles check, valid = triangles.normals(self.vertices.view(np.ndarray)[self.faces[:20]]) compare = np.zeros((len(valid), 3)) compare[valid] = check if not np.allclose(compare, values[:20]): log.debug("face_normals didn't match triangles, ignoring!") return # otherwise store face normals self._cache["face_normals"] = values @property def vertices(self) -> TrackedArray: """ The vertices of the mesh. This is regarded as core information which cannot be generated from cache and as such is stored in self._data which tracks the array for changes and clears cached values of the mesh if this is altered. Returns ---------- vertices : (n, 3) float Points in cartesian space referenced by self.faces """ # get vertices if already stored return self._data["vertices"] @vertices.setter def vertices(self, values: Optional[ArrayLike]): """ Assign vertex values to the mesh. Parameters -------------- values : (n, 3) float Points in space """ if values is None: # remove any stored data and store an empty array values = np.zeros(shape=(0, 3), dtype=float64) self._data["vertices"] = np.asanyarray(values, order="C", dtype=float64) @cache_decorator def vertex_normals(self) -> NDArray[float64]: """ The vertex normals of the mesh. If the normals were loaded we check to make sure we have the same number of vertex normals and vertices before returning them. If there are no vertex normals defined or a shape mismatch we calculate the vertex normals from the mean normals of the faces the vertex is used in. Returns ---------- vertex_normals : (n, 3) float Represents the surface normal at each vertex. Where n == len(self.vertices) """ # make sure we have faces_sparse assert hasattr(self.faces_sparse, "dot") return geometry.weighted_vertex_normals( vertex_count=len(self.vertices), faces=self.faces, face_normals=self.face_normals, face_angles=self.face_angles, ) @vertex_normals.setter def vertex_normals(self, values: ArrayLike) -> None: """ Assign values to vertex normals. Parameters ------------- values : (len(self.vertices), 3) float Unit normal vectors for each vertex """ if values is not None: values = np.asanyarray(values, order="C", dtype=float64) if values.shape == self.vertices.shape: # check to see if they assigned all zeros if np.ptp(values) < tol.merge: log.debug("vertex_normals are all zero!") self._cache["vertex_normals"] = values @cache_decorator def vertex_faces(self) -> NDArray[int64]: """ A representation of the face indices that correspond to each vertex. Returns ---------- vertex_faces : (n,m) int Each row contains the face indices that correspond to the given vertex, padded with -1 up to the max number of faces corresponding to any one vertex Where n == len(self.vertices), m == max number of faces for a single vertex """ vertex_faces = geometry.vertex_face_indices( vertex_count=len(self.vertices), faces=self.faces, faces_sparse=self.faces_sparse, ) return vertex_faces @cache_decorator def bounds(self) -> Optional[NDArray[float64]]: """ The axis aligned bounds of the faces of the mesh. Returns ----------- bounds : (2, 3) float or None Bounding box with [min, max] coordinates If mesh is empty will return None """ # return bounds including ONLY referenced vertices in_mesh = self.vertices[self.referenced_vertices] # don't crash if we have no vertices referenced if len(in_mesh) == 0: return None # get mesh bounds with min and max return np.array([in_mesh.min(axis=0), in_mesh.max(axis=0)]) @cache_decorator def extents(self) -> Optional[NDArray[float64]]: """ The length, width, and height of the axis aligned bounding box of the mesh. Returns ----------- extents : (3, ) float or None Array containing axis aligned [length, width, height] If mesh is empty returns None """ # if mesh is empty return None if self.bounds is None: return None extents = np.ptp(self.bounds, axis=0) return extents @cache_decorator def centroid(self) -> NDArray[float64]: """ The point in space which is the average of the triangle centroids weighted by the area of each triangle. This will be valid even for non-watertight meshes, unlike self.center_mass Returns ---------- centroid : (3, ) float The average vertex weighted by face area """ # use the centroid of each triangle weighted by # the area of the triangle to find the overall centroid try: centroid = np.average(self.triangles_center, weights=self.area_faces, axis=0) except BaseException: # if all triangles are zero-area weights will not work centroid = self.triangles_center.mean(axis=0) return centroid @property def center_mass(self) -> NDArray[float64]: """ The point in space which is the center of mass/volume. Returns ----------- center_mass : (3, ) float Volumetric center of mass of the mesh. """ return self.mass_properties.center_mass @center_mass.setter def center_mass(self, value: ArrayLike) -> None: """ Override the point in space which is the center of mass and volume. Parameters ----------- center_mass : (3, ) float Volumetric center of mass of the mesh. """ value = np.array(value, dtype=float64) if value.shape != (3,): raise ValueError("shape must be (3,) float!") self._data["center_mass"] = value self._cache.delete("mass_properties") @property def density(self) -> float: """ The density of the mesh used in inertia calculations. Returns ----------- density The density of the primitive. """ return float(self.mass_properties.density) @density.setter def density(self, value: Number) -> None: """ Set the density of the primitive. Parameters ------------- density Specify the density of the primitive to be used in inertia calculations. """ self._data["density"] = float(value) self._cache.delete("mass_properties") @property def volume(self) -> float64: """ Volume of the current mesh calculated using a surface integral. If the current mesh isn't watertight this is garbage. Returns --------- volume : float Volume of the current mesh """ return self.mass_properties.volume @property def mass(self) -> float64: """ Mass of the current mesh, based on specified density and volume. If the current mesh isn't watertight this is garbage. Returns --------- mass : float Mass of the current mesh """ return self.mass_properties.mass @property def moment_inertia(self) -> NDArray[float64]: """ Return the moment of inertia matrix of the current mesh. If mesh isn't watertight this is garbage. The returned moment of inertia is *axis aligned* at the mesh's center of mass `mesh.center_mass`. If you want the moment at any other frame including the origin call: `mesh.moment_inertia_frame` Returns --------- inertia : (3, 3) float Moment of inertia of the current mesh at the center of mass and aligned with the cartesian axis. """ return self.mass_properties.inertia def moment_inertia_frame(self, transform: ArrayLike) -> NDArray[float64]: """ Get the moment of inertia of this mesh with respect to an arbitrary frame, versus with respect to the center of mass as returned by `mesh.moment_inertia`. For example if `transform` is an identity matrix `np.eye(4)` this will give the moment at the origin. Uses the parallel axis theorum to move the center mass tensor to this arbitrary frame. Parameters ------------ transform : (4, 4) float Homogeneous transformation matrix. Returns ------------- inertia : (3, 3) Moment of inertia in the requested frame. """ # we'll need the inertia tensor and the center of mass props = self.mass_properties # calculated moment of inertia is at the center of mass # so we want to offset our requested translation by that # center of mass offset = np.eye(4) offset[:3, 3] = -props["center_mass"] # apply the parallel axis theorum to get the new inertia return inertia.transform_inertia( inertia_tensor=props["inertia"], transform=np.dot(offset, transform), mass=props["mass"], parallel_axis=True, ) @cache_decorator def principal_inertia_components(self) -> NDArray[float64]: """ Return the principal components of inertia Ordering corresponds to mesh.principal_inertia_vectors Returns ---------- components : (3, ) float Principal components of inertia """ # both components and vectors from inertia matrix components, vectors = inertia.principal_axis(self.moment_inertia) # store vectors in cache for later self._cache["principal_inertia_vectors"] = vectors return components @property def principal_inertia_vectors(self) -> NDArray[float64]: """ Return the principal axis of inertia as unit vectors. The order corresponds to `mesh.principal_inertia_components`. Returns ---------- vectors : (3, 3) float Three vectors pointing along the principal axis of inertia directions """ _ = self.principal_inertia_components return self._cache["principal_inertia_vectors"] @cache_decorator def principal_inertia_transform(self) -> NDArray[float64]: """ A transform which moves the current mesh so the principal inertia vectors are on the X,Y, and Z axis, and the centroid is at the origin. Returns ---------- transform : (4, 4) float Homogeneous transformation matrix """ order = np.argsort(self.principal_inertia_components)[1:][::-1] vectors = self.principal_inertia_vectors[order] vectors = np.vstack((vectors, np.cross(*vectors))) transform = np.eye(4) transform[:3, :3] = vectors transform = transformations.transform_around( matrix=transform, point=self.centroid ) transform[:3, 3] -= self.centroid return transform @cache_decorator def symmetry(self) -> Optional[str]: """ Check whether a mesh has rotational symmetry around an axis (radial) or point (spherical). Returns ----------- symmetry : None, 'radial', 'spherical' What kind of symmetry does the mesh have. """ symmetry, axis, section = inertia.radial_symmetry(self) self._cache["symmetry_axis"] = axis self._cache["symmetry_section"] = section return symmetry @property def symmetry_axis(self) -> Optional[NDArray[float64]]: """ If a mesh has rotational symmetry, return the axis. Returns ------------ axis : (3, ) float Axis around which a 2D profile was revolved to create this mesh. """ if self.symmetry is None: return None return self._cache["symmetry_axis"] @property def symmetry_section(self) -> Optional[NDArray[float64]]: """ If a mesh has rotational symmetry return the two vectors which make up a section coordinate frame. Returns ---------- section : (2, 3) float Vectors to take a section along """ if self.symmetry is None: return None return self._cache["symmetry_section"] @cache_decorator def triangles(self) -> NDArray[float64]: """ Actual triangles of the mesh (points, not indexes) Returns --------- triangles : (n, 3, 3) float Points of triangle vertices """ # use of advanced indexing on our tracked arrays will # trigger a change flag which means the hash will have to be # recomputed. We can escape this check by viewing the array. return self.vertices.view(np.ndarray)[self.faces] @cache_decorator def triangles_tree(self) -> Index: """ An R-tree containing each face of the mesh. Returns ---------- tree : rtree.index Each triangle in self.faces has a rectangular cell """ return triangles.bounds_tree(self.triangles) @cache_decorator def triangles_center(self) -> NDArray[float64]: """ The center of each triangle (barycentric [1/3, 1/3, 1/3]) Returns --------- triangles_center : (len(self.faces), 3) float Center of each triangular face """ return self.triangles.mean(axis=1) @cache_decorator def triangles_cross(self) -> NDArray[float64]: """ The cross product of two edges of each triangle. Returns --------- crosses : (n, 3) float Cross product of each triangle """ crosses = triangles.cross(self.triangles) return crosses @cache_decorator def edges(self) -> NDArray[int64]: """ Edges of the mesh (derived from faces). Returns --------- edges : (n, 2) int List of vertex indices making up edges """ edges, index = geometry.faces_to_edges( self.faces.view(np.ndarray), return_index=True ) self._cache["edges_face"] = index return edges @cache_decorator def edges_face(self) -> NDArray[int64]: """ Which face does each edge belong to. Returns --------- edges_face : (n, ) int Index of self.faces """ _ = self.edges return self._cache["edges_face"] @cache_decorator def edges_unique(self) -> NDArray[int64]: """ The unique edges of the mesh. Returns ---------- edges_unique : (n, 2) int Vertex indices for unique edges """ unique, inverse = grouping.unique_rows(self.edges_sorted) edges_unique = self.edges_sorted[unique] # edges_unique will be added automatically by the decorator # additional terms generated need to be added to the cache manually self._cache["edges_unique_idx"] = unique self._cache["edges_unique_inverse"] = inverse return edges_unique @cache_decorator def edges_unique_length(self) -> NDArray[float64]: """ How long is each unique edge. Returns ---------- length : (len(self.edges_unique), ) float Length of each unique edge """ vector = np.subtract(*self.vertices[self.edges_unique.T]) length = util.row_norm(vector) return length @cache_decorator def edges_unique_inverse(self) -> NDArray[int64]: """ Return the inverse required to reproduce self.edges_sorted from self.edges_unique. Useful for referencing edge properties: mesh.edges_unique[mesh.edges_unique_inverse] == m.edges_sorted Returns ---------- inverse : (len(self.edges), ) int Indexes of self.edges_unique """ _ = self.edges_unique return self._cache["edges_unique_inverse"] @cache_decorator def edges_sorted(self) -> NDArray[int64]: """ Edges sorted along axis 1 Returns ---------- edges_sorted : (n, 2) Same as self.edges but sorted along axis 1 """ edges_sorted = np.sort(self.edges, axis=1) return edges_sorted @cache_decorator def edges_sorted_tree(self) -> cKDTree: """ A KDTree for mapping edges back to edge index. Returns ------------ tree : scipy.spatial.cKDTree Tree when queried with edges will return their index in mesh.edges_sorted """ return cKDTree(self.edges_sorted) @cache_decorator def edges_sparse(self) -> coo_matrix: """ Edges in sparse bool COO graph format where connected vertices are True. Returns ---------- sparse: (len(self.vertices), len(self.vertices)) bool Sparse graph in COO format """ sparse = graph.edges_to_coo(self.edges, count=len(self.vertices)) return sparse @cache_decorator def body_count(self) -> int: """ How many connected groups of vertices exist in this mesh. Note that this number may differ from result in mesh.split, which is calculated from FACE rather than vertex adjacency. Returns ----------- count : int Number of connected vertex groups """ # labels are (len(vertices), int) OB count, labels = graph.csgraph.connected_components( self.edges_sparse, directed=False, return_labels=True ) self._cache["vertices_component_label"] = labels return count @cache_decorator def faces_unique_edges(self) -> NDArray[int64]: """ For each face return which indexes in mesh.unique_edges constructs that face. Returns --------- faces_unique_edges : (len(self.faces), 3) int Indexes of self.edges_unique that construct self.faces Examples --------- In [0]: mesh.faces[:2] Out[0]: TrackedArray([[ 1, 6946, 24224], [ 6946, 1727, 24225]]) In [1]: mesh.edges_unique[mesh.faces_unique_edges[:2]] Out[1]: array([[[ 1, 6946], [ 6946, 24224], [ 1, 24224]], [[ 1727, 6946], [ 1727, 24225], [ 6946, 24225]]]) """ # make sure we have populated unique edges _ = self.edges_unique # we are relying on the fact that edges are stacked in triplets result = self._cache["edges_unique_inverse"].reshape((-1, 3)) return result @cache_decorator def euler_number(self) -> int: """ Return the Euler characteristic (a topological invariant) for the mesh In order to guarantee correctness, this should be called after remove_unreferenced_vertices Returns ---------- euler_number : int Topological invariant """ return int( self.referenced_vertices.sum() - len(self.edges_unique) + len(self.faces) ) @cache_decorator def referenced_vertices(self) -> NDArray[np.bool_]: """ Which vertices in the current mesh are referenced by a face. Returns ------------- referenced : (len(self.vertices), ) bool Which vertices are referenced by a face """ referenced = np.zeros(len(self.vertices), dtype=bool) referenced[self.faces] = True return referenced def convert_units(self, desired: str, guess: bool = False) -> "Trimesh": """ Convert the units of the mesh into a specified unit. Parameters ------------ desired : string Units to convert to (eg 'inches') guess : boolean If self.units are not defined should we guess the current units of the document and then convert? """ units._convert_units(self, desired, guess) return self def merge_vertices( self, merge_tex: Optional[bool] = None, merge_norm: Optional[bool] = None, digits_vertex: Optional[Integer] = None, digits_norm: Optional[Integer] = None, digits_uv: Optional[Integer] = None, ) -> None: """ Removes duplicate vertices grouped by position and optionally texture coordinate and normal. Parameters ------------- mesh : Trimesh object Mesh to merge vertices on merge_tex : bool If True textured meshes with UV coordinates will have vertices merged regardless of UV coordinates merge_norm : bool If True, meshes with vertex normals will have vertices merged ignoring different normals digits_vertex : None or int Number of digits to consider for vertex position digits_norm : int Number of digits to consider for unit normals digits_uv : int Number of digits to consider for UV coordinates """ grouping.merge_vertices( mesh=self, merge_tex=merge_tex, merge_norm=merge_norm, digits_vertex=digits_vertex, digits_norm=digits_norm, digits_uv=digits_uv, ) def update_vertices( self, mask: ArrayLike, inverse: Optional[ArrayLike] = None, ) -> None: """ Update vertices with a mask. Parameters ------------ vertex_mask : (len(self.vertices)) bool Array of which vertices to keep inverse : (len(self.vertices)) int Array to reconstruct vertex references such as output by np.unique """ # if the mesh is already empty we can't remove anything if self.is_empty: return # make sure mask is a numpy array mask = np.asanyarray(mask) if (mask.dtype.name == "bool" and mask.all()) or len(mask) == 0 or self.is_empty: # mask doesn't remove any vertices so exit early return # create the inverse mask if not passed if inverse is None: inverse = np.zeros(len(self.vertices), dtype=int64) if mask.dtype.kind == "b": inverse[mask] = np.arange(mask.sum()) elif mask.dtype.kind == "i": inverse[mask] = np.arange(len(mask)) else: inverse = None # re-index faces from inverse if inverse is not None and util.is_shape(self.faces, (-1, 3)): self.faces = inverse[self.faces.reshape(-1)].reshape((-1, 3)) # update the visual object with our mask self.visual.update_vertices(mask) # get the normals from cache before dumping cached_normals = self._cache["vertex_normals"] # apply to face_attributes count = len(self.vertices) for key, value in self.vertex_attributes.items(): try: # covers un-len'd objects as well if len(value) != count: raise TypeError() except TypeError: continue # apply the mask to the attribute self.vertex_attributes[key] = value[mask] # actually apply the mask self.vertices = self.vertices[mask] # if we had passed vertex normals try to save them if util.is_shape(cached_normals, (-1, 3)): try: self.vertex_normals = cached_normals[mask] except BaseException: pass def update_faces(self, mask: ArrayLike) -> None: """ In many cases, we will want to remove specific faces. However, there is additional bookkeeping to do this cleanly. This function updates the set of faces with a validity mask, as well as keeping track of normals and colors. Parameters ------------ valid : (m) int or (len(self.faces)) bool Mask to remove faces """ # if the mesh is already empty we can't remove anything if self.is_empty: return mask = np.asanyarray(mask) if mask.dtype.name == "bool" and mask.all(): # mask removes no faces so exit early return # try to save face normals before dumping cache cached_normals = self._cache["face_normals"] faces = self._data["faces"] # if Trimesh has been subclassed and faces have been moved # from data to cache, get faces from cache. if not util.is_shape(faces, (-1, 3)): faces = self._cache["faces"] # apply to face_attributes count = len(self.faces) for key, value in self.face_attributes.items(): try: # covers un-len'd objects as well if len(value) != count: raise TypeError() except TypeError: continue # apply the mask to the attribute self.face_attributes[key] = value[mask] # actually apply the mask self.faces = faces[mask] # apply to face colors self.visual.update_faces(mask) # if our normals were the correct shape apply them if util.is_shape(cached_normals, (-1, 3)): self.face_normals = cached_normals[mask] def remove_infinite_values(self) -> None: """ Ensure that every vertex and face consists of finite numbers. This will remove vertices or faces containing np.nan and np.inf Alters `self.faces` and `self.vertices` """ if util.is_shape(self.faces, (-1, 3)): # (len(self.faces), ) bool, mask for faces face_mask = np.isfinite(self.faces).all(axis=1) self.update_faces(face_mask) if util.is_shape(self.vertices, (-1, 3)): # (len(self.vertices), ) bool, mask for vertices vertex_mask = np.isfinite(self.vertices).all(axis=1) self.update_vertices(vertex_mask) def unique_faces(self) -> NDArray[np.bool_]: """ On the current mesh find which faces are unique. Returns -------- unique : (len(faces),) bool A mask where the first occurrence of a unique face is true. """ mask = np.zeros(len(self.faces), dtype=bool) mask[grouping.unique_rows(np.sort(self.faces, axis=1))[0]] = True return mask def remove_duplicate_faces(self) -> None: """ DERECATED MARCH 2024 REPLACE WITH: `mesh.update_faces(mesh.unique_faces())` """ warnings.warn( "`remove_duplicate_faces` is deprecated " + "and will be removed in March 2024: " + "replace with `mesh.update_faces(mesh.unique_faces())`", category=DeprecationWarning, stacklevel=2, ) self.update_faces(self.unique_faces()) def rezero(self) -> None: """ Translate the mesh so that all vertex vertices are positive. Alters `self.vertices`. """ self.apply_translation(self.bounds[0] * -1.0) def split(self, **kwargs) -> List["Trimesh"]: """ Returns a list of Trimesh objects, based on face connectivity. Splits into individual components, sometimes referred to as 'bodies' Parameters ------------ only_watertight : bool Only return watertight meshes and discard remainder adjacency : None or (n, 2) int Override face adjacency with custom values Returns --------- meshes : (n, ) trimesh.Trimesh Separate bodies from original mesh """ return graph.split(self, **kwargs) @cache_decorator def face_adjacency(self) -> NDArray[int64]: """ Find faces that share an edge i.e. 'adjacent' faces. Returns ---------- adjacency : (n, 2) int Pairs of faces which share an edge Examples --------- In [1]: mesh = trimesh.load('models/featuretype.STL') In [2]: mesh.face_adjacency Out[2]: array([[ 0, 1], [ 2, 3], [ 0, 3], ..., [1112, 949], [3467, 3475], [1113, 3475]]) In [3]: mesh.faces[mesh.face_adjacency[0]] Out[3]: TrackedArray([[ 1, 0, 408], [1239, 0, 1]], dtype=int64) In [4]: import networkx as nx In [5]: graph = nx.from_edgelist(mesh.face_adjacency) In [6]: groups = nx.connected_components(graph) """ adjacency, edges = graph.face_adjacency(mesh=self, return_edges=True) self._cache["face_adjacency_edges"] = edges return adjacency @cache_decorator def face_neighborhood(self) -> NDArray[int64]: """ Find faces that share a vertex i.e. 'neighbors' faces. Returns ---------- neighborhood : (n, 2) int Pairs of faces which share a vertex """ return graph.face_neighborhood(self) @cache_decorator def face_adjacency_edges(self) -> NDArray[int64]: """ Returns the edges that are shared by the adjacent faces. Returns -------- edges : (n, 2) int Vertex indices which correspond to face_adjacency """ # this value is calculated as a byproduct of the face adjacency _ = self.face_adjacency return self._cache["face_adjacency_edges"] @cache_decorator def face_adjacency_edges_tree(self) -> cKDTree: """ A KDTree for mapping edges back face adjacency index. Returns ------------ tree : scipy.spatial.cKDTree Tree when queried with SORTED edges will return their index in mesh.face_adjacency """ return cKDTree(self.face_adjacency_edges) @cache_decorator def face_adjacency_angles(self) -> NDArray[float64]: """ Return the angle between adjacent faces Returns -------- adjacency_angle : (n, ) float Angle between adjacent faces Each value corresponds with self.face_adjacency """ # get pairs of unit vectors for adjacent faces pairs = self.face_normals[self.face_adjacency] # find the angle between the pairs of vectors angles = geometry.vector_angle(pairs) return angles @cache_decorator def face_adjacency_projections(self) -> NDArray[float64]: """ The projection of the non-shared vertex of a triangle onto its adjacent face Returns ---------- projections : (len(self.face_adjacency), ) float Dot product of vertex onto plane of adjacent triangle. """ projections = convex.adjacency_projections(self) return projections @cache_decorator def face_adjacency_convex(self) -> NDArray[np.bool_]: """ Return faces which are adjacent and locally convex. What this means is that given faces A and B, the one vertex in B that is not shared with A, projected onto the plane of A has a projection that is zero or negative. Returns ---------- are_convex : (len(self.face_adjacency), ) bool Face pairs that are locally convex """ return self.face_adjacency_projections < tol.merge @cache_decorator def face_adjacency_unshared(self) -> NDArray[int64]: """ Return the vertex index of the two vertices not in the shared edge between two adjacent faces Returns ----------- vid_unshared : (len(mesh.face_adjacency), 2) int Indexes of mesh.vertices """ return graph.face_adjacency_unshared(self) @cache_decorator def face_adjacency_radius(self) -> NDArray[float64]: """ The approximate radius of a cylinder that fits inside adjacent faces. Returns ------------ radii : (len(self.face_adjacency), ) float Approximate radius formed by triangle pair """ radii, self._cache["face_adjacency_span"] = graph.face_adjacency_radius(mesh=self) return radii @cache_decorator def face_adjacency_span(self) -> NDArray[float64]: """ The approximate perpendicular projection of the non-shared vertices in a pair of adjacent faces onto the shared edge of the two faces. Returns ------------ span : (len(self.face_adjacency), ) float Approximate span between the non-shared vertices """ _ = self.face_adjacency_radius return self._cache["face_adjacency_span"] @cache_decorator def integral_mean_curvature(self) -> float64: """ The integral mean curvature, or the surface integral of the mean curvature. Returns --------- area : float Integral mean curvature of mesh """ edges_length = np.linalg.norm( np.subtract(*self.vertices[self.face_adjacency_edges.T]), axis=1 ) return (self.face_adjacency_angles * edges_length).sum() * 0.5 @cache_decorator def vertex_adjacency_graph(self) -> Graph: """ Returns a networkx graph representing the vertices and their connections in the mesh. Returns --------- graph: networkx.Graph Graph representing vertices and edges between them where vertices are nodes and edges are edges Examples ---------- This is useful for getting nearby vertices for a given vertex, potentially for some simple smoothing techniques. mesh = trimesh.primitives.Box() graph = mesh.vertex_adjacency_graph graph.neighbors(0) > [1, 2, 3, 4] """ return graph.vertex_adjacency_graph(mesh=self) @cache_decorator def vertex_neighbors(self) -> List[List[int64]]: """ The vertex neighbors of each vertex of the mesh, determined from the cached vertex_adjacency_graph, if already existent. Returns ---------- vertex_neighbors : (len(self.vertices), ) int Represents immediate neighbors of each vertex along the edge of a triangle Examples ---------- This is useful for getting nearby vertices for a given vertex, potentially for some simple smoothing techniques. >>> mesh = trimesh.primitives.Box() >>> mesh.vertex_neighbors[0] [1, 2, 3, 4] """ return graph.neighbors(edges=self.edges_unique, max_index=len(self.vertices)) @cache_decorator def is_winding_consistent(self) -> bool: """ Does the mesh have consistent winding or not. A mesh with consistent winding has each shared edge going in an opposite direction from the other in the pair. Returns -------- consistent : bool Is winding is consistent or not """ if self.is_empty: return False # consistent winding check is populated into the cache by is_watertight _ = self.is_watertight return self._cache["is_winding_consistent"] @cache_decorator def is_watertight(self) -> bool: """ Check if a mesh is watertight by making sure every edge is included in two faces. Returns ---------- is_watertight : bool Is mesh watertight or not """ if self.is_empty: return False watertight, winding = graph.is_watertight( edges=self.edges, edges_sorted=self.edges_sorted ) self._cache["is_winding_consistent"] = winding return watertight @cache_decorator def is_volume(self) -> bool: """ Check if a mesh has all the properties required to represent a valid volume, rather than just a surface. These properties include being watertight, having consistent winding and outward facing normals. Returns --------- valid : bool Does the mesh represent a volume """ valid = bool( self.is_watertight and self.is_winding_consistent and np.isfinite(self.center_mass).all() and self.volume > 0.0 ) return valid @property def is_empty(self) -> bool: """ Does the current mesh have data defined. Returns -------- empty : bool If True, no data is set on the current mesh """ return self._data.is_empty() @cache_decorator def is_convex(self) -> bool: """ Check if a mesh is convex or not. Returns ---------- is_convex: bool Is mesh convex or not """ if self.is_empty: return False is_convex = bool(convex.is_convex(self)) return is_convex @cache_decorator def kdtree(self) -> cKDTree: """ Return a scipy.spatial.cKDTree of the vertices of the mesh. Not cached as this lead to observed memory issues and segfaults. Returns --------- tree : scipy.spatial.cKDTree Contains mesh.vertices """ return cKDTree(self.vertices.view(np.ndarray)) def remove_degenerate_faces(self, height: float = tol.merge) -> None: """ DERECATED MARCH 2024 REPLACE WITH: `self.update_faces(self.nondegenerate_faces(height=height))` """ warnings.warn( "`remove_degenerate_faces` is deprecated " + "and will be removed in March 2024 replace with " + "`self.update_faces(self.nondegenerate_faces(height=height))`", category=DeprecationWarning, stacklevel=2, ) self.update_faces(self.nondegenerate_faces(height=height)) def nondegenerate_faces(self, height: float = tol.merge) -> NDArray[np.bool_]: """ Identify degenerate faces (faces without 3 unique vertex indices) in the current mesh. Usage example for removing them: `mesh.update_faces(mesh.nondegenerate_faces())` If a height is specified, it will identify any face with a 2D oriented bounding box with one edge shorter than that height. If not specified, it will identify any face with a zero normal. Parameters ------------ height : float If specified identifies faces with an oriented bounding box shorter than this on one side. Returns ------------- nondegenerate : (len(self.faces), ) bool Mask that can be used to remove faces """ return triangles.nondegenerate( self.triangles, areas=self.area_faces, height=height ) @cache_decorator def facets(self) -> List[NDArray[int64]]: """ Return a list of face indices for coplanar adjacent faces. Returns --------- facets : (n, ) sequence of (m, ) int Groups of indexes of self.faces """ facets = graph.facets(self) return facets @cache_decorator def facets_area(self) -> NDArray[float64]: """ Return an array containing the area of each facet. Returns --------- area : (len(self.facets), ) float Total area of each facet (group of faces) """ # avoid thrashing the cache inside a loop area_faces = self.area_faces # sum the area of each group of faces represented by facets # use native python sum in tight loop as opposed to array.sum() # as in this case the lower function call overhead of # native sum provides roughly a 50% speedup areas = np.array([sum(area_faces[i]) for i in self.facets], dtype=float64) return areas @cache_decorator def facets_normal(self) -> NDArray[float64]: """ Return the normal of each facet Returns --------- normals: (len(self.facets), 3) float A unit normal vector for each facet """ if len(self.facets) == 0: return np.array([]) area_faces = self.area_faces # the face index of the largest face in each facet index = np.array([i[area_faces[i].argmax()] for i in self.facets]) # (n, 3) float, unit normal vectors of facet plane normals = self.face_normals[index] # (n, 3) float, points on facet plane origins = self.vertices[self.faces[:, 0][index]] # save origins in cache self._cache["facets_origin"] = origins return normals @cache_decorator def facets_origin(self) -> NDArray[float64]: """ Return a point on the facet plane. Returns ------------ origins : (len(self.facets), 3) float A point on each facet plane """ _ = self.facets_normal return self._cache["facets_origin"] @cache_decorator def facets_boundary(self) -> List[NDArray[int64]]: """ Return the edges which represent the boundary of each facet Returns --------- edges_boundary : sequence of (n, 2) int Indices of self.vertices """ # make each row correspond to a single face edges = self.edges_sorted.reshape((-1, 6)) # get the edges for each facet edges_facet = [edges[i].reshape((-1, 2)) for i in self.facets] edges_boundary = [i[grouping.group_rows(i, require_count=1)] for i in edges_facet] return edges_boundary @cache_decorator def facets_on_hull(self) -> NDArray[np.bool_]: """ Find which facets of the mesh are on the convex hull. Returns --------- on_hull : (len(mesh.facets), ) bool is A facet on the meshes convex hull or not """ # if no facets exit early if len(self.facets) == 0: return np.array([], dtype=bool) # facets plane, origin and normal normals = self.facets_normal origins = self.facets_origin # (n, 3) convex hull vertices convex = self.convex_hull.vertices.view(np.ndarray).copy() # boolean mask for which facets are on convex hull on_hull = np.zeros(len(self.facets), dtype=bool) for i, normal, origin in zip(range(len(normals)), normals, origins): # a facet plane is on the convex hull if every vertex # of the convex hull is behind that plane # which we are checking with dot products dot = np.dot(normal, (convex - origin).T) on_hull[i] = (dot < tol.merge).all() return on_hull def fix_normals(self, multibody: Optional[bool] = None) -> None: """ Find and fix problems with self.face_normals and self.faces winding direction. For face normals ensure that vectors are consistently pointed outwards, and that self.faces is wound in the correct direction for all connected components. Parameters ------------- multibody : None or bool Fix normals across multiple bodies if None automatically pick from body_count """ if multibody is None: multibody = self.body_count > 1 repair.fix_normals(self, multibody=multibody) def fill_holes(self) -> bool: """ Fill single triangle and single quad holes in the current mesh. Returns ---------- watertight : bool Is the mesh watertight after the function completes """ return repair.fill_holes(self) def register(self, other: Union[Geometry3D, NDArray], **kwargs): """ Align a mesh with another mesh or a PointCloud using the principal axes of inertia as a starting point which is refined by iterative closest point. Parameters ------------ other : trimesh.Trimesh or (n, 3) float Mesh or points in space samples : int Number of samples from mesh surface to align icp_first : int How many ICP iterations for the 9 possible combinations of icp_final : int How many ICP itertations for the closest candidate from the wider search Returns ----------- mesh_to_other : (4, 4) float Transform to align mesh to the other object cost : float Average square distance per point """ mesh_to_other, cost = registration.mesh_other(mesh=self, other=other, **kwargs) return mesh_to_other, cost def compute_stable_poses( self, center_mass: Optional[NDArray[float64]] = None, sigma: float = 0.0, n_samples: int = 1, threshold: float = 0.0, ): """ Computes stable orientations of a mesh and their quasi-static probabilities. This method samples the location of the center of mass from a multivariate gaussian (mean at com, cov equal to identity times sigma) over n_samples. For each sample, it computes the stable resting poses of the mesh on a a planar workspace and evaluates the probabilities of landing in each pose if the object is dropped onto the table randomly. This method returns the 4x4 homogeneous transform matrices that place the shape against the planar surface with the z-axis pointing upwards and a list of the probabilities for each pose. The transforms and probabilities that are returned are sorted, with the most probable pose first. Parameters ------------ center_mass : (3, ) float The object center of mass (if None, this method assumes uniform density and watertightness and computes a center of mass explicitly) sigma : float The covariance for the multivariate gaussian used to sample center of mass locations n_samples : int The number of samples of the center of mass location threshold : float The probability value at which to threshold returned stable poses Returns ------- transforms : (n, 4, 4) float The homogeneous matrices that transform the object to rest in a stable pose, with the new z-axis pointing upwards from the table and the object just touching the table. probs : (n, ) float A probability ranging from 0.0 to 1.0 for each pose """ return poses.compute_stable_poses( mesh=self, center_mass=center_mass, sigma=sigma, n_samples=n_samples, threshold=threshold, ) def subdivide(self, face_index: Optional[ArrayLike] = None) -> "Trimesh": """ Subdivide a mesh with each subdivided face replaced with four smaller faces. Will return a copy of current mesh with subdivided faces. Parameters ------------ face_index : (m, ) int or None If None all faces of mesh will be subdivided If (m, ) int array of indices: only specified faces will be subdivided. Note that in this case the mesh will generally no longer be manifold, as the additional vertex on the midpoint will not be used by the adjacent faces to the faces specified, and an additional postprocessing step will be required to make resulting mesh watertight """ visual = None if hasattr(self.visual, "uv") and np.shape(self.visual.uv) == ( len(self.vertices), 2, ): # uv coords divided along with vertices vertices, faces, attr = remesh.subdivide( vertices=np.hstack((self.vertices, self.visual.uv)), faces=self.faces, face_index=face_index, vertex_attributes=self.vertex_attributes, ) # get a copy of the current visuals visual = self.visual.copy() # separate uv coords and vertices vertices, visual.uv = vertices[:, :3], vertices[:, 3:] else: # perform the subdivision with vertex attributes vertices, faces, attr = remesh.subdivide( vertices=self.vertices, faces=self.faces, face_index=face_index, vertex_attributes=self.vertex_attributes, ) # create a new mesh result = Trimesh( vertices=vertices, faces=faces, visual=visual, vertex_attributes=attr, process=False, ) return result def subdivide_to_size(self, max_edge, max_iter=10, return_index=False): """ Subdivide a mesh until every edge is shorter than a specified length. Will return a triangle soup, not a nicely structured mesh. Parameters ------------ max_edge : float Maximum length of any edge in the result max_iter : int The maximum number of times to run subdivision return_index : bool If True, return index of original face for new faces """ # subdivide vertex attributes visual = None if hasattr(self.visual, "uv") and np.shape(self.visual.uv) == ( len(self.vertices), 2, ): # uv coords divided along with vertices vertices_faces = remesh.subdivide_to_size( vertices=np.hstack((self.vertices, self.visual.uv)), faces=self.faces, max_edge=max_edge, max_iter=max_iter, return_index=return_index, ) # unpack result if return_index: vertices, faces, final_index = vertices_faces else: vertices, faces = vertices_faces # get a copy of the current visuals visual = self.visual.copy() # separate uv coords and vertices vertices, visual.uv = vertices[:, :3], vertices[:, 3:] else: # uv coords divided along with vertices vertices_faces = remesh.subdivide_to_size( vertices=self.vertices, faces=self.faces, max_edge=max_edge, max_iter=max_iter, return_index=return_index, ) # unpack result if return_index: vertices, faces, final_index = vertices_faces else: vertices, faces = vertices_faces # create a new mesh result = Trimesh(vertices=vertices, faces=faces, visual=visual, process=False) if return_index: return result, final_index return result def subdivide_loop(self, iterations=None): """ Subdivide a mesh by dividing each triangle into four triangles and approximating their smoothed surface using loop subdivision. Loop subdivision often looks better on triangular meshes than catmul-clark, which operates primarily on quads. Parameters ------------ iterations : int Number of iterations to run subdivision. multibody : bool If True will try to subdivide for each submesh """ # perform subdivision for one mesh new_vertices, new_faces = remesh.subdivide_loop( vertices=self.vertices, faces=self.faces, iterations=iterations ) # create new mesh result = Trimesh(vertices=new_vertices, faces=new_faces, process=False) return result def smoothed(self, **kwargs): """ DEPRECATED: use `mesh.smooth_shaded` or `trimesh.graph.smooth_shade(mesh)` """ warnings.warn( "`mesh.smoothed()` is deprecated and will be removed in March 2024: " + "use `mesh.smooth_shaded` or `trimesh.graph.smooth_shade(mesh)`", category=DeprecationWarning, stacklevel=2, ) # run smoothing return self.smooth_shaded @property def smooth_shaded(self): """ Smooth shading in OpenGL relies on which vertices are shared, this function will disconnect regions above an angle threshold and return a non-watertight version which will look better in an OpenGL rendering context. If you would like to use non-default arguments see `graph.smooth_shade`. Returns --------- smooth_shaded : trimesh.Trimesh Non watertight version of current mesh. """ # key this also by the visual properties # but store it in the mesh cache self.visual._verify_hash() cache = self.visual._cache # needs to be dumped whenever visual or mesh changes key = f"smooth_shaded_{hash(self.visual)}_{hash(self)}" if key in cache: return cache[key] smooth = graph.smooth_shade(self) # store it in the mesh cache which dumps when vertices change cache[key] = smooth return smooth @property def visual(self): """ Get the stored visuals for the current mesh. Returns ------------- visual : ColorVisuals or TextureVisuals Contains visual information about the mesh """ if hasattr(self, "_visual"): return self._visual return None @visual.setter def visual(self, value): """ When setting a visual object, always make sure that `visual.mesh` points back to the source mesh. Parameters -------------- visual : ColorVisuals or TextureVisuals Contains visual information about the mesh """ value.mesh = self self._visual = value def section( self, plane_normal: ArrayLike, plane_origin: ArrayLike, **kwargs ) -> Optional[Path3D]: """ Returns a 3D cross section of the current mesh and a plane defined by origin and normal. Parameters ------------ plane_normal : (3,) float Normal vector of section plane. plane_origin : (3, ) float Point on the cross section plane. Returns --------- intersections Curve of intersection or None if it was not hit by plane. """ # turn line segments into Path2D/Path3D objects from .exchange.load import load_path # return a single cross section in 3D lines, face_index = intersections.mesh_plane( mesh=self, plane_normal=plane_normal, plane_origin=plane_origin, return_faces=True, **kwargs, ) # if the section didn't hit the mesh return None if len(lines) == 0: return None # otherwise load the line segments into a Path3D object path = load_path(lines) # add the face index info into metadata path.metadata["face_index"] = face_index return path def section_multiplane( self, plane_origin: ArrayLike, plane_normal: ArrayLike, heights: ArrayLike, ) -> List[Optional[Path2D]]: """ Return multiple parallel cross sections of the current mesh in 2D. Parameters ------------ plane_origin : (3, ) float Point on the cross section plane plane_normal : (3) float Normal vector of section plane heights : (n, ) float Each section is offset by height along the plane normal. Returns --------- paths : (n, ) Path2D or None 2D cross sections at specified heights. path.metadata['to_3D'] contains transform to return 2D section back into 3D space. """ # turn line segments into Path2D/Path3D objects from .exchange.load import load_path # do a multiplane intersection lines, transforms, faces = intersections.mesh_multiplane( mesh=self, plane_normal=plane_normal, plane_origin=plane_origin, heights=heights, ) # turn the line segments into Path2D objects paths = [None] * len(lines) for i, f, segments, T in zip(range(len(lines)), faces, lines, transforms): if len(segments) > 0: paths[i] = load_path(segments, metadata={"to_3D": T, "face_index": f}) return paths def slice_plane( self, plane_origin, plane_normal, cap=False, face_index=None, cached_dots=None, **kwargs, ): """ Slice the mesh with a plane, returning a new mesh that is the portion of the original mesh to the positive normal side of the plane plane_origin : (3,) float Point on plane to intersect with mesh plane_normal : (3,) float Normal vector of plane to intersect with mesh cap : bool If True, cap the result with a triangulated polygon face_index : ((m,) int) Indexes of mesh.faces to slice. When no mask is provided, the default is to slice all faces. cached_dots : (n, 3) float If an external function has stored dot products pass them here to avoid recomputing Returns --------- new_mesh: trimesh.Trimesh or None Subset of current mesh that intersects the half plane to the positive normal side of the plane """ # return a new mesh new_mesh = intersections.slice_mesh_plane( mesh=self, plane_normal=plane_normal, plane_origin=plane_origin, cap=cap, face_index=face_index, cached_dots=cached_dots, **kwargs, ) return new_mesh def unwrap(self, image=None): """ Returns a Trimesh object equivalent to the current mesh where the vertices have been assigned uv texture coordinates. Vertices may be split into as many as necessary by the unwrapping algorithm, depending on how many uv maps they appear in. Requires `pip install xatlas` Parameters ------------ image : None or PIL.Image Image to assign to the material Returns -------- unwrapped : trimesh.Trimesh Mesh with unwrapped uv coordinates """ import xatlas vmap, faces, uv = xatlas.parametrize(self.vertices, self.faces) result = Trimesh( vertices=self.vertices[vmap], faces=faces, visual=TextureVisuals(uv=uv, image=image), process=False, ) # run additional checks for unwrapping if tol.strict: # check the export object to make sure we didn't # move the indices around on creation assert np.allclose(result.visual.uv, uv) assert np.allclose(result.faces, faces) assert np.allclose(result.vertices, self.vertices[vmap]) # check to make sure indices are still the # same order after we've exported to OBJ export = result.export(file_type="obj") uv_recon = np.array( [L[3:].split() for L in str.splitlines(export) if L.startswith("vt ")], dtype=float64, ) assert np.allclose(uv_recon, uv) v_recon = np.array( [L[2:].split() for L in str.splitlines(export) if L.startswith("v ")], dtype=float64, ) assert np.allclose(v_recon, self.vertices[vmap]) return result @cache_decorator def convex_hull(self) -> "Trimesh": """ Returns a Trimesh object representing the convex hull of the current mesh. Returns -------- convex : trimesh.Trimesh Mesh of convex hull of current mesh """ return convex.convex_hull(self) def sample( self, count: int, return_index: bool = False, face_weight: Optional[NDArray[float64]] = None, ): """ Return random samples distributed across the surface of the mesh Parameters ------------ count : int Number of points to sample return_index : bool If True will also return the index of which face each sample was taken from. face_weight : None or len(mesh.faces) float Weight faces by a factor other than face area. If None will be the same as face_weight=mesh.area Returns --------- samples : (count, 3) float Points on surface of mesh face_index : (count, ) int Index of self.faces """ samples, index = sample.sample_surface( mesh=self, count=count, face_weight=face_weight ) if return_index: return samples, index return samples def remove_unreferenced_vertices(self) -> None: """ Remove all vertices in the current mesh which are not referenced by a face. """ referenced = np.zeros(len(self.vertices), dtype=bool) referenced[self.faces] = True inverse = np.zeros(len(self.vertices), dtype=int64) inverse[referenced] = np.arange(referenced.sum()) self.update_vertices(mask=referenced, inverse=inverse) def unmerge_vertices(self) -> None: """ Removes all face references so that every face contains three unique vertex indices and no faces are adjacent. """ # new faces are incrementing so every vertex is unique faces = np.arange(len(self.faces) * 3, dtype=int64).reshape((-1, 3)) # use update_vertices to apply mask to # all properties that are per-vertex self.update_vertices(self.faces.reshape(-1)) # set faces to incrementing indexes self.faces = faces # keep face normals as the haven't changed self._cache.clear(exclude=["face_normals"]) def apply_transform(self, matrix: ArrayLike) -> "Trimesh": """ Transform mesh by a homogeneous transformation matrix. Does the bookkeeping to avoid recomputing things so this function should be used rather than directly modifying self.vertices if possible. Parameters ------------ matrix : (4, 4) float Homogeneous transformation matrix """ # get c-order float64 matrix matrix = np.asanyarray(matrix, order="C", dtype=float64) # only support homogeneous transformations if matrix.shape != (4, 4): raise ValueError("Transformation matrix must be (4, 4)!") # exit early if we've been passed an identity matrix # np.allclose is surprisingly slow so do this test elif util.allclose(matrix, np.eye(4), 1e-8): return self # new vertex positions new_vertices = transformations.transform_points(self.vertices, matrix=matrix) # check to see if the matrix has rotation # rather than just translation has_rotation = not util.allclose(matrix[:3, :3], np.eye(3), atol=1e-6) # transform overridden center of mass if "center_mass" in self._data: center_mass = [self._data["center_mass"]] self.center_mass = transformations.transform_points( center_mass, matrix, )[0] # preserve face normals if we have them stored if has_rotation and "face_normals" in self._cache: # transform face normals by rotation component self._cache.cache["face_normals"] = util.unitize( transformations.transform_points( self.face_normals, matrix=matrix, translate=False ) ) # preserve vertex normals if we have them stored if has_rotation and "vertex_normals" in self._cache: self._cache.cache["vertex_normals"] = util.unitize( transformations.transform_points( self.vertex_normals, matrix=matrix, translate=False ) ) # if transformation flips winding of triangles if has_rotation and transformations.flips_winding(matrix): log.debug("transform flips winding") # fliplr will make array non C contiguous # which will cause hashes to be more # expensive than necessary so wrap self.faces = np.ascontiguousarray(np.fliplr(self.faces)) # assign the new values self.vertices = new_vertices # preserve normals and topology in cache # while dumping everything else self._cache.clear( exclude={ "face_normals", # transformed by us "vertex_normals", # also transformed by us "face_adjacency", # topological "face_adjacency_edges", "face_adjacency_unshared", "edges", "edges_face", "edges_sorted", "edges_unique", "edges_unique_idx", "edges_unique_inverse", "edges_sparse", "body_count", "faces_unique_edges", "euler_number", } ) # set the cache ID with the current hash value self._cache.id_set() return self def voxelized(self, pitch, method="subdivide", **kwargs): """ Return a VoxelGrid object representing the current mesh discretized into voxels at the specified pitch Parameters ------------ pitch : float The edge length of a single voxel method: implementation key. See `trimesh.voxel.creation.voxelizers` **kwargs: additional kwargs passed to the specified implementation. Returns ---------- voxelized : VoxelGrid object Representing the current mesh """ from .voxel import creation return creation.voxelize(mesh=self, pitch=pitch, method=method, **kwargs) def simplify_quadric_decimation( self, percent: Optional[Floating] = None, face_count: Optional[Integer] = None, aggression: Optional[Integer] = None, ) -> "Trimesh": """ A thin wrapper around `pip install fast-simplification`. Parameters ----------- percent A number between 0.0 and 1.0 for how much face_count Target number of faces desired in the resulting mesh. agression An integer between `0` and `10`, the scale being roughly `0` is "slow and good" and `10` being "fast and bad." Returns --------- simple : trimesh.Trimesh Simplified version of mesh. """ from fast_simplification import simplify # create keyword arguments as dict so we can filter out `None` # values as the C wrapper as of writing is not happy with `None` # and requires they be omitted from the constructor kwargs = { "target_count": face_count, "target_reduction": percent, "agg": aggression, } # todo : one could take the `return_collapses=True` array and use it to # apply the same simplification to the visual info vertices, faces = simplify( points=self.vertices.view(np.ndarray), triangles=self.faces.view(np.ndarray), **{k: v for k, v in kwargs.items() if v is not None}, ) return Trimesh(vertices=vertices, faces=faces) def outline(self, face_ids: Optional[NDArray[int64]] = None, **kwargs) -> Path3D: """ Given a list of face indexes find the outline of those faces and return it as a Path3D. The outline is defined here as every edge which is only included by a single triangle. Note that this implies a non-watertight mesh as the outline of a watertight mesh is an empty path. Parameters ------------ face_ids : (n, ) int Indices to compute the outline of. If None, outline of full mesh will be computed. **kwargs: passed to Path3D constructor Returns ---------- path : Path3D Curve in 3D of the outline """ from .path.exchange.misc import faces_to_path return Path3D(**faces_to_path(self, face_ids, **kwargs)) def projected(self, normal, **kwargs) -> Path2D: """ Project a mesh onto a plane and then extract the polygon that outlines the mesh projection on that plane. Parameters ---------- mesh : trimesh.Trimesh Source geometry check : bool If True make sure is flat normal : (3,) float Normal to extract flat pattern along origin : None or (3,) float Origin of plane to project mesh onto pad : float Proportion to pad polygons by before unioning and then de-padding result by to avoid zero-width gaps. tol_dot : float Tolerance for discarding on-edge triangles. max_regions : int Raise an exception if the mesh has more than this number of disconnected regions to fail quickly before unioning. Returns ---------- projected : trimesh.path.Path2D Outline of source mesh """ from .exchange.load import load_path from .path import Path2D from .path.polygons import projected projection = projected(mesh=self, normal=normal, **kwargs) if projection is None: return Path2D() return load_path(projection) @cache_decorator def area(self) -> float64: """ Summed area of all triangles in the current mesh. Returns --------- area : float Surface area of mesh """ area = self.area_faces.sum() return area @cache_decorator def area_faces(self) -> NDArray[float64]: """ The area of each face in the mesh. Returns --------- area_faces : (n, ) float Area of each face """ return triangles.area(crosses=self.triangles_cross) @cache_decorator def mass_properties(self) -> MassProperties: """ Returns the mass properties of the current mesh. Assumes uniform density, and result is probably garbage if mesh isn't watertight. Returns ---------- properties : dict With keys: 'volume' : in global units^3 'mass' : From specified density 'density' : Included again for convenience (same as kwarg density) 'inertia' : Taken at the center of mass and aligned with global coordinate system 'center_mass' : Center of mass location, in global coordinate system """ # if the density or center of mass was overridden they will be put into data density = self._data.data.get("density", None) center_mass = self._data.data.get("center_mass", None) return triangles.mass_properties( triangles=self.triangles, crosses=self.triangles_cross, density=density, center_mass=center_mass, skip_inertia=False, ) def invert(self) -> None: """ Invert the mesh in-place by reversing the winding of every face and negating normals without dumping the cache. Alters `self.faces` by reversing columns, and negating `self.face_normals` and `self.vertex_normals`. """ with self._cache: if "face_normals" in self._cache: self.face_normals = self._cache["face_normals"] * -1.0 if "vertex_normals" in self._cache: self.vertex_normals = self._cache["vertex_normals"] * -1.0 # fliplr makes array non-contiguous so cache checks slow self.faces = np.ascontiguousarray(np.fliplr(self.faces)) # save our normals self._cache.clear(exclude=["face_normals", "vertex_normals"]) def scene(self, **kwargs) -> Scene: """ Returns a Scene object containing the current mesh. Returns --------- scene : trimesh.scene.scene.Scene Contains just the current mesh """ return Scene(self, **kwargs) def show(self, **kwargs): """ Render the mesh in an opengl window. Requires pyglet. Parameters ------------ smooth : bool Run smooth shading on mesh or not, large meshes will be slow Returns ----------- scene : trimesh.scene.Scene Scene with current mesh in it """ scene = self.scene() return scene.show(**kwargs) def submesh( self, faces_sequence: Sequence[ArrayLike], **kwargs ) -> Union["Trimesh", List["Trimesh"]]: """ Return a subset of the mesh. Parameters ------------ faces_sequence : sequence (m, ) int Face indices of mesh only_watertight : bool Only return submeshes which are watertight append : bool Return a single mesh which has the faces appended. if this flag is set, only_watertight is ignored Returns --------- submesh : Trimesh or (n,) Trimesh Single mesh if `append` or list of submeshes """ return util.submesh(mesh=self, faces_sequence=faces_sequence, **kwargs) @cache_decorator def identifier(self) -> NDArray[float64]: """ Return a float vector which is unique to the mesh and is robust to rotation and translation. Returns ----------- identifier : (7,) float Identifying properties of the current mesh """ return comparison.identifier_simple(self) @cache_decorator def identifier_hash(self) -> str: """ A hash of the rotation invariant identifier vector. Returns --------- hashed : str Hex string of the SHA256 hash from the identifier vector at hand-tuned sigfigs. """ return comparison.identifier_hash(self.identifier) def export( self, file_obj=None, file_type: Optional[str] = None, **kwargs, ): """ Export the current mesh to a file object. If file_obj is a filename, file will be written there. Supported formats are stl, off, ply, collada, json, dict, glb, dict64, msgpack. Parameters ------------ file_obj : open writeable file object str, file name where to save the mesh None, return the export blob file_type : str Which file type to export as, if `file_name` is passed this is not required. """ return export_mesh(mesh=self, file_obj=file_obj, file_type=file_type, **kwargs) def to_dict(self) -> Dict[str, Union[str, List[List[float]], List[List[int]]]]: """ Return a dictionary representation of the current mesh with keys that can be used as the kwargs for the Trimesh constructor and matches the schema in: `trimesh/resources/schema/primitive/trimesh.schema.json` Returns ---------- result : dict Matches schema and Trimesh constructor. """ return { "kind": "trimesh", "vertices": self.vertices.tolist(), "faces": self.faces.tolist(), } def convex_decomposition(self, **kwargs) -> List["Trimesh"]: """ Compute an approximate convex decomposition of a mesh using `pip install pyVHACD`. Returns ------- meshes List of convex meshes that approximate the original **kwargs : VHACD keyword arguments """ return [ Trimesh(**kwargs) for kwargs in decomposition.convex_decomposition(self, **kwargs) ] def union( self, other: Union["Trimesh", Sequence["Trimesh"]], engine: Optional[str] = None, check_volume: bool = True, **kwargs, ) -> "Trimesh": """ Boolean union between this mesh and other meshes. Parameters ------------ other : Trimesh or (n, ) Trimesh Other meshes to union engine Which backend to use, the default recommendation is: `pip install manifold3d`. check_volume Raise an error if not all meshes are watertight positive volumes. Advanced users may want to ignore this check as it is expensive. kwargs Passed through to the `engine`. Returns --------- union : trimesh.Trimesh Union of self and other Trimesh objects """ return boolean.union( meshes=util.chain(self, other), engine=engine, check_volume=check_volume, **kwargs, ) def difference( self, other: Union["Trimesh", Sequence["Trimesh"]], engine: Optional[str] = None, check_volume: bool = True, **kwargs, ) -> "Trimesh": """ Boolean difference between this mesh and other meshes. Parameters ------------ other One or more meshes to difference with the current mesh. engine Which backend to use, the default recommendation is: `pip install manifold3d`. check_volume Raise an error if not all meshes are watertight positive volumes. Advanced users may want to ignore this check as it is expensive. kwargs Passed through to the `engine`. Returns --------- difference : trimesh.Trimesh Difference between self and other Trimesh objects """ return boolean.difference( meshes=util.chain(self, other), engine=engine, check_volume=check_volume, **kwargs, ) def intersection( self, other: Union["Trimesh", Sequence["Trimesh"]], engine: Optional[str] = None, check_volume: bool = True, **kwargs, ) -> "Trimesh": """ Boolean intersection between this mesh and other meshes. Parameters ------------ other : trimesh.Trimesh, or list of trimesh.Trimesh objects Meshes to calculate intersections with engine Which backend to use, the default recommendation is: `pip install manifold3d`. check_volume Raise an error if not all meshes are watertight positive volumes. Advanced users may want to ignore this check as it is expensive. kwargs Passed through to the `engine`. Returns --------- intersection : trimesh.Trimesh Mesh of the volume contained by all passed meshes """ return boolean.intersection( meshes=util.chain(self, other), engine=engine, check_volume=check_volume, **kwargs, ) def contains(self, points: ArrayLike) -> NDArray[np.bool_]: """ Given an array of points determine whether or not they are inside the mesh. This raises an error if called on a non-watertight mesh. Parameters ------------ points : (n, 3) float Points in cartesian space Returns --------- contains : (n, ) bool Whether or not each point is inside the mesh """ return self.ray.contains_points(points) @cache_decorator def face_angles(self) -> NDArray[float64]: """ Returns the angle at each vertex of a face. Returns -------- angles : (len(self.faces), 3) float Angle at each vertex of a face """ return triangles.angles(self.triangles) @cache_decorator def face_angles_sparse(self) -> coo_matrix: """ A sparse matrix representation of the face angles. Returns ---------- sparse : scipy.sparse.coo_matrix Float sparse matrix with with shape: (len(self.vertices), len(self.faces)) """ angles = curvature.face_angles_sparse(self) return angles @cache_decorator def vertex_defects(self) -> NDArray[float64]: """ Return the vertex defects, or (2*pi) minus the sum of the angles of every face that includes that vertex. If a vertex is only included by coplanar triangles, this will be zero. For convex regions this is positive, and concave negative. Returns -------- vertex_defect : (len(self.vertices), ) float Vertex defect at the every vertex """ defects = curvature.vertex_defects(self) return defects @cache_decorator def vertex_degree(self) -> NDArray[int64]: """ Return the number of faces each vertex is included in. Returns ---------- degree : (len(self.vertices), ) int Number of faces each vertex is included in """ # get degree through sparse matrix degree = np.array(self.faces_sparse.sum(axis=1)).flatten() return degree @cache_decorator def face_adjacency_tree(self) -> Index: """ An R-tree of face adjacencies. Returns -------- tree Where each edge in self.face_adjacency has a rectangular cell """ # the (n,6) interleaved bounding box for every line segment return util.bounds_tree( np.column_stack( ( self.vertices[self.face_adjacency_edges].min(axis=1), self.vertices[self.face_adjacency_edges].max(axis=1), ) ) ) def copy(self, include_cache: bool = False, include_visual: bool = True) -> "Trimesh": """ Safely return a copy of the current mesh. By default, copied meshes will have emptied cache to avoid memory issues and so may be slow on initial operations until caches are regenerated. Current object will *never* have its cache cleared. Parameters ------------ include_cache : bool If True, will shallow copy cached data to new mesh Returns --------- copied : trimesh.Trimesh Copy of current mesh """ # start with an empty mesh copied = Trimesh() # always deepcopy vertex and face data copied._data.data = copy.deepcopy(self._data.data) if include_visual: # copy visual information copied.visual = self.visual.copy() # get metadata copied.metadata = copy.deepcopy(self.metadata) # make sure cache ID is set initially copied._cache.verify() if include_cache: # shallow copy cached items into the new cache # since the data didn't change here when the # data in the new mesh is changed these items # will be dumped in the new mesh but preserved # in the original mesh copied._cache.cache.update(self._cache.cache) return copied def __deepcopy__(self, *args) -> "Trimesh": # interpret deep copy as "get rid of cached data" return self.copy(include_cache=False) def __copy__(self, *args) -> "Trimesh": # interpret shallow copy as "keep cached data" return self.copy(include_cache=True) def eval_cached(self, statement: str, *args): """ Evaluate a statement and cache the result before returning. Statements are evaluated inside the Trimesh object, and Parameters ------------ statement : str Statement of valid python code *args : list Available inside statement as args[0], etc Returns ----------- result : result of running eval on statement with args Examples ----------- r = mesh.eval_cached('np.dot(self.vertices, args[0])', [0, 0, 1]) """ # store this by the combined hash of statement and args hashable = [hash(statement)] hashable.extend(hash(a) for a in args) key = f"eval_cached_{hash(tuple(hashable))}" if key in self._cache: return self._cache[key] result = eval(statement) self._cache[key] = result return result def __add__(self, other: "Trimesh") -> "Trimesh": """ Concatenate the mesh with another mesh. Parameters ------------ other : trimesh.Trimesh object Mesh to be concatenated with self Returns ---------- concat : trimesh.Trimesh Mesh object of combined result """ concat = util.concatenate(self, other) return concat trimesh-4.5.1/trimesh/boolean.py000066400000000000000000000155401470574263400166610ustar00rootroot00000000000000""" boolean.py ------------- Do boolean operations on meshes using either Blender or Manifold. """ import numpy as np from . import exceptions, interfaces from .typed import Callable, NDArray, Optional, Sequence, Union try: from manifold3d import Manifold, Mesh except BaseException as E: Mesh = exceptions.ExceptionWrapper(E) Manifold = exceptions.ExceptionWrapper(E) def difference( meshes: Sequence, engine: Optional[str] = None, check_volume: bool = True, **kwargs ): """ Compute the boolean difference between a mesh an n other meshes. Parameters ---------- meshes : sequence of trimesh.Trimesh Meshes to be processed. engine Which backend to use, i.e. 'blender' or 'manifold' check_volume Raise an error if not all meshes are watertight positive volumes. Advanced users may want to ignore this check as it is expensive. kwargs Passed through to the `engine`. Returns ---------- difference A `Trimesh` that contains `meshes[0] - meshes[1:]` """ if check_volume and not all(m.is_volume for m in meshes): raise ValueError("Not all meshes are volumes!") return _engines[engine](meshes, operation="difference", **kwargs) def union( meshes: Sequence, engine: Optional[str] = None, check_volume: bool = True, **kwargs ): """ Compute the boolean union between a mesh an n other meshes. Parameters ---------- meshes : list of trimesh.Trimesh Meshes to be processed engine : str Which backend to use, i.e. 'blender' or 'manifold' check_volume Raise an error if not all meshes are watertight positive volumes. Advanced users may want to ignore this check as it is expensive. kwargs Passed through to the `engine`. Returns ---------- union A `Trimesh` that contains the union of all passed meshes. """ if check_volume and not all(m.is_volume for m in meshes): raise ValueError("Not all meshes are volumes!") return _engines[engine](meshes, operation="union", **kwargs) def intersection( meshes: Sequence, engine: Optional[str] = None, check_volume: bool = True, **kwargs ): """ Compute the boolean intersection between a mesh and other meshes. Parameters ---------- meshes : list of trimesh.Trimesh Meshes to be processed engine : str Which backend to use, i.e. 'blender' or 'manifold' check_volume Raise an error if not all meshes are watertight positive volumes. Advanced users may want to ignore this check as it is expensive. kwargs Passed through to the `engine`. Returns ---------- intersection A `Trimesh` that contains the intersection geometry. """ if check_volume and not all(m.is_volume for m in meshes): raise ValueError("Not all meshes are volumes!") return _engines[engine](meshes, operation="intersection", **kwargs) def boolean_manifold( meshes: Sequence, operation: str, check_volume: bool = True, **kwargs, ): """ Run an operation on a set of meshes using the Manifold engine. Parameters ---------- meshes : list of trimesh.Trimesh Meshes to be processed operation Which boolean operation to do. check_volume Raise an error if not all meshes are watertight positive volumes. Advanced users may want to ignore this check as it is expensive. kwargs Passed through to the `engine`. """ if check_volume and not all(m.is_volume for m in meshes): raise ValueError("Not all meshes are volumes!") # Convert to manifold meshes manifolds = [ Manifold( mesh=Mesh( vert_properties=np.array(mesh.vertices, dtype=np.float32), tri_verts=np.array(mesh.faces, dtype=np.uint32), ) ) for mesh in meshes ] # Perform operations if operation == "difference": if len(meshes) < 2: raise ValueError("Difference only defined over two meshes.") elif len(meshes) == 2: # apply the single difference result_manifold = manifolds[0] - manifolds[1] elif len(meshes) > 2: # union all the meshes to be subtracted from the final result unioned = reduce_cascade(lambda a, b: a + b, manifolds[1:]) # apply the difference result_manifold = manifolds[0] - unioned elif operation == "union": result_manifold = reduce_cascade(lambda a, b: a + b, manifolds) elif operation == "intersection": result_manifold = reduce_cascade(lambda a, b: a ^ b, manifolds) else: raise ValueError(f"Invalid boolean operation: '{operation}'") # Convert back to trimesh meshes from . import Trimesh result_mesh = result_manifold.to_mesh() return Trimesh(vertices=result_mesh.vert_properties, faces=result_mesh.tri_verts) def reduce_cascade(operation: Callable, items: Union[Sequence, NDArray]): """ Call an operation function in a cascaded pairwise way against a flat list of items. This should produce the same result as `functools.reduce` if `operation` is commutable like addition or multiplication. This may be faster for an `operation` that runs with a speed proportional to its largest input, which mesh booleans appear to. The union of a large number of small meshes appears to be "much faster" using this method. This only differs from `functools.reduce` for commutative `operation` in that it returns `None` on empty inputs rather than `functools.reduce` which raises a `TypeError`. For example on `a b c d e f g` this function would run and return: a b c d e f ab cd ef g abcd efg -> abcdefg Where `functools.reduce` would run and return: a b ab c abc d abcd e abcde f abcdef g -> abcdefg Parameters ---------- operation The function to call on pairs of items. items The flat list of items to apply operation against. """ if len(items) == 0: return None elif len(items) == 1: # skip the loop overhead for a single item return items[0] elif len(items) == 2: # skip the loop overhead for a single pair return operation(items[0], items[1]) for _ in range(int(1 + np.log2(len(items)))): results = [] for i in np.arange(len(items) // 2) * 2: results.append(operation(items[i], items[i + 1])) if len(items) % 2: results.append(items[-1]) items = results # logic should have reduced to a single item assert len(results) == 1 return results[0] # which backend boolean engines _engines = { None: boolean_manifold, "manifold": boolean_manifold, "blender": interfaces.blender.boolean, } trimesh-4.5.1/trimesh/bounds.py000066400000000000000000000506371470574263400165420ustar00rootroot00000000000000import numpy as np from . import convex, geometry, grouping, nsphere, transformations, util from .constants import log, now try: # scipy is a soft dependency from scipy import optimize from scipy.spatial import ConvexHull except BaseException as E: # raise the exception when someone tries to use it from . import exceptions ConvexHull = exceptions.ExceptionWrapper(E) optimize = exceptions.ExceptionWrapper(E) try: from scipy.spatial import QhullError except BaseException: QhullError = BaseException # a 90 degree rotation _flip = transformations.planar_matrix(theta=np.pi / 2) _flip.flags.writeable = False def oriented_bounds_2D(points, qhull_options="QbB"): """ Find an oriented bounding box for an array of 2D points. Details on qhull options: http://www.qhull.org/html/qh-quick.htm#options Parameters ---------- points : (n,2) float Points in 2D. Returns ---------- transform : (3,3) float Homogeneous 2D transformation matrix to move the input points so that the axis aligned bounding box is CENTERED AT THE ORIGIN. rectangle : (2,) float Size of extents once input points are transformed by transform """ # create a convex hull object of our points # 'QbB' is a qhull option which has it scale the input to unit # box to avoid precision issues with very large/small meshes convex = ConvexHull(points, qhull_options=qhull_options) # (n,2,3) line segments hull_edges = convex.points[convex.simplices] # (n,2) points on the convex hull hull_points = convex.points[convex.vertices] # unit vector direction of the edges of the hull polygon # filter out zero- magnitude edges via check_valid edge_vectors = hull_edges[:, 1] - hull_edges[:, 0] edge_norm = np.sqrt(np.dot(edge_vectors**2, [1, 1])) edge_nonzero = edge_norm > 1e-10 edge_vectors = edge_vectors[edge_nonzero] / edge_norm[edge_nonzero].reshape((-1, 1)) # create a set of perpendicular vectors perp_vectors = np.fliplr(edge_vectors) * [-1.0, 1.0] # find the projection of every hull point on every edge vector # this does create a potentially gigantic n^2 array in memory, # and there is the 'rotating calipers' algorithm which avoids this # however, we have reduced n with a convex hull and numpy dot products # are extremely fast so in practice this usually ends up being fine x = np.dot(edge_vectors, hull_points.T) y = np.dot(perp_vectors, hull_points.T) # reduce the projections to maximum and minimum per edge vector bounds = np.column_stack((x.min(axis=1), y.min(axis=1), x.max(axis=1), y.max(axis=1))) # calculate the extents and area for each edge vector pair extents = np.diff(bounds.reshape((-1, 2, 2)), axis=1).reshape((-1, 2)) area = np.prod(extents, axis=1) area_min = area.argmin() # (2,) float of smallest rectangle size rectangle = extents[area_min] # find the (3,3) homogeneous transformation which moves the input # points to have a bounding box centered at the origin offset = -bounds[area_min][:2] - (rectangle * 0.5) theta = np.arctan2(*edge_vectors[area_min][::-1]) transform = transformations.planar_matrix(offset, theta) # we would like to consistently return an OBB with # the largest dimension along the X axis rather than # the long axis being arbitrarily X or Y. if rectangle[1] > rectangle[0]: # apply the rotation transform = np.dot(_flip, transform) # switch X and Y in the OBB extents rectangle = rectangle[::-1] return transform, rectangle def oriented_bounds(obj, angle_digits=1, ordered=True, normal=None, coplanar_tol=1e-12): """ Find the oriented bounding box for a Trimesh Parameters ---------- obj : trimesh.Trimesh, (n, 2) float, or (n, 3) float Mesh object or points in 2D or 3D space angle_digits : int How much angular precision do we want on our result. Even with less precision the returned extents will cover the mesh albeit with larger than minimal volume, and may experience substantial speedups. ordered : bool Return a consistent order for bounds normal : None or (3,) float Override search for normal on 3D meshes. coplanar_tol : float If a convex hull fails and we are checking to see if the points are coplanar this is the maximum deviation from a plane where the points will be considered coplanar. Returns ---------- to_origin : (4,4) float Transformation matrix which will move the center of the bounding box of the input mesh to the origin. extents: (3,) float The extents of the mesh once transformed with to_origin """ def oriented_bounds_coplanar(points): """ Find an oriented bounding box for an array of coplanar 3D points. Parameters ---------- points : (n, 3) float Points in 3D that occupy a 2D subspace. Returns ---------- to_origin : (4, 4) float Transformation matrix which will move the center of the bounding box of the input mesh to the origin. extents : (3,) float The extents of the mesh once transformed with to_origin """ # Shift points about the origin and rotate into the xy plane points_mean = np.mean(points, axis=0) points_demeaned = points - points_mean _, _, vh = np.linalg.svd(points_demeaned, full_matrices=False) points_2d = np.matmul(points_demeaned, vh.T) if np.any(np.abs(points_2d[:, 2]) > coplanar_tol): raise ValueError("Points must be coplanar") # Construct a homogeneous matrix representing the transformation above to_2d = np.eye(4) to_2d[:3, :3] = vh to_2d[:3, 3] = -np.matmul(vh, points_mean) # Find the 2D bounding box using the polygon to_origin_2d, extents_2d = oriented_bounds_2D(points_2d[:, :2]) # Make extents 3D extents = np.append(extents_2d, 0.0) # convert transformation from 2D to 3D and combine to_origin = np.matmul(transformations.planar_matrix_to_3D(to_origin_2d), to_2d) return to_origin, extents try: # extract a set of convex hull vertices and normals from the input # we bother to do this to avoid recomputing the full convex hull if # possible if hasattr(obj, "convex_hull"): # if we have been passed a mesh, use its existing convex hull to pull from # cache rather than recomputing. This version of the cached convex hull has # normals pointing in arbitrary directions (straight from qhull) # using this avoids having to compute the expensive corrected normals # that mesh.convex_hull uses since normal directions don't matter # here hull = obj.convex_hull elif util.is_sequence(obj): # we've been passed a list of points points = np.asanyarray(obj) if util.is_shape(points, (-1, 2)): return oriented_bounds_2D(points) elif util.is_shape(points, (-1, 3)): hull = convex.convex_hull(points, repair=False) else: raise ValueError("Points are not (n,3) or (n,2)!") else: raise ValueError("Oriented bounds must be passed a mesh or a set of points!") except QhullError: # Try to recover from Qhull error if due to mesh being less than 3 # dimensional if hasattr(obj, "vertices"): points = obj.vertices.view(np.ndarray) elif util.is_sequence(obj): points = np.asanyarray(obj) else: raise return oriented_bounds_coplanar(points) vertices = hull.vertices hull_adj = hull.face_adjacency.T hull_edge = hull.face_adjacency_edges hull_normals = hull.face_normals # matrices which will rotate each hull normal to [0,0,1] if normal is None: # convert face normals to spherical coordinates on the upper hemisphere # the vector_hemisphere call effectively merges negative but otherwise # identical vectors spherical_coords = util.vector_to_spherical(util.vector_hemisphere(hull_normals)) # the unique_rows call on merge angles gets unique spherical directions to check # we get a substantial speedup in the transformation matrix creation # inside the loop by converting to angles ahead of time spherical_unique = grouping.unique_rows(spherical_coords, digits=angle_digits)[0] matrices = [ transformations.spherical_matrix(*s).T for s in spherical_coords[spherical_unique] ] normals = util.spherical_to_vector(spherical_coords[spherical_unique]) else: # if explicit normal was passed use it and skip the grouping matrices = [geometry.align_vectors(normal, [0, 0, 1])] normals = [normal] tic = now() min_2D = None min_volume = np.inf # we now need to loop through all the possible candidate # directions for aligning our oriented bounding box. for normal, to_2D in zip(normals, matrices): # we could compute the hull in 2D for every direction # but since we know we're dealing with a convex blob # we can do back-face culling and then take the boundary # start by picking the normal direction with fewer edges side = np.dot(hull_normals, normal) > -1e-10 # for coplanar points this could be empty if not side.any(): continue # this line is a heavy lift as it is finding the pairs of # adjacent faces where *exactly one* out of two of the faces # is visible (xor) and then using the index to get the edge edges = hull_edge[np.bitwise_xor(*side[hull_adj])] # project the 3D convex hull vertices onto the plane projected = np.dot(to_2D[:3, :3], vertices.T).T[:, :3] # get the line segments of edges in 2D edge_vert = projected[:, :2][edges] # now get them as unit vectors edge_vectors = edge_vert[:, 1, :] - edge_vert[:, 0, :] edge_norm = np.sqrt(np.dot(edge_vectors**2, [1, 1])) edge_nonzero = edge_norm > 1e-10 edge_vectors = edge_vectors[edge_nonzero] / edge_norm[edge_nonzero].reshape( (-1, 1) ) # create a set of perpendicular vectors perp_vectors = np.fliplr(edge_vectors) * [-1.0, 1.0] # find the projection of every hull point on every edge vector # this does create a potentially gigantic n^2 array in memory # and there is the 'rotating calipers' algorithm which avoids this # however, we have reduced n with a convex hull and numpy dot products # are extremely fast so in practice this usually ends up being fine x = np.dot(edge_vectors, edge_vert[:, 0, :2].T) y = np.dot(perp_vectors, edge_vert[:, 0, :2].T) area = ((x.max(axis=1) - x.min(axis=1)) * (y.max(axis=1) - y.min(axis=1))).min() # the volume is 2D area plus the projected height volume = area * np.ptp(projected[:, 2]) # store this transform if it's better than one we've seen if volume < min_volume: min_volume = volume min_2D = to_2D # we know the minimum volume transform which should be the expensive # part so now we need to do the bookkeeping to find the box vert_ones = np.column_stack((vertices, np.ones(len(vertices)))).T projected = np.dot(min_2D, vert_ones).T[:, :3] height = np.ptp(projected[:, 2]) rotation_2D, box = oriented_bounds_2D(projected[:, :2]) min_extents = np.append(box, height) rotation_2D[:2, 2] = 0.0 rotation_Z = transformations.planar_matrix_to_3D(rotation_2D) # combine the 2D OBB transformation with the 2D projection transform to_origin = np.dot(rotation_Z, min_2D) # transform points using our matrix to find the translation transformed = transformations.transform_points(vertices, to_origin) box_center = transformed.min(axis=0) + np.ptp(transformed, axis=0) * 0.5 to_origin[:3, 3] = -box_center # return ordered 3D extents if ordered: # sort the three extents order = min_extents.argsort() # generate a matrix which will flip transform # to match the new ordering flip = np.eye(4) flip[:3, :3] = -np.eye(3)[order] # make sure transform isn't mangling triangles # by reversing windings on triangles if not np.isclose(np.linalg.det(flip[:3, :3]), 1.0): flip[:3, :3] = np.dot(flip[:3, :3], -np.eye(3)) # apply the flip to the OBB transform to_origin = np.dot(flip, to_origin) # apply the order to the extents min_extents = min_extents[order] log.debug("oriented_bounds checked %d vectors in %0.4fs", len(matrices), now() - tic) return to_origin, min_extents def minimum_cylinder(obj, sample_count=6, angle_tol=0.001): """ Find the approximate minimum volume cylinder which contains a mesh or a a list of points. Samples a hemisphere then uses scipy.optimize to pick the final orientation of the cylinder. A nice discussion about better ways to implement this is here: https://www.staff.uni-mainz.de/schoemer/publications/ALGO00.pdf Parameters ---------- obj : trimesh.Trimesh, or (n, 3) float Mesh object or points in space sample_count : int How densely should we sample the hemisphere. Angular spacing is 180 degrees / this number Returns ---------- result : dict With keys: 'radius' : float, radius of cylinder 'height' : float, height of cylinder 'transform' : (4,4) float, transform from the origin to centered cylinder """ def volume_from_angles(spherical, return_data=False): """ Takes spherical coordinates and calculates the volume of a cylinder along that vector Parameters --------- spherical : (2,) float Theta and phi return_data : bool Flag for returned Returns -------- if return_data: transform ((4,4) float) radius (float) height (float) else: volume (float) """ to_2D = transformations.spherical_matrix(*spherical, axes="rxyz") projected = transformations.transform_points(hull, matrix=to_2D) height = np.ptp(projected[:, 2]) try: center_2D, radius = nsphere.minimum_nsphere(projected[:, :2]) except ValueError: return np.inf volume = np.pi * height * (radius**2) if return_data: center_3D = np.append(center_2D, projected[:, 2].min() + (height * 0.5)) transform = np.dot( np.linalg.inv(to_2D), transformations.translation_matrix(center_3D) ) return transform, radius, height return volume # we've been passed a mesh with radial symmetry # use center mass and symmetry axis and go home early if hasattr(obj, "symmetry") and obj.symmetry == "radial": # find our origin if obj.is_watertight: # set origin to center of mass origin = obj.center_mass else: # convex hull should be watertight origin = obj.convex_hull.center_mass # will align symmetry axis with Z and move origin to zero to_2D = geometry.plane_transform(origin=origin, normal=obj.symmetry_axis) # transform vertices to plane to check on_plane = transformations.transform_points(obj.vertices, to_2D) # cylinder height is overall Z span height = np.ptp(on_plane[:, 2]) # center mass is correct on plane, but position # along symmetry axis may be wrong so slide it slide = transformations.translation_matrix( [0, 0, (height / 2.0) - on_plane[:, 2].max()] ) to_2D = np.dot(slide, to_2D) # radius is maximum radius radius = (on_plane[:, :2] ** 2).sum(axis=1).max() ** 0.5 # save kwargs result = {"height": height, "radius": radius, "transform": np.linalg.inv(to_2D)} return result # get the points on the convex hull of the result hull = convex.hull_points(obj) if not util.is_shape(hull, (-1, 3)): raise ValueError("Input must be reducable to 3D points!") # sample a hemisphere so local hill climbing can do its thing samples = util.grid_linspace([[0, 0], [np.pi, np.pi]], sample_count) # if it's rotationally symmetric the bounding cylinder # is almost certainly along one of the PCI vectors if hasattr(obj, "principal_inertia_vectors"): # add the principal inertia vectors if we have a mesh samples = np.vstack( (samples, util.vector_to_spherical(obj.principal_inertia_vectors)) ) tic = [now()] # the projected volume at each sample volumes = np.array([volume_from_angles(i) for i in samples]) # the best vector in (2,) spherical coordinates best = samples[volumes.argmin()] tic.append(now()) # since we already explored the global space, set the bounds to be # just around the sample that had the lowest volume step = 2 * np.pi / sample_count bounds = [(best[0] - step, best[0] + step), (best[1] - step, best[1] + step)] # run the local optimization r = optimize.minimize( volume_from_angles, best, tol=angle_tol, method="SLSQP", bounds=bounds ) tic.append(now()) log.debug("Performed search in %f and minimize in %f", *np.diff(tic)) # actually chunk the information about the cylinder transform, radius, height = volume_from_angles(r["x"], return_data=True) result = {"transform": transform, "radius": radius, "height": height} return result def to_extents(bounds): """ Convert an axis aligned bounding box to extents and transform. Parameters ------------ bounds : (2, 3) float Axis aligned bounds in space Returns ------------ extents : (3,) float Extents of the bounding box transform : (4, 4) float Homogeneous transform moving extents to bounds """ bounds = np.asanyarray(bounds, dtype=np.float64) if bounds.shape != (2, 3): raise ValueError("bounds must be (2, 3)") extents = np.ptp(bounds, axis=0) transform = np.eye(4) transform[:3, 3] = bounds.mean(axis=0) return extents, transform def corners(bounds): """ Given a pair of axis aligned bounds, return all 8 corners of the bounding box. Parameters ---------- bounds : (2,3) or (2,2) float Axis aligned bounds Returns ---------- corners : (8,3) float Corner vertices of the cube """ bounds = np.asanyarray(bounds, dtype=np.float64) if util.is_shape(bounds, (2, 2)): bounds = np.column_stack((bounds, [0, 0])) elif not util.is_shape(bounds, (2, 3)): raise ValueError("bounds must be (2,2) or (2,3)!") minx, miny, minz, maxx, maxy, maxz = np.arange(6) corner_index = np.array( [ minx, miny, minz, maxx, miny, minz, maxx, maxy, minz, minx, maxy, minz, minx, miny, maxz, maxx, miny, maxz, maxx, maxy, maxz, minx, maxy, maxz, ] ).reshape((-1, 3)) corners = bounds.reshape(-1)[corner_index] return corners def contains(bounds, points): """ Do an axis aligned bounding box check on a list of points. Parameters ----------- bounds : (2, dimension) float Axis aligned bounding box points : (n, dimension) float Points in space Returns ----------- points_inside : (n,) bool True if points are inside the AABB """ # make sure we have correct input types bounds = np.asanyarray(bounds, dtype=np.float64) points = np.asanyarray(points, dtype=np.float64) if len(bounds) != 2: raise ValueError("bounds must be (2,dimension)!") if not util.is_shape(points, (-1, bounds.shape[1])): raise ValueError("bounds shape must match points!") # run the simple check points_inside = np.logical_and( (points > bounds[0]).all(axis=1), (points < bounds[1]).all(axis=1) ) return points_inside trimesh-4.5.1/trimesh/caching.py000066400000000000000000000472311470574263400166400ustar00rootroot00000000000000""" caching.py ----------- Functions and classes that help with tracking changes in `numpy.ndarray` and clearing cached values based on those changes. You should really `pip install xxhash`: ``` In [23]: %timeit int(blake2b(d).hexdigest(), 16) 102 us +/- 684 ns per loop In [24]: %timeit int(sha256(d).hexdigest(), 16) 142 us +/- 3.73 us In [25]: %timeit xxh3_64_intdigest(d) 3.37 us +/- 116 ns per loop ``` """ import os import sys import time from functools import wraps from hashlib import sha256 as _sha256 import numpy as np from .constants import log from .util import is_sequence try: from collections.abc import Mapping except BaseException: from collections.abc import Mapping def sha256(item) -> int: return int(_sha256(item).hexdigest(), 16) if sys.version_info >= (3, 9): # blake2b is available on Python 3 and from hashlib import blake2b as _blake2b def hash_fallback(item): return int(_blake2b(item, usedforsecurity=False).hexdigest(), 16) else: # fallback to sha256 hash_fallback = sha256 # xxhash is up to 30x faster than sha256: # `pip install xxhash` try: # newest version of algorithm from xxhash import xxh3_64_intdigest as hash_fast except BaseException: try: # older version of the algorithm from xxhash import xxh64_intdigest as hash_fast except BaseException: # use hashlib as a fallback hashing library log.debug( "falling back to hashlib " + "hashing: `pip install xxhash`" + "for 50x faster cache checks" ) hash_fast = hash_fallback def tracked_array(array, dtype=None): """ Properly subclass a numpy ndarray to track changes. Avoids some pitfalls of subclassing by forcing contiguous arrays and does a view into a TrackedArray. Parameters ------------ array : array- like object To be turned into a TrackedArray dtype : np.dtype Which dtype to use for the array Returns ------------ tracked : TrackedArray Contains input array data. """ # if someone passed us None, just create an empty array if array is None: array = [] # make sure it is contiguous then view it as our subclass tracked = np.ascontiguousarray(array, dtype=dtype).view(TrackedArray) # should always be contiguous here assert tracked.flags["C_CONTIGUOUS"] return tracked def cache_decorator(function): """ A decorator for class methods, replaces @property but will store and retrieve function return values in object cache. Parameters ------------ function : method This is used as a decorator: ``` @cache_decorator def foo(self, things): return 'happy days' ``` """ # use wraps to preserve docstring @wraps(function) def get_cached(*args, **kwargs): """ Only execute the function if its value isn't stored in cache already. """ self = args[0] # use function name as key in cache name = function.__name__ # do the dump logic ourselves to avoid # verifying cache twice per call self._cache.verify() # access cache dict to avoid automatic validation # since we already called cache.verify manually if name in self._cache.cache: # already stored so return value return self._cache.cache[name] # value not in cache so execute the function value = function(*args, **kwargs) # store the value if ( self._cache.force_immutable and hasattr(value, "flags") and len(value.shape) > 0 ): value.flags.writeable = False self._cache.cache[name] = value return value # all cached values are also properties # so they can be accessed like value attributes # rather than functions return property(get_cached) class TrackedArray(np.ndarray): """ Subclass of numpy.ndarray that provides hash methods to track changes. General method is to aggressively set 'modified' flags on operations which might (but don't necessarily) alter the array, ideally we sometimes compute hashes when we don't need to, but we don't return wrong hashes ever. We store boolean modified flag for each hash type to make checks fast even for queries of different hashes. Methods ---------- __hash__ : int Runs the fastest available hash in this order: `xxh3_64, xxh_64, blake2b, sha256` """ def __array_finalize__(self, obj): """ Sets a modified flag on every TrackedArray This flag will be set on every change as well as during copies and certain types of slicing. """ self._dirty_hash = True if isinstance(obj, type(self)): obj._dirty_hash = True def __array_wrap__(self, out_arr, context=None, *args, **kwargs): """ Return a numpy scalar if array is 0d. See https://github.com/numpy/numpy/issues/5819 """ if out_arr.ndim: return np.ndarray.__array_wrap__(self, out_arr, context, *args, **kwargs) # Match numpy's behavior and return a numpy dtype scalar return out_arr[()] @property def mutable(self): return self.flags["WRITEABLE"] @mutable.setter def mutable(self, value): self.flags.writeable = value def __hash__(self): """ Return a fast hash of the contents of the array. Returns ------------- hash : long int A hash of the array contents. """ # repeat the bookkeeping to get a contiguous array if not self._dirty_hash and hasattr(self, "_hashed"): # we have a valid hash without recomputing. return self._hashed # run a hashing function on the C-order bytes copy hashed = hash_fast(self.tobytes(order="C")) # assign the value and set the flag self._hashed = hashed self._dirty_hash = False return hashed def __iadd__(self, *args, **kwargs): """ In-place addition. The i* operations are in- place and modify the array, so we better catch all of them. """ self._dirty_hash = True return super(self.__class__, self).__iadd__(*args, **kwargs) def __isub__(self, *args, **kwargs): self._dirty_hash = True return super(self.__class__, self).__isub__(*args, **kwargs) def fill(self, *args, **kwargs): self._dirty_hash = True return super(self.__class__, self).fill(*args, **kwargs) def partition(self, *args, **kwargs): self._dirty_hash = True return super(self.__class__, self).partition(*args, **kwargs) def put(self, *args, **kwargs): self._dirty_hash = True return super(self.__class__, self).put(*args, **kwargs) def byteswap(self, *args, **kwargs): self._dirty_hash = True return super(self.__class__, self).byteswap(*args, **kwargs) def itemset(self, *args, **kwargs): self._dirty_hash = True return super(self.__class__, self).itemset(*args, **kwargs) def sort(self, *args, **kwargs): self._dirty_hash = True return super(self.__class__, self).sort(*args, **kwargs) def setflags(self, *args, **kwargs): self._dirty_hash = True return super(self.__class__, self).setflags(*args, **kwargs) def __imul__(self, *args, **kwargs): self._dirty_hash = True return super(self.__class__, self).__imul__(*args, **kwargs) def __idiv__(self, *args, **kwargs): self._dirty_hash = True return super(self.__class__, self).__idiv__(*args, **kwargs) def __itruediv__(self, *args, **kwargs): self._dirty_hash = True return super(self.__class__, self).__itruediv__(*args, **kwargs) def __imatmul__(self, *args, **kwargs): self._dirty_hash = True return super(self.__class__, self).__imatmul__(*args, **kwargs) def __ipow__(self, *args, **kwargs): self._dirty_hash = True return super(self.__class__, self).__ipow__(*args, **kwargs) def __imod__(self, *args, **kwargs): self._dirty_hash = True return super(self.__class__, self).__imod__(*args, **kwargs) def __ifloordiv__(self, *args, **kwargs): self._dirty_hash = True return super(self.__class__, self).__ifloordiv__(*args, **kwargs) def __ilshift__(self, *args, **kwargs): self._dirty_hash = True return super(self.__class__, self).__ilshift__(*args, **kwargs) def __irshift__(self, *args, **kwargs): self._dirty_hash = True return super(self.__class__, self).__irshift__(*args, **kwargs) def __iand__(self, *args, **kwargs): self._dirty_hash = True return super(self.__class__, self).__iand__(*args, **kwargs) def __ixor__(self, *args, **kwargs): self._dirty_hash = True return super(self.__class__, self).__ixor__(*args, **kwargs) def __ior__(self, *args, **kwargs): self._dirty_hash = True return super(self.__class__, self).__ior__(*args, **kwargs) def __setitem__(self, *args, **kwargs): self._dirty_hash = True return super(self.__class__, self).__setitem__(*args, **kwargs) def __setslice__(self, *args, **kwargs): self._dirty_hash = True return super(self.__class__, self).__setslice__(*args, **kwargs) class Cache: """ Class to cache values which will be stored until the result of an ID function changes. """ def __init__(self, id_function, force_immutable=False): """ Create a cache object. Parameters ------------ id_function : function Returns hashable value force_immutable : bool If set will make all numpy arrays read-only """ self._id_function = id_function # for stored numpy arrays set `flags.writable = False` self.force_immutable = bool(force_immutable) # call the id function for initial value self.id_current = None # a counter for locks self._lock = 0 # actual store for data self.cache = {} def delete(self, key): """ Remove a key from the cache. """ if key in self.cache: self.cache.pop(key, None) def verify(self): """ Verify that the cached values are still for the same value of id_function and delete all stored items if the value of id_function has changed. """ # if we are in a lock don't check anything if self._lock != 0: return # check the hash of our data id_new = self._id_function() # things changed if id_new != self.id_current: if len(self.cache) > 0: log.debug( "%d items cleared from cache: %s", len(self.cache), str(list(self.cache.keys())), ) # hash changed, so dump the cache # do it manually rather than calling clear() # as we are internal logic and can avoid function calls self.cache = {} # set the id to the new data hash self.id_current = id_new def clear(self, exclude=None): """ Remove elements in the cache. Parameters ----------- exclude : list List of keys in cache to not clear. """ if exclude is None: self.cache = {} else: self.cache = {k: v for k, v in self.cache.items() if k in exclude} def update(self, items): """ Update the cache with a set of key, value pairs without checking id_function. """ self.cache.update(items) if self.force_immutable: for v in self.cache.values(): if hasattr(v, "flags") and len(v.shape) > 0: v.flags.writeable = False self.id_set() def id_set(self): """ Set the current ID to the value of the ID function. """ self.id_current = self._id_function() def __getitem__(self, key): """ Get an item from the cache. If the item is not in the cache, it will return None Parameters ------------- key : hashable Key in dict Returns ------------- cached : object, or None Object that was stored """ self.verify() if key in self.cache: return self.cache[key] return None def __setitem__(self, key, value): """ Add an item to the cache. Parameters ------------ key : hashable Key to reference value value : any Value to store in cache """ # dumpy cache if ID function has changed self.verify() # make numpy arrays read-only if asked to if self.force_immutable and hasattr(value, "flags") and len(value.shape) > 0: value.flags.writeable = False # assign data to dict self.cache[key] = value return value def __contains__(self, key): self.verify() return key in self.cache def __len__(self): self.verify() return len(self.cache) def __enter__(self): self._lock += 1 def __exit__(self, *args): self._lock -= 1 self.id_current = self._id_function() class DiskCache: """ Store results of expensive operations on disk with an option to expire the results. This is used to cache the multi-gigabyte test corpuses in `tests/corpus.py` """ def __init__(self, path, expire_days=30): """ Create a cache on disk for storing expensive results. Parameters -------------- path : str A writeable location on the current file path. expire_days : int or float How old should results be considered expired. """ # store how old we allow results to be self.expire_days = expire_days # store the location for saving results self.path = os.path.abspath(os.path.expanduser(path)) # make sure the specified path exists os.makedirs(self.path, exist_ok=True) def get(self, key, fetch): """ Get a key from the cache or run a calculation. Parameters ----------- key : str Key to reference item with fetch : function If key isn't stored and recent run this function and store its result on disk. """ # hash the key so we have a fixed length string key_hash = _sha256(key.encode("utf-8")).hexdigest() # full path of result on local disk path = os.path.join(self.path, key_hash) # check to see if we can use the cache if os.path.isfile(path): # compute the age of the existing file in days age_days = (time.time() - os.stat(path).st_mtime) / 86400.0 if age_days < self.expire_days: # this nested condition means that # the file both exists and is recent # enough, so just return its contents with open(path, "rb") as f: return f.read() log.debug(f"not in cache fetching: `{key}`") # since we made it here our data isn't cached # run the expensive function to fetch the file raw = fetch() # write the data so we can save it with open(path, "wb") as f: f.write(raw) # return the data return raw class DataStore(Mapping): """ A class to store multiple numpy arrays and track them all for changes. Operates like a dict that only stores numpy.ndarray """ def __init__(self): self.data = {} def __iter__(self): return iter(self.data) def pop(self, key): return self.data.pop(key, None) def __delitem__(self, key): self.data.pop(key, None) @property def mutable(self): """ Is data allowed to be altered or not. Returns ----------- is_mutable : bool Can data be altered in the DataStore """ return getattr(self, "_mutable", True) @mutable.setter def mutable(self, value): """ Is data allowed to be altered or not. Parameters ------------ is_mutable : bool Should data be allowed to be altered """ # make sure passed value is a bool is_mutable = bool(value) # apply the flag to any data stored for v in self.data.values(): if isinstance(v, TrackedArray): v.mutable = value # save the mutable setting self._mutable = is_mutable def is_empty(self): """ Is the current DataStore empty or not. Returns ---------- empty : bool False if there are items in the DataStore """ if len(self.data) == 0: return True for v in self.data.values(): if is_sequence(v): if len(v) == 0: return True else: return False elif bool(np.isreal(v)): return False return True def clear(self): """ Remove all data from the DataStore. """ self.data = {} def __getitem__(self, key): return self.data[key] def __setitem__(self, key, data): """ Store an item in the DataStore. Parameters ------------- key A hashable key to store under data Usually a numpy array which will be subclassed but anything hashable should be able to be stored. """ # we shouldn't allow setting on immutable datastores if not self.mutable: raise ValueError("DataStore is configured immutable!") if isinstance(data, TrackedArray): # don't bother to re-track TrackedArray tracked = data elif isinstance(data, (np.ndarray, list, set, tuple)): # wrap data if it is array-like tracked = tracked_array(data) else: try: # will raise if this is not a hashable type hash(data) except BaseException: raise ValueError(f"unhashable `{key}:{type(data)}`") tracked = data # apply our mutability setting if hasattr(self, "_mutable"): # apply our mutability setting only if it was explicitly set tracked.mutable = self.mutable # store data self.data[key] = tracked def __contains__(self, key): return key in self.data def __len__(self): return len(self.data) def update(self, values): if not isinstance(values, dict): raise ValueError("Update only implemented for dicts") for key, value in values.items(): self[key] = value def __hash__(self): """ Get a hash reflecting everything in the DataStore. Returns ---------- hash : str hash of data in hexadecimal """ # only hash values that aren't None # or if they are arrays require length greater than zero return hash_fast( np.array( [ hash(v) for v in self.data.values() if v is not None and (not hasattr(v, "__len__") or len(v) > 0) ], dtype=np.int64, ).tobytes() ) trimesh-4.5.1/trimesh/collision.py000066400000000000000000000540661470574263400172430ustar00rootroot00000000000000import collections import numpy as np try: # pip install python-fcl import fcl except BaseException: fcl = None class ContactData: """ Data structure for holding information about a collision contact. """ def __init__(self, names, contact): """ Initialize a ContactData. Parameters ---------- names : list of str The names of the two objects in order. contact : fcl.Contact The contact in question. """ self.names = set(names) self._inds = {names[0]: contact.b1, names[1]: contact.b2} self._normal = contact.normal self._point = contact.pos self._depth = contact.penetration_depth @property def normal(self): """ The 3D intersection normal for this contact. Returns ------- normal : (3,) float The intersection normal. """ return self._normal @property def point(self): """ The 3D point of intersection for this contact. Returns ------- point : (3,) float The intersection point. """ return self._point @property def depth(self): """ The penetration depth of the 3D point of intersection for this contact. Returns ------- depth : float The penetration depth. """ return self._depth def index(self, name): """ Returns the index of the face in contact for the mesh with the given name. Parameters ---------- name : str The name of the target object. Returns ------- index : int The index of the face in collision """ return self._inds[name] class DistanceData: """ Data structure for holding information about a distance query. """ def __init__(self, names, result): """ Initialize a DistanceData. Parameters ---------- names : list of str The names of the two objects in order. contact : fcl.DistanceResult The distance query result. """ self.names = set(names) self._inds = {names[0]: result.b1, names[1]: result.b2} self._points = { names[0]: result.nearest_points[0], names[1]: result.nearest_points[1], } self._distance = result.min_distance @property def distance(self): """ Returns the distance between the two objects. Returns ------- distance : float The euclidean distance between the objects. """ return self._distance def index(self, name): """ Returns the index of the closest face for the mesh with the given name. Parameters ---------- name : str The name of the target object. Returns ------- index : int The index of the face in collisoin. """ return self._inds[name] def point(self, name): """ The 3D point of closest distance on the mesh with the given name. Parameters ---------- name : str The name of the target object. Returns ------- point : (3,) float The closest point. """ return self._points[name] class CollisionManager: """ A mesh-mesh collision manager. """ def __init__(self): """ Initialize a mesh-mesh collision manager. """ if fcl is None: raise ValueError("No FCL Available! Please install the python-fcl library") # {name: {geom:, obj}} self._objs = {} # {id(bvh) : str, name} # unpopulated values will return None self._names = collections.defaultdict(lambda: None) self._manager = fcl.DynamicAABBTreeCollisionManager() self._manager.setup() def add_object(self, name, mesh, transform=None): """ Add an object to the collision manager. If an object with the given name is already in the manager, replace it. Parameters ---------- name : str An identifier for the object mesh : Trimesh object The geometry of the collision object transform : (4,4) float Homogeneous transform matrix for the object """ # if no transform passed, assume identity transform if transform is None: transform = np.eye(4) transform = np.asanyarray(transform, dtype=np.float32) if transform.shape != (4, 4): raise ValueError("transform must be (4,4)!") # create BVH/Convex geom = self._get_fcl_obj(mesh) # create the FCL transform from (4,4) matrix t = fcl.Transform(transform[:3, :3], transform[:3, 3]) o = fcl.CollisionObject(geom, t) # Add collision object to set if name in self._objs: self._manager.unregisterObject(self._objs[name]) self._objs[name] = {"obj": o, "geom": geom} # store the name of the geometry self._names[id(geom)] = name self._manager.registerObject(o) self._manager.update() return o def remove_object(self, name): """ Delete an object from the collision manager. Parameters ---------- name : str The identifier for the object """ if name in self._objs: self._manager.unregisterObject(self._objs[name]["obj"]) self._manager.update(self._objs[name]["obj"]) # remove objects from _objs geom_id = id(self._objs.pop(name)["geom"]) # remove names self._names.pop(geom_id) else: raise ValueError(f"{name} not in collision manager!") def set_transform(self, name, transform): """ Set the transform for one of the manager's objects. This replaces the prior transform. Parameters ---------- name : str An identifier for the object already in the manager transform : (4,4) float A new homogeneous transform matrix for the object """ if name in self._objs: o = self._objs[name]["obj"] o.setRotation(transform[:3, :3]) o.setTranslation(transform[:3, 3]) self._manager.update(o) else: raise ValueError(f"{name} not in collision manager!") def in_collision_single( self, mesh, transform=None, return_names=False, return_data=False ): """ Check a single object for collisions against all objects in the manager. Parameters ---------- mesh : Trimesh object The geometry of the collision object transform : (4,4) float Homogeneous transform matrix return_names : bool If true, a set is returned containing the names of all objects in collision with the object return_data : bool If true, a list of ContactData is returned as well Returns ------------ is_collision : bool True if a collision occurs and False otherwise names : set of str [OPTIONAL] The set of names of objects that collided with the provided one contacts : list of ContactData [OPTIONAL] All contacts detected """ if transform is None: transform = np.eye(4) # create BVH/Convex geom = self._get_fcl_obj(mesh) # create the FCL transform from (4,4) matrix t = fcl.Transform(transform[:3, :3], transform[:3, 3]) o = fcl.CollisionObject(geom, t) # Collide with manager's objects cdata = fcl.CollisionData() if return_names or return_data: cdata = fcl.CollisionData( request=fcl.CollisionRequest(num_max_contacts=100000, enable_contact=True) ) self._manager.collide(o, cdata, fcl.defaultCollisionCallback) result = cdata.result.is_collision # If we want to return the objects that were collision, collect them. objs_in_collision = set() contact_data = [] if return_names or return_data: for contact in cdata.result.contacts: cg = contact.o1 if cg == geom: cg = contact.o2 name = self._extract_name(cg) names = (name, "__external") if cg == contact.o2: names = tuple(reversed(names)) if return_names: objs_in_collision.add(name) if return_data: contact_data.append(ContactData(names, contact)) if return_names and return_data: return result, objs_in_collision, contact_data elif return_names: return result, objs_in_collision elif return_data: return result, contact_data else: return result def in_collision_internal(self, return_names=False, return_data=False): """ Check if any pair of objects in the manager collide with one another. Parameters ---------- return_names : bool If true, a set is returned containing the names of all pairs of objects in collision. return_data : bool If true, a list of ContactData is returned as well Returns ------- is_collision : bool True if a collision occurred between any pair of objects and False otherwise names : set of 2-tup The set of pairwise collisions. Each tuple contains two names in alphabetical order indicating that the two corresponding objects are in collision. contacts : list of ContactData All contacts detected """ cdata = fcl.CollisionData() if return_names or return_data: cdata = fcl.CollisionData( request=fcl.CollisionRequest(num_max_contacts=100000, enable_contact=True) ) self._manager.collide(cdata, fcl.defaultCollisionCallback) result = cdata.result.is_collision objs_in_collision = set() contact_data = [] if return_names or return_data: for contact in cdata.result.contacts: names = (self._extract_name(contact.o1), self._extract_name(contact.o2)) if return_names: objs_in_collision.add(tuple(sorted(names))) if return_data: contact_data.append(ContactData(names, contact)) if return_names and return_data: return result, objs_in_collision, contact_data elif return_names: return result, objs_in_collision elif return_data: return result, contact_data else: return result def in_collision_other(self, other_manager, return_names=False, return_data=False): """ Check if any object from this manager collides with any object from another manager. Parameters ------------------- other_manager : CollisionManager Another collision manager object return_names : bool If true, a set is returned containing the names of all pairs of objects in collision. return_data : bool If true, a list of ContactData is returned as well Returns ------------- is_collision : bool True if a collision occurred between any pair of objects and False otherwise names : set of 2-tup The set of pairwise collisions. Each tuple contains two names (first from this manager, second from the other_manager) indicating that the two corresponding objects are in collision. contacts : list of ContactData All contacts detected """ cdata = fcl.CollisionData() if return_names or return_data: cdata = fcl.CollisionData( request=fcl.CollisionRequest(num_max_contacts=100000, enable_contact=True) ) self._manager.collide(other_manager._manager, cdata, fcl.defaultCollisionCallback) result = cdata.result.is_collision objs_in_collision = set() contact_data = [] if return_names or return_data: for contact in cdata.result.contacts: reverse = False names = ( self._extract_name(contact.o1), other_manager._extract_name(contact.o2), ) if names[0] is None: names = ( self._extract_name(contact.o2), other_manager._extract_name(contact.o1), ) reverse = True if return_names: objs_in_collision.add(names) if return_data: if reverse: names = tuple(reversed(names)) contact_data.append(ContactData(names, contact)) if return_names and return_data: return result, objs_in_collision, contact_data elif return_names: return result, objs_in_collision elif return_data: return result, contact_data else: return result def min_distance_single( self, mesh, transform=None, return_name=False, return_data=False ): """ Get the minimum distance between a single object and any object in the manager. Parameters --------------- mesh : Trimesh object The geometry of the collision object transform : (4,4) float Homogeneous transform matrix for the object return_names : bool If true, return name of the closest object return_data : bool If true, a DistanceData object is returned as well Returns ------------- distance : float Min distance between mesh and any object in the manager name : str The name of the object in the manager that was closest data : DistanceData Extra data about the distance query """ if transform is None: transform = np.eye(4) # create BVH/Convex geom = self._get_fcl_obj(mesh) # create the FCL transform from (4,4) matrix t = fcl.Transform(transform[:3, :3], transform[:3, 3]) o = fcl.CollisionObject(geom, t) # Collide with manager's objects ddata = fcl.DistanceData(fcl.DistanceRequest(enable_signed_distance=True)) if return_data: ddata = fcl.DistanceData( fcl.DistanceRequest( enable_nearest_points=True, enable_signed_distance=True ), fcl.DistanceResult(), ) self._manager.distance(o, ddata, fcl.defaultDistanceCallback) distance = ddata.result.min_distance # If we want to return the objects that were collision, collect them. name, data = None, None if return_name or return_data: cg = ddata.result.o1 if cg == geom: cg = ddata.result.o2 name = self._extract_name(cg) names = (name, "__external") if cg == ddata.result.o2: names = tuple(reversed(names)) data = DistanceData(names, ddata.result) if return_name and return_data: return distance, name, data elif return_name: return distance, name elif return_data: return distance, data else: return distance def min_distance_internal(self, return_names=False, return_data=False): """ Get the minimum distance between any pair of objects in the manager. Parameters ------------- return_names : bool If true, a 2-tuple is returned containing the names of the closest objects. return_data : bool If true, a DistanceData object is returned as well Returns ----------- distance : float Min distance between any two managed objects names : (2,) str The names of the closest objects data : DistanceData Extra data about the distance query """ ddata = fcl.DistanceData(fcl.DistanceRequest(enable_signed_distance=True)) if return_data: ddata = fcl.DistanceData( fcl.DistanceRequest( enable_nearest_points=True, enable_signed_distance=True, ), fcl.DistanceResult(), ) self._manager.distance(ddata, fcl.defaultDistanceCallback) distance = ddata.result.min_distance names, data = None, None if return_names or return_data: names = ( self._extract_name(ddata.result.o1), self._extract_name(ddata.result.o2), ) data = DistanceData(names, ddata.result) names = tuple(sorted(names)) if return_names and return_data: return distance, names, data elif return_names: return distance, names elif return_data: return distance, data else: return distance def min_distance_other(self, other_manager, return_names=False, return_data=False): """ Get the minimum distance between any pair of objects, one in each manager. Parameters ---------- other_manager : CollisionManager Another collision manager object return_names : bool If true, a 2-tuple is returned containing the names of the closest objects. return_data : bool If true, a DistanceData object is returned as well Returns ----------- distance : float The min distance between a pair of objects, one from each manager. names : 2-tup of str A 2-tuple containing two names (first from this manager, second from the other_manager) indicating the two closest objects. data : DistanceData Extra data about the distance query """ ddata = fcl.DistanceData(fcl.DistanceRequest(enable_signed_distance=True)) if return_data: ddata = fcl.DistanceData( fcl.DistanceRequest( enable_nearest_points=True, enable_signed_distance=True, ), fcl.DistanceResult(), ) self._manager.distance(other_manager._manager, ddata, fcl.defaultDistanceCallback) distance = ddata.result.min_distance names, data = None, None if return_names or return_data: reverse = False names = ( self._extract_name(ddata.result.o1), other_manager._extract_name(ddata.result.o2), ) if names[0] is None: reverse = True names = ( self._extract_name(ddata.result.o2), other_manager._extract_name(ddata.result.o1), ) dnames = tuple(names) if reverse: dnames = tuple(reversed(dnames)) data = DistanceData(dnames, ddata.result) if return_names and return_data: return distance, names, data elif return_names: return distance, names elif return_data: return distance, data else: return distance def _get_fcl_obj(self, mesh): """ Get a BVH or Convex for a mesh. Parameters ------------- mesh : Trimesh Mesh to create BVH/Convex for Returns -------------- obj : fcl.BVHModel or fcl.Convex BVH/Convex object of source mesh """ if mesh.is_convex: obj = mesh_to_convex(mesh) else: obj = mesh_to_BVH(mesh) return obj def _extract_name(self, geom): """ Retrieve the name of an object from the manager by its CollisionObject, or return None if not found. Parameters ----------- geom : CollisionObject or BVHModel Input model Returns ------------ names : hashable Name of input geometry """ return self._names[id(geom)] def mesh_to_BVH(mesh): """ Create a BVHModel object from a Trimesh object Parameters ----------- mesh : Trimesh Input geometry Returns ------------ bvh : fcl.BVHModel BVH of input geometry """ bvh = fcl.BVHModel() bvh.beginModel(num_tris_=len(mesh.faces), num_vertices_=len(mesh.vertices)) bvh.addSubModel(verts=mesh.vertices, triangles=mesh.faces) bvh.endModel() return bvh def mesh_to_convex(mesh): """ Create a Convex object from a Trimesh object Parameters ----------- mesh : Trimesh Input geometry Returns ------------ convex : fcl.Convex Convex of input geometry """ fs = np.concatenate( (3 * np.ones((len(mesh.faces), 1), dtype=np.int64), mesh.faces), axis=1 ) return fcl.Convex(mesh.vertices, len(fs), fs.flatten()) def scene_to_collision(scene): """ Create collision objects from a trimesh.Scene object. Parameters ------------ scene : trimesh.Scene Scene to create collision objects for Returns ------------ manager : CollisionManager CollisionManager for objects in scene objects: {node name: CollisionObject} Collision objects for nodes in scene """ manager = CollisionManager() objects = {} for node in scene.graph.nodes_geometry: T, geometry = scene.graph[node] objects[node] = manager.add_object( name=node, mesh=scene.geometry[geometry], transform=T ) return manager, objects trimesh-4.5.1/trimesh/comparison.py000066400000000000000000000121611470574263400174100ustar00rootroot00000000000000""" comparison.py ---------------- Provide methods for quickly hashing and comparing meshes. """ from hashlib import sha256 import numpy as np from . import util from .constants import tol # how many significant figures to use for each # field of the identifier based on hand-tuning id_sigfig = np.array( [ 5, # area 10, # euler number 5, # area/volume ratio 2, # convex/mesh area ratio 2, # convex area/volume ratio 3, # max radius squared / area 1, ] ) # sign of triangle count for mirrored def identifier_simple(mesh): """ Return a basic identifier for a mesh consisting of properties that have been hand tuned to be somewhat robust to rigid transformations and different tessellations. Parameters ------------ mesh : trimesh.Trimesh Source geometry Returns ---------- identifier : (7,) float Identifying values of the mesh """ # verify the cache once mesh._cache.verify() # don't check hashes during identifier as we aren't # changing any data values of the mesh inside block # if we did change values in cache block things would break with mesh._cache: # pre-allocate identifier so indexes of values can't move around # like they might if we used hstack or something else identifier = np.zeros(7, dtype=np.float64) # avoid thrashing the cache unnecessarily mesh_area = mesh.area # start with properties that are valid regardless of watertightness # note that we're going to try to make all parameters relative # to area so other values don't get blown up at weird scales identifier[0] = mesh_area # avoid divide-by-zero later if mesh_area < tol.merge: mesh_area = 1.0 # topological constant and the only thing we can really # trust in this fallen world identifier[1] = mesh.euler_number # if we have a watertight mesh include volume and inertia if mesh.is_volume: # side length of a cube ratio # 1.0 for cubes, different values for other things identifier[2] = ((mesh_area / 6.0) ** (1.0 / 2.0)) / ( mesh.volume ** (1.0 / 3.0) ) else: # if we don't have a watertight mesh add information about the # convex hull which is slow to compute and unreliable try: # get the hull area and volume hull = mesh.convex_hull hull_area = hull.area hull_volume = hull.volume except BaseException: # in-plane or single point geometry has no hull hull_area = 6.0 hull_volume = 1.0 # just what we're looking for in a hash but hey identifier[3] = mesh_area / hull_area # cube side length ratio for the hull if hull_volume > 1e-12: identifier[4] = ((hull_area / 6.0) ** (1.0 / 2.0)) / ( hull_volume ** (1.0 / 3.0) ) # calculate maximum mesh radius vertices = mesh.vertices - mesh.centroid # add in max radius^2 to area ratio R2 = np.dot((vertices**2), [1, 1, 1]).max() identifier[5] = R2 / mesh_area # mirrored meshes will look identical in terms of # area, volume, etc: use a count of relative edge # lengths to differentiate identical but mirrored meshes # this doesn't work well on meshes with a small number of faces if len(mesh.faces) > 50: # does this mesh have edges that differ substantially in length # if not this method for detecting reflection will not work # and the result will definitely be garbage edges_length = mesh.edges_unique_length variance = edges_length.std() / edges_length.mean() if variance > 0.25: # the length of each edge in faces norms = edges_length[mesh.edges_unique_inverse].reshape((-1, 3)) # stack edge length and get the relative difference stack = np.diff(np.column_stack((norms, norms[:, 0])), axis=1) pick_idx = np.abs(stack).argmin(axis=1) # get the edge length diff pick = stack.reshape(-1)[pick_idx + (np.arange(len(pick_idx)) * 3)] # reduce to the bare minimum that tests stable identifier[6] = np.sign(pick.sum()) return identifier def identifier_hash(identifier): """ Hash an identifier array in a way that is hand-tuned to be somewhat robust to likely changes. Parameters ------------ identifier : (n,) float Vector of properties Returns ---------- hash : (64,) str A SHA256 of the identifier vector at hand-tuned precision. """ # convert identifier to integers and order of magnitude as_int, multiplier = util.sigfig_int(identifier, id_sigfig) # make all scales positive if (multiplier < 0).any(): multiplier += np.abs(multiplier.min()) data = (as_int * (10**multiplier)).astype(np.int64) return sha256(data.tobytes()).hexdigest() trimesh-4.5.1/trimesh/constants.py000066400000000000000000000115111470574263400172500ustar00rootroot00000000000000from dataclasses import dataclass import numpy as np from .util import decimal_to_digits, log, now @dataclass class ToleranceMesh: """ ToleranceMesh objects hold tolerance information about meshes. Parameters ---------------- tol.zero : float Floating point numbers smaller than this are considered zero tol.merge : float When merging vertices, consider vertices closer than this to be the same vertex. Here we use the same value (1e-8) as SolidWorks uses, according to their documentation. tol.planar : float The maximum distance from a plane a point can be and still be considered to be on the plane tol.facet_threshold : float Threshold for two facets to be considered coplanar tol.strict : bool If True, run additional in- process checks (slower) """ # set our zero for floating point comparison to 100x # the resolution of float64 which works out to 1e-13 zero: float = np.finfo(np.float64).resolution * 100 # vertices closer than this should be merged merge: float = 1e-8 # peak to valley flatness to be considered planar planar: float = 1e-5 # coplanar threshold: ratio of (radius / span) ** 2 facet_threshold: int = 5000 # should additional slow checks be run inside functions strict: bool = False @dataclass class TolerancePath: """ TolerancePath objects contain tolerance information used in Path objects. Parameters --------------- tol.zero : float Floating point numbers smaller than this are considered zero tol.merge : float When merging vertices, consider vertices closer than this to be the same vertex. Here we use the same value (1e-8) as SolidWorks uses, according to their documentation. tol.planar : float The maximum distance from a plane a point can be and still be considered to be on the plane tol.seg_frac : float When simplifying line segments what percentage of the drawing scale can a segment be and have a curve fitted tol.seg_angle : float When simplifying line segments to arcs, what angle can a segment span to be acceptable. tol.aspect_frac : float When simplifying line segments to closed arcs (circles) what percentage can the aspect ratio differfrom 1:1 before escaping the fit early tol.radius_frac : float When simplifying line segments to arcs, what percentage of the fit radius can vertices deviate to be acceptable tol.radius_min : When simplifying line segments to arcs, what is the minimum radius multiplied by document scale for an acceptable fit tol.radius_max : When simplifying line segments to arcs, what is the maximum radius multiplied by document scale for an acceptable fit tol.tangent : When simplifying line segments to curves, what is the maximum angle the end sections can deviate from tangent that is acceptable. """ zero: float = 1e-12 merge: float = 1e-5 planar: float = 1e-5 seg_frac: float = 0.125 seg_angle: float = float(np.radians(50)) seg_angle_min: float = float(np.radians(1)) seg_angle_frac: float = 0.5 aspect_frac: float = 0.1 radius_frac: float = 0.02 radius_min: float = 1e-4 radius_max: float = 50.0 tangent: float = float(np.radians(20)) strict: bool = False @property def merge_digits(self) -> int: return decimal_to_digits(self.merge) @dataclass class ResolutionPath: """ res.seg_frac : float When discretizing curves, what percentage of the drawing scale should we aim to make a single segment res.seg_angle : float When discretizing curves, what angle should a section span res.max_sections : int When discretizing splines, what is the maximum number of segments per control point res.min_sections : int When discretizing splines, what is the minimum number of segments per control point res.export : str Format string to use when exporting floating point vertices """ seg_frac: float = 0.05 seg_angle: float = 0.08 max_sections: float = 500.0 min_sections: float = 20.0 export: str = "0.10f" # instantiate mesh tolerances with defaults tol = ToleranceMesh() # instantiate path tolerances with defaults tol_path = TolerancePath() res_path = ResolutionPath() def log_time(method): """ A decorator for methods which will time the method and then emit a log.debug message with the method name and how long it took to execute. """ def timed(*args, **kwargs): tic = now() result = method(*args, **kwargs) log.debug("%s executed in %.4f seconds.", method.__name__, now() - tic) return result timed.__name__ = method.__name__ timed.__doc__ = method.__doc__ return timed trimesh-4.5.1/trimesh/convex.py000066400000000000000000000263231470574263400165450ustar00rootroot00000000000000""" convex.py Deal with creating and checking convex objects in 2, 3 and N dimensions. Convex is defined as: 1) "Convex, meaning "curving out" or "extending outward" (compare to concave) 2) having an outline or surface curved like the exterior of a circle or sphere. 3) (of a polygon) having only interior angles measuring less than 180 """ from dataclasses import dataclass, fields import numpy as np from . import triangles, util from .constants import tol from .parent import Geometry3D from .typed import NDArray, Union try: from scipy.spatial import ConvexHull except ImportError as E: from .exceptions import ExceptionWrapper ConvexHull = ExceptionWrapper(E) try: from scipy.spatial import QhullError except BaseException: QhullError = BaseException @dataclass class QhullOptions: """ A helper class for constructing correct Qhull option strings. More details available at: http://www.qhull.org/html/qh-quick.htm#options Currently only includes the boolean flag options, which is most of them. Parameters ----------- Qa Allow input with fewer or more points than coordinates Qc Keep coplanar points with nearest facet Qi Keep interior points with nearest facet. QJ Joggled input to avoid precision problems Qt Triangulated output. Qu Compute upper hull for furthest-site Delaunay triangulation Qw Allow warnings about Qhull options Qbb Scale last coordinate to [0,m] for Delaunay Qs Search all points for the initial simplex Qv Test vertex neighbors for convexity Qx Exact pre-merges (allows coplanar facets) Qz Add a point-at-infinity for Delaunay triangulations QbB Scale input to fit the unit cube QR0 Random rotation (n=seed, n=0 time, n=-1 time/no rotate) Qg only build good facets (needs 'QGn', 'QVn', or 'Pdk') Pp Do not print statistics about precision problems and remove some of the warnings including the narrow hull warning. """ Qa: bool = False """ Allow input with fewer or more points than coordinates""" Qc: bool = False """ Keep coplanar points with nearest facet""" Qi: bool = False """ Keep interior points with nearest facet. """ QJ: bool = False """ Joggled input to avoid precision problems """ Qt: bool = False """ Triangulated output. """ Qu: bool = False """ Compute upper hull for furthest-site Delaunay triangulation """ Qw: bool = False """ Allow warnings about Qhull options """ # Precision handling Qbb: bool = False """ Scale last coordinate to [0,m] for Delaunay """ Qs: bool = False """ Search all points for the initial simplex """ Qv: bool = False """ Test vertex neighbors for convexity """ Qx: bool = False """ Exact pre-merges (allows coplanar facets) """ Qz: bool = False """ Add a point-at-infinity for Delaunay triangulations """ QbB: bool = False """ Scale input to fit the unit cube """ QR0: bool = False """ Random rotation (n=seed, n=0 time, n=-1 time/no rotate) """ # Select facets Qg: bool = False """ Only build good facets (needs 'QGn', 'QVn', or 'Pdk') """ Pp: bool = False """ Do not print statistics about precision problems and remove some of the warnings including the narrow hull warning. """ # TODO : not included non-boolean options # QBk: Optional[Floating] = None # """ Scale coord[k] to upper bound of n (default 0.5) """ # Qbk: Optional[Floating] = None # """ Scale coord[k] to low bound of n (default -0.5) """ # Qbk:0Bk:0 # """ drop dimension k from input """ # QGn # good facet if visible from point n, -n for not visible # QVn # good facet if it includes point n, -n if not def __str__(self) -> str: """ Construct the `qhull_options` string used by `scipy.spatial` objects and functions. Returns ---------- qhull_options Can be passed to `scipy.spatial.[ConvexHull,Delaunay,Voronoi]` """ return " ".join(f.name for f in fields(self) if getattr(self, f.name)) QHULL_DEFAULT = QhullOptions(QbB=True, Pp=True, Qt=True) def convex_hull( obj: Union[Geometry3D, NDArray], qhull_options: Union[QhullOptions, str, None] = QHULL_DEFAULT, repair: bool = True, ) -> "trimesh.Trimesh": # noqa: F821 """ Get a new Trimesh object representing the convex hull of the current mesh attempting to return a watertight mesh with correct normals. Arguments -------- obj Mesh or `(n, 3)` points. qhull_options Options to pass to qhull. Returns -------- convex Mesh of convex hull. """ # would be a circular import at the module level from .base import Trimesh # compose the if qhull_options is None: qhull_str = None elif isinstance(qhull_options, QhullOptions): # use the __str__ method to compose this options string qhull_str = str(qhull_options) elif isinstance(qhull_options, str): qhull_str = qhull_options else: raise TypeError(type(qhull_options)) if hasattr(obj, "vertices"): points = obj.vertices.view(np.ndarray) else: # will remove subclassing points = np.asarray(obj, dtype=np.float64) if not util.is_shape(points, (-1, 3)): raise ValueError("Object must be Trimesh or (n,3) points!") try: hull = ConvexHull(points, qhull_options=qhull_str) except QhullError: util.log.debug("Failed to compute convex hull: retrying with `QJ`", exc_info=True) # try with "joggle" enabled hull = ConvexHull(points, qhull_options="QJ") # hull object doesn't remove unreferenced vertices # create a mask to re- index faces for only referenced vertices vid = np.sort(hull.vertices) mask = np.zeros(len(hull.points), dtype=np.int64) mask[vid] = np.arange(len(vid)) # remove unreferenced vertices here faces = mask[hull.simplices].copy() # rescale vertices back to original size vertices = hull.points[vid].copy() if not repair: # create the Trimesh object for the convex hull return Trimesh(vertices=vertices, faces=faces, process=True, validate=False) # qhull returns faces with random winding # calculate the returned normal of each face crosses = triangles.cross(vertices[faces]) # qhull returns zero magnitude faces like an asshole normals, valid = util.unitize(crosses, check_valid=True) # remove zero magnitude faces faces = faces[valid] crosses = crosses[valid] # each triangle area and mean center triangles_area = triangles.area(crosses=crosses) triangles_center = vertices[faces].mean(axis=1) # since the convex hull is (hopefully) convex, the vector from # the centroid to the center of each face # should have a positive dot product with the normal of that face # if it doesn't it is probably backwards # note that this sometimes gets screwed up by precision issues centroid = np.average(triangles_center, weights=triangles_area, axis=0) # a vector from the centroid to a point on each face test_vector = triangles_center - centroid # check the projection against face normals backwards = util.diagonal_dot(normals, test_vector) < 0.0 # flip the winding outward facing faces[backwards] = np.fliplr(faces[backwards]) # flip the normal normals[backwards] *= -1.0 # save the work we did to the cache so it doesn't have to be recomputed initial_cache = { "triangles_cross": crosses, "triangles_center": triangles_center, "area_faces": triangles_area, "centroid": centroid, } # create the Trimesh object for the convex hull convex = Trimesh( vertices=vertices, faces=faces, face_normals=normals, initial_cache=initial_cache, process=True, validate=False, ) # we did the gross case above, but sometimes precision issues # leave some faces backwards anyway # this call will exit early if the winding is consistent # and if not will fix it by traversing the adjacency graph convex.fix_normals(multibody=False) # sometimes the QbB option will cause precision issues # so try the hull again without it and # check for qhull_options is None to avoid infinite recursion if qhull_options is None and not convex.is_winding_consistent: return convex_hull(convex, qhull_options=None) return convex def adjacency_projections(mesh): """ Test if a mesh is convex by projecting the vertices of a triangle onto the normal of its adjacent face. Parameters ---------- mesh : Trimesh Input geometry Returns ---------- projection : (len(mesh.face_adjacency),) float Distance of projection of adjacent vertex onto plane """ # normals and origins from the first column of face adjacency normals = mesh.face_normals[mesh.face_adjacency[:, 0]] # one of the vertices on the shared edge origins = mesh.vertices[mesh.face_adjacency_edges[:, 0]] # faces from the second column of face adjacency vid_other = mesh.face_adjacency_unshared[:, 1] vector_other = mesh.vertices[vid_other] - origins # get the projection with a dot product dots = util.diagonal_dot(vector_other, normals) return dots def is_convex(mesh): """ Check if a mesh is convex. Parameters ----------- mesh : Trimesh Input geometry Returns ----------- convex : bool Was passed mesh convex or not """ # non-watertight meshes are not convex # meshes with multiple bodies are not convex if not mesh.is_watertight or mesh.body_count != 1: return False # don't consider zero- area faces nonzero = mesh.area_faces > tol.zero # adjacencies with two nonzero faces adj_ok = nonzero[mesh.face_adjacency].all(axis=1) # if none of our face pairs are both nonzero exit # TODO : is this the correct check? # or should we just compare the projections # to the mesh scale if not adj_ok.any(): return False # make threshold of convexity scale- relative threshold = tol.planar * mesh.scale # if projections of vertex onto plane of adjacent # face is negative, it means the face pair is locally # convex, and if that is true for all faces the mesh is convex convex = bool(mesh.face_adjacency_projections[adj_ok].max() < threshold) return convex def hull_points(obj, qhull_options="QbB Pp"): """ Try to extract a convex set of points from multiple input formats. Details on qhull options: http://www.qhull.org/html/qh-quick.htm#options Parameters --------- obj: Trimesh object (n,d) points (m,) Trimesh objects Returns -------- points: (o,d) convex set of points """ if hasattr(obj, "convex_hull"): return obj.convex_hull.vertices initial = np.asanyarray(obj, dtype=np.float64) if len(initial.shape) != 2: raise ValueError("points must be (n, dimension)!") hull = ConvexHull(initial, qhull_options=qhull_options) points = hull.points[hull.vertices] return points trimesh-4.5.1/trimesh/creation.py000066400000000000000000001371551470574263400170550ustar00rootroot00000000000000""" creation.py -------------- Create meshes from primitives, or with operations. """ import collections import warnings import numpy as np from . import exceptions, grouping, triangles, util from . import transformations as tf from .base import Trimesh from .constants import log, tol from .geometry import align_vectors, faces_to_edges, plane_transform from .resources import get_json from .typed import ArrayLike, Dict, Integer, NDArray, Number, Optional, Tuple try: # shapely is a soft dependency from shapely.geometry import Polygon from shapely.wkb import loads as load_wkb except BaseException as E: # re-raise the exception when someone tries # to use the module that they don't have Polygon = exceptions.ExceptionWrapper(E) load_wkb = exceptions.ExceptionWrapper(E) # get stored values for simple box and icosahedron primitives _data = get_json("creation.json") # check available triangulation engines without importing them _engines = [ ("earcut", util.has_module("mapbox_earcut")), ("manifold", util.has_module("manifold3d")), ("triangle", util.has_module("triangle")), ] def revolve( linestring: ArrayLike, angle: Optional[Number] = None, cap: bool = False, sections: Optional[Integer] = None, transform: Optional[ArrayLike] = None, **kwargs, ) -> Trimesh: """ Revolve a 2D line string around the 2D Y axis, with a result with the 2D Y axis pointing along the 3D Z axis. This function is intended to handle the complexity of indexing and is intended to be used to create all radially symmetric primitives, eventually including cylinders, annular cylinders, capsules, cones, and UV spheres. Note that if your linestring is closed, it needs to be counterclockwise if you would like face winding and normals facing outwards. Parameters ------------- linestring : (n, 2) float Lines in 2D which will be revolved angle Angle in radians to revolve curve by or if not passed will be a full revolution (`angle = 2*pi`) cap If not a full revolution (`0.0 < angle < 2 * pi`) and cap is True attempt to add a tesselated cap. sections Number of sections result should have If not specified default is 32 per revolution transform : None or (4, 4) float Transform to apply to mesh after construction **kwargs : dict Passed to Trimesh constructor Returns -------------- revolved : Trimesh Mesh representing revolved result """ linestring = np.asanyarray(linestring, dtype=np.float64) # linestring must be ordered 2D points if len(linestring.shape) != 2 or linestring.shape[1] != 2: raise ValueError("linestring must be 2D!") if angle is None: # default to closing the revolution angle = np.pi * 2.0 closed = True else: # check passed angle value closed = util.isclose(angle, np.pi * 2, atol=1e-10) if sections is None: # default to 32 sections for a full revolution sections = int(angle / (np.pi * 2) * 32) # change to face count sections += 1 # create equally spaced angles theta = np.linspace(0, angle, sections) # 2D points around the revolution points = np.column_stack((np.cos(theta), np.sin(theta))) # how many points per slice per = len(linestring) # use the 2D X component as radius radius = linestring[:, 0] # use the 2D Y component as the height along revolution height = linestring[:, 1] # a lot of tiling to get our 3D vertices vertices = np.column_stack( ( np.tile(points, (1, per)).reshape((-1, 2)) * np.tile(radius, len(points)).reshape((-1, 1)), np.tile(height, len(points)), ) ) if closed: # should be a duplicate set of vertices if tol.strict: assert util.allclose(vertices[:per], vertices[-per:], atol=1e-8) # chop off duplicate vertices vertices = vertices[:-per] # how many slices of the pie slices = len(theta) - 1 # start with a quad for every segment # this is a superset which will then be reduced quad = np.array([0, per, 1, 1, per, per + 1]) # stack the faces for a single slice of the revolution single = np.tile(quad, per).reshape((-1, 3)) # `per` is basically the stride of the vertices single += np.tile(np.arange(per), (2, 1)).T.reshape((-1, 1)) # remove any zero-area triangle # this covers many cases without having to think too much single = single[triangles.area(vertices[single]) > tol.merge] # how much to offset each slice # note arange multiplied by vertex stride # but tiled by the number of faces we actually have offset = np.tile(np.arange(slices) * per, (len(single), 1)).T.reshape((-1, 1)) # stack a single slice into N slices stacked = np.tile(single.ravel(), slices).reshape((-1, 3)) if tol.strict: # make sure we didn't screw up stacking operation assert np.allclose(stacked.reshape((-1, single.shape[0], 3)) - single, 0) # offset stacked and wrap vertices faces = (stacked + offset) % len(vertices) # if 'process' not in kwargs: # kwargs['process'] = False # Handle capping before applying any transformation if not closed and cap: # Use the triangulated linestring as the base cap faces (cap_0), assuming no new vertices # are added, indices defining triangles of cap_0 should be reusable for cap_angle cap_0_vertices, cap_0_faces = triangulate_polygon( Polygon(linestring), force_vertices=True ) if tol.strict: # make sure we didn't screw up triangulation _, idx = np.unique(cap_0_vertices, return_index=True) cap_0_uvtxs = cap_0_vertices[np.sort(idx)] _, idx = np.unique(linestring, return_index=True) line_uvtxs = linestring[np.sort(idx)] assert np.allclose(cap_0_uvtxs, line_uvtxs) # Use the last set of vertices as the top cap contour (cap_angle) offset = len(vertices) - per cap_angle_faces = cap_0_faces + offset flipped_cap_angle_faces = np.fliplr(cap_angle_faces) # reverse the winding # Append cap faces to the face array faces = np.vstack([faces, cap_0_faces, flipped_cap_angle_faces]) if transform is not None: # apply transform to vertices vertices = tf.transform_points(vertices, transform) # create the mesh from our vertices and faces mesh = Trimesh(vertices=vertices, faces=faces, **kwargs) # strict checks run only in unit tests and when cap is True if tol.strict and ( np.allclose(radius[[0, -1]], 0.0) or np.allclose(linestring[0], linestring[-1]) ): if closed or cap: # if revolved curve starts and ends with zero radius # it should really be a valid volume, unless the sign # reversed on the input linestring assert mesh.is_volume assert mesh.body_count == 1 return mesh def extrude_polygon( polygon: "Polygon", height: Number, transform: Optional[ArrayLike] = None, **kwargs ) -> Trimesh: """ Extrude a 2D shapely polygon into a 3D mesh Parameters ---------- polygon : shapely.geometry.Polygon 2D geometry to extrude height : float Distance to extrude polygon along Z transform : None or (4, 4) float Transform to apply to mesh after construction triangle_args : str or None Passed to triangle **kwargs : dict Passed to `triangulate_polygon` Returns ---------- mesh : trimesh.Trimesh Resulting extrusion as watertight body """ # create a triangulation from the polygon vertices, faces = triangulate_polygon(polygon, **kwargs) # extrude that triangulation along Z mesh = extrude_triangulation( vertices=vertices, faces=faces, height=height, transform=transform, **kwargs ) return mesh def sweep_polygon( polygon: "Polygon", path: ArrayLike, angles: Optional[ArrayLike] = None, cap: bool = True, connect: bool = True, kwargs: Optional[Dict] = None, **triangulation, ) -> Trimesh: """ Extrude a 2D polygon into a 3D mesh along a 3D path. Note that this does *not* handle the case where there is very sharp curvature leading the polygon to intersect the plane of a previous slice, and does *not* scale the polygon along the induced normal to result in a constant cross section. You may want to resample your path with a B-spline, i.e: `trimesh.path.simplify.resample_spline(path, smooth=0.2, count=100)` Parameters ---------- polygon : shapely.geometry.Polygon Profile to sweep along path path : (n, 3) float A path in 3D angles : (n,) float Optional rotation angle relative to prior vertex at each vertex. cap If an open path is passed apply a cap to both ends. connect If a closed path is passed connect the sweep into a single watertight mesh. kwargs : dict Passed to the mesh constructor. **triangulation Passed to `triangulate_polygon`, i.e. `engine='triangle'` Returns ------- mesh : trimesh.Trimesh Geometry of result """ path = np.asanyarray(path, dtype=np.float64) if not util.is_shape(path, (-1, 3)): raise ValueError("Path must be (n, 3)!") if angles is not None: angles = np.asanyarray(angles, dtype=np.float64) if angles.shape != (len(path),): raise ValueError(angles.shape) else: # set all angles to zero angles = np.zeros(len(path), dtype=np.float64) # check to see if path is closed i.e. first and last vertex are the same closed = np.linalg.norm(path[0] - path[-1]) < tol.merge # Extract 2D vertices and triangulation vertices_2D, faces_2D = triangulate_polygon(polygon, **triangulation) # stack the `(n, 3)` faces into `(3 * n, 2)` edges edges = faces_to_edges(faces_2D) # edges which only occur once are on the boundary of the polygon # since the triangulation may have subdivided the boundary of the # shapely polygon, we need to find it again edges_unique = grouping.group_rows(np.sort(edges, axis=1), require_count=1) # subset the vertices to only ones included in the boundary unique, inverse = np.unique(edges[edges_unique].reshape(-1), return_inverse=True) # take only the vertices in the boundary # and stack them with zeros and ones so we can use dot # products to transform them all over the place vertices_tf = np.column_stack( (vertices_2D[unique], np.zeros(len(unique)), np.ones(len(unique))) ) # the indices of vertices_tf boundary = inverse.reshape((-1, 2)) # now create the normals for the plane each slice will lie on # consider the simple path with 3 vertices and therefore 2 vectors: # - the first plane will be exactly along the first vector # - the second plane will be the average of the two vectors # - the last plane will be exactly along the last vector # and each plane origin will be the corresponding vertex on the path vector = util.unitize(path[1:] - path[:-1]) # unitize instead of / 2 as they may be degenerate / zero vector_mean = util.unitize(vector[1:] + vector[:-1]) # collect the vectors into plane normals normal = np.concatenate([[vector[0]], vector_mean, [vector[-1]]], axis=0) if closed and connect: # if we have a closed loop average the first and last planes normal[0] = util.unitize(normal[[0, -1]].mean(axis=0)) # planes should have one unit normal and one vertex each assert normal.shape == path.shape # get the spherical coordinates for the normal vectors theta, phi = util.vector_to_spherical(normal).T # collect the trig values into numpy arrays we can compose into matrices cos_theta, sin_theta = np.cos(theta), np.sin(theta) cos_phi, sin_phi = np.cos(phi), np.sin(phi) cos_roll, sin_roll = np.cos(angles), np.sin(angles) # we want a rotation which will be the identity for a Z+ vector # this was constructed and unrolled from the following sympy block # theta, phi, roll = sp.symbols("theta phi roll") # matrix = ( # tf.rotation_matrix(roll, [0, 0, 1]) @ # tf.rotation_matrix(phi, [1, 0, 0]) @ # tf.rotation_matrix((sp.pi / 2) - theta, [0, 0, 1]) # ).inv() # matrix.simplify() # shorthand for stacking zeros = np.zeros(len(theta)) ones = np.ones(len(theta)) # stack initially as one unrolled matrix per row transforms = np.column_stack( [ -sin_roll * cos_phi * cos_theta + sin_theta * cos_roll, sin_roll * sin_theta + cos_phi * cos_roll * cos_theta, sin_phi * cos_theta, path[:, 0], -sin_roll * sin_theta * cos_phi - cos_roll * cos_theta, -sin_roll * cos_theta + sin_theta * cos_phi * cos_roll, sin_phi * sin_theta, path[:, 1], sin_phi * sin_roll, -sin_phi * cos_roll, cos_phi, path[:, 2], zeros, zeros, zeros, ones, ] ).reshape((-1, 4, 4)) if tol.strict: # make sure that each transform moves the Z+ vector to the requested normal for n, matrix in zip(normal, transforms): check = tf.transform_points([[0.0, 0.0, 1.0]], matrix, translate=False)[0] assert np.allclose(check, n) # apply transforms to prebaked homogeneous coordinates vertices_3D = np.concatenate( [np.dot(vertices_tf, matrix.T) for matrix in transforms], axis=0 )[:, :3] # now construct the faces with one group of boundary faces per slice stride = len(unique) boundary_next = boundary + stride faces_slice = np.column_stack( [boundary, boundary_next[:, :1], boundary_next[:, ::-1], boundary[:, 1:]] ).reshape((-1, 3)) # offset the slices faces = [faces_slice + offset for offset in np.arange(len(path) - 1) * stride] # connect only applies to closed paths if closed and connect: # the last slice will not be required max_vertex = (len(path) - 1) * stride # clip off the duplicated vertices vertices_3D = vertices_3D[:max_vertex] # apply the modulus in-place to a conservative subset faces[-1] %= max_vertex elif cap: # these are indices of `vertices_2D` that were not on the boundary # which can happen for triangulation algorithms that added vertices # we don't currently support that but you could append the unconsumed # vertices and then update the mapping below to reflect that unconsumed = set(unique).difference(faces_2D.ravel()) if len(unconsumed) > 0: raise NotImplementedError("triangulation added vertices: no logic to cap!") # map the 2D faces to the order we used mapped = np.zeros(unique.max() + 2, dtype=np.int64) mapped[unique] = np.arange(len(unique)) # now should correspond to the first vertex block cap_zero = mapped[faces_2D] # winding will be along +Z so flip for the bottom cap faces.append(np.fliplr(cap_zero)) # offset the end cap faces.append(cap_zero + stride * (len(path) - 1)) if kwargs is None: kwargs = {} if "process" not in kwargs: # we should be constructing clean meshes here # so we don't need to run an expensive verex merge kwargs["process"] = False # stack the faces used faces = np.concatenate(faces, axis=0) # generate the mesh from the face data mesh = Trimesh(vertices=vertices_3D, faces=faces, **kwargs) if tol.strict: # we should not have included any unused vertices assert len(np.unique(faces)) == len(vertices_3D) if cap: # mesh should always be a volume if cap is true assert mesh.is_volume if closed and connect: assert mesh.is_volume assert mesh.body_count == 1 return mesh def _cross_2d(a: NDArray, b: NDArray) -> NDArray: """ Numpy 2.0 depreciated cross products of 2D arrays. """ return a[:, 0] * b[:, 1] - a[:, 1] * b[:, 0] def extrude_triangulation( vertices: ArrayLike, faces: ArrayLike, height: Number, transform: Optional[ArrayLike] = None, **kwargs, ) -> Trimesh: """ Extrude a 2D triangulation into a watertight mesh. Parameters ---------- vertices : (n, 2) float 2D vertices faces : (m, 3) int Triangle indexes of vertices height : float Distance to extrude triangulation transform : None or (4, 4) float Transform to apply to mesh after construction **kwargs : dict Passed to Trimesh constructor Returns --------- mesh : trimesh.Trimesh Mesh created from extrusion """ vertices = np.asanyarray(vertices, dtype=np.float64) height = float(height) faces = np.asanyarray(faces, dtype=np.int64) if not util.is_shape(vertices, (-1, 2)): raise ValueError("Vertices must be (n,2)") if not util.is_shape(faces, (-1, 3)): raise ValueError("Faces must be (n,3)") if np.abs(height) < tol.merge: raise ValueError("Height must be nonzero!") # check the winding of the first few triangles signs = _cross_2d( np.subtract(*vertices[faces[:10, :2].T]), np.subtract(*vertices[faces[:10, 1:].T]) ) # make sure the triangulation is aligned with the sign of # the height we've been passed if len(signs) > 0 and np.sign(signs.mean()) != np.sign(height): faces = np.fliplr(faces) # stack the (n,3) faces into (3*n, 2) edges edges = faces_to_edges(faces) edges_sorted = np.sort(edges, axis=1) # edges which only occur once are on the boundary of the polygon # since the triangulation may have subdivided the boundary of the # shapely polygon, we need to find it again edges_unique = grouping.group_rows(edges_sorted, require_count=1) # (n, 2, 2) set of line segments (positions, not references) boundary = vertices[edges[edges_unique]] # we are creating two vertical triangles for every 2D line segment # on the boundary of the 2D triangulation vertical = np.tile(boundary.reshape((-1, 2)), 2).reshape((-1, 2)) vertical = np.column_stack((vertical, np.tile([0, height, 0, height], len(boundary)))) vertical_faces = np.tile([3, 1, 2, 2, 1, 0], (len(boundary), 1)) vertical_faces += np.arange(len(boundary)).reshape((-1, 1)) * 4 vertical_faces = vertical_faces.reshape((-1, 3)) # stack the (n,2) vertices with zeros to make them (n, 3) vertices_3D = util.stack_3D(vertices) # a sequence of zero- indexed faces, which will then be appended # with offsets to create the final mesh faces_seq = [faces[:, ::-1], faces.copy(), vertical_faces] vertices_seq = [vertices_3D, vertices_3D.copy() + [0.0, 0, height], vertical] # append sequences into flat nicely indexed arrays vertices, faces = util.append_faces(vertices_seq, faces_seq) if transform is not None: # apply transform here to avoid later bookkeeping vertices = tf.transform_points(vertices, transform) # if the transform flips the winding flip faces back # so that the normals will be facing outwards if tf.flips_winding(transform): # fliplr makes arrays non-contiguous faces = np.ascontiguousarray(np.fliplr(faces)) # create mesh object with passed keywords mesh = Trimesh(vertices=vertices, faces=faces, **kwargs) # only check in strict mode (unit tests) if tol.strict: assert mesh.volume > 0.0 return mesh def triangulate_polygon( polygon, triangle_args: Optional[str] = None, engine: Optional[str] = None, force_vertices: bool = False, **kwargs, ) -> Tuple[NDArray[np.float64], NDArray[np.int64]]: """ Given a shapely polygon create a triangulation using a python interface to the permissively licensed `mapbox-earcut` or the more robust `triangle.c`. > pip install manifold3d > pip install triangle > pip install mapbox_earcut Parameters --------- polygon : Shapely.geometry.Polygon Polygon object to be triangulated. triangle_args Passed to triangle.triangulate i.e: 'p', 'pq30', 'pY'="don't insert vert" engine None or 'earcut' will use earcut, 'triangle' will use triangle force_vertices Many operations can't handle new vertices being inserted, so this will attempt to generate a triangulation without new vertices and raise a ValueError if it is unable to do so. Returns -------------- vertices : (n, 2) float Points in space faces : (n, 3) int Index of vertices that make up triangles """ if engine is None: # try getting the first engine that is installed engine = next((name for name, exists in _engines if exists), None) if polygon is None or polygon.is_empty: return [], [] vertices = None if engine == "earcut": from mapbox_earcut import triangulate_float64 # get vertices as sequence where exterior # is the first value vertices = [np.array(polygon.exterior.coords)] vertices.extend(np.array(i.coords) for i in polygon.interiors) # record the index from the length of each vertex array rings = np.cumsum([len(v) for v in vertices]) # stack vertices into (n, 2) float array vertices = np.vstack(vertices) # run triangulation faces = ( triangulate_float64(vertices, rings) .reshape((-1, 3)) .astype(np.int64) .reshape((-1, 3)) ) elif engine == "manifold": import manifold3d # the outer ring is wound counter-clockwise rings = [ np.array(polygon.exterior.coords)[:: (1 if polygon.exterior.is_ccw else -1)][ :-1 ] ] # wind interiors rings.extend( np.array(b.coords)[:: (-1 if b.is_ccw else 1)][:-1] for b in polygon.interiors ) faces = manifold3d.triangulate(rings).astype(np.int64) vertices = np.vstack(rings, dtype=np.float64) elif engine == "triangle": from triangle import triangulate # set default triangulation arguments if not specified if triangle_args is None: triangle_args = "p" # turn the polygon in to vertices, segments, and holes arg = _polygon_to_kwargs(polygon) # run the triangulation blob = triangulate(arg, triangle_args) vertices, faces = blob["vertices"], blob["triangles"].astype(np.int64) # triangle may insert vertices if force_vertices: assert np.allclose(arg["vertices"], vertices) if vertices is None: log.warning( "try running `pip install mapbox-earcut manifold3d`" + "or `triangle`, `mapbox_earcut`, then explicitly pass:\n" + '`triangulate_polygon(*args, engine="triangle")`\n' + "to use the non-FSF-approved-license triangle engine" ) raise ValueError("No available triangulation engine!") return vertices, faces def _polygon_to_kwargs(polygon) -> Dict: """ Given a shapely polygon generate the data to pass to the triangle mesh generator Parameters --------- polygon : Shapely.geometry.Polygon Input geometry Returns -------- result : dict Has keys: vertices, segments, holes """ if not polygon.is_valid: raise ValueError("invalid shapely polygon passed!") def round_trip(start, length): """ Given a start index and length, create a series of (n, 2) edges which create a closed traversal. Examples --------- start, length = 0, 3 returns: [(0,1), (1,2), (2,0)] """ tiled = np.tile(np.arange(start, start + length).reshape((-1, 1)), 2) tiled = tiled.reshape(-1)[1:-1].reshape((-1, 2)) tiled = np.vstack((tiled, [tiled[-1][-1], tiled[0][0]])) return tiled def add_boundary(boundary, start): # coords is an (n, 2) ordered list of points on the polygon boundary # the first and last points are the same, and there are no # guarantees on points not being duplicated (which will # later cause meshpy/triangle to shit a brick) coords = np.array(boundary.coords) # find indices points which occur only once, and sort them # to maintain order unique = np.sort(grouping.unique_rows(coords)[0]) cleaned = coords[unique] vertices.append(cleaned) facets.append(round_trip(start, len(cleaned))) # holes require points inside the region of the hole, which we find # by creating a polygon from the cleaned boundary region, and then # using a representative point. You could do things like take the mean of # the points, but this is more robust (to things like concavity), if # slower. test = Polygon(cleaned) holes.append(np.array(test.representative_point().coords)[0]) return len(cleaned) # sequence of (n,2) points in space vertices = collections.deque() # sequence of (n,2) indices of vertices facets = collections.deque() # list of (2) vertices in interior of hole regions holes = collections.deque() start = add_boundary(polygon.exterior, 0) for interior in polygon.interiors: try: start += add_boundary(interior, start) except BaseException: log.warning("invalid interior, continuing") continue # create clean (n,2) float array of vertices # and (m, 2) int array of facets # by stacking the sequence of (p,2) arrays vertices = np.vstack(vertices) facets = np.vstack(facets).tolist() # shapely polygons can include a Z component # strip it out for the triangulation if vertices.shape[1] == 3: vertices = vertices[:, :2] result = {"vertices": vertices, "segments": facets} # holes in meshpy lingo are a (h, 2) list of (x,y) points # which are inside the region of the hole # we added a hole for the exterior, which we slice away here holes = np.array(holes)[1:] if len(holes) > 0: result["holes"] = holes return result def box( extents: Optional[ArrayLike] = None, transform: Optional[ArrayLike] = None, bounds: Optional[ArrayLike] = None, **kwargs, ): """ Return a cuboid. Parameters ------------ extents : (3,) float Edge lengths transform: (4, 4) float Transformation matrix bounds : None or (2, 3) float Corners of AABB, overrides extents and transform. **kwargs: passed to Trimesh to create box Returns ------------ geometry : trimesh.Trimesh Mesh of a cuboid """ # vertices of the cube from reference vertices = np.array(_data["box"]["vertices"], order="C", dtype=np.float64) faces = np.array(_data["box"]["faces"], order="C", dtype=np.int64) face_normals = np.array(_data["box"]["face_normals"], order="C", dtype=np.float64) # resize cube based on passed extents if bounds is not None: if transform is not None or extents is not None: raise ValueError("`bounds` overrides `extents`/`transform`!") bounds = np.array(bounds, dtype=np.float64) if bounds.shape != (2, 3): raise ValueError("`bounds` must be (2, 3) float!") extents = np.ptp(bounds, axis=0) vertices *= extents vertices += bounds[0] elif extents is not None: extents = np.asanyarray(extents, dtype=np.float64) if extents.shape != (3,): raise ValueError("Extents must be (3,)!") vertices -= 0.5 vertices *= extents else: vertices -= 0.5 extents = np.asarray((1.0, 1.0, 1.0), dtype=np.float64) if "metadata" not in kwargs: kwargs["metadata"] = {} kwargs["metadata"].update({"shape": "box", "extents": extents}) box = Trimesh( vertices=vertices, faces=faces, face_normals=face_normals, process=False, **kwargs ) # do the transform here to preserve face normals if transform is not None: box.apply_transform(transform) return box def icosahedron(**kwargs) -> Trimesh: """ Create an icosahedron, one of the platonic solids which is has 20 faces. Parameters ------------ kwargs : dict Passed through to `Trimesh` constructor. Returns ------------- ico : trimesh.Trimesh Icosahederon centered at the origin. """ # get stored pre-baked primitive values vertices = np.array(_data["icosahedron"]["vertices"], dtype=np.float64) faces = np.array(_data["icosahedron"]["faces"], dtype=np.int64) return Trimesh( vertices=vertices, faces=faces, process=kwargs.pop("process", False), **kwargs ) def icosphere(subdivisions: Integer = 3, radius: Number = 1.0, **kwargs): """ Create an isophere centered at the origin. Parameters ---------- subdivisions : int How many times to subdivide the mesh. Note that the number of faces will grow as function of 4 ** subdivisions, so you probably want to keep this under ~5 radius : float Desired radius of sphere kwargs : dict Passed through to `Trimesh` constructor. Returns --------- ico : trimesh.Trimesh Meshed sphere """ radius = float(radius) subdivisions = int(subdivisions) ico = icosahedron() ico._validate = False for _ in range(subdivisions): ico = ico.subdivide() vectors = ico.vertices scalar = np.sqrt(np.dot(vectors**2, [1, 1, 1])) unit = vectors / scalar.reshape((-1, 1)) ico.vertices += unit * (radius - scalar).reshape((-1, 1)) # if we didn't subdivide we still need to refine the radius if subdivisions <= 0: vectors = ico.vertices scalar = np.sqrt(np.dot(vectors**2, [1, 1, 1])) unit = vectors / scalar.reshape((-1, 1)) ico.vertices += unit * (radius - scalar).reshape((-1, 1)) if "color" in kwargs: warnings.warn( "`icosphere(color=...)` is deprecated and will " + "be removed in June 2024: replace with Trimesh constructor " + "kewyword argument `icosphere(face_colors=...)`", category=DeprecationWarning, stacklevel=2, ) kwargs["face_colors"] = kwargs.pop("color") return Trimesh( vertices=ico.vertices, faces=ico.faces, metadata={"shape": "sphere", "radius": radius}, process=kwargs.pop("process", False), **kwargs, ) def uv_sphere( radius: Number = 1.0, count: Optional[ArrayLike] = None, transform: Optional[ArrayLike] = None, **kwargs, ) -> Trimesh: """ Create a UV sphere (latitude + longitude) centered at the origin. Roughly one order of magnitude faster than an icosphere but slightly uglier. Parameters ---------- radius : float Radius of sphere count : (2,) int Number of latitude and longitude lines transform : None or (4, 4) float Transform to apply to mesh after construction kwargs : dict Passed thgrough Returns ---------- mesh : trimesh.Trimesh Mesh of UV sphere with specified parameters """ # set the resolution of the uv sphere if count is None: count = np.array([32, 64], dtype=np.int64) else: count = np.array(count, dtype=np.int64) count += np.mod(count, 2) count[1] *= 2 # generate the 2D curve for the UV sphere theta = np.linspace(0.0, np.pi, num=count[0]) linestring = np.column_stack((np.sin(theta), -np.cos(theta))) * radius # revolve the curve to create a volume return revolve( linestring=linestring, sections=count[1], transform=transform, metadata={"shape": "sphere", "radius": radius}, **kwargs, ) def capsule( height: Number = 1.0, radius: Number = 1.0, count: Optional[ArrayLike] = None, transform: Optional[ArrayLike] = None, ): """ Create a mesh of a capsule, or a cylinder with hemispheric ends. Parameters ---------- height : float Center to center distance of two spheres radius : float Radius of the cylinder and hemispheres count : (2,) int Number of sections on latitude and longitude transform : None or (4, 4) float Transform to apply to mesh after construction Returns ---------- capsule : trimesh.Trimesh Capsule geometry with: - cylinder axis is along Z - one hemisphere is centered at the origin - other hemisphere is centered along the Z axis at height """ if count is None: count = np.array([32, 64], dtype=np.int64) else: count = np.array(count, dtype=np.int64) count += np.mod(count, 2) height = abs(float(height)) radius = abs(float(radius)) # create a half circle theta = np.linspace(-np.pi / 2.0, np.pi / 2.0, count[0]) linestring = np.column_stack((np.cos(theta), np.sin(theta))) * radius # offset the top and bottom by half the height half = len(linestring) // 2 linestring[:half][:, 1] -= height / 2.0 linestring[half:][:, 1] += height / 2.0 return revolve( linestring, sections=count[1], transform=transform, metadata={"shape": "capsule", "height": height, "radius": radius}, ) def cone( radius: Number, height: Number, sections: Optional[Integer] = None, transform: Optional[ArrayLike] = None, **kwargs, ) -> Trimesh: """ Create a mesh of a cone along Z centered at the origin. Parameters ---------- radius : float The radius of the cylinder height : float The height of the cylinder sections : int or None How many pie wedges per revolution transform : (4, 4) float or None Transform to apply after creation **kwargs : dict Passed to Trimesh constructor Returns ---------- cone: trimesh.Trimesh Resulting mesh of a cone """ # create the 2D outline of a cone linestring = [[0, 0], [radius, 0], [0, height]] # revolve the profile to create a cone if "metadata" not in kwargs: kwargs["metadata"] = {} kwargs["metadata"].update({"shape": "cone", "radius": radius, "height": height}) cone = revolve( linestring=linestring, sections=sections, transform=transform, **kwargs ) return cone def cylinder( radius: Number, height: Optional[Number] = None, sections: Optional[Integer] = None, segment: Optional[ArrayLike] = None, transform: Optional[ArrayLike] = None, **kwargs, ): """ Create a mesh of a cylinder along Z centered at the origin. Parameters ---------- radius : float The radius of the cylinder height : float or None The height of the cylinder, or None if `segment` has been passed. sections : int or None How many pie wedges should the cylinder have segment : (2, 3) float Endpoints of axis, overrides transform and height transform : None or (4, 4) float Transform to apply to mesh after construction **kwargs: passed to Trimesh to create cylinder Returns ---------- cylinder: trimesh.Trimesh Resulting mesh of a cylinder """ if segment is not None: # override transform and height with the segment transform, height = _segment_to_cylinder(segment=segment) if height is None: raise ValueError("either `height` or `segment` must be passed!") half = abs(float(height)) / 2.0 # create a profile to revolve linestring = [[0, -half], [radius, -half], [radius, half], [0, half]] if "metadata" not in kwargs: kwargs["metadata"] = {} kwargs["metadata"].update({"shape": "cylinder", "height": height, "radius": radius}) # generate cylinder through simple revolution return revolve( linestring=linestring, sections=sections, transform=transform, **kwargs ) def annulus( r_min: Number, r_max: Number, height: Optional[Number] = None, sections: Optional[Integer] = None, transform: Optional[ArrayLike] = None, segment: Optional[ArrayLike] = None, **kwargs, ): """ Create a mesh of an annular cylinder along Z centered at the origin. Parameters ---------- r_min : float The inner radius of the annular cylinder r_max : float The outer radius of the annular cylinder height : float The height of the annular cylinder sections : int or None How many pie wedges should the annular cylinder have transform : (4, 4) float or None Transform to apply to move result from the origin segment : None or (2, 3) float Override transform and height with a line segment **kwargs: passed to Trimesh to create annulus Returns ---------- annulus : trimesh.Trimesh Mesh of annular cylinder """ if segment is not None: # override transform and height with the segment if passed transform, height = _segment_to_cylinder(segment=segment) if height is None: raise ValueError("either `height` or `segment` must be passed!") r_min = abs(float(r_min)) # if center radius is zero this is a cylinder if r_min < tol.merge: return cylinder( radius=r_max, height=height, sections=sections, transform=transform, **kwargs ) r_max = abs(float(r_max)) # we're going to center at XY plane so take half the height half = abs(float(height)) / 2.0 # create counter-clockwise rectangle linestring = [ [r_min, -half], [r_max, -half], [r_max, half], [r_min, half], [r_min, -half], ] if "metadata" not in kwargs: kwargs["metadata"] = {} kwargs["metadata"].update( {"shape": "annulus", "r_min": r_min, "r_max": r_max, "height": height} ) # revolve the curve annulus = revolve( linestring=linestring, sections=sections, transform=transform, **kwargs ) return annulus def _segment_to_cylinder(segment: ArrayLike): """ Convert a line segment to a transform and height for a cylinder or cylinder-like primitive. Parameters ----------- segment : (2, 3) float 3D line segment in space Returns ----------- transform : (4, 4) float Matrix to move a Z-extruded origin cylinder to segment height : float The height of the cylinder needed """ segment = np.asanyarray(segment, dtype=np.float64) if segment.shape != (2, 3): raise ValueError("segment must be 2 3D points!") vector = segment[1] - segment[0] # override height with segment length height = np.linalg.norm(vector) # point in middle of line midpoint = segment[0] + (vector * 0.5) # align Z with our desired direction rotation = align_vectors([0, 0, 1], vector) # translate to midpoint of segment translation = tf.translation_matrix(midpoint) # compound the rotation and translation transform = np.dot(translation, rotation) return transform, height def random_soup(face_count: Integer = 100): """ Return random triangles as a Trimesh Parameters ----------- face_count : int Number of faces desired in mesh Returns ----------- soup : trimesh.Trimesh Geometry with face_count random faces """ vertices = np.random.random((face_count * 3, 3)) - 0.5 faces = np.arange(face_count * 3).reshape((-1, 3)) soup = Trimesh(vertices=vertices, faces=faces) return soup def axis( origin_size: Number = 0.04, transform: Optional[ArrayLike] = None, origin_color: Optional[ArrayLike] = None, axis_radius: Optional[Number] = None, axis_length: Optional[Number] = None, ): """ Return an XYZ axis marker as a Trimesh, which represents position and orientation. If you set the origin size the other parameters will be set relative to it. Parameters ---------- origin_size : float Radius of sphere that represents the origin transform : (4, 4) float Transformation matrix origin_color : (3,) float or int, uint8 or float Color of the origin axis_radius : float Radius of cylinder that represents x, y, z axis axis_length: float Length of cylinder that represents x, y, z axis Returns ------- marker : trimesh.Trimesh Mesh geometry of axis indicators """ # the size of the ball representing the origin origin_size = float(origin_size) # set the transform and use origin-relative # sized for other parameters if not specified if transform is None: transform = np.eye(4) if origin_color is None: origin_color = [255, 255, 255, 255] if axis_radius is None: axis_radius = origin_size / 5.0 if axis_length is None: axis_length = origin_size * 10.0 # generate a ball for the origin axis_origin = icosphere(radius=origin_size) axis_origin.apply_transform(transform) # apply color to the origin ball axis_origin.visual.face_colors = origin_color # create the cylinder for the z-axis translation = tf.translation_matrix([0, 0, axis_length / 2]) z_axis = cylinder( radius=axis_radius, height=axis_length, transform=transform.dot(translation) ) # XYZ->RGB, Z is blue z_axis.visual.face_colors = [0, 0, 255] # create the cylinder for the y-axis translation = tf.translation_matrix([0, 0, axis_length / 2]) rotation = tf.rotation_matrix(np.radians(-90), [1, 0, 0]) y_axis = cylinder( radius=axis_radius, height=axis_length, transform=transform.dot(rotation).dot(translation), ) # XYZ->RGB, Y is green y_axis.visual.face_colors = [0, 255, 0] # create the cylinder for the x-axis translation = tf.translation_matrix([0, 0, axis_length / 2]) rotation = tf.rotation_matrix(np.radians(90), [0, 1, 0]) x_axis = cylinder( radius=axis_radius, height=axis_length, transform=transform.dot(rotation).dot(translation), ) # XYZ->RGB, X is red x_axis.visual.face_colors = [255, 0, 0] # append the sphere and three cylinders marker = util.concatenate([axis_origin, x_axis, y_axis, z_axis]) return marker def camera_marker( camera, marker_height: Number = 0.4, origin_size: Optional[Number] = None ): """ Create a visual marker for a camera object, including an axis and FOV. Parameters --------------- camera : trimesh.scene.Camera Camera object with FOV and transform defined marker_height : float How far along the camera Z should FOV indicators be origin_size : float Sphere radius of the origin (default: marker_height / 10.0) Returns ------------ meshes : list Contains Trimesh and Path3D objects which can be visualized """ # create sane origin size from marker height if origin_size is None: origin_size = marker_height / 10.0 # append the visualizations to an array meshes = [axis(origin_size=origin_size)] try: # path is a soft dependency from .path.exchange.load import load_path except ImportError: # they probably don't have shapely installed log.warning("unable to create FOV visualization!", exc_info=True) return meshes # calculate vertices from camera FOV angles x = marker_height * np.tan(np.deg2rad(camera.fov[0]) / 2.0) y = marker_height * np.tan(np.deg2rad(camera.fov[1]) / 2.0) z = marker_height # combine the points into the vertices of an FOV visualization points = np.array( [(0, 0, 0), (-x, -y, z), (x, -y, z), (x, y, z), (-x, y, z)], dtype=float ) # create line segments for the FOV visualization # a segment from the origin to each bound of the FOV segments = np.column_stack((np.zeros_like(points), points)).reshape((-1, 3)) # add a loop for the outside of the FOV then reshape # the whole thing into multiple line segments segments = np.vstack((segments, points[[1, 2, 2, 3, 3, 4, 4, 1]])).reshape((-1, 2, 3)) # add a single Path3D object for all line segments meshes.append(load_path(segments)) return meshes def truncated_prisms( tris: ArrayLike, origin: Optional[ArrayLike] = None, normal: Optional[ArrayLike] = None, ): """ Return a mesh consisting of multiple watertight prisms below a list of triangles, truncated by a specified plane. Parameters ------------- triangles : (n, 3, 3) float Triangles in space origin : None or (3,) float Origin of truncation plane normal : None or (3,) float Unit normal vector of truncation plane Returns ----------- mesh : trimesh.Trimesh Triangular mesh """ if origin is None: transform = np.eye(4) else: transform = plane_transform(origin=origin, normal=normal) # transform the triangles to the specified plane transformed = tf.transform_points(tris.reshape((-1, 3)), transform).reshape((-1, 9)) # stack triangles such that every other one is repeated vs = np.column_stack((transformed, transformed)).reshape((-1, 3, 3)) # set the Z value of the second triangle to zero vs[1::2, :, 2] = 0 # reshape triangles to a flat array of points and transform back to # original frame vertices = tf.transform_points(vs.reshape((-1, 3)), matrix=np.linalg.inv(transform)) # face indexes for a *single* truncated triangular prism f = np.array( [ [2, 1, 0], [3, 4, 5], [0, 1, 4], [1, 2, 5], [2, 0, 3], [4, 3, 0], [5, 4, 1], [3, 5, 2], ] ) # find the projection of each triangle with the normal vector cross = np.dot([0, 0, 1], triangles.cross(transformed.reshape((-1, 3, 3))).T) # stack faces into one prism per triangle f_seq = np.tile(f, (len(transformed), 1)).reshape((-1, len(f), 3)) # if the normal of the triangle was positive flip the winding f_seq[cross > 0] = np.fliplr(f) # offset stacked faces to create correct indices faces = (f_seq + (np.arange(len(f_seq)) * 6).reshape((-1, 1, 1))).reshape((-1, 3)) # create a mesh from the data mesh = Trimesh(vertices=vertices, faces=faces, process=False) return mesh def torus( major_radius: Number, minor_radius: Number, major_sections: Integer = 32, minor_sections: Integer = 32, transform: Optional[ArrayLike] = None, **kwargs, ): """Create a mesh of a torus around Z centered at the origin. Parameters ------------ major_radius: (float) Radius from the center of the torus to the center of the tube. minor_radius: (float) Radius of the tube. major_sections: int Number of sections around major radius result should have If not specified default is 32 per revolution minor_sections: int Number of sections around minor radius result should have If not specified default is 32 per revolution transform : (4, 4) float Transformation matrix **kwargs: passed to Trimesh to create torus Returns ------------ geometry : trimesh.Trimesh Mesh of a torus """ phi = np.linspace(0, 2 * np.pi, minor_sections, endpoint=False) linestring = np.column_stack( (minor_radius * np.cos(phi), minor_radius * np.sin(phi)) ) + [major_radius, 0] if "metadata" not in kwargs: kwargs["metadata"] = {} kwargs["metadata"].update( {"shape": "torus", "major_radius": major_radius, "minor_radius": minor_radius} ) # generate torus through simple revolution return revolve( linestring=linestring, sections=major_sections, transform=transform, **kwargs ) trimesh-4.5.1/trimesh/curvature.py000066400000000000000000000130071470574263400172560ustar00rootroot00000000000000""" curvature.py --------------- Query mesh curvature. """ import numpy as np from . import util try: from scipy.sparse import coo_matrix except ImportError as E: from . import exceptions coo_matrix = exceptions.ExceptionWrapper(E) def face_angles_sparse(mesh): """ A sparse matrix representation of the face angles. Returns ---------- sparse : scipy.sparse.coo_matrix matrix is float shaped (len(vertices), len(faces)) """ matrix = coo_matrix( (mesh.face_angles.flatten(), (mesh.faces_sparse.row, mesh.faces_sparse.col)), mesh.faces_sparse.shape, ) return matrix def vertex_defects(mesh): """ Return the vertex defects, or (2*pi) minus the sum of the angles of every face that includes that vertex. If a vertex is only included by coplanar triangles, this will be zero. For convex regions this is positive, and concave negative. Returns -------- vertex_defect : (len(self.vertices), ) float Vertex defect at the every vertex """ angle_sum = np.array(mesh.face_angles_sparse.sum(axis=1)).flatten() defect = (2 * np.pi) - angle_sum return defect def discrete_gaussian_curvature_measure(mesh, points, radius): """ Return the discrete gaussian curvature measure of a sphere centered at a point as detailed in 'Restricted Delaunay triangulations and normal cycle'- Cohen-Steiner and Morvan. This is the sum of the vertex defects at all vertices within the radius for each point. Parameters ---------- points : (n, 3) float Points in space radius : float , The sphere radius, which can be zero if vertices passed are points. Returns -------- gaussian_curvature: (n,) float Discrete gaussian curvature measure. """ points = np.asanyarray(points, dtype=np.float64) if not util.is_shape(points, (-1, 3)): raise ValueError("points must be (n,3)!") nearest = mesh.kdtree.query_ball_point(points, radius) gauss_curv = [mesh.vertex_defects[vertices].sum() for vertices in nearest] return np.asarray(gauss_curv) def discrete_mean_curvature_measure(mesh, points, radius): """ Return the discrete mean curvature measure of a sphere centered at a point as detailed in 'Restricted Delaunay triangulations and normal cycle'- Cohen-Steiner and Morvan. This is the sum of the angle at all edges contained in the sphere for each point. Parameters ---------- points : (n, 3) float Points in space radius : float Sphere radius which should typically be greater than zero Returns -------- mean_curvature : (n,) float Discrete mean curvature measure. """ points = np.asanyarray(points, dtype=np.float64) if not util.is_shape(points, (-1, 3)): raise ValueError("points must be (n,3)!") # axis aligned bounds bounds = np.column_stack((points - radius, points + radius)) # line segments that intersect axis aligned bounding box candidates = [list(mesh.face_adjacency_tree.intersection(b)) for b in bounds] mean_curv = np.zeros(len(points)) for i, (x, x_candidates) in enumerate(zip(points, candidates)): endpoints = mesh.vertices[mesh.face_adjacency_edges[x_candidates]] lengths = line_ball_intersection( endpoints[:, 0], endpoints[:, 1], center=x, radius=radius ) angles = mesh.face_adjacency_angles[x_candidates] signs = np.where(mesh.face_adjacency_convex[x_candidates], 1, -1) mean_curv[i] = (lengths * angles * signs).sum() / 2 return mean_curv def line_ball_intersection(start_points, end_points, center, radius): """ Compute the length of the intersection of a line segment with a ball. Parameters ---------- start_points : (n,3) float, list of points in space end_points : (n,3) float, list of points in space center : (3,) float, the sphere center radius : float, the sphere radius Returns -------- lengths: (n,) float, the lengths. """ # We solve for the intersection of |x-c|**2 = r**2 and # x = o + dL. This yields # d = (-l.(o-c) +- sqrt[ l.(o-c)**2 - l.l((o-c).(o-c) - r^**2) ]) / l.l L = end_points - start_points oc = start_points - center # o-c r = radius ldotl = np.einsum("ij, ij->i", L, L) # l.l ldotoc = np.einsum("ij, ij->i", L, oc) # l.(o-c) ocdotoc = np.einsum("ij, ij->i", oc, oc) # (o-c).(o-c) discrims = ldotoc**2 - ldotl * (ocdotoc - r**2) # If discriminant is non-positive, then we have zero length lengths = np.zeros(len(start_points)) # Otherwise we solve for the solns with d2 > d1. m = discrims > 0 # mask d1 = (-ldotoc[m] - np.sqrt(discrims[m])) / ldotl[m] d2 = (-ldotoc[m] + np.sqrt(discrims[m])) / ldotl[m] # Line segment means we have 0 <= d <= 1 d1 = np.clip(d1, 0, 1) d2 = np.clip(d2, 0, 1) # Length is |o + d2 l - o + d1 l| = (d2 - d1) |l| lengths[m] = (d2 - d1) * np.sqrt(ldotl[m]) return lengths def sphere_ball_intersection(R, r): """ Compute the surface area of the intersection of sphere of radius R centered at (0, 0, 0) with a ball of radius r centered at (R, 0, 0). Parameters ---------- R : float, sphere radius r : float, ball radius Returns -------- area: float, the surface are. """ x = (2 * R**2 - r**2) / (2 * R) # x coord of plane if x >= -R: return 2 * np.pi * R * (R - x) if x < -R: return 4 * np.pi * R**2 trimesh-4.5.1/trimesh/decomposition.py000066400000000000000000000027371470574263400201220ustar00rootroot00000000000000import numpy as np from .typed import Dict, List def convex_decomposition(mesh, **kwargs) -> List[Dict]: """ Compute an approximate convex decomposition of a mesh. VHACD Parameters which can be passed as kwargs: Name Default ----------------------------------------- maxConvexHulls 64 resolution 400000 minimumVolumePercentErrorAllowed 1.0 maxRecursionDepth 10 shrinkWrap True fillMode "flood" maxNumVerticesPerCH 64 asyncACD True minEdgeLength 2 findBestPlane False Parameters ---------- mesh : trimesh.Trimesh Mesh to be decomposed into convex parts **kwargs : VHACD keyword arguments Returns ------- mesh_args : list List of **kwargs for Trimeshes that are nearly convex and approximate the original. """ from vhacdx import compute_vhacd # the faces are triangulated in a (len(face), ...vertex-index) # for vtkPolyData # i.e. so if shaped to four columns the first column is all 3 faces = ( np.column_stack((np.ones(len(mesh.faces), dtype=np.int64) * 3, mesh.faces)) .ravel() .astype(np.uint32) ) return [ {"vertices": v, "faces": f} for v, f in compute_vhacd(mesh.vertices, faces, **kwargs) ] trimesh-4.5.1/trimesh/exceptions.py000066400000000000000000000021251470574263400174160ustar00rootroot00000000000000""" exceptions.py ---------------- Wrap exceptions. """ class ExceptionWrapper: """ Create a dummy object which will raise an exception when attributes are accessed (i.e. when used as a module) or when called (i.e. when used like a function) For soft dependencies we want to survive failing to import but we would like to raise an appropriate error when the functionality is actually requested so the user gets an easily debuggable message. """ def __init__(self, exception): self.exception = exception def __getattribute__(self, *args, **kwargs): # will raise when this object is accessed like an object # if it's asking for our class type return None # this allows isinstance() checks to not re-raise if args[0] == "__class__": return None.__class__ # otherwise raise our original exception raise super().__getattribute__("exception") def __call__(self, *args, **kwargs): # will raise when this object is called like a function raise super().__getattribute__("exception") trimesh-4.5.1/trimesh/exchange/000077500000000000000000000000001470574263400164455ustar00rootroot00000000000000trimesh-4.5.1/trimesh/exchange/__init__.py000066400000000000000000000004511470574263400205560ustar00rootroot00000000000000""" trimesh/exchange ---------------- Contains the importers and exporters for various mesh formats. Note that *you should probably not be using these directly*, if you call `trimesh.load` it will then call and wrap the result of the various loaders: ``` mesh = trimesh.load(file_name) ``` """ trimesh-4.5.1/trimesh/exchange/binvox.py000066400000000000000000000422751470574263400203360ustar00rootroot00000000000000""" Parsing functions for Binvox files. https://www.patrickmin.com/binvox/binvox.html Exporting meshes as binvox files requires the `binvox` executable to be in your path. """ import collections import os import subprocess from tempfile import TemporaryDirectory import numpy as np from .. import util from ..base import Trimesh # find the executable for binvox in PATH binvox_encoder = util.which("binvox") Binvox = collections.namedtuple("Binvox", ["rle_data", "shape", "translate", "scale"]) def parse_binvox_header(fp): """ Read the header from a binvox file. Spec available: https://www.patrickmin.com/binvox/binvox.html Parameters ------------ fp: file-object File like object with binvox file Returns ---------- shape : tuple Shape of binvox according to binvox spec translate : tuple Translation scale : float Scale of voxels Raises ------------ IOError If invalid binvox file. """ line = fp.readline().strip() if hasattr(line, "decode"): binvox = b"#binvox" space = b" " else: binvox = "#binvox" space = " " if not line.startswith(binvox): raise OSError("Not a binvox file") shape = tuple(int(s) for s in fp.readline().strip().split(space)[1:]) translate = tuple(float(s) for s in fp.readline().strip().split(space)[1:]) scale = float(fp.readline().strip().split(space)[1]) fp.readline() return shape, translate, scale def parse_binvox(fp, writeable=False): """ Read a binvox file, spec at https://www.patrickmin.com/binvox/binvox.html Parameters ------------ fp: file-object File like object with binvox file Returns ---------- binvox : namedtuple Containing data rle : numpy array Run length encoded data Raises ------------ IOError If invalid binvox file """ # get the header info shape, translate, scale = parse_binvox_header(fp) # get the rest of the file data = fp.read() # convert to numpy array rle_data = np.frombuffer(data, dtype=np.uint8) if writeable: rle_data = rle_data.copy() return Binvox(rle_data, shape, translate, scale) _binvox_header = """#binvox 1 dim {sx} {sy} {sz} translate {tx} {ty} {tz} scale {scale} data """ def binvox_header(shape, translate, scale): """ Get a binvox header string. Parameters -------- shape: length 3 iterable of ints denoting shape of voxel grid. translate: length 3 iterable of floats denoting translation. scale: num length of entire voxel grid. Returns -------- string including "data\n" line. """ sx, sy, sz = (int(s) for s in shape) tx, ty, tz = translate return _binvox_header.format(sx=sx, sy=sy, sz=sz, tx=tx, ty=ty, tz=tz, scale=scale) def binvox_bytes(rle_data, shape, translate=(0, 0, 0), scale=1): """Get a binary representation of binvox data. Parameters -------- rle_data : numpy array Run-length encoded numpy array. shape : (3,) int Shape of voxel grid. translate : (3,) float Translation of voxels scale : float Length of entire voxel grid. Returns -------- data : bytes Suitable for writing to binary file """ if rle_data.dtype != np.uint8: raise ValueError(f"rle_data.dtype must be np.uint8, got {rle_data.dtype}") header = binvox_header(shape, translate, scale).encode() return header + rle_data.tobytes() def voxel_from_binvox(rle_data, shape, translate=None, scale=1.0, axis_order="xzy"): """ Factory for building from data associated with binvox files. Parameters --------- rle_data : numpy Run-length-encoded of flat voxel values, or a `trimesh.rle.RunLengthEncoding` object. See `trimesh.rle` documentation for description of encoding shape : (3,) int Shape of voxel grid. translate : (3,) float Translation of voxels scale : float Length of entire voxel grid. encoded_axes : iterable With values in ('x', 'y', 'z', 0, 1, 2), where x => 0, y => 1, z => 2 denoting the order of axes in the encoded data. binvox by default saves in xzy order, but using `xyz` (or (0, 1, 2)) will be faster in some circumstances. Returns --------- result : VoxelGrid Loaded voxels """ # shape must be uniform else scale is ambiguous from .. import transformations from ..voxel import encoding as enc from ..voxel.base import VoxelGrid if isinstance(rle_data, enc.RunLengthEncoding): encoding = rle_data else: encoding = enc.RunLengthEncoding(rle_data, dtype=bool) # translate = np.asanyarray(translate) * scale) # translate = [0, 0, 0] transform = transformations.scale_and_translate( scale=scale / (np.array(shape) - 1), translate=translate ) if axis_order == "xzy": perm = (0, 2, 1) shape = tuple(shape[p] for p in perm) encoding = encoding.reshape(shape).transpose(perm) elif axis_order is None or axis_order == "xyz": encoding = encoding.reshape(shape) else: raise ValueError("Invalid axis_order '%s': must be None, 'xyz' or 'xzy'") assert encoding.shape == shape return VoxelGrid(encoding, transform) def load_binvox(file_obj, resolver=None, axis_order="xzy", file_type=None): """ Load trimesh `VoxelGrid` instance from file. Parameters ----------- file_obj : file-like object Contains binvox data resolver : unused axis_order : str Order of axes in encoded data. Binvox default is 'xzy', but 'xyz' may be faster where this is not relevant. Returns --------- result : trimesh.voxel.VoxelGrid Loaded voxel data """ if file_type is not None and file_type != "binvox": raise ValueError(f"file_type must be None or binvox, got {file_type}") data = parse_binvox(file_obj, writeable=True) return voxel_from_binvox( rle_data=data.rle_data, shape=data.shape, translate=data.translate, scale=data.scale, axis_order=axis_order, ) def export_binvox(voxel, axis_order="xzy"): """ Export `trimesh.voxel.VoxelGrid` instance to bytes Parameters ------------ voxel : `trimesh.voxel.VoxelGrid` Assumes axis ordering of `xyz` and encodes in binvox default `xzy` ordering. axis_order : str Eements in ('x', 'y', 'z', 0, 1, 2), the order of axes to encode data (standard is 'xzy' for binvox). `voxel` data is assumed to be in order 'xyz'. Returns ----------- result : bytes Representation according to binvox spec """ translate = voxel.translation scale = voxel.scale * (np.array(voxel.shape) - 1) (neg_scale,) = np.where(scale < 0) encoding = voxel.encoding.flip(neg_scale) scale = np.abs(scale) if not util.allclose(scale[0], scale[1:], 1e-6 * scale[0] + 1e-8): raise ValueError("Can only export binvox with uniform scale") scale = scale[0] if axis_order == "xzy": encoding = encoding.transpose((0, 2, 1)) elif axis_order != "xyz": raise ValueError('Invalid axis_order: must be one of ("xyz", "xzy")') rle_data = encoding.flat.run_length_data(dtype=np.uint8) return binvox_bytes(rle_data, shape=voxel.shape, translate=translate, scale=scale) class Binvoxer: """ Interface for binvox CL tool. This class is responsible purely for making calls to the CL tool. It makes no attempt to integrate with the rest of trimesh at all. Constructor args configure command line options. `Binvoxer.__call__` operates on the path to a mode file. If using this interface in published works, please cite the references below. See CL tool website for further details. https://www.patrickmin.com/binvox/ @article{nooruddin03, author = {Fakir S. Nooruddin and Greg Turk}, title = {Simplification and Repair of Polygonal Models Using Volumetric Techniques}, journal = {IEEE Transactions on Visualization and Computer Graphics}, volume = {9}, number = {2}, pages = {191--205}, year = {2003} } @Misc{binvox, author = {Patrick Min}, title = {binvox}, howpublished = {{\tt http://www.patrickmin.com/binvox} or {\tt https://www.google.com/search?q=binvox}}, year = {2004 - 2019}, note = {Accessed: yyyy-mm-dd} } """ SUPPORTED_INPUT_TYPES = ( "ug", "obj", "off", "dfx", "xgl", "pov", "brep", "ply", "jot", ) SUPPORTED_OUTPUT_TYPES = ( "binvox", "hips", "mira", "vtk", "raw", "schematic", "msh", ) def __init__( self, dimension=32, file_type="binvox", z_buffer_carving=True, z_buffer_voting=True, dilated_carving=False, exact=True, bounding_box=None, remove_internal=False, center=False, rotate_x=0, rotate_z=0, wireframe=False, fit=False, block_id=None, use_material_block_id=False, use_offscreen_pbuffer=False, downsample_factor=None, downsample_threshold=None, verbose=False, binvox_path=None, ): """ Configure the voxelizer. Parameters ------------ dimension: voxel grid size (max 1024 when not using exact) file_type: str Output file type, supported types are: 'binvox' 'hips' 'mira' 'vtk' 'raw' 'schematic' 'msh' z_buffer_carving : use z buffer based carving. At least one of `z_buffer_carving` and `z_buffer_voting` must be True. z_buffer_voting: use z-buffer based parity voting method. dilated_carving: stop carving 1 voxel before intersection. exact: any voxel with part of a triangle gets set. Does not use graphics card. bounding_box: 6-element float list/tuple of min, max values, (minx, miny, minz, maxx, maxy, maxz) remove_internal: remove internal voxels if True. Note there is some odd behaviour if boundary voxels are occupied. center: center model inside unit cube. rotate_x: number of 90 degree ccw rotations around x-axis before voxelizing. rotate_z: number of 90 degree cw rotations around z-axis before voxelizing. wireframe: also render the model in wireframe (helps with thin parts). fit: only write voxels in the voxel bounding box. block_id: when converting to schematic, use this as the block ID. use_matrial_block_id: when converting from obj to schematic, parse block ID from material spec "usemtl blockid_" (ids 1-255 only). use_offscreen_pbuffer: use offscreen pbuffer instead of onscreen window. downsample_factor: downsample voxels by this factor in each dimension. Must be a power of 2 or None. If not None/1 and `core dumped` errors occur, try slightly adjusting dimensions. downsample_threshold: when downsampling, destination voxel is on if more than this number of voxels are on. verbose : bool If False, silences stdout/stderr from subprocess call. binvox_path : str Path to binvox executable. The default looks for an executable called `binvox` on your `PATH`. """ if binvox_path is None: encoder = binvox_encoder else: encoder = binvox_path if encoder is None: raise OSError( " ".join( [ "No `binvox_path` provided and no binvox executable found", "on PATH, please go to https://www.patrickmin.com/binvox/ and", "download the appropriate version.", ] ) ) if dimension > 1024 and not exact: raise ValueError("Maximum dimension using exact is 1024, got %d" % dimension) if file_type not in Binvoxer.SUPPORTED_OUTPUT_TYPES: raise ValueError( f"file_type {file_type} not in set of supported output types {Binvoxer.SUPPORTED_OUTPUT_TYPES!s}" ) args = [encoder, "-d", str(dimension), "-t", file_type] if exact: args.append("-e") if z_buffer_carving: if z_buffer_voting: pass else: args.append("-c") elif z_buffer_voting: args.append("-v") else: raise ValueError( "One of `z_buffer_carving` or `z_buffer_voting` must be True" ) if dilated_carving: args.append("-dc") # Additional parameters if bounding_box is not None: if len(bounding_box) != 6: raise ValueError("bounding_box must have 6 elements") args.append("-bb") args.extend(str(b) for b in bounding_box) if remove_internal: args.append("-ri") if center: args.append("-cb") args.extend(("-rotx",) * rotate_x) args.extend(("-rotz",) * rotate_z) if wireframe: args.append("-aw") if fit: args.append("-fit") if block_id is not None: args.extend(("-bi", block_id)) if use_material_block_id: args.append("-mb") if use_offscreen_pbuffer: args.append("-pb") if downsample_factor is not None: times = np.log2(downsample_factor) if int(times) != times: raise ValueError( "downsample_factor must be a power of 2, got %d" % downsample_factor ) args.extend(("-down",) * int(times)) if downsample_threshold is not None: args.extend(("-dmin", str(downsample_threshold))) args.append("PATH") self._args = args self._file_type = file_type self.verbose = verbose @property def file_type(self): return self._file_type def __call__(self, path, overwrite=False): """ Create an voxel file in the same directory as model at `path`. Parameters ------------ path: string path to model file. Supported types: 'ug' 'obj' 'off' 'dfx' 'xgl' 'pov' 'brep' 'ply' 'jot' (polygongs only) overwrite: if False, checks the output path (head.file_type) is empty before running. If True and a file exists, raises an IOError. Returns ------------ string path to voxel file. File type give by file_type in constructor. """ head, ext = os.path.splitext(path) ext = ext[1:].lower() if ext not in Binvoxer.SUPPORTED_INPUT_TYPES: raise ValueError( f"file_type {ext} not in set of supported input types {Binvoxer.SUPPORTED_INPUT_TYPES!s}" ) out_path = f"{head}.{self._file_type}" if os.path.isfile(out_path) and not overwrite: raise OSError("Attempted to voxelize object at existing path") self._args[-1] = path # generalizes to python2 and python3 # will capture terminal output into variable rather than printing verbosity = subprocess.check_output(self._args) # if requested print ourselves if self.verbose: util.log.debug(verbosity) return out_path def voxelize_mesh(mesh, binvoxer=None, export_type="off", **binvoxer_kwargs): """ Interface for voxelizing Trimesh object via the binvox tool. Implementation simply saved the mesh in the specified export_type then runs the `Binvoxer.__call__` (using either the supplied `binvoxer` or creating one via `binvoxer_kwargs`) Parameters ------------ mesh: Trimesh object to voxelize. binvoxer: optional Binvoxer instance. export_type: file type to export mesh as temporarily for Binvoxer to operate on. **binvoxer_kwargs: kwargs for creating a new Binvoxer instance. If binvoxer if provided, this must be empty. Returns ------------ `VoxelGrid` object resulting. """ if not isinstance(mesh, Trimesh): raise ValueError(f"mesh must be Trimesh instance, got {mesh!s}") if binvoxer is None: binvoxer = Binvoxer(**binvoxer_kwargs) elif len(binvoxer_kwargs) > 0: raise ValueError("Cannot provide binvoxer and binvoxer_kwargs") if binvoxer.file_type != "binvox": raise ValueError('Only "binvox" binvoxer `file_type` currently supported') with TemporaryDirectory() as folder: model_path = os.path.join(folder, f"model.{export_type}") with open(model_path, "wb") as fp: mesh.export(fp, file_type=export_type) out_path = binvoxer(model_path) with open(out_path, "rb") as fp: out_model = load_binvox(fp) return out_model _binvox_loaders = {"binvox": load_binvox} trimesh-4.5.1/trimesh/exchange/cascade.py000066400000000000000000000037321470574263400204070ustar00rootroot00000000000000import os import tempfile from ..typed import BinaryIO, Dict, Number, Optional # used as an intermediate format from .gltf import load_glb def load_step( file_obj: BinaryIO, file_type, tol_linear: Optional[Number] = None, tol_angular: Optional[Number] = None, tol_relative: Optional[bool] = False, merge_primitives: bool = True, **kwargs, ) -> Dict: """ Use `cascadio` a packaged version of OpenCASCADE to load a STEP file using GLB as an intermediate. Parameters ----------- file_obj STEP file to load. **kwargs Passed to `cascadio.step_to_glb` Returns ---------- kwargs Keyword arguments for a Scene. """ # TODO : update upstream `cascadio` to accept bytes objects # so that we don't need to write a temporary file to disc! with tempfile.TemporaryDirectory() as F: # temporarily copy the STEP stepfile = os.path.join(F, "data.step") with open(stepfile, "wb") as f: f.write(file_obj.read()) # where to save the converted GLB glbfile = os.path.join(F, "converted.glb") # the arguments for cascadio are not optional so # filter out any `None` value arguments here cascadio_kwargs = { "merge_primitives": bool(merge_primitives), "tol_linear": tol_linear, "tol_angular": tol_angular, "tol_relative": tol_relative, } # run the conversion cascadio.step_to_glb( stepfile, glbfile, **{k: v for k, v in cascadio_kwargs.items() if v is not None}, ) with open(glbfile, "rb") as f: # return the parsed intermediate file return load_glb(file_obj=f, merge_primitives=merge_primitives, **kwargs) try: # wheels for most platforms: `pip install cascadio` import cascadio _cascade_loaders = {"stp": load_step, "step": load_step} except BaseException: _cascade_loaders = {} trimesh-4.5.1/trimesh/exchange/dae.py000066400000000000000000000345211470574263400175550ustar00rootroot00000000000000import copy import io import uuid import numpy as np from .. import util, visual from ..constants import log from ..util import unique_name _EYE = np.eye(4) _EYE.flags.writeable = False def load_collada(file_obj, resolver=None, ignore_broken=True, **kwargs): """ Load a COLLADA (.dae) file into a list of trimesh kwargs. Parameters ---------- file_obj : file object Containing a COLLADA file resolver : trimesh.visual.Resolver or None For loading referenced files, like texture images ignore_broken: bool Ignores broken references during loading: [collada.common.DaeUnsupportedError, collada.common.DaeBrokenRefError] kwargs : ** Passed to trimesh.Trimesh.__init__ Returns ------- loaded : list of dict kwargs for Trimesh constructor """ import collada if ignore_broken: ignores = [ collada.common.DaeError, collada.common.DaeIncompleteError, collada.common.DaeMalformedError, collada.common.DaeBrokenRefError, collada.common.DaeUnsupportedError, collada.common.DaeIncompleteError, ] else: ignores = None # load scene using pycollada c = collada.Collada(file_obj, ignore=ignores) # Create material map from Material ID to trimesh material material_map = {} for m in c.materials: effect = m.effect material_map[m.id] = _parse_material(effect, resolver) unit = c.assetInfo.unitmeter if unit is None or np.isclose(unit, 1.0): metadata = {"units": "meters"} else: metadata = {"units": f"{unit} * meters"} # name : kwargs meshes = {} # increments to enable `unique_name` to avoid n^2 behavior meshes_count = {} # list of dict graph = [] for node in c.scene.nodes: _parse_node( node=node, parent_matrix=_EYE, material_map=material_map, meshes=meshes, meshes_count=meshes_count, graph=graph, resolver=resolver, metadata=metadata, ) return {"class": "Scene", "graph": graph, "geometry": meshes} def export_collada(mesh, **kwargs): """ Export a mesh or a list of meshes as a COLLADA .dae file. Parameters ----------- mesh: Trimesh object or list of Trimesh objects The mesh(es) to export. Returns ----------- export: str, string of COLLADA format output """ import collada meshes = mesh if not isinstance(mesh, (list, tuple, set, np.ndarray)): meshes = [mesh] c = collada.Collada() nodes = [] for i, m in enumerate(meshes): # Load uv, colors, materials uv = None colors = None mat = _unparse_material(None) if m.visual.defined: if m.visual.kind == "texture": mat = _unparse_material(m.visual.material) uv = m.visual.uv elif m.visual.kind == "vertex": colors = (m.visual.vertex_colors / 255.0)[:, :3] mat.effect.diffuse = np.array(m.visual.main_color) / 255.0 elif m.visual.kind == "face": mat.effect.diffuse = np.array(m.visual.main_color) / 255.0 c.effects.append(mat.effect) c.materials.append(mat) # Create geometry object vertices = collada.source.FloatSource( "verts-array", m.vertices.flatten(), ("X", "Y", "Z") ) normals = collada.source.FloatSource( "normals-array", m.vertex_normals.flatten(), ("X", "Y", "Z") ) input_list = collada.source.InputList() input_list.addInput(0, "VERTEX", "#verts-array") input_list.addInput(1, "NORMAL", "#normals-array") arrays = [vertices, normals] if (uv is not None) and (len(uv) > 0): texcoords = collada.source.FloatSource( "texcoords-array", uv.flatten(), ("U", "V") ) input_list.addInput(2, "TEXCOORD", "#texcoords-array") arrays.append(texcoords) if colors is not None: idx = 2 if uv: idx = 3 colors = collada.source.FloatSource( "colors-array", colors.flatten(), ("R", "G", "B") ) input_list.addInput(idx, "COLOR", "#colors-array") arrays.append(colors) geom = collada.geometry.Geometry(c, uuid.uuid4().hex, uuid.uuid4().hex, arrays) indices = np.repeat(m.faces.flatten(), len(arrays)) matref = f"material{i}" triset = geom.createTriangleSet(indices, input_list, matref) geom.primitives.append(triset) c.geometries.append(geom) matnode = collada.scene.MaterialNode(matref, mat, inputs=[]) geomnode = collada.scene.GeometryNode(geom, [matnode]) node = collada.scene.Node(f"node{i}", children=[geomnode]) nodes.append(node) scene = collada.scene.Scene("scene", nodes) c.scenes.append(scene) c.scene = scene b = io.BytesIO() c.write(b) b.seek(0) return b.read() def _parse_node( node, parent_matrix, material_map, meshes, meshes_count, graph, resolver, metadata ): """ Recursively parse COLLADA scene nodes. """ import collada # Parse mesh node if isinstance(node, collada.scene.GeometryNode): geometry = node.geometry # Create local material map from material symbol to actual material local_material_map = {} for mn in node.materials: symbol = mn.symbol m = mn.target if m.id in material_map: local_material_map[symbol] = material_map[m.id] else: local_material_map[symbol] = _parse_material(m, resolver) # Iterate over primitives of geometry for primitive in geometry.primitives: if isinstance(primitive, collada.polylist.Polylist): primitive = primitive.triangleset() if isinstance(primitive, collada.triangleset.TriangleSet): vertex = primitive.vertex if vertex is None: continue vertex_index = primitive.vertex_index vertices = vertex[vertex_index].reshape(len(vertex_index) * 3, 3) # Get normals if present normals = None if primitive.normal is not None: normal = primitive.normal normal_index = primitive.normal_index normals = normal[normal_index].reshape(len(normal_index) * 3, 3) # Get colors if present colors = None s = primitive.sources if "COLOR" in s and len(s["COLOR"]) > 0 and len(primitive.index) > 0: color = s["COLOR"][0][4].data color_index = primitive.index[:, :, s["COLOR"][0][0]] colors = color[color_index].reshape(len(color_index) * 3, -1) faces = np.arange(vertices.shape[0]).reshape(vertices.shape[0] // 3, 3) # Get UV coordinates if possible vis = None if primitive.material in local_material_map: material = copy.copy(local_material_map[primitive.material]) uv = None if len(primitive.texcoordset) > 0: texcoord = primitive.texcoordset[0] texcoord_index = primitive.texcoord_indexset[0] uv = texcoord[texcoord_index].reshape( (len(texcoord_index) * 3, 2) ) vis = visual.texture.TextureVisuals(uv=uv, material=material) geom_name = unique_name(geometry.id, contains=meshes, counts=meshes_count) meshes[geom_name] = { "vertices": vertices, "faces": faces, "vertex_normals": normals, "vertex_colors": colors, "visual": vis, "metadata": metadata, } graph.append( { "frame_to": geom_name, "matrix": parent_matrix, "geometry": geom_name, } ) # recurse down tree for nodes with children elif isinstance(node, collada.scene.Node): if node.children is not None: for child in node.children: # create the new matrix matrix = np.dot(parent_matrix, node.matrix) # parse the child node _parse_node( node=child, parent_matrix=matrix, material_map=material_map, meshes=meshes, meshes_count=meshes_count, graph=graph, resolver=resolver, metadata=metadata, ) elif isinstance(node, collada.scene.CameraNode): # TODO: convert collada cameras to trimesh cameras pass elif isinstance(node, collada.scene.LightNode): # TODO: convert collada lights to trimesh lights pass def _load_texture(file_name, resolver): """ Load a texture from a file into a PIL image. """ from PIL import Image file_data = resolver.get(file_name) image = Image.open(util.wrap_as_stream(file_data)) return image def _parse_material(effect, resolver): """ Turn a COLLADA effect into a trimesh material. """ import collada # Compute base color baseColorFactor = np.ones(4) baseColorTexture = None if isinstance(effect.diffuse, collada.material.Map): try: baseColorTexture = _load_texture( effect.diffuse.sampler.surface.image.path, resolver ) except BaseException: log.debug("unable to load base texture", exc_info=True) elif effect.diffuse is not None: baseColorFactor = effect.diffuse # Compute emission color emissiveFactor = np.zeros(3) emissiveTexture = None if isinstance(effect.emission, collada.material.Map): try: emissiveTexture = _load_texture( effect.diffuse.sampler.surface.image.path, resolver ) except BaseException: log.warning("unable to load emissive texture", exc_info=True) elif effect.emission is not None: emissiveFactor = effect.emission[:3] # Compute roughness roughnessFactor = 1.0 if ( not isinstance(effect.shininess, collada.material.Map) and effect.shininess is not None ): roughnessFactor = np.sqrt(2.0 / (2.0 + effect.shininess)) # Compute metallic factor metallicFactor = 0.0 # Compute normal texture normalTexture = None if effect.bumpmap is not None: try: normalTexture = _load_texture( effect.bumpmap.sampler.surface.image.path, resolver ) except BaseException: log.warning("unable to load bumpmap", exc_info=True) # Compute opacity if effect.transparent is not None and not isinstance( effect.transparent, collada.material.Map ): baseColorFactor = tuple( np.append(baseColorFactor[:3], float(effect.transparent[3])) ) return visual.material.PBRMaterial( emissiveFactor=emissiveFactor, emissiveTexture=emissiveTexture, normalTexture=normalTexture, baseColorTexture=baseColorTexture, baseColorFactor=baseColorFactor, metallicFactor=metallicFactor, roughnessFactor=roughnessFactor, ) def _unparse_material(material): """ Turn a trimesh material into a COLLADA material. """ import collada # TODO EXPORT TEXTURES if isinstance(material, visual.material.PBRMaterial): diffuse = material.baseColorFactor if diffuse is None: diffuse = np.array([255.0, 255.0, 255.0, 255.0]) diffuse = diffuse / 255.0 if diffuse is not None: diffuse = list(diffuse) emission = material.emissiveFactor if emission is not None: emission = [float(emission[0]), float(emission[1]), float(emission[2]), 1.0] shininess = material.roughnessFactor if shininess is None: shininess = 1.0 if shininess is not None: shininess = 2.0 / shininess**2 - 2.0 effect = collada.material.Effect( uuid.uuid4().hex, params=[], shadingtype="phong", diffuse=diffuse, emission=emission, specular=[1.0, 1.0, 1.0, 1.0], shininess=float(shininess), ) material = collada.material.Material(uuid.uuid4().hex, "pbrmaterial", effect) else: effect = collada.material.Effect(uuid.uuid4().hex, params=[], shadingtype="phong") material = collada.material.Material(uuid.uuid4().hex, "defaultmaterial", effect) return material def load_zae(file_obj, resolver=None, **kwargs): """ Load a ZAE file, which is just a zipped DAE file. Parameters ------------- file_obj : file object Contains ZAE data resolver : trimesh.visual.Resolver Resolver to load additional assets kwargs : dict Passed to load_collada Returns ------------ loaded : dict Results of loading """ # a dict, {file name : file object} archive = util.decompress(file_obj, file_type="zip") # load the first file with a .dae extension file_name = next(i for i in archive.keys() if i.lower().endswith(".dae")) # a resolver so the loader can load textures / etc resolver = visual.resolvers.ZipResolver(archive) # run the regular collada loader loaded = load_collada(archive[file_name], resolver=resolver, **kwargs) return loaded # only provide loaders if `pycollada` is installed _collada_loaders = {} _collada_exporters = {} if util.has_module("collada"): _collada_loaders["dae"] = load_collada _collada_loaders["zae"] = load_zae _collada_exporters["dae"] = export_collada else: # store an exception to raise later from ..exceptions import ExceptionWrapper _exc = ExceptionWrapper(ImportError("missing `pip install pycollada`")) _collada_loaders.update({"dae": _exc, "zae": _exc}) _collada_exporters["dae"] = _exc trimesh-4.5.1/trimesh/exchange/export.py000066400000000000000000000243341470574263400203460ustar00rootroot00000000000000import json import os import numpy as np from .. import resolvers, util from ..constants import log from .dae import _collada_exporters from .gltf import export_glb, export_gltf from .obj import export_obj from .off import _off_exporters from .ply import _ply_exporters from .stl import export_stl, export_stl_ascii from .threemf import _3mf_exporters from .urdf import export_urdf # NOQA from .xyz import _xyz_exporters def export_mesh(mesh, file_obj, file_type=None, resolver=None, **kwargs): """ Export a Trimesh object to a file- like object, or to a filename Parameters ----------- file_obj : str, file-like Where should mesh be exported to file_type : str or None Represents file type (eg: 'stl') resolver : None or trimesh.resolvers.Resolver Resolver to write referenced assets to Returns ---------- exported : bytes or str Result of exporter """ # if we opened a file object in this function # we will want to close it when we're done was_opened = False file_name = None if util.is_pathlib(file_obj): # handle `pathlib` objects by converting to string file_obj = str(file_obj.absolute()) if isinstance(file_obj, str): if file_type is None: # get file type from file name file_type = (str(file_obj).split(".")[-1]).lower() if file_type in _mesh_exporters: was_opened = True file_name = file_obj # get full path of file before opening file_path = os.path.abspath(os.path.expanduser(file_obj)) file_obj = open(file_path, "wb") if resolver is None: # create a resolver which can write files to the path resolver = resolvers.FilePathResolver(file_path) # make sure file type is lower case file_type = str(file_type).lower() if file_type not in _mesh_exporters: raise ValueError("%s exporter not available!", file_type) if isinstance(mesh, (list, tuple, set, np.ndarray)): faces = 0 for m in mesh: faces += len(m.faces) log.debug( "Exporting %d meshes with a total of %d faces as %s", len(mesh), faces, file_type.upper(), ) elif hasattr(mesh, "faces"): # if the mesh has faces log the number log.debug("Exporting %d faces as %s", len(mesh.faces), file_type.upper()) # OBJ files save assets everywhere if file_type == "obj": kwargs["resolver"] = resolver # run the exporter export = _mesh_exporters[file_type](mesh, **kwargs) # if the export is multiple files (i.e. GLTF) if isinstance(export, dict): # if we have a filename rename the default GLTF if file_name is not None and "model.gltf" in export: export[os.path.basename(file_name)] = export.pop("model.gltf") # write the files if a resolver has been passed if resolver is not None: for name, data in export.items(): resolver.write(name=name, data=data) return export if hasattr(file_obj, "write"): result = util.write_encoded(file_obj, export) else: result = export # if we opened anything close it here if was_opened: file_obj.close() return result def export_dict64(mesh): """ Export a mesh as a dictionary, with data encoded to base64. """ return export_dict(mesh, encoding="base64") def export_dict(mesh, encoding=None): """ Export a mesh to a dict Parameters ------------ mesh : trimesh.Trimesh Mesh to be exported encoding : str or None Such as 'base64' Returns ------------- export : dict Data stored in dict """ def encode(item, dtype=None): if encoding is None: return item.tolist() else: if dtype is None: dtype = item.dtype return util.array_to_encoded(item, dtype=dtype, encoding=encoding) # metadata keys we explicitly want to preserve # sometimes there are giant datastructures we don't # care about in metadata which causes exports to be # extremely slow, so skip all but known good keys meta_keys = ["units", "file_name", "file_path"] metadata = {k: v for k, v in mesh.metadata.items() if k in meta_keys} export = { "metadata": metadata, "faces": encode(mesh.faces), "face_normals": encode(mesh.face_normals), "vertices": encode(mesh.vertices), } if mesh.visual.kind == "face": export["face_colors"] = encode(mesh.visual.face_colors) elif mesh.visual.kind == "vertex": export["vertex_colors"] = encode(mesh.visual.vertex_colors) return export def scene_to_dict(scene, use_base64=False, include_metadata=True): """ Export a Scene object as a dict. Parameters ------------- scene : trimesh.Scene Scene object to be exported Returns ------------- as_dict : dict Scene as a dict """ # save some basic data about the scene export = { "graph": scene.graph.to_edgelist(), "geometry": {}, "scene_cache": { "bounds": scene.bounds.tolist(), "extents": scene.extents.tolist(), "centroid": scene.centroid.tolist(), "scale": scene.scale, }, } if include_metadata: try: # jsonify will convert numpy arrays to lists recursively # a little silly round-tripping to json but it is pretty fast export["metadata"] = json.loads(util.jsonify(scene.metadata)) except BaseException: log.warning("failed to serialize metadata", exc_info=True) # encode arrays with base64 or not if use_base64: file_type = "dict64" else: file_type = "dict" # if the mesh has an export method use it # otherwise put the mesh itself into the export object for geometry_name, geometry in scene.geometry.items(): if hasattr(geometry, "export"): # export the data exported = { "data": geometry.export(file_type=file_type), "file_type": file_type, } export["geometry"][geometry_name] = exported else: # case where mesh object doesn't have exporter # might be that someone replaced the mesh with a URL export["geometry"][geometry_name] = geometry return export def export_scene(scene, file_obj, file_type=None, resolver=None, **kwargs): """ Export a snapshot of the current scene. Parameters ---------- file_obj : str, file-like, or None File object to export to file_type : str or None What encoding to use for meshes IE: dict, dict64, stl Returns ---------- export : bytes Only returned if file_obj is None """ if len(scene.geometry) == 0: raise ValueError("Can't export empty scenes!") if util.is_pathlib(file_obj): # handle `pathlib` objects by converting to string file_obj = str(file_obj.absolute()) # if we weren't passed a file type extract from file_obj if file_type is None: if isinstance(file_obj, str): file_type = str(file_obj).split(".")[-1] else: raise ValueError("file_type not specified!") # always remove whitespace and leading characters file_type = file_type.strip().lower().lstrip(".") # now handle our different scene export types if file_type == "gltf": data = export_gltf(scene, **kwargs) elif file_type == "glb": data = export_glb(scene, **kwargs) elif file_type == "dict": data = scene_to_dict(scene, *kwargs) elif file_type == "obj": # if we are exporting by name automatically create a # resolver which lets the exporter write assets like # the materials and textures next to the exported mesh if resolver is None and isinstance(file_obj, str): resolver = resolvers.FilePathResolver(file_obj) data = export_obj(scene, resolver=resolver, **kwargs) elif file_type == "dict64": data = scene_to_dict(scene, use_base64=True) elif file_type == "svg": from trimesh.path.exchange import svg_io data = svg_io.export_svg(scene, **kwargs) elif file_type == "ply": data = _mesh_exporters["ply"](scene.to_mesh(), **kwargs) elif file_type == "stl": data = export_stl(scene.to_mesh(), **kwargs) elif file_type == "3mf": data = _mesh_exporters["3mf"](scene, **kwargs) else: raise ValueError(f"unsupported export format: {file_type}") # now write the data or return bytes of result if isinstance(data, dict): # GLTF files return a dict-of-bytes as they # represent multiple files so create a filepath # resolver and write the files if someone passed # a path we can write to. if resolver is None and isinstance(file_obj, str): resolver = resolvers.FilePathResolver(file_obj) # the requested "gltf" bare_path = os.path.split(file_obj)[-1] for name, blob in data.items(): if name == "model.gltf": # write the root data to specified file resolver.write(bare_path, blob) else: # write the supporting files resolver.write(name, blob) return data if hasattr(file_obj, "write"): # if it's just a regular file object return util.write_encoded(file_obj, data) elif isinstance(file_obj, str): # assume strings are file paths file_path = os.path.abspath(os.path.expanduser(file_obj)) with open(file_path, "wb") as f: util.write_encoded(f, data) # no writeable file object so return data return data _mesh_exporters = { "stl": export_stl, "dict": export_dict, "glb": export_glb, "obj": export_obj, "gltf": export_gltf, "dict64": export_dict64, "stl_ascii": export_stl_ascii, } _mesh_exporters.update(_ply_exporters) _mesh_exporters.update(_off_exporters) _mesh_exporters.update(_collada_exporters) _mesh_exporters.update(_xyz_exporters) _mesh_exporters.update(_3mf_exporters) trimesh-4.5.1/trimesh/exchange/gltf.py000066400000000000000000002124711470574263400177620ustar00rootroot00000000000000""" gltf.py ------------ Provides GLTF 2.0 exports of trimesh.Trimesh objects as GL_TRIANGLES, and trimesh.Path2D/Path3D as GL_LINES """ import base64 import json from collections import OrderedDict, defaultdict, deque import numpy as np from .. import rendering, resources, transformations, util, visual from ..caching import hash_fast from ..constants import log, tol from ..resolvers import Resolver, ZipResolver from ..scene.cameras import Camera from ..typed import Mapping, NDArray, Optional, Stream, Union from ..util import triangle_strips_to_faces, unique_name from ..visual.gloss import specular_to_pbr # magic numbers which have meaning in GLTF # most are uint32's of UTF-8 text _magic = {"gltf": 1179937895, "json": 1313821514, "bin": 5130562} # GLTF data type codes: little endian numpy dtypes _dtypes = {5120: " 0: tree["buffers"] = buffers tree["bufferViews"] = views # dump tree with compact separators files["model.gltf"] = util.jsonify(tree, separators=(",", ":")).encode("utf-8") if tol.strict: validate(tree) return files def export_glb( scene, include_normals=None, unitize_normals=True, tree_postprocessor=None, buffer_postprocessor=None, extension_webp=False, ): """ Export a scene as a binary GLTF (GLB) file. Parameters ------------ scene: trimesh.Scene Input geometry extras : JSON serializable Will be stored in the extras field. include_normals : bool Include vertex normals in output file? tree_postprocessor : func Custom function to (in-place) post-process the tree before exporting. extension_webp : bool Export textures as webP using EXT_texture_webp extension. Returns ---------- exported : bytes Exported result in GLB 2.0 """ # if we were passed a bare Trimesh or Path3D object if not util.is_instance_named(scene, "Scene") and hasattr(scene, "scene"): # generate a scene with just that mesh in it scene = scene.scene() tree, buffer_items = _create_gltf_structure( scene=scene, unitize_normals=unitize_normals, include_normals=include_normals, buffer_postprocessor=buffer_postprocessor, extension_webp=extension_webp, ) # A bufferView is a slice of a file views = _build_views(buffer_items) # combine bytes into a single blob buffer_data = b"".join(buffer_items.values()) # add the information about the buffer data if len(buffer_data) > 0: tree["buffers"] = [{"byteLength": len(buffer_data)}] tree["bufferViews"] = views # allow custom postprocessing if tree_postprocessor is not None: tree_postprocessor(tree) # export the tree to JSON for the header content = util.jsonify(tree, separators=(",", ":")) # add spaces to content, so the start of the data # is 4 byte aligned as per spec content += (4 - ((len(content) + 20) % 4)) * " " content = content.encode("utf-8") # make sure we didn't screw it up assert (len(content) % 4) == 0 # the initial header of the file header = _byte_pad( np.array( [ _magic["gltf"], # magic, turns into glTF 2, # GLTF version # length is the total length of the Binary glTF # including Header and all Chunks, in bytes. len(content) + len(buffer_data) + 28, # contentLength is the length, in bytes, # of the glTF content (JSON) len(content), # magic number which is 'JSON' _magic["json"], ], dtype=" 0: try: # fail here if data isn't json compatible # only export the extras if there is something there tree["scenes"][0]["extras"] = _jsonify(scene.metadata) extensions = tree["scenes"][0]["extras"].pop("gltf_extensions", None) if isinstance(extensions, dict): tree["extensions"] = extensions except BaseException: log.debug("failed to export scene metadata!", exc_info=True) # store materials as {hash : index} to avoid duplicates mat_hashes = {} # store data from geometries buffer_items = OrderedDict() # map the name of each mesh to the index in tree['meshes'] mesh_index = {} previous = len(tree["meshes"]) # loop through every geometry for name, geometry in scene.geometry.items(): if util.is_instance_named(geometry, "Trimesh"): # add the mesh _append_mesh( mesh=geometry, name=name, tree=tree, buffer_items=buffer_items, include_normals=include_normals, unitize_normals=unitize_normals, mat_hashes=mat_hashes, extension_webp=extension_webp, ) elif util.is_instance_named(geometry, "Path"): # add Path2D and Path3D objects _append_path(path=geometry, name=name, tree=tree, buffer_items=buffer_items) elif util.is_instance_named(geometry, "PointCloud"): # add PointCloud objects _append_point( points=geometry, name=name, tree=tree, buffer_items=buffer_items ) # only store the index if the append did anything if len(tree["meshes"]) != previous: previous = len(tree["meshes"]) mesh_index[name] = previous - 1 # grab the flattened scene graph in GLTF's format nodes = scene.graph.to_gltf(scene=scene, mesh_index=mesh_index) tree.update(nodes) extensions_used = set() # Add any scene extensions used if "extensions" in tree: extensions_used = extensions_used.union(set(tree["extensions"].keys())) # Add any mesh extensions used for mesh in tree["meshes"]: if "extensions" in mesh: extensions_used = extensions_used.union(set(mesh["extensions"].keys())) # Add any extensions already in the tree (e.g. node extensions) if "extensionsUsed" in tree: extensions_used = extensions_used.union(set(tree["extensionsUsed"])) # Add WebP if used if extension_webp: extensions_used.add("EXT_texture_webp") if len(extensions_used) > 0: tree["extensionsUsed"] = list(extensions_used) # Also add WebP to required (no fallback currently implemented) # 'extensionsRequired' aren't currently used so this doesn't overwrite if extension_webp: tree["extensionsRequired"] = ["EXT_texture_webp"] if buffer_postprocessor is not None: buffer_postprocessor(buffer_items, tree) # convert accessors back to a flat list tree["accessors"] = list(tree["accessors"].values()) # cull empty or unpopulated fields # check keys that might be empty so we can remove them check = ["textures", "materials", "images", "accessors", "meshes"] # remove the keys with nothing stored in them [tree.pop(key) for key in check if len(tree[key]) == 0] return tree, buffer_items def _append_mesh( mesh, name, tree, buffer_items, include_normals: Optional[bool], unitize_normals: bool, mat_hashes: dict, extension_webp: bool, ): """ Append a mesh to the scene structure and put the data into buffer_items. Parameters ------------- mesh : trimesh.Trimesh Source geometry name : str Name of geometry tree : dict Will be updated with data from mesh buffer_items Will have buffer appended with mesh data include_normals : bool Include vertex normals in export or not unitize_normals : bool Transform normals into unit vectors. May be undesirable but will fail validators without this. mat_hashes : dict Which materials have already been added extension_webp : bool Export textures as webP (using glTF's EXT_texture_webp extension). """ # return early from empty meshes to avoid crashing later if len(mesh.faces) == 0 or len(mesh.vertices) == 0: log.debug("skipping empty mesh!") return # convert mesh data to the correct dtypes # faces: 5125 is an unsigned 32 bit integer # accessors refer to data locations # mesh faces are stored as flat list of integers acc_face = _data_append( acc=tree["accessors"], buff=buffer_items, blob={"componentType": 5125, "type": "SCALAR"}, data=mesh.faces.astype(uint32), ) # vertices: 5126 is a float32 # create or reuse an accessor for these vertices acc_vertex = _data_append( acc=tree["accessors"], buff=buffer_items, blob={"componentType": 5126, "type": "VEC3", "byteOffset": 0}, data=mesh.vertices.astype(float32), ) # meshes reference accessor indexes current = { "name": name, "extras": {}, "primitives": [ { "attributes": {"POSITION": acc_vertex}, "indices": acc_face, "mode": _GL_TRIANGLES, } ], } # if units are defined, store them as an extra # the GLTF spec says everything is implicit meters # we're not doing that as our unit conversions are expensive # although that might be better, implicit works for 3DXML # https://github.com/KhronosGroup/glTF/tree/master/extensions try: # skip jsonify any metadata, skipping internal keys current["extras"] = _jsonify(mesh.metadata) # extract extensions if any extensions = current["extras"].pop("gltf_extensions", None) if isinstance(extensions, dict): current["extensions"] = extensions if mesh.units not in [None, "m", "meters", "meter"]: current["extras"]["units"] = str(mesh.units) except BaseException: log.debug("metadata not serializable, dropping!", exc_info=True) # check to see if we have vertex or face colors # or if a TextureVisual has colors included as an attribute if mesh.visual.kind in ["vertex", "face"]: vertex_colors = mesh.visual.vertex_colors elif ( hasattr(mesh.visual, "vertex_attributes") and "color" in mesh.visual.vertex_attributes ): vertex_colors = mesh.visual.vertex_attributes["color"] else: vertex_colors = None if vertex_colors is not None: # convert color data to bytes and append acc_color = _data_append( acc=tree["accessors"], buff=buffer_items, blob={ "componentType": 5121, "normalized": True, "type": "VEC4", "byteOffset": 0, }, data=vertex_colors.astype(uint8), ) # add the reference for vertex color current["primitives"][0]["attributes"]["COLOR_0"] = acc_color if hasattr(mesh.visual, "material"): # append the material and then set from returned index current_material = _append_material( mat=mesh.visual.material, tree=tree, buffer_items=buffer_items, mat_hashes=mat_hashes, extension_webp=extension_webp, ) # if mesh has UV coordinates defined export them has_uv = ( hasattr(mesh.visual, "uv") and mesh.visual.uv is not None and len(mesh.visual.uv) == len(mesh.vertices) ) if has_uv: # slice off W if passed uv = mesh.visual.uv.copy()[:, :2] # reverse the Y for GLTF uv[:, 1] = 1.0 - uv[:, 1] # add an accessor describing the blob of UV's acc_uv = _data_append( acc=tree["accessors"], buff=buffer_items, blob={"componentType": 5126, "type": "VEC2", "byteOffset": 0}, data=uv.astype(float32), ) # add the reference for UV coordinates current["primitives"][0]["attributes"]["TEXCOORD_0"] = acc_uv # reference the material current["primitives"][0]["material"] = current_material if include_normals or ( include_normals is None and "vertex_normals" in mesh._cache.cache ): # store vertex normals if requested if unitize_normals: normals = util.unitize(mesh.vertex_normals) else: # we don't have to copy them since # they aren't being altered normals = mesh.vertex_normals acc_norm = _data_append( acc=tree["accessors"], buff=buffer_items, blob={ "componentType": 5126, "count": len(mesh.vertices), "type": "VEC3", "byteOffset": 0, }, data=normals.astype(float32), ) # add the reference for vertex color current["primitives"][0]["attributes"]["NORMAL"] = acc_norm # for each attribute with a leading underscore, assign them to trimesh # vertex_attributes for key, attrib in mesh.vertex_attributes.items(): # Application specific attributes must be # prefixed with an underscore if not key.startswith("_"): key = "_" + key # GLTF has no floating point type larger than 32 bits so clip # any float64 or larger to float32 if attrib.dtype.kind == "f" and attrib.dtype.itemsize > 4: data = attrib.astype(np.float32) else: data = attrib # store custom vertex attributes current["primitives"][0]["attributes"][key] = _data_append( acc=tree["accessors"], buff=buffer_items, blob=_build_accessor(data), data=data, ) tree["meshes"].append(current) def _build_views(buffer_items): """ Create views for buffers that are simply based on how many bytes they are long. Parameters -------------- buffer_items : OrderedDict Buffers to build views for Returns ---------- views : (n,) list of dict GLTF views """ views = [] # create the buffer views current_pos = 0 for current_item in buffer_items.values(): views.append( {"buffer": 0, "byteOffset": current_pos, "byteLength": len(current_item)} ) assert (current_pos % 4) == 0 assert (len(current_item) % 4) == 0 current_pos += len(current_item) return views def _build_accessor(array): """ Build an accessor for an arbitrary array. Parameters ----------- array : numpy array The array to build an accessor for Returns ---------- accessor : dict The accessor for array. """ shape = array.shape data_type = "SCALAR" if len(shape) == 2: vec_length = shape[1] if vec_length > 4: raise ValueError("The GLTF spec does not support vectors larger than 4") if vec_length > 1: data_type = "VEC%d" % vec_length else: data_type = "SCALAR" if len(shape) == 3: if shape[2] not in [2, 3, 4]: raise ValueError("Matrix types must have 4, 9 or 16 components") data_type = "MAT%d" % shape[2] # get the array data type as a str stripping off endian lookup = array.dtype.str.lstrip("<>") if lookup == "u4": # spec: UNSIGNED_INT is only allowed when the accessor # contains indices i.e. the accessor is only referenced # by `primitive.indices` log.debug("custom uint32 may cause validation failures") # map the numpy dtype to a GLTF code (i.e. 5121) componentType = _dtypes_lookup[lookup] accessor = {"componentType": componentType, "type": data_type, "byteOffset": 0} if len(shape) < 3: accessor["max"] = array.max(axis=0).tolist() accessor["min"] = array.min(axis=0).tolist() return accessor def _byte_pad(data, bound=4): """ GLTF wants chunks aligned with 4 byte boundaries. This function will add padding to the end of a chunk of bytes so that it aligns with the passed boundary size. Parameters -------------- data : bytes Data to be padded bound : int Length of desired boundary Returns -------------- padded : bytes Result where: (len(padded) % bound) == 0 """ assert isinstance(data, bytes) if len(data) % bound != 0: # extra bytes to pad with count = bound - (len(data) % bound) # bytes(count) only works on Python 3 pad = (" " * count).encode("utf-8") # combine the padding and data result = b"".join([data, pad]) # we should always divide evenly if tol.strict and (len(result) % bound) != 0: raise ValueError("byte_pad failed!") return result return data def _append_path(path, name, tree, buffer_items): """ Append a 2D or 3D path to the scene structure and put the data into buffer_items. Parameters ------------- path : trimesh.Path2D or trimesh.Path3D Source geometry name : str Name of geometry tree : dict Will be updated with data from path buffer_items Will have buffer appended with path data """ # convert the path to the unnamed args for # a pyglet vertex list vxlist = rendering.path_to_vertexlist(path) # of the count of things to export is zero exit early if vxlist[0] == 0: return # TODO add color support to Path object # this is just exporting everying as black try: material_idx = tree["materials"].index(_default_material) except ValueError: material_idx = len(tree["materials"]) tree["materials"].append(_default_material) # data is the second value of the fifth field # which is a (data type, data) tuple acc_vertex = _data_append( acc=tree["accessors"], buff=buffer_items, blob={"componentType": 5126, "type": "VEC3", "byteOffset": 0}, data=vxlist[4][1].astype(float32), ) current = { "name": name, "primitives": [ { "attributes": {"POSITION": acc_vertex}, "mode": _GL_LINES, # i.e. 1 "material": material_idx, } ], } # if units are defined, store them as an extra: # https://github.com/KhronosGroup/glTF/tree/master/extensions try: current["extras"] = _jsonify(path.metadata) except BaseException: log.debug("failed to serialize metadata, dropping!", exc_info=True) if path.colors is not None: acc_color = _data_append( acc=tree["accessors"], buff=buffer_items, blob={ "componentType": 5121, "normalized": True, "type": "VEC4", "byteOffset": 0, }, data=np.array(vxlist[5][1]).astype(uint8), ) # add color to attributes current["primitives"][0]["attributes"]["COLOR_0"] = acc_color tree["meshes"].append(current) def _append_point(points, name, tree, buffer_items): """ Append a 2D or 3D pointCloud to the scene structure and put the data into buffer_items. Parameters ------------- points : trimesh.PointCloud Source geometry name : str Name of geometry tree : dict Will be updated with data from points buffer_items Will have buffer appended with points data """ # convert the points to the unnamed args for # a pyglet vertex list vxlist = rendering.points_to_vertexlist(points=points.vertices, colors=points.colors) # data is the second value of the fifth field # which is a (data type, data) tuple acc_vertex = _data_append( acc=tree["accessors"], buff=buffer_items, blob={"componentType": 5126, "type": "VEC3", "byteOffset": 0}, data=vxlist[4][1].astype(float32), ) current = { "name": name, "primitives": [ { "attributes": {"POSITION": acc_vertex}, "mode": _GL_POINTS, "material": len(tree["materials"]), } ], } # TODO add color support to Points object # this is just exporting everying as black tree["materials"].append(_default_material) if len(np.shape(points.colors)) == 2: # colors may be returned as "c3f" or other RGBA color_type, color_data = vxlist[5] if "3" in color_type: kind = "VEC3" elif "4" in color_type: kind = "VEC4" else: raise ValueError("unknown color: %s", color_type) acc_color = _data_append( acc=tree["accessors"], buff=buffer_items, blob={ "componentType": 5121, "count": vxlist[0], "normalized": True, "type": kind, "byteOffset": 0, }, data=np.array(color_data).astype(uint8), ) # add color to attributes current["primitives"][0]["attributes"]["COLOR_0"] = acc_color tree["meshes"].append(current) def _parse_textures(header, views, resolver=None): try: import PIL.Image except ImportError: log.debug("unable to load textures without pillow!") return None # load any images images = None if "images" in header: # images are referenced by index images = [None] * len(header["images"]) # loop through images for i, img in enumerate(header["images"]): # get the bytes representing an image if "bufferView" in img: blob = views[img["bufferView"]] elif "uri" in img: # will get bytes from filesystem or base64 URI blob = _uri_to_bytes(uri=img["uri"], resolver=resolver) else: log.debug(f"unable to load image from: {img.keys()}") continue # i.e. 'image/jpeg' # mime = img['mimeType'] try: # load the buffer into a PIL image images[i] = PIL.Image.open(util.wrap_as_stream(blob)) except BaseException: log.error("failed to load image!", exc_info=True) return images def _parse_materials(header, views, resolver=None): """ Convert materials and images stored in a GLTF header and buffer views to PBRMaterial objects. Parameters ------------ header : dict Contains layout of file views : (n,) bytes Raw data Returns ------------ materials : list List of trimesh.visual.texture.Material objects """ def parse_values_and_textures(input_dict): result = {} for k, v in input_dict.items(): if isinstance(v, (list, tuple)): # colors are always float 0.0 - 1.0 in GLTF result[k] = np.array(v, dtype=np.float64) elif not isinstance(v, dict): result[k] = v elif images is not None and "index" in v: try: # get the index of image for texture texture = header["textures"][v["index"]] # check to see if this is using a webp extension texture # should this be case sensitive? webp = ( texture.get("extensions", {}) .get("EXT_texture_webp", {}) .get("source") ) if webp is not None: idx = webp else: # fallback (or primary, if extensions are not present) idx = texture["source"] # store the actual image as the value result[k] = images[idx] except BaseException: log.debug("unable to store texture", exc_info=True) return result images = _parse_textures(header, views, resolver) # store materials which reference images materials = [] if "materials" in header: for mat in header["materials"]: # flatten key structure so we can loop it loopable = mat.copy() # this key stores another dict of crap if "pbrMetallicRoughness" in loopable: # add keys of keys to top level dict loopable.update(loopable.pop("pbrMetallicRoughness")) ext = mat.get("extensions", {}).get( "KHR_materials_pbrSpecularGlossiness", None ) if isinstance(ext, dict): ext_params = parse_values_and_textures(ext) loopable.update(specular_to_pbr(**ext_params)) # save flattened keys we can use for kwargs pbr = parse_values_and_textures(loopable) # create a PBR material object for the GLTF material materials.append(visual.material.PBRMaterial(**pbr)) return materials def _read_buffers( header, buffers, mesh_kwargs, resolver: Optional[ResolverLike], ignore_broken: bool = False, merge_primitives: bool = False, skip_materials: bool = False, ): """ Given binary data and a layout return the kwargs to create a scene object. Parameters ----------- header : dict With GLTF keys buffers : list of bytes Stored data mesh_kwargs : dict To be passed to the mesh constructor. ignore_broken : bool If there is a mesh we can't load and this is True don't raise an exception but return a partial result merge_primitives : bool If true, combine primitives into a single mesh. skip_materials : bool If true, will not load materials (if present). resolver : trimesh.resolvers.Resolver Resolver to load referenced assets Returns ----------- kwargs : dict Can be passed to load_kwargs for a trimesh.Scene """ if "bufferViews" in header: # split buffer data into buffer views views = [None] * len(header["bufferViews"]) for i, view in enumerate(header["bufferViews"]): if "byteOffset" in view: start = view["byteOffset"] else: start = 0 end = start + view["byteLength"] views[i] = buffers[view["buffer"]][start:end] assert len(views[i]) == view["byteLength"] # load data from buffers into numpy arrays # using the layout described by accessors access = [None] * len(header["accessors"]) for index, a in enumerate(header["accessors"]): # number of items count = a["count"] # what is the datatype dtype = np.dtype(_dtypes[a["componentType"]]) # basically how many columns # for types like (4, 4) per_item = _shapes[a["type"]] # use reported count to generate shape shape = np.append(count, per_item) # number of items when flattened # i.e. a (4, 4) MAT4 has 16 per_count = np.abs(np.prod(per_item)) if "bufferView" in a: # data was stored in a buffer view so get raw bytes # load the bytes data into correct dtype and shape buffer_view = header["bufferViews"][a["bufferView"]] # is the accessor offset in a buffer # will include the start, length, and offset # but not the bytestride as that is easier to do # in numpy rather than in python looping data = views[a["bufferView"]] # both bufferView *and* accessors are allowed # to have a byteOffset start = a.get("byteOffset", 0) if "byteStride" in buffer_view: # how many bytes for each chunk stride = buffer_view["byteStride"] # we want to get the bytes for every row per_row = per_count * dtype.itemsize # the total block we're looking at length = (count - 1) * stride + per_row # apply as_strided for fast construction of strided array # and copy to ensure contiguous layout assert stride > 0, "byteStride should be positive" assert 0 <= start <= start + length <= len(data) access[index] = np.array( np.lib.stride_tricks.as_strided( np.frombuffer( data, dtype=np.uint8, offset=start, count=length ), [count, per_row], [stride, 1], ) .view(dtype) .reshape(shape) ) else: # length is the number of bytes per item times total length = dtype.itemsize * count * per_count access[index] = np.frombuffer( data[start : start + length], dtype=dtype ).reshape(shape) else: # a "sparse" accessor should be initialized as zeros access[index] = np.zeros(count * per_count, dtype=dtype).reshape(shape) # possibly load images and textures into material objects if skip_materials: materials = [] else: materials = _parse_materials(header, views=views, resolver=resolver) mesh_prim = defaultdict(list) # load data from accessors into Trimesh objects meshes = OrderedDict() # keep track of how many times each name has been attempted to # be inserted to avoid a potentially slow search through our # dict of names name_counts = {} for index, m in enumerate(header.get("meshes", [])): try: # GLTF spec indicates implicit units are meters metadata = {"units": "meters"} # try to load all mesh metadata if isinstance(m.get("extras"), dict): metadata.update(m["extras"]) # put any mesh extensions in a field of the metadata if "extensions" in m: metadata["gltf_extensions"] = m["extensions"] for p in m["primitives"]: # if we don't have a triangular mesh continue # if not specified assume it is a mesh kwargs = {"metadata": {}, "process": False} kwargs.update(mesh_kwargs) kwargs["metadata"].update(metadata) # i.e. GL_LINES, GL_TRIANGLES, etc # specification says the default mode is GL_TRIANGLES mode = p.get("mode", _GL_TRIANGLES) # colors, normals, etc attr = p["attributes"] # create a unique mesh name per- primitive name = m.get("name", "GLTF") # make name unique across multiple meshes name = unique_name(name, meshes, counts=name_counts) if mode == _GL_LINES: # load GL_LINES into a Path object from ..path.entities import Line kwargs["vertices"] = access[attr["POSITION"]] kwargs["entities"] = [Line(points=np.arange(len(kwargs["vertices"])))] elif mode == _GL_POINTS: kwargs["vertices"] = access[attr["POSITION"]] elif mode in (_GL_TRIANGLES, _GL_STRIP): # get vertices from accessors kwargs["vertices"] = access[attr["POSITION"]] # get faces from accessors if "indices" in p: if mode == _GL_STRIP: # this is triangle strips flat = access[p["indices"]].reshape(-1) kwargs["faces"] = triangle_strips_to_faces([flat]) else: kwargs["faces"] = access[p["indices"]].reshape((-1, 3)) else: # indices are apparently optional and we are supposed to # do the same thing as webGL drawArrays? if mode == _GL_STRIP: kwargs["faces"] = triangle_strips_to_faces( np.array([np.arange(len(kwargs["vertices"]))]) ) else: # GL_TRIANGLES kwargs["faces"] = np.arange( len(kwargs["vertices"]), dtype=np.int64 ).reshape((-1, 3)) if "NORMAL" in attr: # vertex normals are specified kwargs["vertex_normals"] = access[attr["NORMAL"]] # do we have UV coordinates visuals = None if "material" in p and not skip_materials: if materials is None: log.debug("no materials! `pip install pillow`") else: uv = None if "TEXCOORD_0" in attr: # flip UV's top- bottom to move origin to lower-left: # https://github.com/KhronosGroup/glTF/issues/1021 uv = access[attr["TEXCOORD_0"]].copy() uv[:, 1] = 1.0 - uv[:, 1] # create a texture visual visuals = visual.texture.TextureVisuals( uv=uv, material=materials[p["material"]] ) if "COLOR_0" in attr: try: # try to load vertex colors from the accessors colors = access[attr["COLOR_0"]] if len(colors) == len(kwargs["vertices"]): if visuals is None: # just pass to mesh as vertex color kwargs["vertex_colors"] = colors.copy() else: # we ALSO have texture so save as vertex # attribute visuals.vertex_attributes["color"] = colors.copy() except BaseException: # survive failed colors log.debug("failed to load colors", exc_info=True) if visuals is not None: kwargs["visual"] = visuals # By default the created mesh is not from primitive, # in case it is the value will be updated # each primitive gets it's own Trimesh object if len(m["primitives"]) > 1: kwargs["metadata"]["from_gltf_primitive"] = True else: kwargs["metadata"]["from_gltf_primitive"] = False # custom attributes starting with a `_` custom = { a: access[attr[a]] for a in attr.keys() if a.startswith("_") } if len(custom) > 0: kwargs["vertex_attributes"] = custom else: log.debug("skipping primitive with mode %s!", mode) continue # this should absolutely not be stomping on itself assert name not in meshes meshes[name] = kwargs mesh_prim[index].append(name) except BaseException as E: if ignore_broken: log.debug("failed to load mesh", exc_info=True) else: raise E # sometimes GLTF "meshes" come with multiple "primitives" # by default we return one Trimesh object per "primitive" # but if merge_primitives is True we combine the primitives # for the "mesh" into a single Trimesh object if merge_primitives: # if we are only returning one Trimesh object # replace `mesh_prim` with updated values mesh_prim_replace = {} # these are the names of meshes we need to remove mesh_pop = set() for mesh_index, names in mesh_prim.items(): if len(names) <= 1: mesh_prim_replace[mesh_index] = names continue # just take the shortest name option available name = min(names) # remove the other meshes after we're done looping # since we're reusing the shortest one don't pop # that as we'll be overwriting it with the combined mesh_pop.update(set(names).difference([name])) # get all meshes for this group current = [meshes[n] for n in names] v_seq = [p["vertices"] for p in current] f_seq = [p["faces"] for p in current] v, f = util.append_faces(v_seq, f_seq) materials = [p["visual"].material for p in current] face_materials = [] for i, p in enumerate(current): face_materials += [i] * len(p["faces"]) visuals = visual.texture.TextureVisuals( material=visual.material.MultiMaterial(materials=materials), face_materials=face_materials, ) if "metadata" in meshes[names[0]]: metadata = meshes[names[0]]["metadata"] else: metadata = {} meshes[name] = { "vertices": v, "faces": f, "visual": visuals, "metadata": metadata, "process": False, } mesh_prim_replace[mesh_index] = [name] # avoid altering inside loop mesh_prim = mesh_prim_replace # remove outdated meshes [meshes.pop(p, None) for p in mesh_pop] # make it easier to reference nodes nodes = header.get("nodes", []) # nodes are referenced by index # save their string names if they have one # we have to accumulate in a for loop opposed # to a dict comprehension as it will be checking # the mutated dict in every loop name_index = {} name_counts = {} for i, n in enumerate(nodes): name_index[unique_name(n.get("name", str(i)), name_index, counts=name_counts)] = i # invert the dict so we can look up by index # node index (int) : name (str) names = {v: k for k, v in name_index.items()} # make sure we have a unique base frame name base_frame = "world" if base_frame in names: base_frame = str(int(np.random.random() * 1e10)) names[base_frame] = base_frame # visited, kwargs for scene.graph.update graph = deque() # unvisited, pairs of node indexes queue = deque() # camera(s), if they exist camera = None camera_transform = None if "scene" in header: # specify the index of scenes if specified scene_index = header["scene"] else: # otherwise just use the first index scene_index = 0 if "scenes" in header: # start the traversal from the base frame to the roots for root in header["scenes"][scene_index].get("nodes", []): # add transform from base frame to these root nodes queue.append((base_frame, root)) # make sure we don't process an edge multiple times consumed = set() # go through the nodes tree to populate # kwargs for scene graph loader while len(queue) > 0: # (int, int) pair of node indexes edge = queue.pop() # avoid looping forever if someone specified # recursive nodes if edge in consumed: continue consumed.add(edge) a, b = edge # dict of child node # parent = nodes[a] child = nodes[b] # add edges of children to be processed if "children" in child: queue.extend([(b, i) for i in child["children"]]) # kwargs to be passed to scene.graph.update kwargs = {"frame_from": names[a], "frame_to": names[b]} # grab matrix from child # parent -> child relationships have matrix stored in child # for the transform from parent to child if "matrix" in child: kwargs["matrix"] = ( np.array(child["matrix"], dtype=np.float64).reshape((4, 4)).T ) else: # if no matrix set identity kwargs["matrix"] = _EYE # Now apply keyword translations # GLTF applies these in order: T * R * S if "translation" in child: kwargs["matrix"] = np.dot( kwargs["matrix"], transformations.translation_matrix(child["translation"]) ) if "rotation" in child: # GLTF rotations are stored as (4,) XYZW unit quaternions # we need to re- order to our quaternion style, WXYZ quat = np.reshape(child["rotation"], 4)[[3, 0, 1, 2]] # add the rotation to the matrix kwargs["matrix"] = np.dot( kwargs["matrix"], transformations.quaternion_matrix(quat) ) if "scale" in child: # add scale to the matrix kwargs["matrix"] = np.dot( kwargs["matrix"], np.diag(np.concatenate((child["scale"], [1.0]))) ) # If a camera exists, create the camera and dont add the node to the graph # TODO only process the first camera, ignore the rest # TODO assumes the camera node is child of the world frame # TODO will only read perspective camera if "camera" in child and camera is None: cam_idx = child["camera"] try: camera = _cam_from_gltf(header["cameras"][cam_idx]) except KeyError: log.debug("GLTF camera is not fully-defined") if camera: camera_transform = kwargs["matrix"] continue # treat node metadata similarly to mesh metadata if isinstance(child.get("extras"), dict): kwargs["metadata"] = child["extras"] # put any node extensions in a field of the metadata if "extensions" in child: if "metadata" not in kwargs: kwargs["metadata"] = {} kwargs["metadata"]["gltf_extensions"] = child["extensions"] if "mesh" in child: geometries = mesh_prim[child["mesh"]] # if the node has a mesh associated with it if len(geometries) > 1: # append root node graph.append(kwargs.copy()) # put primitives as children for geom_name in geometries: # save the name of the geometry kwargs["geometry"] = geom_name # no transformations kwargs["matrix"] = _EYE kwargs["frame_from"] = names[b] # if we have more than one primitive assign a new UUID # frame name for the primitives after the first one frame_to = f"{names[b]}_{util.unique_id(length=6)}" kwargs["frame_to"] = frame_to # append the edge with the mesh frame graph.append(kwargs.copy()) elif len(geometries) == 1: kwargs["geometry"] = geometries[0] if "name" in child: kwargs["frame_to"] = names[b] graph.append(kwargs.copy()) else: # if the node doesn't have any geometry just add graph.append(kwargs) # kwargs for load_kwargs result = { "class": "Scene", "geometry": meshes, "graph": graph, "base_frame": base_frame, "camera": camera, "camera_transform": camera_transform, } try: # load any scene extras into scene.metadata # use a try except to avoid nested key checks result["metadata"] = header["scenes"][header["scene"]]["extras"] except BaseException: pass try: # load any scene extensions into a field of scene.metadata # use a try except to avoid nested key checks if "metadata" not in result: result["metadata"] = {} result["metadata"]["gltf_extensions"] = header["extensions"] except BaseException: pass return result def _cam_from_gltf(cam): """ Convert a gltf perspective camera to trimesh. The retrieved camera will have default resolution, since the gltf specification does not contain it. If the camera is not perspective will return None. If the camera is perspective but is missing fields, will raise `KeyError` Parameters ------------ cam : dict Camera represented as a dictionary according to glTF Returns ------------- camera : trimesh.scene.cameras.Camera Trimesh camera object """ if "perspective" not in cam: return name = cam.get("name") znear = cam["perspective"]["znear"] aspect_ratio = cam["perspective"]["aspectRatio"] yfov = np.degrees(cam["perspective"]["yfov"]) fov = (aspect_ratio * yfov, yfov) return Camera(name=name, fov=fov, z_near=znear) def _convert_camera(camera): """ Convert a trimesh camera to a GLTF camera. Parameters ------------ camera : trimesh.scene.cameras.Camera Trimesh camera object Returns ------------- gltf_camera : dict Camera represented as a GLTF dict """ result = { "name": camera.name, "type": "perspective", "perspective": { "aspectRatio": camera.fov[0] / camera.fov[1], "yfov": np.radians(camera.fov[1]), "znear": float(camera.z_near), }, } return result def _append_image(img, tree, buffer_items, extension_webp): """ Append a PIL image to a GLTF2.0 tree. Parameters ------------ img : PIL.Image Image object tree : dict GLTF 2.0 format tree buffer_items : (n,) bytes Binary blobs containing data extension_webp : bool Export textures as webP (using glTF's EXT_texture_webp extension). Returns ----------- index : int or None The index of the image in the tree None if image append failed for any reason """ # probably not a PIL image so exit if not hasattr(img, "format"): return None if extension_webp: # support WebP if extension is specified save_as = "WEBP" elif img.format == "JPEG": # don't re-encode JPEGs save_as = "JPEG" else: # for everything else just use PNG save_as = "png" # get the image data into a bytes object with util.BytesIO() as f: img.save(f, format=save_as) f.seek(0) data = f.read() index = _buffer_append(buffer_items, data) # append buffer index and the GLTF-acceptable mimetype tree["images"].append({"bufferView": index, "mimeType": f"image/{save_as.lower()}"}) # index is length minus one return len(tree["images"]) - 1 def _append_material(mat, tree, buffer_items, mat_hashes, extension_webp): """ Add passed PBRMaterial as GLTF 2.0 specification JSON serializable data: - images are added to `tree['images']` - texture is added to `tree['texture']` - material is added to `tree['materials']` Parameters ------------ mat : trimesh.visual.materials.PBRMaterials Source material to convert tree : dict GLTF header blob buffer_items : (n,) bytes Binary blobs with various data mat_hashes : dict Which materials have already been added Stored as { hashed : material index } extension_webp : bool Export textures as webP using EXT_texture_webp extension. Returns ------------- index : int Index at which material was added """ # materials are hashable hashed = hash(mat) # check stored material indexes to see if material # has already been added if mat_hashes is not None and hashed in mat_hashes: return mat_hashes[hashed] # convert passed input to PBR if necessary if hasattr(mat, "to_pbr"): as_pbr = mat.to_pbr() else: as_pbr = mat # a default PBR metallic material result = {"pbrMetallicRoughness": {}} try: # try to convert base color to (4,) float color result["baseColorFactor"] = ( visual.color.to_float(as_pbr.baseColorFactor).reshape(4).tolist() ) except BaseException: pass try: result["emissiveFactor"] = as_pbr.emissiveFactor.reshape(3).tolist() except BaseException: pass # if name is defined, export if isinstance(as_pbr.name, str): result["name"] = as_pbr.name # if alphaMode is defined, export if isinstance(as_pbr.alphaMode, str): result["alphaMode"] = as_pbr.alphaMode # if alphaCutoff is defined, export if isinstance(as_pbr.alphaCutoff, float): result["alphaCutoff"] = as_pbr.alphaCutoff # if doubleSided is defined, export if isinstance(as_pbr.doubleSided, bool): result["doubleSided"] = as_pbr.doubleSided # if scalars are defined correctly export if isinstance(as_pbr.metallicFactor, float): result["metallicFactor"] = as_pbr.metallicFactor if isinstance(as_pbr.roughnessFactor, float): result["roughnessFactor"] = as_pbr.roughnessFactor # which keys of the PBRMaterial are images image_mapping = { "baseColorTexture": as_pbr.baseColorTexture, "emissiveTexture": as_pbr.emissiveTexture, "normalTexture": as_pbr.normalTexture, "occlusionTexture": as_pbr.occlusionTexture, "metallicRoughnessTexture": as_pbr.metallicRoughnessTexture, } for key, img in image_mapping.items(): if img is None: continue # try adding the base image to the export object index = _append_image( img=img, tree=tree, buffer_items=buffer_items, extension_webp=extension_webp ) # if the image was added successfully it will return index # if it failed for any reason, it will return None if index is not None: # add a reference to the base color texture result[key] = {"index": len(tree["textures"])} # add an object for the texture according to the WebP extension if extension_webp: tree["textures"].append( {"extensions": {"EXT_texture_webp": {"source": index}}} ) else: tree["textures"].append({"source": index}) # for our PBRMaterial object we flatten all keys # however GLTF would like some of them under the # "pbrMetallicRoughness" key pbr_subset = [ "baseColorTexture", "baseColorFactor", "roughnessFactor", "metallicFactor", "metallicRoughnessTexture", ] # move keys down a level for key in pbr_subset: if key in result: result["pbrMetallicRoughness"][key] = result.pop(key) # if we didn't have any PBR keys remove the empty key if len(result["pbrMetallicRoughness"]) == 0: result.pop("pbrMetallicRoughness") # which index are we inserting material at index = len(tree["materials"]) # add the material to the data structure tree["materials"].append(result) # add the material index in-place mat_hashes[hashed] = index return index def validate(header): """ Validate a GLTF 2.0 header against the schema. Returns result from: `jsonschema.validate(header, schema=get_schema())` Parameters ------------- header : dict Populated GLTF 2.0 header Raises -------------- err : jsonschema.exceptions.ValidationError If the tree is an invalid GLTF2.0 header """ # a soft dependency import jsonschema # will do the reference replacement schema = get_schema() # validate the passed header against the schema valid = jsonschema.validate(header, schema=schema) return valid def get_schema(): """ Get a copy of the GLTF 2.0 schema with references resolved. Returns ------------ schema : dict A copy of the GLTF 2.0 schema without external references. """ # replace references # get zip resolver to access referenced assets from ..schemas import resolve # get a blob of a zip file including the GLTF 2.0 schema stream = resources.get_stream("schema/gltf2.schema.zip") # get the zip file as a dict keyed by file name archive = util.decompress(stream, "zip") # get a resolver object for accessing the schema resolver = ZipResolver(archive) # get a loaded dict from the base file unresolved = json.loads(util.decode_text(resolver.get("glTF.schema.json"))) # resolve `$ref` references to other files in the schema schema = resolve(unresolved, resolver=resolver) return schema # exporters _gltf_loaders = {"glb": load_glb, "gltf": load_gltf} trimesh-4.5.1/trimesh/exchange/load.py000066400000000000000000000525321470574263400177450ustar00rootroot00000000000000import json import os import numpy as np from .. import resolvers, util from ..base import Trimesh from ..exceptions import ExceptionWrapper from ..parent import Geometry from ..points import PointCloud from ..scene.scene import Scene, append_scenes from ..typed import Dict, List, Loadable, Optional, Union from ..util import log, now from . import misc from .binvox import _binvox_loaders from .cascade import _cascade_loaders from .dae import _collada_loaders from .gltf import _gltf_loaders from .misc import _misc_loaders from .obj import _obj_loaders from .off import _off_loaders from .ply import _ply_loaders from .stl import _stl_loaders from .threedxml import _threedxml_loaders from .threemf import _three_loaders from .xaml import _xaml_loaders from .xyz import _xyz_loaders try: from ..path.exchange.load import load_path, path_formats except BaseException as E: # save a traceback to see why path didn't import load_path = ExceptionWrapper(E) # no path formats available def path_formats() -> set: return set() def mesh_formats() -> set: """ Get a list of mesh formats available to load. Returns ----------- loaders : list Extensions of available mesh loaders, i.e. 'stl', 'ply', etc. """ # filter out exceptionmodule loaders return {k for k, v in mesh_loaders.items() if not isinstance(v, ExceptionWrapper)} def available_formats() -> set: """ Get a list of all available loaders Returns ----------- loaders : list Extensions of available loaders i.e. 'stl', 'ply', 'dxf', etc. """ loaders = mesh_formats() loaders.update(path_formats()) loaders.update(compressed_loaders.keys()) return loaders def load( file_obj: Loadable, file_type: Optional[str] = None, resolver: Union[resolvers.Resolver, Dict, None] = None, force: Optional[str] = None, **kwargs, ) -> Union[Geometry, List[Geometry]]: """ Load a mesh or vectorized path into objects like Trimesh, Path2D, Path3D, Scene Parameters ----------- file_obj : str, or file- like object The source of the data to be loadeded file_type: str What kind of file type do we have (eg: 'stl') resolver : trimesh.visual.Resolver Object to load referenced assets like materials and textures force : None or str For 'mesh': try to coerce scenes into a single mesh For 'scene': try to coerce everything into a scene kwargs : dict Passed to geometry __init__ Returns --------- geometry : Trimesh, Path2D, Path3D, Scene Loaded geometry as trimesh classes """ # check to see if we're trying to load something # that is already a native trimesh Geometry subclass if isinstance(file_obj, Geometry): log.info("Load called on %s object, returning input", file_obj.__class__.__name__) return file_obj # parse the file arguments into clean loadable form ( file_obj, # file- like object file_type, # str, what kind of file metadata, # dict, any metadata from file name opened, # bool, did we open the file ourselves resolver, # object to load referenced resources ) = _parse_file_args(file_obj=file_obj, file_type=file_type, resolver=resolver) try: if isinstance(file_obj, dict): # if we've been passed a dict treat it as kwargs kwargs.update(file_obj) loaded = load_kwargs(kwargs) elif file_type in path_formats(): # path formats get loaded with path loader loaded = load_path(file_obj, file_type=file_type, **kwargs) elif file_type in mesh_loaders: # mesh loaders use mesh loader loaded = load_mesh(file_obj, file_type=file_type, resolver=resolver, **kwargs) elif file_type in compressed_loaders: # for archives, like ZIP files loaded = load_compressed(file_obj, file_type=file_type, **kwargs) elif file_type in voxel_loaders: loaded = voxel_loaders[file_type]( file_obj, file_type=file_type, resolver=resolver, **kwargs ) else: if file_type in ["svg", "dxf"]: # call the dummy function to raise the import error # this prevents the exception from being super opaque load_path() else: raise ValueError(f"File type: {file_type} not supported") finally: # close any opened files even if we crashed out if opened: file_obj.close() # add load metadata ('file_name') to each loaded geometry for i in util.make_sequence(loaded): i.metadata.update(metadata) # if we opened the file in this function ourselves from a # file name clean up after ourselves by closing it if opened: file_obj.close() # combine a scene into a single mesh if force == "mesh" and isinstance(loaded, Scene): return util.concatenate(loaded.dump()) if force == "scene" and not isinstance(loaded, Scene): return Scene(loaded) return loaded def load_mesh( file_obj: Loadable, file_type: Optional[str] = None, resolver: Union[resolvers.Resolver, Dict, None] = None, **kwargs, ) -> Union[Geometry, List[Geometry]]: """ Load a mesh file into a Trimesh object. Parameters ----------- file_obj : str or file object File name or file with mesh data file_type : str or None Which file type, e.g. 'stl' kwargs : dict Passed to Trimesh constructor Returns ---------- mesh Loaded geometry data. """ # parse the file arguments into clean loadable form ( file_obj, # file-like object file_type, # str: what kind of file metadata, # dict: any metadata from file name opened, # bool: did we open the file ourselves resolver, # Resolver: to load referenced resources ) = _parse_file_args(file_obj=file_obj, file_type=file_type, resolver=resolver) try: # make sure we keep passed kwargs to loader # but also make sure loader keys override passed keys loader = mesh_loaders[file_type] tic = now() results = loader(file_obj, file_type=file_type, resolver=resolver, **kwargs) if not isinstance(results, list): results = [results] loaded = [] for result in results: kwargs.update(result) loaded.append(load_kwargs(kwargs)) loaded[-1].metadata.update(metadata) # todo : remove this if len(loaded) == 1: loaded = loaded[0] # show the repr for loaded, loader used, and time log.debug(f"loaded {loaded!s} using `{loader.__name__}` in {now() - tic:0.4f}s") finally: # if we failed to load close file if opened: file_obj.close() return loaded def load_compressed(file_obj, file_type=None, resolver=None, mixed=False, **kwargs): """ Given a compressed archive load all the geometry that we can from it. Parameters ---------- file_obj : open file-like object Containing compressed data file_type : str Type of the archive file mixed : bool If False, for archives containing both 2D and 3D data will only load the 3D data into the Scene. Returns ---------- scene : trimesh.Scene Geometry loaded in to a Scene object """ # parse the file arguments into clean loadable form ( file_obj, # file- like object file_type, # str, what kind of file metadata, # dict, any metadata from file name opened, # bool, did we open the file ourselves resolver, # object to load referenced resources ) = _parse_file_args(file_obj=file_obj, file_type=file_type, resolver=resolver) try: # a dict of 'name' : file-like object files = util.decompress(file_obj=file_obj, file_type=file_type) # store loaded geometries as a list geometries = [] # so loaders can access textures/etc resolver = resolvers.ZipResolver(files) # try to save the files with meaningful metadata if "file_path" in metadata: archive_name = metadata["file_path"] else: archive_name = "archive" # populate our available formats if mixed: available = available_formats() else: # all types contained in ZIP archive contains = {util.split_extension(n).lower() for n in files.keys()} # if there are no mesh formats available if contains.isdisjoint(mesh_formats()): available = path_formats() else: available = mesh_formats() meta_archive = {} for name, data in files.items(): try: # only load formats that we support compressed_type = util.split_extension(name).lower() # if file has metadata type include it if compressed_type in "yaml": import yaml meta_archive[name] = yaml.safe_load(data) elif compressed_type in "json": import json meta_archive[name] = json.loads(data) if compressed_type not in available: # don't raise an exception, just try the next one continue # store the file name relative to the archive metadata["file_name"] = archive_name + "/" + os.path.basename(name) # load the individual geometry loaded = load( file_obj=data, file_type=compressed_type, resolver=resolver, metadata=metadata, **kwargs, ) # some loaders return multiple geometries if util.is_sequence(loaded): # if the loader has returned a list of meshes geometries.extend(loaded) else: # if the loader has returned a single geometry geometries.append(loaded) except BaseException: log.debug("failed to load file in zip", exc_info=True) finally: # if we opened the file in this function # clean up after ourselves if opened: file_obj.close() # append meshes or scenes into a single Scene object result = append_scenes(geometries) # append any archive metadata files if isinstance(result, Scene): result.metadata.update(meta_archive) return result def load_remote(url, **kwargs): """ Load a mesh at a remote URL into a local trimesh object. This must be called explicitly rather than automatically from trimesh.load to ensure users don't accidentally make network requests. Parameters ------------ url : string URL containing mesh file **kwargs : passed to `load` Returns ------------ loaded : Trimesh, Path, Scene Loaded result """ # import here to keep requirement soft import httpx # download the mesh response = httpx.get(url, follow_redirects=True) response.raise_for_status() # wrap as file object file_obj = util.wrap_as_stream(response.content) # so loaders can access textures/etc resolver = resolvers.WebResolver(url) try: # if we have a bunch of query parameters the type # will be wrong so try to clean up the URL # urllib is Python 3 only import urllib # remove the url-safe encoding then split off query params file_type = urllib.parse.unquote(url).split("?", 1)[0].split("/")[-1].strip() except BaseException: # otherwise just use the last chunk of URL file_type = url.split("/")[-1].split("?", 1)[0] # actually load the data from the retrieved bytes loaded = load(file_obj=file_obj, file_type=file_type, resolver=resolver, **kwargs) return loaded def load_kwargs(*args, **kwargs) -> Geometry: """ Load geometry from a properly formatted dict or kwargs """ def handle_scene(): """ Load a scene from our kwargs. class: Scene geometry: dict, name: Trimesh kwargs graph: list of dict, kwargs for scene.graph.update base_frame: str, base frame of graph """ graph = kwargs.get("graph", None) geometry = {k: load_kwargs(v) for k, v in kwargs["geometry"].items()} if graph is not None: scene = Scene() scene.geometry.update(geometry) for k in graph: if isinstance(k, dict): scene.graph.update(**k) elif util.is_sequence(k) and len(k) == 3: scene.graph.update(k[1], k[0], **k[2]) else: scene = Scene(geometry) # camera, if it exists camera = kwargs.get("camera") if camera: scene.camera = camera scene.camera_transform = kwargs.get("camera_transform") if "base_frame" in kwargs: scene.graph.base_frame = kwargs["base_frame"] metadata = kwargs.get("metadata") if isinstance(metadata, dict): scene.metadata.update(kwargs["metadata"]) elif isinstance(metadata, str): # some ways someone might have encoded a string # note that these aren't evaluated until we # actually call the lambda in the loop candidates = [ lambda: json.loads(metadata), lambda: json.loads(metadata.replace("'", '"')), ] for c in candidates: try: scene.metadata.update(c()) break except BaseException: pass elif metadata is not None: log.warning("unloadable metadata") return scene def handle_mesh(): """ Handle the keyword arguments for a Trimesh object """ # if they've been serialized as a dict if isinstance(kwargs["vertices"], dict) or isinstance(kwargs["faces"], dict): return Trimesh(**misc.load_dict(kwargs)) # otherwise just load that puppy return Trimesh(**kwargs) def handle_export(): """ Handle an exported mesh. """ data, file_type = kwargs["data"], kwargs["file_type"] if not isinstance(data, dict): data = util.wrap_as_stream(data) k = mesh_loaders[file_type](data, file_type=file_type) return Trimesh(**k) def handle_path(): from ..path import Path2D, Path3D shape = np.shape(kwargs["vertices"]) if len(shape) < 2: return Path2D() if shape[1] == 2: return Path2D(**kwargs) elif shape[1] == 3: return Path3D(**kwargs) else: raise ValueError("Vertices must be 2D or 3D!") def handle_pointcloud(): return PointCloud(**kwargs) # if we've been passed a single dict instead of kwargs # substitute the dict for kwargs if len(kwargs) == 0 and len(args) == 1 and isinstance(args[0], dict): kwargs = args[0] # (function, tuple of expected keys) # order is important handlers = ( (handle_scene, ("geometry",)), (handle_mesh, ("vertices", "faces")), (handle_path, ("entities", "vertices")), (handle_pointcloud, ("vertices",)), (handle_export, ("file_type", "data")), ) # filter out keys with a value of None kwargs = {k: v for k, v in kwargs.items() if v is not None} # loop through handler functions and expected key for func, expected in handlers: if all(i in kwargs for i in expected): # all expected kwargs exist handler = func # exit the loop as we found one break else: raise ValueError(f"unable to determine type: {kwargs.keys()}") return handler() def _parse_file_args( file_obj: Loadable, file_type: Optional[str], resolver: Union[None, Dict, resolvers.Resolver] = None, **kwargs, ): """ Given a file_obj and a file_type try to magically convert arguments to a file-like object and a lowercase string of file type. Parameters ----------- file_obj : str if string represents a file path, returns: file_obj: an 'rb' opened file object of the path file_type: the extension from the file path if string is NOT a path, but has JSON-like special characters: file_obj: the same string passed as file_obj file_type: set to 'json' if string is a valid-looking URL file_obj: an open 'rb' file object with retrieved data file_type: from the extension if string is none of those: raise ValueError as we can't do anything with input if file like object: ValueError will be raised if file_type is None file_obj: same as input file_type: same as input if other object: like a shapely.geometry.Polygon, etc: file_obj: same as input file_type: if None initially, set to the class name (in lower case), otherwise passed through file_type : str type of file and handled according to above Returns ----------- file_obj : file-like object Contains data file_type : str Lower case of the type of file (eg 'stl', 'dae', etc) metadata : dict Any metadata gathered opened : bool Did we open the file or not resolver : trimesh.visual.Resolver Resolver to load other assets """ metadata = {} opened = False if "metadata" in kwargs and isinstance(kwargs["metadata"], dict): metadata.update(kwargs["metadata"]) if util.is_pathlib(file_obj): # convert pathlib objects to string file_obj = str(file_obj.absolute()) if util.is_file(file_obj) and file_type is None: raise ValueError("file_type must be set for file objects!") if isinstance(file_obj, str): try: # os.path.isfile will return False incorrectly # if we don't give it an absolute path file_path = os.path.expanduser(file_obj) file_path = os.path.abspath(file_path) exists = os.path.isfile(file_path) except BaseException: exists = False # file obj is a string which exists on filesystm if exists: # if not passed create a resolver to find other files if resolver is None: resolver = resolvers.FilePathResolver(file_path) # save the file name and path to metadata metadata["file_path"] = file_path metadata["file_name"] = os.path.basename(file_obj) # if file_obj is a path that exists use extension as file_type if file_type is None: file_type = util.split_extension(file_path, special=["tar.gz", "tar.bz2"]) # actually open the file file_obj = open(file_path, "rb") opened = True else: if "{" in file_obj: # if a dict bracket is in the string, its probably a straight # JSON file_type = "json" elif "https://" in file_obj or "http://" in file_obj: # we've been passed a URL, warn to use explicit function # and don't do network calls via magical pipeline raise ValueError(f"use load_remote to load URL: {file_obj}") elif file_type is None: raise ValueError(f"string is not a file: {file_obj}") if file_type is None: file_type = file_obj.__class__.__name__ if isinstance(file_type, str) and "." in file_type: # if someone has passed the whole filename as the file_type # use the file extension as the file_type if "file_path" not in metadata: metadata["file_path"] = file_type metadata["file_name"] = os.path.basename(file_type) file_type = util.split_extension(file_type) if resolver is None and os.path.exists(file_type): resolver = resolvers.FilePathResolver(file_type) # all our stored extensions reference in lower case file_type = file_type.lower() # if we still have no resolver try using file_obj name if ( resolver is None and hasattr(file_obj, "name") and file_obj.name is not None and len(file_obj.name) > 0 ): resolver = resolvers.FilePathResolver(file_obj.name) return file_obj, file_type, metadata, opened, resolver # loader functions for compressed extensions compressed_loaders = { "zip": load_compressed, "tar.bz2": load_compressed, "tar.gz": load_compressed, "bz2": load_compressed, } # map file_type to loader function mesh_loaders = {} mesh_loaders.update(_misc_loaders) mesh_loaders.update(_stl_loaders) mesh_loaders.update(_ply_loaders) mesh_loaders.update(_obj_loaders) mesh_loaders.update(_off_loaders) mesh_loaders.update(_collada_loaders) mesh_loaders.update(_gltf_loaders) mesh_loaders.update(_xaml_loaders) mesh_loaders.update(_threedxml_loaders) mesh_loaders.update(_three_loaders) mesh_loaders.update(_xyz_loaders) mesh_loaders.update(_cascade_loaders) # collect loaders which return voxel types voxel_loaders = {} voxel_loaders.update(_binvox_loaders) trimesh-4.5.1/trimesh/exchange/misc.py000066400000000000000000000101611470574263400177510ustar00rootroot00000000000000import json from .. import util def load_dict(data, **kwargs): """ Load multiple input types into kwargs for a Trimesh constructor. Tries to extract keys: 'faces' 'vertices' 'face_normals' 'vertex_normals' Parameters ---------- data : dict accepts multiple forms -dict: has keys for vertices and faces as (n,3) numpy arrays -dict: has keys for vertices/faces (n,3) arrays encoded as dicts/base64 with trimesh.util.array_to_encoded/trimesh.util.encoded_to_array -str: json blob as dict with either straight array or base64 values -file object: json blob of dict file_type: not used Returns ----------- loaded: dict with keys -vertices: (n,3) float -faces: (n,3) int -face_normals: (n,3) float (optional) """ if data is None: raise ValueError("data passed to load_dict was None!") if util.is_instance_named(data, "Trimesh"): return data if isinstance(data, str): if "{" not in data: raise ValueError("Object is not a JSON encoded dictionary!") data = json.loads(data.decode("utf-8")) elif util.is_file(data): data = json.load(data) # what shape should the data be to be usable mesh_data = { "vertices": (-1, 3), "faces": (-1, (3, 4)), "face_normals": (-1, 3), "face_colors": (-1, (3, 4)), "vertex_normals": (-1, 3), "vertex_colors": (-1, (3, 4)), } # now go through data structure and if anything is encoded as base64 # pull it back into numpy arrays if isinstance(data, dict): loaded = {} data = util.decode_keys(data, "utf-8") for key, shape in mesh_data.items(): if key in data: loaded[key] = util.encoded_to_array(data[key]) if not util.is_shape(loaded[key], shape): raise ValueError( "Shape of %s is %s, not %s!", key, str(loaded[key].shape), str(shape), ) if len(key) == 0: raise ValueError("Unable to extract any mesh data!") return loaded else: raise ValueError("%s object passed to dict loader!", data.__class__.__name__) def load_meshio(file_obj, file_type=None, **kwargs): """ Load a meshio-supported file into the kwargs for a Trimesh constructor. Parameters ---------- file_obj : file object Contains a meshio file file_type : str File extension, aka 'vtk' Returns ---------- loaded : dict kwargs for Trimesh constructor """ # trimesh "file types" are really filename extensions file_formats = meshio.extension_to_filetypes["." + file_type] # load_meshio gets passed and io.BufferedReader # not all readers can cope with that # e.g., the ones that use h5m underneath # in that case use the associated file name instead mesh = None for file_format in file_formats: try: mesh = meshio.read(file_obj.name, file_format=file_format) break except BaseException: util.log.debug("failed to load", exc_info=True) if mesh is None: raise ValueError("Failed to load file!") # save data as kwargs for a trimesh.Trimesh result = {} # pass kwargs to mesh constructor result.update(kwargs) # add vertices result["vertices"] = mesh.points try: # add faces result["faces"] = mesh.get_cells_type("triangle") except BaseException: util.log.warning("unable to get faces", exc_info=True) result["faces"] = [] return result _misc_loaders = {"dict": load_dict, "dict64": load_dict, "json": load_dict} try: import meshio # add meshio loaders here _meshio_loaders = {k[1:]: load_meshio for k in meshio.extension_to_filetypes.keys()} _misc_loaders.update(_meshio_loaders) except BaseException: _meshio_loaders = {} try: import openctm _misc_loaders["ctm"] = openctm.load_ctm except BaseException: pass trimesh-4.5.1/trimesh/exchange/obj.py000066400000000000000000001032541470574263400175760ustar00rootroot00000000000000import re from collections import defaultdict, deque import numpy as np try: # `pip install pillow` # optional: used for textured meshes from PIL import Image except BaseException as E: # if someone tries to use Image re-raise # the import error so they can debug easily from ..exceptions import ExceptionWrapper Image = ExceptionWrapper(E) from .. import util from ..constants import log, tol from ..visual.color import to_float from ..visual.material import SimpleMaterial from ..visual.texture import TextureVisuals, unmerge_faces def load_obj( file_obj, resolver=None, group_material=True, skip_materials=False, maintain_order=False, **kwargs, ): """ Load a Wavefront OBJ file into kwargs for a trimesh.Scene object. Parameters -------------- file_obj : file like object Contains OBJ data resolver : trimesh.visual.resolvers.Resolver Allow assets such as referenced textures and material files to be loaded group_material : bool Group faces that share the same material into the same mesh. skip_materials : bool Don't load any materials. maintain_order : bool or None Do not reorder faces or vertices which may result in visual artifacts. Returns ------------- kwargs : dict Keyword arguments which can be loaded by trimesh.exchange.load.load_kwargs into a trimesh.Scene """ # get text as bytes or string blob text = file_obj.read() # if text was bytes decode into string text = util.decode_text(text) # add leading and trailing newlines so we can use the # same logic even if they jump directly in to data lines text = "\n{}\n".format(text.strip().replace("\r\n", "\n")) # remove backslash continuation characters and merge them into the same # line text = text.replace("\\\n", "") # Load Materials materials = {} mtl_position = text.find("mtllib") if not skip_materials and mtl_position >= 0: # take the line of the material file after `mtllib` # which should be the file location of the .mtl file mtl_path = text[mtl_position + 6 : text.find("\n", mtl_position)].strip() try: # use the resolver to get the data material_kwargs = parse_mtl(resolver[mtl_path], resolver=resolver) # turn parsed kwargs into material objects materials = {k: SimpleMaterial(**v) for k, v in material_kwargs.items()} except (OSError, TypeError): # usually the resolver couldn't find the asset log.debug(f"unable to load materials from: {mtl_path}") except BaseException: # something else happened so log a warning log.debug(f"unable to load materials from: {mtl_path}", exc_info=True) # extract vertices from raw text v, vn, vt, vc = _parse_vertices(text=text) # get relevant chunks that have face data # in the form of (material, object, chunk) face_tuples = _preprocess_faces(text=text) # combine chunks that have the same material # some meshes end up with a LOT of components # and will be much slower if you don't do this if group_material: face_tuples = _group_by_material(face_tuples) # no faces but points given # return point cloud if not len(face_tuples) and v is not None: pc = {"vertices": v} if vn is not None: pc["vertex_normals"] = vn if vc is not None: pc["vertex_colors"] = vc return pc # Load Faces # now we have clean- ish faces grouped by material and object # so now we have to turn them into numpy arrays and kwargs # for trimesh mesh and scene objects geometry = {} while len(face_tuples) > 0: # consume the next chunk of text material, current_object, chunk = face_tuples.pop() # do wangling in string form # we need to only take the face line before a newline # using builtin functions in a list comprehension # is pretty fast relative to other options # this operation is the only one that is O(len(faces)) # slower due to the tight-loop conditional: # face_lines = [i[:i.find('\n')] # for i in chunk.split('\nf ')[1:] # if i.rfind('\n') >0] # maxsplit=1 means that it can stop working # after it finds the first newline # passed as arg as it's not a kwarg in python2 face_lines = [ i.split("\n", 1)[0].strip() for i in re.split("^f", chunk, flags=re.MULTILINE)[1:] ] # check every face for mixed tri-quad-ngon columns = len(face_lines[0].replace("/", " ").split()) flat_array = all(columns == len(f.replace("/", " ").split()) for f in face_lines) # make sure we have the right number of values for vectorized if flat_array: # the fastest way to get to a numpy array # processes the whole string at once into a 1D array array = np.fromstring( " ".join(face_lines).replace("/", " "), sep=" ", dtype=np.int64 ) # also wavefront is 1-indexed (vs 0-indexed) so offset # only applies to positive indices array[array > 0] -= 1 # everything is a nice 2D array faces, faces_tex, faces_norm = _parse_faces_vectorized( array=array, columns=columns, sample_line=face_lines[0] ) else: # if we had something annoying like mixed in quads # or faces that differ per-line we have to loop # i.e. something like: # '31407 31406 31408', # '32303/2469 32304/2469 32305/2469', log.debug("faces have mixed data: using slow fallback!") faces, faces_tex, faces_norm = _parse_faces_fallback(face_lines) if group_material: name = material else: name = current_object # ensure the name is always unique name = util.unique_name(name, geometry) # try to get usable texture mesh = kwargs.copy() if faces_tex is not None: # convert faces referencing vertices and # faces referencing vertex texture to new faces # where each face if faces_norm is not None and len(faces_norm) == len(faces): new_faces, mask_v, mask_vt, mask_vn = unmerge_faces( faces, faces_tex, faces_norm, maintain_faces=maintain_order ) else: mask_vn = None # no face normals but face texturre new_faces, mask_v, mask_vt = unmerge_faces( faces, faces_tex, maintain_faces=maintain_order ) if tol.strict: # we should NOT have messed up the faces # note: this is EXTREMELY slow due to all the # float comparisons so only run this in unit tests assert np.allclose(v[faces], v[mask_v][new_faces]) # faces should all be in bounds of vertives assert new_faces.max() < len(v[mask_v]) try: # survive index errors as sometimes we # want materials without UV coordinates uv = vt[mask_vt] except BaseException: log.debug("index failed on UV coordinates, skipping!") uv = None # mask vertices and use new faces mesh.update({"vertices": v[mask_v].copy(), "faces": new_faces}) else: # otherwise just use unmasked vertices uv = None # check to make sure indexes are in bounds if tol.strict: assert faces.max() < len(v) if vn is not None and np.shape(faces_norm) == faces.shape: # do the crazy unmerging logic for split indices new_faces, mask_v, mask_vn = unmerge_faces( faces, faces_norm, maintain_faces=maintain_order ) else: # generate the mask so we only include # referenced vertices in every new mesh mask_v = np.zeros(len(v), dtype=bool) mask_v[faces] = True # reconstruct the faces with the new vertex indices inverse = np.zeros(len(v), dtype=np.int64) inverse[mask_v] = np.arange(mask_v.sum()) new_faces = inverse[faces] # no normals mask_vn = None # start with vertices and faces mesh.update({"faces": new_faces, "vertices": v[mask_v].copy()}) # if colors and normals are OK save them if vc is not None: try: # may fail on a malformed color mask mesh["vertex_colors"] = vc[mask_v] except BaseException: log.debug("failed to load vertex_colors", exc_info=True) if mask_vn is not None: try: # may fail on a malformed mask normals = vn[mask_vn] if normals.shape != mesh["vertices"].shape: raise ValueError( "incorrect normals {} != {}".format( str(normals.shape), str(mesh["vertices"].shape) ) ) mesh["vertex_normals"] = normals except BaseException: log.debug("failed to load vertex_normals", exc_info=True) visual = None if material in materials: # use the material with the UV coordinates visual = TextureVisuals(uv=uv, material=materials[material]) elif uv is not None and len(uv) == len(mesh["vertices"]): # create a texture with an empty materials visual = TextureVisuals(uv=uv) elif material is not None: # case where material is specified but not available log.debug(f"specified material ({material}) not loaded!") # assign the visual mesh["visual"] = visual # store geometry by name geometry[name] = mesh if len(geometry) == 1: # TODO : should this be removed to always return a scene? return next(iter(geometry.values())) # add an identity transform for every geometry graph = [{"geometry": k, "frame_to": k} for k in geometry.keys()] # convert to scene kwargs result = {"geometry": geometry, "graph": graph} return result def parse_mtl(mtl, resolver=None): """ Parse a loaded MTL file. Parameters ------------- mtl : str or bytes Data from an MTL file resolver : trimesh.Resolver Fetch assets by name from file system, web, or other Returns ------------ mtllibs : list of dict Each dict has keys: newmtl, map_Kd, Kd """ # decode bytes into string if necessary mtl = util.decode_text(mtl) # current material material = None # materials referenced by name materials = {} # use universal newline splitting lines = str.splitlines(str(mtl).strip()) # remap OBJ property names to kwargs for SimpleMaterial mapped = {"kd": "diffuse", "ka": "ambient", "ks": "specular", "ns": "glossiness"} for line in lines: # split by white space split = line.strip().split() # needs to be at least two values if len(split) <= 1: continue # the first value is the parameter name key = split[0].lower() # start a new material if key == "newmtl": # material name extracted from line like: # newmtl material_0 if material is not None: # save the old material by old name and remove key materials[material.pop("newmtl")] = material # start a fresh new material material = {"newmtl": " ".join(split[1:])} elif key == "map_kd": # represents the file name of the texture image index = line.lower().index("map_kd") + 6 file_name = line[index:].strip() try: file_data = resolver.get(file_name) # load the bytes into a PIL image # an image file name material["image"] = Image.open(util.wrap_as_stream(file_data)) except BaseException: log.debug("failed to load image", exc_info=True) elif key in mapped.keys(): try: # diffuse, ambient, and specular float RGB value = [float(x) for x in split[1:]] # if there is only one value return that if len(value) == 1: value = value[0] if material is not None: # store the key by mapped value material[mapped[key]] = value # also store key by OBJ name material[key] = value except BaseException: log.debug("failed to convert color!", exc_info=True) # pass everything as kwargs to material constructor elif material is not None: # save any other unspecified keys material[key] = split[1:] # reached EOF so save any existing materials if material: materials[material.pop("newmtl")] = material return materials def _parse_faces_vectorized(array, columns, sample_line): """ Parse loaded homogeneous (tri/quad) face data in a vectorized manner. Parameters ------------ array : (n,) int Indices in order columns : int Number of columns in the file sample_line : str A single line so we can assess the ordering Returns -------------- faces : (n, d) int Faces in space faces_tex : (n, d) int or None Texture for each vertex in face faces_norm : (n, d) int or None Normal index for each vertex in face """ # reshape to columns array = array.reshape((-1, columns)) # how many elements are in the first line of faces # i.e '13/1/13 14/1/14 2/1/2 1/2/1' is 4 group_count = len(sample_line.strip().split()) # how many elements are there for each vertex reference # i.e. '12/1/13' is 3 per_ref = int(columns / group_count) # create an index mask we can use to slice vertex references index = np.arange(group_count) * per_ref # slice the faces out of the blob array faces = array[:, index] # TODO: probably need to support 8 and 12 columns for quads # or do something more general faces_tex, faces_norm = None, None if columns == 6: # if we have two values per vertex the second # one is index of texture coordinate (`vt`) # count how many delimiters are in the first face line # to see if our second value is texture or normals # do splitting to clip off leading/trailing slashes count = "".join(i.strip("/") for i in sample_line.split()).count("/") if count == columns: # case where each face line looks like: # ' 75//139 76//141 77//141' # which is vertex/nothing/normal faces_norm = array[:, index + 1] elif count == int(columns / 2): # case where each face line looks like: # '75/139 76/141 77/141' # which is vertex/texture faces_tex = array[:, index + 1] else: log.debug(f"face lines are weird: {sample_line}") elif columns == 9: # if we have three values per vertex # second value is always texture faces_tex = array[:, index + 1] # third value is reference to vertex normal (`vn`) faces_norm = array[:, index + 2] return faces, faces_tex, faces_norm def _parse_faces_fallback(lines): """ Use a slow but more flexible looping method to process face lines as a fallback option to faster vectorized methods. Parameters ------------- lines : (n,) str List of lines with face information Returns ------------- faces : (m, 3) int Clean numpy array of face triangles """ # collect vertex, texture, and vertex normal indexes v, vt, vn = [], [], [] # loop through every line starting with a face for line in lines: # remove leading newlines then # take first bit before newline then split by whitespace split = line.strip().split("\n")[0].split() # split into: ['76/558/76', '498/265/498', '456/267/456'] len_split = len(split) if len_split == 3: pass elif len_split == 4: # triangulate quad face split = [split[0], split[1], split[2], split[2], split[3], split[0]] elif len_split > 4: # triangulate polygon as a triangles fan collect = [] # we need a flat list so append inside # a list comprehension collect_append = collect.append [ [ collect_append(split[0]), collect_append(split[i + 1]), collect_append(split[i + 2]), ] for i in range(len(split) - 2) ] split = collect else: log.debug(f"face needs more values 3>{len(split)} skipping!") continue # f is like: '76/558/76' for f in split: # vertex, vertex texture, vertex normal split = f.split("/") # we always have a vertex reference v.append(int(split[0])) # faster to try/except than check in loop try: vt.append(int(split[1])) except BaseException: pass try: # vertex normal is the third index vn.append(int(split[2])) except BaseException: pass # shape into triangles and switch to 0-indexed # 0-indexing only applies to positive indices faces = np.array(v, dtype=np.int64).reshape((-1, 3)) faces[faces > 0] -= 1 faces_tex, normals = None, None if len(vt) == len(v): faces_tex = np.array(vt, dtype=np.int64).reshape((-1, 3)) faces_tex[faces_tex > 0] -= 1 if len(vn) == len(v): normals = np.array(vn, dtype=np.int64).reshape((-1, 3)) normals[normals > 0] -= 1 return faces, faces_tex, normals def _parse_vertices(text): """ Parse raw OBJ text into vertices, vertex normals, vertex colors, and vertex textures. Parameters ------------- text : str Full text of an OBJ file Returns ------------- v : (n, 3) float Vertices in space vn : (m, 3) float or None Vertex normals vt : (p, 2) float or None Vertex texture coordinates vc : (n, 3) float or None Per-vertex color """ # the first position of a vertex in the text blob # we only really need to search from the start of the file # up to the location of out our first vertex but we # are going to use this check for "do we have texture" # determination later so search the whole stupid file starts = {k: text.find(f"\n{k} ") for k in ["v", "vt", "vn"]} # no valid values so exit early if not any(v >= 0 for v in starts.values()): return None, None, None, None # find the last position of each valid value ends = { k: text.find("\n", text.rfind(f"\n{k} ") + 2 + len(k)) for k, v in starts.items() if v >= 0 } # take the first and last position of any vertex property start = min(s for s in starts.values() if s >= 0) end = max(e for e in ends.values() if e >= 0) # get the chunk of test that contains vertex data chunk = text[start:end].replace("+e", "e").replace("-e", "e") # get the clean-ish data from the file as python lists data = { k: [i.split("\n", 1)[0] for i in chunk.split(f"\n{k} ")[1:]] for k, v in starts.items() if v >= 0 } # count the number of data values per row on a sample row per_row = {k: len(v[0].split()) for k, v in data.items()} # convert data values into numpy arrays result = defaultdict(lambda: None) for k, value in data.items(): # use joining and fromstring to get as numpy array array = np.fromstring(" ".join(value), sep=" ", dtype=np.float64) # what should our shape be shape = (len(value), per_row[k]) # check shape of flat data if len(array) == np.prod(shape): # we have a nice 2D array result[k] = array.reshape(shape) else: # try to recover with a slightly more expensive loop count = per_row[k] try: # try to get result through reshaping result[k] = np.fromstring( " ".join(i.split()[:count] for i in value), sep=" ", dtype=np.float64 ).reshape(shape) except BaseException: pass # vertices v = result["v"] # vertex colors are stored next to vertices vc = None if v is not None and v.shape[1] >= 6: # vertex colors are stored after vertices v, vc = v[:, :3], v[:, 3:6] elif v is not None and v.shape[1] > 3: # we got a lot of something unknowable v = v[:, :3] # vertex texture or None vt = result["vt"] if vt is not None: # sometimes UV coordinates come in as UVW vt = vt[:, :2] # vertex normals or None vn = result["vn"] # check will generally only be run in unit tests # so we are allowed to do things that are slow if tol.strict: # check to make sure our subsetting # didn't miss any vertices or data assert len(v) == text.count("\nv ") # make sure optional data matches file too if vn is not None: assert len(vn) == text.count("\nvn ") if vt is not None: assert len(vt) == text.count("\nvt ") return v, vn, vt, vc def _group_by_material(face_tuples): """ For chunks of faces split by material group the chunks that share the same material. Parameters ------------ face_tuples : (n,) list of (material, obj, chunk) The data containing faces Returns ------------ grouped : (m,) list of (material, obj, chunk) Grouped by material """ # store the chunks grouped by material grouped = defaultdict(lambda: ["", "", []]) # loop through existring for material, obj, chunk in face_tuples: grouped[material][0] = material grouped[material][1] = obj # don't do a million string concatenations in loop grouped[material][2].append(chunk) # go back and do a join to make a single string for k in grouped.keys(): grouped[k][2] = "\n".join(grouped[k][2]) # return as list return list(grouped.values()) def _preprocess_faces(text): """ Pre-Process Face Text Rather than looking at each line in a loop we're going to split lines by directives which indicate a new mesh, specifically 'usemtl' and 'o' keys search for materials, objects, faces, or groups Parameters ------------ text : str Raw file Returns ------------ triple : (n, 3) tuple Tuples of (material, object, data-chunk) """ # see which chunk is relevant starters = ["\nusemtl ", "\no ", "\nf ", "\ng ", "\ns "] f_start = len(text) # first index of material, object, face, group, or smoother for st in starters: search = text.find(st, 0, f_start) # if not contained find will return -1 if search < 0: continue # subtract the length of the key from the position # to make sure it's included in the slice of text if search < f_start: f_start = search # index in blob of the newline after the last face f_end = text.find("\n", text.rfind("\nf ") + 3) # get the chunk of the file that has face information if f_end >= 0: # clip to the newline after the last face f_chunk = text[f_start:f_end] else: # no newline after last face f_chunk = text[f_start:] if tol.strict: # check to make sure our subsetting didn't miss any faces assert f_chunk.count("\nf ") == text.count("\nf ") # two things cause new meshes to be created: # objects and materials # re.finditer was faster than find in a loop # find the index of every material change idx_mtl = np.array([m.start(0) for m in re.finditer("usemtl ", f_chunk)], dtype=int) # find the index of every new object idx_obj = np.array([m.start(0) for m in re.finditer("\no ", f_chunk)], dtype=int) # find all the indexes where we want to split splits = np.unique(np.concatenate(([0, len(f_chunk)], idx_mtl, idx_obj))) # track the current material and object ID current_obj = None current_mtl = None # store (material, object, face lines) face_tuples = [] for start, end in zip(splits[:-1], splits[1:]): # ensure there's always a trailing newline chunk = f_chunk[start:end].strip() + "\n" if chunk.startswith("o "): current_obj, chunk = chunk.split("\n", 1) current_obj = current_obj[2:].strip() elif chunk.startswith("usemtl"): current_mtl, chunk = chunk.split("\n", 1) current_mtl = current_mtl[6:].strip() # Discard the g tag line in the list of faces elif chunk.startswith("g "): _, chunk = chunk.split("\n", 1) # If we have an f at the beginning of a line # then add it to the list of faces chunks if chunk.startswith("f ") or "\nf" in chunk: face_tuples.append((current_mtl, current_obj, chunk)) return face_tuples def export_obj( mesh, include_normals=None, include_color=True, include_texture=True, return_texture=False, write_texture=True, resolver=None, digits=8, mtl_name=None, header="https://github.com/mikedh/trimesh", ): """ Export a mesh as a Wavefront OBJ file. TODO: scenes with textured meshes Parameters ----------- mesh : trimesh.Trimesh Mesh to be exported include_normals : Optional[bool] Include vertex normals in export. If None will only be included if vertex normals are in cache. include_color : bool Include vertex color in export include_texture : bool Include `vt` texture in file text return_texture : bool If True, return a dict with texture files write_texture : bool If True and a writable resolver is passed write the referenced texture files with resolver resolver : None or trimesh.resolvers.Resolver Resolver which can write referenced text objects digits : int Number of digits to include for floating point mtl_name : None or str If passed, the file name of the MTL file. header : str or None Header string for top of file or None for no header. Returns ----------- export : str OBJ format output texture : dict Contains files that need to be saved in the same directory as the exported mesh: {file name : bytes} """ # store the multiple options for formatting # vertex indexes for faces face_formats = { ("v",): "{}", ("v", "vn"): "{}//{}", ("v", "vt"): "{}/{}", ("v", "vn", "vt"): "{}/{}/{}", } # check the input if util.is_instance_named(mesh, "Trimesh"): meshes = [mesh] elif util.is_instance_named(mesh, "Scene"): meshes = mesh.dump() elif util.is_instance_named(mesh, "PointCloud"): meshes = [mesh] else: raise ValueError("must be Trimesh or Scene!") # collect lines to export objects = deque([]) # keep track of the number of each export element counts = {"v": 0, "vn": 0, "vt": 0} # collect materials as we go materials = {} materials_name = set() for current in meshes: # we are going to reference face_formats with this face_type = ["v"] # OBJ includes vertex color as RGB elements on the same line if ( include_color and current.visual.kind in ["vertex", "face"] and len(current.visual.vertex_colors) ): # create a stacked blob with position and color v_blob = np.column_stack( (current.vertices, to_float(current.visual.vertex_colors[:, :3])) ) else: # otherwise just export vertices v_blob = current.vertices # add the first vertex key and convert the array # add the vertices export = deque( [ "v " + util.array_to_string( v_blob, col_delim=" ", row_delim="\nv ", digits=digits ) ] ) # if include_normals is None then # only include if they're already stored if include_normals is None: include_normals = "vertex_normals" in current._cache.cache if include_normals: try: converted = util.array_to_string( current.vertex_normals, col_delim=" ", row_delim="\nvn ", digits=digits, ) # if vertex normals are stored in cache export them face_type.append("vn") export.append("vn " + converted) except BaseException: log.debug("failed to convert vertex normals", exc_info=True) # collect materials into a dict if include_texture and hasattr(current.visual, "uv"): try: # get a SimpleMaterial material = current.visual.material if hasattr(material, "to_simple"): material = material.to_simple() # hash the material to avoid duplicates hashed = hash(material) if hashed not in materials: # get a unique name for the material name = util.unique_name(material.name, materials_name) # add the name to our collection materials_name.add(name) # convert material to an OBJ MTL materials[hashed] = material.to_obj(name=name) # get the name of the current material as-stored tex_name = materials[hashed][1] # export the UV coordinates if len(np.shape(getattr(current.visual, "uv", None))) == 2: converted = util.array_to_string( current.visual.uv, col_delim=" ", row_delim="\nvt ", digits=digits ) # if vertex texture exists and is the right shape face_type.append("vt") # add the uv coordinates export.append("vt " + converted) # add the directive to use the exported material export.appendleft(f"usemtl {tex_name}") except BaseException: log.debug("failed to convert UV coordinates", exc_info=True) # the format for a single vertex reference of a face face_format = face_formats[tuple(face_type)] # add the exported faces to the export if available if hasattr(current, "faces"): export.append( "f " + util.array_to_string( current.faces + 1 + counts["v"], col_delim=" ", row_delim="\nf ", value_format=face_format, ) ) # offset our vertex position counts["v"] += len(current.vertices) # add object name if found in metadata if "name" in current.metadata: export.appendleft("\no {}".format(current.metadata["name"])) # add this object objects.append("\n".join(export)) # collect files like images to write mtl_data = {} # combine materials if len(materials) > 0: # collect text for a single mtllib file mtl_lib = [] # now loop through: keys are garbage hash # values are (data, name) for data, _ in materials.values(): for file_name, file_data in data.items(): if file_name.lower().endswith(".mtl"): # collect mtl lines into single file mtl_lib.append(file_data) elif file_name not in mtl_data: # things like images mtl_data[file_name] = file_data else: log.warning(f"not writing {file_name}") if mtl_name is None: # if no name passed set a default mtl_name = "material.mtl" # prepend a header to the MTL text if requested if header is not None: prepend = f"# {header}\n\n".encode() else: prepend = b"" # save the material data mtl_data[mtl_name] = prepend + b"\n\n".join(mtl_lib) # add the reference to the MTL file objects.appendleft(f"mtllib {mtl_name}") if header is not None: # add a created-with header to the top of the file objects.appendleft(f"# {header}") # add a trailing newline objects.append("\n") # combine elements into a single string text = "\n".join(objects) # if we have a resolver and have asked to write texture if write_texture and resolver is not None and len(materials) > 0: # not all resolvers have a write method [resolver.write(k, v) for k, v in mtl_data.items()] # if we exported texture it changes returned values if return_texture: return text, mtl_data return text _obj_loaders = {"obj": load_obj} trimesh-4.5.1/trimesh/exchange/off.py000066400000000000000000000053141470574263400175740ustar00rootroot00000000000000import re import numpy as np from ..geometry import triangulate_quads from ..util import array_to_string, comment_strip, decode_text def load_off(file_obj, **kwargs) -> dict: """ Load an OFF file into the kwargs for a Trimesh constructor. Parameters ---------- file_obj : file object Contains an OFF file Returns ---------- loaded : dict kwargs for Trimesh constructor """ text = file_obj.read() # will magically survive weird encoding sometimes # comment strip will handle all cases of commenting text = comment_strip(decode_text(text)).strip() # split the first key _, header, raw = re.split("(COFF|OFF)", text, maxsplit=1) if header.upper() not in ["OFF", "COFF"]: raise NameError(f"Not an OFF file! Header was: `{header}`") # split into lines and remove whitespace splits = [i.strip() for i in str.splitlines(str(raw))] # remove empty lines splits = [i for i in splits if len(i) > 0] # the first non-comment line should be the counts header = np.array(splits[0].split(), dtype=np.int64) vertex_count, face_count = header[:2] vertices = np.array( [i.split()[:3] for i in splits[1 : vertex_count + 1]], dtype=np.float64 ) # will fail if incorrect number of vertices loaded vertices = vertices.reshape((vertex_count, 3)) # get lines with face data faces = [i.split() for i in splits[vertex_count + 1 : vertex_count + face_count + 1]] # the first value is count faces = [line[1 : int(line[0]) + 1] for line in faces] faces = triangulate_quads(faces) # save data as kwargs for a trimesh.Trimesh kwargs = {"vertices": vertices, "faces": faces} return kwargs def export_off(mesh, digits=10) -> str: """ Export a mesh as an OFF file, a simple text format Parameters ----------- mesh : trimesh.Trimesh Geometry to export digits : int Number of digits to include on floats Returns ----------- export : str OFF format output """ # make sure specified digits is an int digits = int(digits) # prepend a 3 (face count) to each face faces_stacked = np.column_stack((np.ones(len(mesh.faces)) * 3, mesh.faces)).astype( np.int64 ) # the header is vertex count, face count, another number export = "\n".join( [ "OFF", str(len(mesh.vertices)) + " " + str(len(mesh.faces)) + " 0", array_to_string(mesh.vertices, col_delim=" ", row_delim="\n", digits=digits), array_to_string(faces_stacked, col_delim=" ", row_delim="\n"), "", ] ) return export _off_loaders = {"off": load_off} _off_exporters = {"off": export_off} trimesh-4.5.1/trimesh/exchange/ply.py000066400000000000000000001065671470574263400176420ustar00rootroot00000000000000import collections import subprocess import tempfile from string import Template import numpy as np from numpy.lib.recfunctions import structured_to_unstructured, unstructured_to_structured from .. import grouping, resources, util, visual from ..constants import log from ..geometry import triangulate_quads from ..resolvers import Resolver from ..typed import NDArray, Optional # from ply specification, and additional dtypes found in the wild _dtypes = { "char": "i1", "uchar": "u1", "short": "i2", "ushort": "u2", "int": "i4", "int8": "i1", "int16": "i2", "int32": "i4", "int64": "i8", "uint": "u4", "uint8": "u1", "uint16": "u2", "uint32": "u4", "uint64": "u8", "float": "f4", "float16": "f2", "float32": "f4", "float64": "f8", "double": "f8", } # Inverse of the above dict, collisions on numpy type were removed _inverse_dtypes = { "i1": "char", "u1": "uchar", "i2": "short", "u2": "ushort", "i4": "int", "i8": "int64", "u4": "uint", "u8": "uint64", "f4": "float", "f2": "float16", "f8": "double", } def _numpy_type_to_ply_type(_numpy_type): """ Returns the closest ply equivalent of a numpy type Parameters --------- _numpy_type : a numpy datatype Returns --------- ply_type : string """ return _inverse_dtypes[_numpy_type.str[1:]] def load_ply( file_obj, resolver: Optional[Resolver] = None, fix_texture: bool = True, prefer_color: Optional[str] = None, skip_materials: bool = False, *args, **kwargs, ): """ Load a PLY file from an open file object. Parameters --------- file_obj : an open file- like object Source data, ASCII or binary PLY resolver Object which can resolve assets fix_texture If True, will re- index vertices and faces so vertices with different UV coordinates are disconnected. skip_materials If True, will not load texture (if present). prefer_color None, 'vertex', or 'face' Which kind of color to prefer if both defined Returns --------- mesh_kwargs : dict Data which can be passed to Trimesh constructor, eg: a = Trimesh(**mesh_kwargs) """ # OrderedDict which is populated from the header elements, is_ascii, image_name = _parse_header(file_obj) # functions will fill in elements from file_obj if is_ascii: _ply_ascii(elements, file_obj) else: _ply_binary(elements, file_obj) # try to load the referenced image image = None if not skip_materials: try: # soft dependency import PIL.Image # if an image name is passed try to load it if image_name is not None: data = resolver.get(image_name) image = PIL.Image.open(util.wrap_as_stream(data)) except ImportError: log.debug("textures require `pip install pillow`") except BaseException: log.warning("unable to load image!", exc_info=True) # translate loaded PLY elements to kwargs kwargs = _elements_to_kwargs( image=image, elements=elements, fix_texture=fix_texture, prefer_color=prefer_color ) return kwargs def _add_attributes_to_dtype(dtype, attributes): """ Parses attribute datatype to populate a numpy dtype list Parameters ---------- dtype : list of numpy datatypes operated on in place attributes : dict contains all the attributes to parse Returns ---------- dtype : list of numpy datatypes """ for name, data in attributes.items(): if data.ndim == 1: dtype.append((name, data.dtype)) else: attribute_dtype = data.dtype if len(data.dtype) == 0 else data.dtype[0] dtype.append((f"{name}_count", " 1: data_array[f"{name}_count"] = data.shape[1] * np.ones(data.shape[0]) data_array[name] = data return data_array def _assert_attributes_valid(attributes): """ Asserts that a set of attributes is valid for PLY export. Parameters ---------- attributes : dict Contains the attributes to validate Raises -------- ValueError If passed attributes aren't valid. """ for data in attributes.values(): if data.ndim not in [1, 2]: raise ValueError("PLY attributes are limited to 1 or 2 dimensions") # Inelegant test for structured arrays, reference: # https://numpy.org/doc/stable/user/basics.rec.html if data.dtype.names is not None: raise ValueError("PLY attributes must be of a single datatype") def export_ply( mesh, encoding="binary", vertex_normal: Optional[bool] = None, include_attributes: bool = True, ): """ Export a mesh in the PLY format. Parameters ---------- mesh : trimesh.Trimesh Mesh to export. encoding : str PLY encoding: 'ascii' or 'binary_little_endian' vertex_normal : None or include vertex normals Returns ---------- export : bytes of result """ # evaluate input args # allow a shortcut for binary if encoding == "binary": encoding = "binary_little_endian" elif encoding not in ["binary_little_endian", "ascii"]: raise ValueError("encoding must be binary or ascii") # if vertex normals aren't specifically asked for # only export them if they are stored in cache if vertex_normal is None: vertex_normal = "vertex_normals" in mesh._cache # if we want to include mesh attributes in the export if include_attributes: if hasattr(mesh, "vertex_attributes"): # make sure to export texture coordinates as well if ( hasattr(mesh, "visual") and hasattr(mesh.visual, "uv") and np.shape(mesh.visual.uv) == (len(mesh.vertices), 2) ): mesh.vertex_attributes["s"] = mesh.visual.uv[:, 0] mesh.vertex_attributes["t"] = mesh.visual.uv[:, 1] _assert_attributes_valid(mesh.vertex_attributes) if hasattr(mesh, "face_attributes"): _assert_attributes_valid(mesh.face_attributes) # custom numpy dtypes for exporting dtype_face = [("count", " 0: # run the discrete curve step for each entity discrete = [e.discrete(mesh.vertices) for e in mesh.entities] # how long was each discrete curve discrete_len = np.array([d.shape[0] for d in discrete]) # what's the index offset based on these lengths discrete_off = np.concatenate(([0], np.cumsum(discrete_len)[:-1])) # pre-stack edges we can slice and offset longest = discrete_len.max() stack = np.column_stack((np.arange(0, longest - 1), np.arange(1, longest))) # get the indexes that reconstruct the discrete curves when stacked edges = np.vstack( [ stack[:length] + offset for length, offset in zip(discrete_len - 1, discrete_off) ] ) vertices = np.vstack(discrete) # create and populate the custom dtype for vertices num_vertices = len(vertices) # put mesh edge data into custom dtype to export num_edges = len(edges) if num_edges > 0 and num_vertices > 0: header.append(templates["vertex"]) pack_vertex = np.zeros(num_vertices, dtype=dtype_vertex) pack_vertex["vertex"] = np.asarray(vertices, dtype=np.float32) # add the edge info to the header header.append(templates["edge"]) # pack edges into our dtype pack_edges = unstructured_to_structured(edges, dtype=dtype_edge) # add the values for the header header_params.update( {"edge_count": num_edges, "vertex_count": num_vertices} ) elif hasattr(mesh, "vertices"): header.append(templates["vertex"]) num_vertices = len(mesh.vertices) header_params["vertex_count"] = num_vertices # if we're exporting vertex normals add them # to the header and dtype if vertex_normal: header.append(templates["vertex_normal"]) dtype_vertex.append(dtype_vertex_normal) # if mesh has a vertex color add it to the header vertex_color = ( hasattr(mesh, "visual") and mesh.visual.kind == "vertex" and len(mesh.visual.vertex_colors) == len(mesh.vertices) ) if vertex_color: header.append(templates["color"]) dtype_vertex.append(dtype_color) if include_attributes and hasattr(mesh, "vertex_attributes"): _add_attributes_to_header(header, mesh.vertex_attributes) _add_attributes_to_dtype(dtype_vertex, mesh.vertex_attributes) # create and populate the custom dtype for vertices pack_vertex = np.zeros(num_vertices, dtype=dtype_vertex) pack_vertex["vertex"] = mesh.vertices if vertex_normal: pack_vertex["normals"] = mesh.vertex_normals if vertex_color: pack_vertex["rgba"] = mesh.visual.vertex_colors if include_attributes and hasattr(mesh, "vertex_attributes"): _add_attributes_to_data_array(pack_vertex, mesh.vertex_attributes) if hasattr(mesh, "faces"): header.append(templates["face"]) if mesh.visual.kind == "face" and encoding != "ascii": header.append(templates["color"]) dtype_face.append(dtype_color) if include_attributes and hasattr(mesh, "face_attributes"): _add_attributes_to_header(header, mesh.face_attributes) _add_attributes_to_dtype(dtype_face, mesh.face_attributes) # put mesh face data into custom dtype to export pack_faces = np.zeros(len(mesh.faces), dtype=dtype_face) pack_faces["count"] = 3 pack_faces["index"] = mesh.faces if mesh.visual.kind == "face" and encoding != "ascii": pack_faces["rgba"] = mesh.visual.face_colors header_params["face_count"] = len(mesh.faces) if include_attributes and hasattr(mesh, "face_attributes"): _add_attributes_to_data_array(pack_faces, mesh.face_attributes) header.append(templates["outro"]) export = [Template("".join(header)).substitute(header_params).encode("utf-8")] if encoding == "binary_little_endian": if pack_vertex is not None: export.append(pack_vertex.tobytes()) if pack_faces is not None: export.append(pack_faces.tobytes()) if pack_edges is not None: export.append(pack_edges.tobytes()) elif encoding == "ascii": if pack_vertex is not None: export.append( util.structured_array_to_string( pack_vertex, col_delim=" ", row_delim="\n" ).encode("utf-8"), ) if pack_faces is not None: export.extend( [ b"\n", util.structured_array_to_string( pack_faces, col_delim=" ", row_delim="\n" ).encode("utf-8"), ] ) if pack_edges is not None: export.extend( [ b"\n", util.structured_array_to_string( pack_edges, col_delim=" ", row_delim="\n" ).encode("utf-8"), ] ) export.append(b"\n") else: raise ValueError("encoding must be ascii or binary!") return b"".join(export) def _parse_header(file_obj): """ Read the ASCII header of a PLY file, and leave the file object at the position of the start of data but past the header. Parameters ----------- file_obj : open file object Positioned at the start of the file Returns ----------- elements : collections.OrderedDict Fields and data types populated is_ascii : bool Whether the data is ASCII or binary image_name : None or str File name of TextureFile """ if "ply" not in str(file_obj.readline()).lower(): raise ValueError("Not a ply file!") # collect the encoding: binary or ASCII encoding = file_obj.readline().decode("utf-8").strip().lower() is_ascii = "ascii" in encoding # big or little endian endian = ["<", ">"][int("big" in encoding)] elements = collections.OrderedDict() # store file name of TextureFiles in the header image_name = None while True: raw = file_obj.readline() if raw is None: raise ValueError("Header not terminated properly!") raw = raw.decode("utf-8").strip() line = raw.split() # we're done if "end_header" in line: break # elements are groups of properties if "element" in line[0]: # we got a new element so add it name, length = line[1:] elements[name] = { "length": int(length), "properties": collections.OrderedDict(), } # a property is a member of an element elif "property" in line[0]: # is the property a simple single value, like: # `property float x` if len(line) == 3: dtype, field = line[1:] elements[name]["properties"][str(field)] = endian + _dtypes[dtype] # is the property a painful list, like: # `property list uchar int vertex_indices` elif "list" in line[1]: dtype_count, dtype, field = line[2:] elements[name]["properties"][str(field)] = ( endian + _dtypes[dtype_count] + ", ($LIST,)" + endian + _dtypes[dtype] ) # referenced as a file name elif "texturefile" in raw.lower(): # textures come listed like: # `comment TextureFile fuze_uv.jpg` index = raw.lower().index("texturefile") + 11 # use the value from raw to preserve whitespace image_name = raw[index:].strip() return elements, is_ascii, image_name def _elements_to_kwargs(elements, fix_texture, image, prefer_color=None): """ Given an elements data structure, extract the keyword arguments that a Trimesh object constructor will expect. Parameters ------------ elements : OrderedDict object With fields and data loaded fix_texture : bool If True, will re- index vertices and faces so vertices with different UV coordinates are disconnected. image : PIL.Image Image to be viewed prefer_color : None, 'vertex', or 'face' Which kind of color to prefer if both defined Returns ----------- kwargs : dict Keyword arguments for Trimesh constructor """ # store the raw ply structure as an internal key in metadata kwargs = {"metadata": {"_ply_raw": elements}} if "vertex" in elements and elements["vertex"]["length"]: vertices = np.column_stack([elements["vertex"]["data"][i] for i in "xyz"]) if not util.is_shape(vertices, (-1, 3)): raise ValueError("Vertices were not (n,3)!") else: # return empty geometry if there are no vertices kwargs["geometry"] = {} return kwargs try: vertex_normals = np.column_stack( [elements["vertex"]["data"][j] for j in ("nx", "ny", "nz")] ) if len(vertex_normals) == len(vertices): kwargs["vertex_normals"] = vertex_normals except BaseException: pass if "face" in elements and elements["face"]["length"]: face_data = elements["face"]["data"] else: # some PLY files only include vertices face_data = None faces = None # what keys do in-the-wild exporters use for vertices index_names = ["vertex_index", "vertex_indices"] texcoord = None if util.is_shape(face_data, (-1, (3, 4))): faces = face_data elif isinstance(face_data, dict): # get vertex indexes for i in index_names: if i in face_data: faces = face_data[i] break # if faces have UV coordinates defined use them if "texcoord" in face_data: texcoord = face_data["texcoord"] elif isinstance(face_data, np.ndarray): face_blob = elements["face"]["data"] # some exporters set this name to 'vertex_index' # and some others use 'vertex_indices' but we really # don't care about the name unless there are multiple if len(face_blob.dtype.names) == 1: name = face_blob.dtype.names[0] elif len(face_blob.dtype.names) > 1: # loop through options for i in face_blob.dtype.names: if i in index_names: name = i break # get faces faces = face_blob[name]["f1"] try: texcoord = face_blob["texcoord"]["f1"] except (ValueError, KeyError): # accessing numpy arrays with named fields # incorrectly is a ValueError pass if faces is not None: shape = np.shape(faces) if len(shape) != 2: # we may have mixed quads and triangles handle them with function faces = triangulate_quads(faces) if texcoord is None: # ply has no clear definition of how texture coordinates are stored, # unfortunately there are many common names that we need to try texcoord_names = [("texture_u", "texture_v"), ("u", "v"), ("s", "t")] for names in texcoord_names: # If texture coordinates are defined with vertices try: t_u = elements["vertex"]["data"][names[0]] t_v = elements["vertex"]["data"][names[1]] texcoord = np.stack( (t_u[faces.reshape(-1)], t_v[faces.reshape(-1)]), axis=-1 ).reshape((faces.shape[0], -1)) # stop trying once succeeded break except (ValueError, KeyError): # if the fields didn't exist pass shape = np.shape(faces) # PLY stores texture coordinates per-face which is # slightly annoying, as we have to then figure out # which vertices have the same position but different UV if ( texcoord is not None and len(shape) == 2 and texcoord.shape == (faces.shape[0], faces.shape[1] * 2) ): # vertices with the same position but different # UV coordinates can't be merged without it # looking like it went through a woodchipper # in- the- wild PLY comes with things merged that # probably shouldn't be so disconnect vertices if fix_texture: # do import here from ..visual.texture import unmerge_faces # reshape to correspond with flattened faces uv_all = texcoord.reshape((-1, 2)) # UV coordinates defined for every triangle have # duplicates which can be merged so figure out # which UV coordinates are the same here unique, inverse = grouping.unique_rows(uv_all) # use the indices of faces and face textures # to only merge vertices where the position # AND uv coordinate are the same faces, mask_v, mask_vt = unmerge_faces( faces, inverse.reshape(faces.shape) ) # apply the mask to get resulting vertices vertices = vertices[mask_v] # apply the mask to get UV coordinates uv = uv_all[unique][mask_vt] else: # don't alter vertices, UV will look like crap # if it was exported with vertices merged uv = np.zeros((len(vertices), 2)) uv[faces.reshape(-1)] = texcoord.reshape((-1, 2)) # create the visuals object for the texture kwargs["visual"] = visual.texture.TextureVisuals(uv=uv, image=image) elif texcoord is not None: # create a texture with an empty material from ..visual.texture import TextureVisuals uv = np.zeros((len(vertices), 2)) uv[faces.reshape(-1)] = texcoord.reshape((-1, 2)) kwargs["visual"] = TextureVisuals(uv=uv) # faces were not none so assign them kwargs["faces"] = faces # kwargs for Trimesh or PointCloud kwargs["vertices"] = vertices # if both vertex and face color are defined pick the one if "face" in elements: kwargs["face_colors"] = _element_colors(elements["face"]) if "vertex" in elements: kwargs["vertex_colors"] = _element_colors(elements["vertex"]) if "edge" in elements: # this is a Path element. from ..path.exchange.misc import edges_to_path edges = structured_to_unstructured(elements["edge"]["data"]) kwargs.update(edges_to_path(edges, kwargs["vertices"])) return kwargs def _element_colors(element): """ Given an element, try to extract RGBA color from properties and return them as an (n,3|4) array. Parameters ------------- element : dict Containing color keys Returns ------------ colors : (n, 3) or (n, 4) float Colors extracted from the element signal : float Estimate of range """ keys = ["red", "green", "blue", "alpha"] candidate_colors = [element["data"][i] for i in keys if i in element["properties"]] if len(candidate_colors) >= 3: return np.column_stack(candidate_colors) return None def _load_element_different(properties, data): """ Load elements which include lists of different lengths based on the element's property-definitions. Parameters ------------ properties : dict Property definitions encoded in a dict where the property name is the key and the property data type the value. data : array Data rows for this element. """ edata = {k: [] for k in properties.keys()} for row in data: start = 0 for name, dt in properties.items(): length = 1 if "$LIST" in dt: dt = dt.split("($LIST,)")[-1] # the first entry in a list-property is the number of elements # in the list length = int(row[start]) # skip the first entry (the length), when reading the data start += 1 end = start + length edata[name].append(row[start:end].astype(dt)) # start next property at the end of this one start = end # if the shape of any array is (n, 1) we want to # squeeze/concatenate it into (n,) squeeze = {k: np.array(v, dtype="object") for k, v in edata.items()} # squeeze and convert any clean 2D arrays squeeze.update( { k: v.squeeze().astype(edata[k][0].dtype) for k, v in squeeze.items() if len(v.shape) == 2 } ) return squeeze def _load_element_single(properties, data): """ Load element data with lists of a single length based on the element's property-definitions. Parameters ------------ properties : dict Property definitions encoded in a dict where the property name is the key and the property data type the value. data : array Data rows for this element, if the data contains list-properties all lists belonging to one property must have the same length. """ first = data[0] columns = {} current = 0 for name, dt in properties.items(): # if the current index has gone past the number # of items we actually have exit the loop early if current >= len(first): break if "$LIST" in dt: dtype = dt.split("($LIST,)")[-1] # the first entry in a list-property # is the number of elements in the list length = int(first[current]) columns[name] = data[:, current + 1 : current + 1 + length].astype(dtype) # offset by length of array plus one for each uint index current += length + 1 else: columns[name] = data[:, current : current + 1].astype(dt) current += 1 return columns def _ply_ascii(elements, file_obj): """ Load data from an ASCII PLY file into an existing elements data structure. Parameters ------------ elements : OrderedDict Populated from the file header, data will be added in-place to this object file_obj : file-like-object Current position at the start of the data section (past the header). """ # get the file contents as a string text = str(file_obj.read().decode("utf-8")) # split by newlines lines = str.splitlines(text) # get each line as an array split by whitespace array = [np.fromstring(i, sep=" ") for i in lines] # store the line position in the file row_pos = 0 # loop through data we need for key, values in elements.items(): # if the element is empty ignore it if "length" not in values or values["length"] == 0: continue data = array[row_pos : row_pos + values["length"]] row_pos += values["length"] # try stacking the data, which simplifies column-wise access. this is only # possible, if all rows have the same length. try: data = np.vstack(data) col_count_equal = True except ValueError: col_count_equal = False # number of list properties in this element list_count = sum(1 for dt in values["properties"].values() if "$LIST" in dt) if col_count_equal and list_count <= 1: # all rows have the same length and we only have at most one list # property where all entries have the same length. this means we can # use the quick numpy-based loading. element_data = _load_element_single(values["properties"], data) else: # there are lists of differing lengths. we need to fall back to loading # the data by iterating all rows and checking for list-lengths. this is # slower than the variant above. element_data = _load_element_different(values["properties"], data) elements[key]["data"] = element_data def _ply_binary(elements, file_obj): """ Load the data from a binary PLY file into the elements data structure. Parameters ------------ elements : OrderedDict Populated from the file header. Object will be modified to add data by this function. file_obj : open file object With current position at the start of the data section (past the header) """ def populate_listsize(file_obj, elements): """ Given a set of elements populated from the header if there are any list properties seek in the file the length of the list. Note that if you have a list where each instance is different length (if for example you mixed triangles and quads) this won't work at all """ p_start = file_obj.tell() p_current = file_obj.tell() elem_pop = [] for element_key, element in elements.items(): props = element["properties"] prior_data = "" for k, dtype in props.items(): prop_pop = [] if "$LIST" in dtype: # every list field has two data types: # the list length (single value), and the list data (multiple) # here we are only reading the single value for list length field_dtype = np.dtype(dtype.split(",")[0]) if len(prior_data) == 0: offset = 0 else: offset = np.dtype(prior_data).itemsize file_obj.seek(p_current + offset) blob = file_obj.read(field_dtype.itemsize) if len(blob) == 0: # no data was read for property prop_pop.append(k) break size = np.frombuffer(blob, dtype=field_dtype)[0] props[k] = props[k].replace("$LIST", str(size)) prior_data += props[k] + "," if len(prop_pop) > 0: # if a property was empty remove it for pop in prop_pop: props.pop(pop) # if we've removed all properties from # an element remove the element later if len(props) == 0: elem_pop.append(element_key) continue # get the size of the items in bytes itemsize = np.dtype(", ".join(props.values())).itemsize # offset the file based on read size p_current += element["length"] * itemsize # move the file back to where we found it file_obj.seek(p_start) # if there were elements without properties remove them for pop in elem_pop: elements.pop(pop) def populate_data(file_obj, elements): """ Given the data type and field information from the header, read the data and add it to a 'data' field in the element. """ for key in elements.keys(): items = list(elements[key]["properties"].items()) dtype = np.dtype(items) data = file_obj.read(elements[key]["length"] * dtype.itemsize) try: elements[key]["data"] = np.frombuffer(data, dtype=dtype) except BaseException: log.warning(f"PLY failed to populate: {key}") elements[key]["data"] = None return elements def _elements_size(elements): """ Given an elements data structure populated from the header, calculate how long the file should be if it is intact. """ size = 0 for element in elements.values(): dtype = np.dtype(",".join(element["properties"].values())) size += element["length"] * dtype.itemsize return size # some elements are passed where the list dimensions # are not included in the header, so this function goes # into the meat of the file and grabs the list dimensions # before we to the main data read as a single operation populate_listsize(file_obj, elements) # how many bytes are left in the file size_file = util.distance_to_end(file_obj) # how many bytes should the data structure described by # the header take up size_elements = _elements_size(elements) # if the number of bytes is not the same the file is probably corrupt if size_file != size_elements: raise ValueError("PLY is unexpected length!") # with everything populated and a reasonable confidence the file # is intact, read the data fields described by the header populate_data(file_obj, elements) def export_draco(mesh, bits=28): """ Export a mesh using Google's Draco compressed format. Only works if draco_encoder is in your PATH: https://github.com/google/draco Parameters ---------- mesh : Trimesh object Mesh to export bits : int Bits of quantization for position tol.merge=1e-8 is roughly 25 bits Returns ---------- data : str or bytes DRC file bytes """ with tempfile.NamedTemporaryFile(suffix=".ply") as temp_ply: temp_ply.write(export_ply(mesh)) temp_ply.flush() with tempfile.NamedTemporaryFile(suffix=".drc") as encoded: subprocess.check_output( [ draco_encoder, "-qp", str(int(bits)), "-i", temp_ply.name, "-o", encoded.name, ] ) encoded.seek(0) data = encoded.read() return data def load_draco(file_obj, **kwargs): """ Load a mesh from Google's Draco format. Parameters ---------- file_obj : file- like object Contains data Returns ---------- kwargs : dict Keyword arguments to construct a Trimesh object """ with tempfile.NamedTemporaryFile(suffix=".drc") as temp_drc: temp_drc.write(file_obj.read()) temp_drc.flush() with tempfile.NamedTemporaryFile(suffix=".ply") as temp_ply: subprocess.check_output( [draco_decoder, "-i", temp_drc.name, "-o", temp_ply.name] ) temp_ply.seek(0) kwargs = load_ply(temp_ply) return kwargs _ply_loaders = {"ply": load_ply} _ply_exporters = {"ply": export_ply} draco_encoder = util.which("draco_encoder") draco_decoder = util.which("draco_decoder") if draco_decoder is not None: _ply_loaders["drc"] = load_draco if draco_encoder is not None: _ply_exporters["drc"] = export_draco trimesh-4.5.1/trimesh/exchange/stl.py000066400000000000000000000236471470574263400176350ustar00rootroot00000000000000import numpy as np from .. import util class HeaderError(Exception): # the exception raised if an STL file object doesn't match its header pass # define a numpy datatype for the data section of a binary STL file # everything in STL is always Little Endian # this works natively on Little Endian systems, but blows up on Big Endians # so we always specify byteorder _stl_dtype = np.dtype( [("normals", " solid_end: raise ValueError("`endsolid` precedes `solid`!") # get the chunk of text with this particular solid solid = raw_lower[solid_start:solid_end] # extract the vertices vertex_text = solid.split("vertex") vertices = np.fromstring( " ".join(line[: line.find("\n")] for line in vertex_text[1:]), sep=" ", dtype=np.float64, ) if len(vertices) < 3: continue if len(vertices) % 3 != 0: raise ValueError("incorrect number of vertices") # reshape vertices to final 3D shape vertices = vertices.reshape((-1, 3)) faces = np.arange(len(vertices)).reshape((-1, 3)) # try to extract the face normals the same way face_normals = None try: normal_text = solid.split("normal") normals = np.fromstring( " ".join(line[: line.find("\n")] for line in normal_text[1:]), sep=" ", dtype=np.float64, ) if len(normals) == len(vertices): face_normals = normals.reshape((-1, 3)) except BaseException: util.log.warning("failed to extract face_normals", exc_info=True) try: # Previously checked to make sure there was matching 'solid' for 'endsolid' # the name is right after the `solid` keyword if it exists name = raw_mixed[solid_start : solid_start + solid.find("\n")][6:].strip() except BaseException: # will be filled in by unique_name name = None # make sure geometry has a unique name for the scene name = util.unique_name(name, kwargs) # save the constructor arguments kwargs[name] = { "vertices": vertices.reshape((-1, 3)), "face_normals": face_normals, "faces": faces, "metadata": {"name": name}, } if len(kwargs) == 1: return next(iter(kwargs.values())) return {"geometry": kwargs} def export_stl(mesh) -> bytes: """ Convert a Trimesh object into a binary STL file. Parameters --------- mesh Trimesh object to export. Returns --------- export Represents mesh in binary STL form """ header = np.zeros(1, dtype=_stl_dtype_header) if hasattr(mesh, "faces"): header["face_count"] = len(mesh.faces) export = header.tobytes() if hasattr(mesh, "faces"): packed = np.zeros(len(mesh.faces), dtype=_stl_dtype) packed["normals"] = mesh.face_normals packed["vertices"] = mesh.triangles export += packed.tobytes() return export def export_stl_ascii(mesh) -> str: """ Convert a Trimesh object into an ASCII STL file. Parameters --------- mesh : trimesh.Trimesh Returns --------- export Mesh represented as an ASCII STL file """ # move all the data that's going into the STL file into one array blob = np.zeros((len(mesh.faces), 4, 3)) blob[:, 0, :] = mesh.face_normals blob[:, 1:, :] = mesh.triangles # create a lengthy format string for the data section of the file formatter = ( "\n".join( [ "facet normal {} {} {}", "outer loop", "vertex {} {} {}\nvertex {} {} {}\nvertex {} {} {}", "endloop", "endfacet", "", ] ) ) * len(mesh.faces) # try applying the name from metadata if it exists name = mesh.metadata.get("name", "") if not isinstance(name, str): name = "" if len(name) > 80 or "\n" in name: name = "" # concatenate the header, data, and footer, and a new line return "\n".join([f"solid {name}", formatter.format(*blob.reshape(-1)), "endsolid\n"]) _stl_loaders = {"stl": load_stl, "stl_ascii": load_stl} trimesh-4.5.1/trimesh/exchange/threedxml.py000066400000000000000000000367741470574263400210340ustar00rootroot00000000000000""" threedxml.py ------------- Load 3DXML files, a scene format from Dassault products like Solidworks, Abaqus, Catia """ import numpy as np try: # `pip install pillow` # optional: used for textured meshes from PIL import Image except BaseException as E: # if someone tries to use Image re-raise # the import error so they can debug easily from ..exceptions import ExceptionWrapper Image = ExceptionWrapper(E) import collections import json from .. import util from ..visual.texture import TextureVisuals def load_3DXML(file_obj, *args, **kwargs): """ Load a 3DXML scene into kwargs. 3DXML is a CAD format that can be exported from Solidworks Parameters ------------ file_obj : file object Open and containing 3DXML data Returns ----------- kwargs : dict Can be passed to trimesh.exchange.load.load_kwargs """ archive = util.decompress(file_obj, file_type="zip") # a dictionary of file name : lxml etree as_etree = {} for k, v in archive.items(): # wrap in try statement, as sometimes 3DXML # contains non- xml files, like JPG previews try: as_etree[k] = etree.XML(v.read()) except etree.XMLSyntaxError: # move the file object back to the file start v.seek(0) # the file name of the root scene root_file = as_etree["Manifest.xml"].find("{*}Root").text # the etree of the scene layout tree = as_etree[root_file] # index of root element of directed acyclic graph root_id = tree.find("{*}ProductStructure").attrib["root"] # load the materials library from the materials elements colors = {} images = {} # but only if it exists material_key = "CATMaterialRef.3dxml" if material_key in as_etree: material_tree = as_etree[material_key] for MaterialDomain in material_tree.iter("{*}MaterialDomain"): material_id = MaterialDomain.attrib["id"] material_file = MaterialDomain.attrib["associatedFile"].split("urn:3DXML:")[ -1 ] rend = as_etree[material_file].find("{*}Feature[@Alias='RenderingFeature']") diffuse = rend.find("{*}Attr[@Name='DiffuseColor']") # specular = rend.find("{*}Attr[@Name='SpecularColor']") # emissive = rend.find("{*}Attr[@Name='EmissiveColor']") if diffuse is not None: rgb = (np.array(json.loads(diffuse.attrib["Value"])) * 255).astype( np.uint8 ) colors[material_id] = rgb texture = rend.find("{*}Attr[@Name='TextureImage']") if texture is not None: tex_file, tex_id = texture.attrib["Value"].split(":")[-1].split("#") rep_image = as_etree[tex_file].find( f"{{*}}CATRepImage/{{*}}CATRepresentationImage[@id='{tex_id}']" ) if rep_image is not None: image_file = rep_image.get("associatedFile", "").split(":")[-1] images[material_id] = Image.open(archive[image_file]) # copy indexes for instances of colors for MaterialDomainInstance in material_tree.iter("{*}MaterialDomainInstance"): instance = MaterialDomainInstance.find("{*}IsInstanceOf") # colors[b.attrib['id']] = colors[instance.text] for aggregate in MaterialDomainInstance.findall("{*}IsAggregatedBy"): colors[aggregate.text] = colors.get(instance.text) images[aggregate.text] = images.get(instance.text) # references which hold the 3DXML scene structure as a dict # element id : {key : value} references = collections.defaultdict(dict) def get_rgba(color): """ Return (4,) uint8 color array defined by Color element attributes. Parameters ----------- color : lxml.Element Element containing RGBA colors. Returns ----------- as_int : (4,) np.uint8 Colors as uint8 RGBA. """ assert "RGBAColorType" in color.attrib.values() # colors will be float 0.0 - 1.0 rgba = np.array( [color.get(channel, 1.0) for channel in ("red", "green", "blue", "alpha")], dtype=np.float64, ) # convert to int colors return (rgba * 255).astype(np.uint8) # the 3DXML can specify different visual properties for occurrences view = tree.find("{*}DefaultView") if view is not None: for ViewProp in view.iter("{*}DefaultViewProperty"): color = ViewProp.find( "{*}GraphicProperties/" + "{*}SurfaceAttributes/{*}Color" ) if color is None: continue rgba = get_rgba(color) for occurrence in ViewProp.findall("{*}OccurenceId/{*}id"): reference_id = occurrence.text.split("#")[-1] references[reference_id]["color"] = rgba # geometries will hold meshes geometries = {} # get geometry for ReferenceRep in tree.iter(tag="{*}ReferenceRep"): # the str of an int that represents this meshes unique ID part_id = ReferenceRep.attrib["id"] # which part file in the archive contains the geometry we care about part_file = ReferenceRep.attrib["associatedFile"].split(":")[-1] # the format of the geometry file part_format = ReferenceRep.attrib["format"] if part_format not in ("TESSELLATED",): util.log.warning( f"ReferenceRep {part_file!r} unsupported format {part_format!r}" ) continue # load actual geometry mesh_faces = [] mesh_colors = [] mesh_normals = [] mesh_vertices = [] mesh_uv = [] mesh_image = None if part_file not in as_etree and part_file in archive: # the data is stored in some binary format util.log.warning(f"unable to load Rep {part_file!r}") # data = archive[part_file] continue # the geometry is stored in a Rep for Rep in as_etree[part_file].iter("{*}Rep"): rep_faces = [] # faces sharing the same list of vertices vertices = Rep.find("{*}VertexBuffer/{*}Positions") if vertices is None: continue # they mix delimiters like we couldn't figure it out from the # shape :( # load vertices into (n, 3) float64 mesh_vertices.append( np.fromstring( vertices.text.replace(",", " "), sep=" ", dtype=np.float64 ).reshape((-1, 3)) ) # load vertex normals into (n, 3) float64 normals = Rep.find("{*}VertexBuffer/{*}Normals") mesh_normals.append( np.fromstring( normals.text.replace(",", " "), sep=" ", dtype=np.float64 ).reshape((-1, 3)) ) uv = Rep.find("{*}VertexBuffer/{*}TextureCoordinates") if uv is not None: # texture coordinates are available rep_uv = np.fromstring( uv.text.replace(",", " "), sep=" ", dtype=np.float64 ) if "1D" == uv.get("dimension"): mesh_uv.append(np.stack([rep_uv, np.zeros(len(rep_uv))], axis=1)) else: # 2D mesh_uv.append(rep_uv.reshape(-1, 2)) material = Rep.find( "{*}SurfaceAttributes/" + "{*}MaterialApplication/" + "{*}MaterialId" ) if material is None: material_id = None else: (material_file, material_id) = ( material.attrib["id"].split("urn:3DXML:")[-1].split("#") ) mesh_image = images.get(material_id) # texture for this Rep, if any for faces in Rep.iter("{*}Faces"): triangles = [] # mesh triangles for this Faces element for face in faces.iter("{*}Face"): # Each Face may have optional strips, triangles or fans attributes if "strips" in face.attrib: # triangle strips, sequence of arbitrary length lists # np.fromstring is substantially faster than np.array(i.split()) # inside the list comprehension strips = [ np.fromstring(i, sep=" ", dtype=np.int64) for i in face.attrib["strips"].split(",") ] # convert strips to (m, 3) int triangles triangles.extend(util.triangle_strips_to_faces(strips)) if "triangles" in face.attrib: triangles.extend( np.fromstring( face.attrib["triangles"], sep=" ", dtype=np.int64 ).reshape((-1, 3)) ) if "fans" in face.attrib: fans = [ np.fromstring(i, sep=" ", dtype=np.int64) for i in face.attrib["fans"].split(",") ] # convert fans to (m, 3) int triangles triangles.extend(util.triangle_fans_to_faces(fans)) rep_faces.extend(triangles) # store the material information as (m, 3) uint8 FACE COLORS faceColor = colors.get(material_id, [128, 128, 128]) # each Face may have its own color colorElement = face.find("{*}SurfaceAttributes/{*}Color") if colorElement is not None: faceColor = get_rgba(colorElement)[:3] mesh_colors.append(np.tile(faceColor, (len(triangles), 1))) mesh_faces.append(rep_faces) # save each mesh as the kwargs for a trimesh.Trimesh constructor # aka, a Trimesh object can be created with trimesh.Trimesh(**mesh) # this avoids needing trimesh- specific imports in this IO function mesh = {} (mesh["vertices"], mesh["faces"]) = util.append_faces(mesh_vertices, mesh_faces) mesh["vertex_normals"] = np.vstack(mesh_normals) if mesh_uv and mesh_image: mesh["visual"] = TextureVisuals(uv=np.vstack(mesh_uv), image=mesh_image) else: mesh["face_colors"] = np.vstack(mesh_colors) # as far as I can tell, all 3DXML files are exported as # implicit millimeters (it isn't specified in the file) mesh["metadata"] = {"units": "mm"} mesh["class"] = "Trimesh" geometries[part_id] = mesh references[part_id]["geometry"] = part_id # a Reference3D maps to a subassembly or assembly for Reference3D in tree.iter("{*}Reference3D"): references[Reference3D.attrib["id"]] = { "name": Reference3D.attrib["name"], "type": "Reference3D", } # a node that is the connectivity between a geometry and the Reference3D for InstanceRep in tree.iter("{*}InstanceRep"): current = InstanceRep.attrib["id"] instance = InstanceRep.find("{*}IsInstanceOf").text aggregate = InstanceRep.find("{*}IsAggregatedBy").text references[current].update( {"aggregate": aggregate, "instance": instance, "type": "InstanceRep"} ) # an Instance3D maps basically to a part for Instance3D in tree.iter("{*}Instance3D"): matrix = np.eye(4) relative = Instance3D.find("{*}RelativeMatrix") if relative is not None: relative = np.array(relative.text.split(), dtype=np.float64) # rotation component matrix[:3, :3] = relative[:9].reshape((3, 3)).T # translation component matrix[:3, 3] = relative[9:] current = Instance3D.attrib["id"] name = Instance3D.attrib["name"] instance = Instance3D.find("{*}IsInstanceOf").text aggregate = Instance3D.find("{*}IsAggregatedBy").text references[current].update( { "aggregate": aggregate, "instance": instance, "matrix": matrix, "name": name, "type": "Instance3D", } ) # turn references into directed graph for path finding graph = nx.DiGraph() for k, v in references.items(): # IsAggregatedBy points up to a parent if "aggregate" in v: graph.add_edge(v["aggregate"], k) # IsInstanceOf indicates a child if "instance" in v: graph.add_edge(k, v["instance"]) # the 3DXML format is stored as a directed acyclic graph that needs all # paths from the root to a geometry to generate the tree of the scene paths = [] for geometry_id in geometries.keys(): paths.extend(nx.all_simple_paths(graph, source=root_id, target=geometry_id)) # the name of the root frame root_name = references[root_id]["name"] # create a list of kwargs to send to the scene.graph.update function # start with a transform from the graphs base frame to our root name graph_kwargs = [{"frame_to": root_name, "matrix": np.eye(4)}] # we are going to collect prettier geometry names as we traverse paths geom_names = {} # loop through every simple path and generate transforms tree # note that we are flattening the transform tree here for path in paths: name = "" if "name" in references[path[-3]]: name = references[path[-3]]["name"] geom_names[path[-1]] = name # we need a unique node name for our geometry instance frame # due to the nature of the DAG names specified by the file may not # be unique, so we add an Instance3D name then append the path ids node_name = name + "#" + ":".join(path) # pull all transformations in the path matrices = [references[i]["matrix"] for i in path if "matrix" in references[i]] if len(matrices) == 0: matrix = np.eye(4) elif len(matrices) == 1: matrix = matrices[0] else: matrix = util.multi_dot(matrices) graph_kwargs.append( { "matrix": matrix, "frame_from": root_name, "frame_to": node_name, "geometry": path[-1], } ) # remap geometry names from id numbers to the name string # we extracted from the 3DXML tree geom_final = {} for key, value in geometries.items(): if key in geom_names: geom_final[geom_names[key]] = value # change geometry names in graph kwargs in place for kwarg in graph_kwargs: if "geometry" not in kwarg: continue kwarg["geometry"] = geom_names[kwarg["geometry"]] # create the kwargs for load_kwargs result = {"class": "Scene", "geometry": geom_final, "graph": graph_kwargs} return result def print_element(element): """ Pretty-print an lxml.etree element. Parameters ------------ element : etree element """ pretty = etree.tostring(element, pretty_print=True).decode("utf-8") return pretty try: # soft dependencies import networkx as nx from lxml import etree _threedxml_loaders = {"3dxml": load_3DXML} except BaseException as E: # set loader to exception wrapper from ..exceptions import ExceptionWrapper _threedxml_loaders = {"3dxml": ExceptionWrapper(E)} trimesh-4.5.1/trimesh/exchange/threemf.py000066400000000000000000000446661470574263400204710ustar00rootroot00000000000000import io import uuid import zipfile from collections import defaultdict import numpy as np from .. import graph, util from ..constants import log from ..util import unique_name def _read_mesh(mesh): """ Read a ` 2: parent = path[-2][0] parents[parent].add(last) graph_args.append( { "frame_from": "world", "frame_to": name, "matrix": transform, "geometry": geom, } ) # solidworks will export each body as its own mesh with the part # name as the parent so optionally rename and combine these bodies if postprocess and all("body" in i.lower() for i in meshes.keys()): # don't rename by default rename = {k: k for k in meshes.keys()} for parent, mesh_name in parents.items(): # only handle the case where a parent has a single child # if there are multiple children we would do a combine op if len(mesh_name) != 1: continue # rename the part rename[id_name[next(iter(mesh_name))]] = id_name[parent].split("(")[0] # apply the rename operation meshes meshes = {rename[k]: m for k, m in meshes.items()} # rename geometry references in the scene graph for arg in graph_args: if "geometry" in arg: arg["geometry"] = rename[arg["geometry"]] # construct the kwargs to load the scene kwargs = { "base_frame": "world", "graph": graph_args, "geometry": meshes, "metadata": metadata, } return kwargs def export_3MF(mesh, batch_size=4096, compression=zipfile.ZIP_DEFLATED, compresslevel=5): """ Converts a Trimesh object into a 3MF file. Parameters --------- mesh trimesh.trimesh Mesh or Scene to export. batch_size : int Number of nodes to write per batch. compression : zipfile.ZIP_* Type of zip compression to use in this export. compresslevel : int For Python > 3.7 specify the 0-9 compression level. Returns --------- export : bytes Represents geometry as a 3MF file. """ from ..scene.scene import Scene if not isinstance(mesh, Scene): mesh = Scene(mesh) geometry = mesh.geometry graph = mesh.graph.to_networkx() base_frame = mesh.graph.base_frame # xml namespaces model_nsmap = { None: "http://schemas.microsoft.com/3dmanufacturing/core/2015/02", "m": "http://schemas.microsoft.com/3dmanufacturing/material/2015/02", "p": "http://schemas.microsoft.com/3dmanufacturing/production/2015/06", "b": "http://schemas.microsoft.com/3dmanufacturing/beamlattice/2017/02", "s": "http://schemas.microsoft.com/3dmanufacturing/slice/2015/07", "sc": "http://schemas.microsoft.com/3dmanufacturing/securecontent/2019/04", } rels_nsmap = {None: "http://schemas.openxmlformats.org/package/2006/relationships"} # model ids models = [] def model_id(x): if x not in models: models.append(x) return str(models.index(x) + 1) # 3mf archive dict {path: BytesIO} file_obj = io.BytesIO() # specify the parameters for the zip container zip_kwargs = {"compression": compression} # compresslevel was added in Python 3.7 zip_kwargs["compresslevel"] = compresslevel with zipfile.ZipFile(file_obj, mode="w", **zip_kwargs) as z: # 3dmodel.model with z.open("3D/3dmodel.model", mode="w") as f, etree.xmlfile( f, encoding="utf-8" ) as xf: xf.write_declaration() # stream elements with xf.element("model", {"unit": "millimeter"}, nsmap=model_nsmap): # objects with mesh data and/or references to other objects with xf.element("resources"): # stream objects with actual mesh data for i, (name, m) in enumerate(geometry.items()): # attributes for object attribs = { "id": model_id(name), "name": name, "type": "model", "p:UUID": str(uuid.uuid4()), } with xf.element("object", **attribs): with xf.element("mesh"): with xf.element("vertices"): # vertex nodes are written directly to the file # so make sure lxml's buffer is flushed xf.flush() for i in range(0, len(m.vertices), batch_size): batch = m.vertices[i : i + batch_size] fragment = ( '' * len(batch) ) f.write( fragment.format(*batch.flatten()).encode( "utf-8" ) ) with xf.element("triangles"): xf.flush() for i in range(0, len(m.faces), batch_size): batch = m.faces[i : i + batch_size] fragment = ( '' * len(batch) ) f.write( fragment.format(*batch.flatten()).encode( "utf-8" ) ) # stream components for node in graph.nodes: if node == base_frame or node.startswith("camera"): continue if len(graph[node]) == 0: continue attribs = { "id": model_id(node), "name": node, "type": "model", "p:UUID": str(uuid.uuid4()), } with xf.element("object", **attribs): with xf.element("components"): for next, data in graph[node].items(): transform = " ".join( str(i) for i in np.array(data["matrix"])[ :3, :4 ].T.flatten() ) xf.write( etree.Element( "component", { "objectid": model_id(data["geometry"]) if "geometry" in data else model_id(next), "transform": transform, }, ) ) # stream build (objects on base_frame) with xf.element("build", {"p:UUID": str(uuid.uuid4())}): for node, data in graph[base_frame].items(): if node.startswith("camera"): continue transform = " ".join( str(i) for i in np.array(data["matrix"])[:3, :4].T.flatten() ) uuid_tag = "{{{}}}UUID".format(model_nsmap["p"]) xf.write( etree.Element( "item", { "objectid": model_id(node), "transform": transform, uuid_tag: str(uuid.uuid4()), }, nsmap=model_nsmap, ) ) # .rels with z.open("_rels/.rels", "w") as f, etree.xmlfile(f, encoding="utf-8") as xf: xf.write_declaration() # stream elements with xf.element("Relationships", nsmap=rels_nsmap): rt = "http://schemas.microsoft.com/3dmanufacturing/2013/01/3dmodel" xf.write( etree.Element( "Relationship", Type=rt, Target="/3D/3dmodel.model", Id="rel0", ) ) # [Content_Types].xml with z.open("[Content_Types].xml", "w") as f, etree.xmlfile( f, encoding="utf-8" ) as xf: xf.write_declaration() # xml namespaces nsmap = {None: "http://schemas.openxmlformats.org/package/2006/content-types"} # stream elements types = [ ("jpeg", "image/jpeg"), ("jpg", "image/jpeg"), ("model", "application/vnd.ms-package.3dmanufacturing-3dmodel+xml"), ("png", "image/png"), ("rels", "application/vnd.openxmlformats-package.relationships+xml"), ( "texture", "application/vnd.ms-package.3dmanufacturing-3dmodeltexture", ), ] with xf.element("Types", nsmap=nsmap): for ext, ctype in types: xf.write(etree.Element("Default", Extension=ext, ContentType=ctype)) return file_obj.getvalue() def _attrib_to_transform(attrib): """ Extract a homogeneous transform from a dictionary. Parameters ------------ attrib: dict, optionally containing 'transform' Returns ------------ transform: (4, 4) float, homogeonous transformation """ transform = np.eye(4, dtype=np.float64) if "transform" in attrib: # wangle their transform format values = np.array(attrib["transform"].split(), dtype=np.float64).reshape((4, 3)).T transform[:3, :4] = values return transform # do import here to keep lxml a soft dependency try: import networkx as nx from lxml import etree _three_loaders = {"3mf": load_3MF} _3mf_exporters = {"3mf": export_3MF} except BaseException as E: from ..exceptions import ExceptionWrapper _three_loaders = {"3mf": ExceptionWrapper(E)} _3mf_exporters = {"3mf": ExceptionWrapper(E)} trimesh-4.5.1/trimesh/exchange/urdf.py000066400000000000000000000123611470574263400177620ustar00rootroot00000000000000import os import numpy as np from ..constants import log, tol from ..version import __version__ def export_urdf(mesh, directory, scale=1.0, color=None, **kwargs): """ Convert a Trimesh object into a URDF package for physics simulation. This breaks the mesh into convex pieces and writes them to the same directory as the .urdf file. Parameters --------- mesh : trimesh.Trimesh Input geometry directory : str The directory path for the URDF package Returns --------- mesh : Trimesh Multi-body mesh containing convex decomposition """ import lxml.etree as et # TODO: fix circular import from .export import export_mesh # Extract the save directory and the file name fullpath = os.path.abspath(directory) name = os.path.basename(fullpath) _, ext = os.path.splitext(name) if ext != "": raise ValueError("URDF path must be a directory!") # Create directory if needed if not os.path.exists(fullpath): os.mkdir(fullpath) elif not os.path.isdir(fullpath): raise ValueError("URDF path must be a directory!") # Perform a convex decomposition try: convex_pieces = mesh.convex_decomposition() except BaseException: log.error("problem with convex decomposition, using hull", exc_info=True) convex_pieces = [mesh.convex_hull] # Get the effective density of the mesh effective_density = mesh.volume / sum([m.volume for m in convex_pieces]) # open an XML tree root = et.Element("robot", name="root") # Loop through all pieces, adding each as a link prev_link_name = None for i, piece in enumerate(convex_pieces): # Save each nearly convex mesh out to a file piece_name = f"{name}_convex_piece_{i}" piece_filename = f"{piece_name}.obj" piece_filepath = os.path.join(fullpath, piece_filename) export_mesh(piece, piece_filepath) # Set the mass properties of the piece piece.center_mass = mesh.center_mass piece.density = effective_density * mesh.density link_name = f"link_{piece_name}" geom_name = f"{piece_filename}" I = [["{:.2E}".format(y) for y in x] for x in piece.moment_inertia] # NOQA # Write the link out to the XML Tree link = et.SubElement(root, "link", name=link_name) # Inertial information inertial = et.SubElement(link, "inertial") et.SubElement(inertial, "origin", xyz="0 0 0", rpy="0 0 0") et.SubElement(inertial, "mass", value=f"{piece.mass:.2E}") et.SubElement( inertial, "inertia", ixx=I[0][0], ixy=I[0][1], ixz=I[0][2], iyy=I[1][1], iyz=I[1][2], izz=I[2][2], ) # Visual Information visual = et.SubElement(link, "visual") et.SubElement(visual, "origin", xyz="0 0 0", rpy="0 0 0") geometry = et.SubElement(visual, "geometry") et.SubElement( geometry, "mesh", filename=geom_name, scale=f"{scale:.4E} {scale:.4E} {scale:.4E}", ) material = et.SubElement(visual, "material", name="") if color is not None: et.SubElement( material, "color", rgba=f"{color[0]:.2E} {color[1]:.2E} {color[2]:.2E} 1" ) # Collision Information collision = et.SubElement(link, "collision") et.SubElement(collision, "origin", xyz="0 0 0", rpy="0 0 0") geometry = et.SubElement(collision, "geometry") et.SubElement( geometry, "mesh", filename=geom_name, scale=f"{scale:.4E} {scale:.4E} {scale:.4E}", ) # Create rigid joint to previous link if prev_link_name is not None: joint_name = f"{link_name}_joint" joint = et.SubElement(root, "joint", name=joint_name, type="fixed") et.SubElement(joint, "origin", xyz="0 0 0", rpy="0 0 0") et.SubElement(joint, "parent", link=prev_link_name) et.SubElement(joint, "child", link=link_name) prev_link_name = link_name # Write URDF file tree = et.ElementTree(root) urdf_filename = f"{name}.urdf" tree.write(os.path.join(fullpath, urdf_filename), pretty_print=True) # Write Gazebo config file root = et.Element("model") model = et.SubElement(root, "name") model.text = name version = et.SubElement(root, "version") version.text = "1.0" sdf = et.SubElement(root, "sdf", version="1.4") sdf.text = f"{name}.urdf" author = et.SubElement(root, "author") et.SubElement(author, "name").text = f"trimesh {__version__}" et.SubElement(author, "email").text = "blank@blank.blank" description = et.SubElement(root, "description") description.text = name tree = et.ElementTree(root) if tol.strict: from ..resources import get_stream # todo : we don't pass the URDF schema validation schema = et.XMLSchema(file=get_stream("schema/urdf.xsd")) if not schema.validate(tree): # actual error isn't raised by validate log.debug(schema.error_log) tree.write(os.path.join(fullpath, "model.config")) return np.sum(convex_pieces) trimesh-4.5.1/trimesh/exchange/xaml.py000066400000000000000000000123121470574263400177570ustar00rootroot00000000000000""" xaml.py --------- Load 3D XAMl files, an export option from Solidworks. """ import collections import numpy as np from .. import transformations as tf from .. import util, visual def load_XAML(file_obj, *args, **kwargs): """ Load a 3D XAML file. Parameters ---------- file_obj : file object Open XAML file. Returns ---------- result : dict Kwargs for a Trimesh constructor. """ def element_to_color(element): """ Turn an XML element into a (4,) np.uint8 RGBA color """ if element is None: return visual.DEFAULT_COLOR hexcolor = int(element.attrib["Color"].replace("#", ""), 16) opacity = float(element.attrib["Opacity"]) rgba = [ (hexcolor >> 16) & 0xFF, (hexcolor >> 8) & 0xFF, (hexcolor & 0xFF), opacity * 0xFF, ] rgba = np.array(rgba, dtype=np.uint8) return rgba def element_to_transform(element): """ Turn an XML element into a (4,4) np.float64 transformation matrix. """ try: matrix = next(element.iter(tag=ns + "MatrixTransform3D")).attrib["Matrix"] matrix = np.array(matrix.split(), dtype=np.float64).reshape((4, 4)).T return matrix except StopIteration: # this will be raised if the MatrixTransform3D isn't in the passed # elements tree return np.eye(4) # read the file and parse XML file_data = file_obj.read() root = etree.XML(file_data) # the XML namespace ns = root.tag.split("}")[0] + "}" # the linked lists our results are going in vertices = [] faces = [] colors = [] normals = [] # iterate through the element tree # the GeometryModel3D tag contains a material and geometry for geometry in root.iter(tag=ns + "GeometryModel3D"): # get the diffuse and specular colors specified in the material color_search = ".//{ns}{color}Material/*/{ns}SolidColorBrush" diffuse = geometry.find(color_search.format(ns=ns, color="Diffuse")) specular = geometry.find(color_search.format(ns=ns, color="Specular")) # convert the element into a (4,) np.uint8 RGBA color diffuse = element_to_color(diffuse) specular = element_to_color(specular) # to get the final transform of a component we'll have to traverse # all the way back to the root node and save transforms we find current = geometry transforms = collections.deque() # when the root node is reached its parent will be None and we stop while current is not None: # element.find will only return elements that are direct children # of the current element as opposed to element.iter, # which will return any depth of child transform_element = current.find(ns + "ModelVisual3D.Transform") if transform_element is not None: # we are traversing the tree backwards, so append new # transforms to the left of the deque transforms.appendleft(element_to_transform(transform_element)) # we are going from the lowest level of the tree to the highest # this avoids having to traverse any branches that don't have # geometry current = current.getparent() if len(transforms) == 0: # no transforms in the tree mean an identity matrix transform = np.eye(4) elif len(transforms) == 1: # one transform in the tree we can just use transform = transforms.pop() else: # multiple transforms we apply all of them in order transform = util.multi_dot(transforms) # iterate through the contained mesh geometry elements for g in geometry.iter(tag=ns + "MeshGeometry3D"): c_normals = np.array( g.attrib["Normals"].replace(",", " ").split(), dtype=np.float64 ).reshape((-1, 3)) c_vertices = np.array( g.attrib["Positions"].replace(",", " ").split(), dtype=np.float64 ).reshape((-1, 3)) # bake in the transform as we're saving c_vertices = tf.transform_points(c_vertices, transform) c_faces = np.array( g.attrib["TriangleIndices"].replace(",", " ").split(), dtype=np.int64 ).reshape((-1, 3)) # save data to a sequence vertices.append(c_vertices) faces.append(c_faces) colors.append(np.tile(diffuse, (len(c_faces), 1))) normals.append(c_normals) # compile the results into clean numpy arrays result = {} result["vertices"], result["faces"] = util.append_faces(vertices, faces) result["face_colors"] = np.vstack(colors) result["vertex_normals"] = np.vstack(normals) return result try: from lxml import etree _xaml_loaders = {"xaml": load_XAML} except BaseException as E: # create a dummy module which will raise the ImportError # or other exception only when someone tries to use networkx from ..exceptions import ExceptionWrapper _xaml_loaders = {"xaml": ExceptionWrapper(E)} trimesh-4.5.1/trimesh/exchange/xyz.py000066400000000000000000000056211470574263400176550ustar00rootroot00000000000000import numpy as np from .. import util from ..points import PointCloud def load_xyz(file_obj, delimiter=None, **kwargs): """ Load an XYZ file into a PointCloud. Parameters ------------ file_obj : an open file-like object Source data, ASCII XYZ delimiter : None or string Characters used to separate the columns of the file If not passed will use whitespace or commas Returns ---------- kwargs : dict Data which can be passed to PointCloud constructor """ # read the whole file into memory as a string raw = util.decode_text(file_obj.read()).strip() # get the first line to look at first = raw[: raw.find("\n")].strip() # guess the column count by looking at the first line columns = len(first.split()) if columns < 3: raise ValueError("not enough columns in xyz file!") if delimiter is None and "," in first: # if no delimiter passed and file has commas delimiter = "," if delimiter is not None: # replace delimiter with whitespace so split works raw = raw.replace(delimiter, " ") # use string splitting to get array array = np.array(raw.split(), dtype=np.float64) # reshape to column count # if file has different numbers of values # per row this will fail as it should data = array.reshape((-1, columns)) # start with no colors colors = None # vertices are the first three columns vertices = data[:, :3] if columns == 6: # RGB colors colors = np.array(data[:, 3:], dtype=np.uint8) colors = np.concatenate( (colors, np.ones((len(data), 1), dtype=np.uint8) * 255), axis=1 ) elif columns >= 7: # extract RGBA colors colors = np.array(data[:, 3:8], dtype=np.uint8) # add extracted colors and vertices to kwargs kwargs.update({"vertices": vertices, "colors": colors}) return kwargs def export_xyz(cloud, write_colors=True, delimiter=None): """ Export a PointCloud object to an XYZ format string. Parameters ------------- cloud : trimesh.PointCloud Geometry in space write_colors : bool Write colors or not delimiter : None or str What to separate columns with Returns -------------- export : str Pointcloud in XYZ format """ if not isinstance(cloud, PointCloud): raise ValueError("object must be PointCloud") # compile data into a blob data = cloud.vertices if write_colors and hasattr(cloud, "colors") and cloud.colors is not None: # stack colors and vertices data = np.hstack((data, cloud.colors)) # if delimiter not passed use whitespace if delimiter is None: delimiter = " " # stack blob into XYZ format export = util.array_to_string(data, col_delim=delimiter) return export _xyz_loaders = {"xyz": load_xyz} _xyz_exporters = {"xyz": export_xyz} trimesh-4.5.1/trimesh/geometry.py000066400000000000000000000343541470574263400171010ustar00rootroot00000000000000import numpy as np from . import util from .constants import log from .typed import NDArray try: import scipy.sparse except BaseException as E: from . import exceptions # raise E again if anyone tries to use sparse scipy = exceptions.ExceptionWrapper(E) def plane_transform(origin, normal): """ Given the origin and normal of a plane find the transform that will move that plane to be coplanar with the XY plane. Parameters ---------- origin : (3,) float Point that lies on the plane normal : (3,) float Vector that points along normal of plane Returns --------- transform: (4,4) float Transformation matrix to move points onto XY plane """ transform = align_vectors(normal, [0, 0, 1]) if origin is not None: transform[:3, 3] = -np.dot(transform, np.append(origin, 1))[:3] return transform def align_vectors(a, b, return_angle=False): """ Find the rotation matrix that transforms one 3D vector to another. Parameters ------------ a : (3,) float Unit vector b : (3,) float Unit vector return_angle : bool Return the angle between vectors or not Returns ------------- matrix : (4, 4) float Homogeneous transform to rotate from `a` to `b` angle : float If `return_angle` angle in radians between `a` and `b` """ a = np.array(a, dtype=np.float64) b = np.array(b, dtype=np.float64) if a.shape != (3,) or b.shape != (3,): raise ValueError("vectors must be (3,)!") # find the SVD of the two vectors au = np.linalg.svd(a.reshape((-1, 1)))[0] bu = np.linalg.svd(b.reshape((-1, 1)))[0] if np.linalg.det(au) < 0: au[:, -1] *= -1.0 if np.linalg.det(bu) < 0: bu[:, -1] *= -1.0 # put rotation into homogeneous transformation matrix = np.eye(4) matrix[:3, :3] = bu.dot(au.T) if return_angle: # projection of a onto b # first row of SVD result is normalized source vector dot = np.dot(au[0], bu[0]) # clip to avoid floating point error angle = np.arccos(np.clip(dot, -1.0, 1.0)) if dot < -1e-5: angle += np.pi return matrix, angle return matrix def faces_to_edges(faces, return_index=False): """ Given a list of faces (n,3), return a list of edges (n*3,2) Parameters ----------- faces : (n, 3) int Vertex indices representing faces Returns ----------- edges : (n*3, 2) int Vertex indices representing edges """ faces = np.asanyarray(faces, np.int64) # each face has three edges edges = faces[:, [0, 1, 1, 2, 2, 0]].reshape((-1, 2)) if return_index: # edges are in order of faces due to reshape face_index = np.tile(np.arange(len(faces)), (3, 1)).T.reshape(-1) return edges, face_index return edges def vector_angle(pairs): """ Find the angles between pairs of unit vectors. Parameters ---------- pairs : (n, 2, 3) float Unit vector pairs Returns ---------- angles : (n,) float Angles between vectors in radians """ pairs = np.asanyarray(pairs, dtype=np.float64) if len(pairs) == 0: return np.array([]) elif util.is_shape(pairs, (2, 3)): pairs = pairs.reshape((-1, 2, 3)) elif not util.is_shape(pairs, (-1, 2, (2, 3))): raise ValueError("pairs must be (n,2,(2|3))!") # do the dot product between vectors dots = util.diagonal_dot(pairs[:, 0], pairs[:, 1]) # clip for floating point error dots = np.clip(dots, -1.0, 1.0) # do cos and remove arbitrary sign angles = np.abs(np.arccos(dots)) return angles def triangulate_quads(quads, dtype=np.int64) -> NDArray: """ Given an array of quad faces return them as triangle faces, also handles pure triangles and mixed triangles and quads. Parameters ----------- quads: (n, 4) int Vertex indices of quad faces. Returns ----------- faces : (m, 3) int Vertex indices of triangular faces.c """ if len(quads) == 0: return np.zeros(0, dtype=dtype) try: # this will fail in newer versions of numpy # if there are mixed quads and tris quads = np.array(quads, dtype=dtype) if len(quads.shape) == 2 and quads.shape[1] == 3: # if they are just triangles return immediately return quads.astype(dtype) if len(quads.shape) == 2 and quads.shape[1] == 4: # if they are just quads stack and return return np.vstack((quads[:, [0, 1, 2]], quads[:, [2, 3, 0]])).astype(dtype) except ValueError: # new numpy raises an error for sequences pass # we made it here so we have mixed tris/quads/polygons # filter into the three cases tri = np.array([i for i in quads if len(i) == 3]) quad = np.array([i for i in quads if len(i) == 4]) # triangulate arbitrary polygons as triangle fans # this isn't guaranteed to be sane if the polygons # aren't convex but that would require a real maniac poly = [ [[f[0], f[i + 1], f[i + 2]] for i in range(len(f) - 2)] for f in quads if len(f) > 4 ] if len(quad) == 0 and len(poly) == 0: return tri.astype(dtype) if len(poly) > 0: poly = np.vstack(poly) if len(quad) > 0: quad = np.vstack((quad[:, [0, 1, 2]], quad[:, [2, 3, 0]])) # combine triangulated quads with triangles return util.vstack_empty([tri, quad, poly]).astype(dtype) def vertex_face_indices(vertex_count, faces, faces_sparse): """ Find vertex face indices from the faces array of vertices Parameters ----------- vertex_count : int The number of vertices faces refer to faces : (n, 3) int List of vertex indices faces_sparse : scipy.sparse.COO Sparse matrix Returns ----------- vertex_faces : (vertex_count, ) int Face indices for every vertex Array padded with -1 in each row for all vertices with fewer face indices than the max number of face indices. """ # Create 2D array with row for each vertex and # length of max number of faces for a vertex try: counts = np.bincount(faces.flatten(), minlength=vertex_count) except TypeError: # casting failed on 32 bit Windows log.warning("casting failed, falling back!") # fall back to np.unique (usually ~35x slower than bincount) counts = np.unique(faces.flatten(), return_counts=True)[1] assert len(counts) == vertex_count assert faces.max() < vertex_count # start cumulative sum at zero and clip off the last value starts = np.append(0, np.cumsum(counts)[:-1]) # pack incrementing array into final shape pack = np.arange(counts.max()) + starts[:, None] # pad each row with -1 to pad to the max length padded = -(pack >= (starts + counts)[:, None]).astype(np.int64) try: # do most of the work with a sparse dot product identity = scipy.sparse.identity(len(faces), dtype=int) sorted_faces = faces_sparse.dot(identity).nonzero()[1] # this will fail if any face was degenerate # TODO # figure out how to filter out degenerate faces from sparse # result if sorted_faces.size != faces.size padded[padded == 0] = sorted_faces except BaseException: # fall back to a slow loop log.warning( "vertex_faces falling back to slow loop! " + "mesh probably has degenerate faces", exc_info=True, ) sort = np.zeros(faces.size, dtype=np.int64) flat = faces.flatten() for v in range(vertex_count): # assign the data in order sort[starts[v] : starts[v] + counts[v]] = (np.where(flat == v)[0] // 3)[::-1] padded[padded == 0] = sort return padded def mean_vertex_normals(vertex_count, faces, face_normals, sparse=None, **kwargs): """ Find vertex normals from the mean of the faces that contain that vertex. Parameters ----------- vertex_count : int The number of vertices faces refer to faces : (n, 3) int List of vertex indices face_normals : (n, 3) float Normal vector for each face Returns ----------- vertex_normals : (vertex_count, 3) float Normals for every vertex Vertices unreferenced by faces will be zero. """ def summed_sparse(): # use a sparse matrix of which face contains each vertex to # figure out the summed normal at each vertex # allow cached sparse matrix to be passed if sparse is None: matrix = index_sparse(vertex_count, faces) else: matrix = sparse summed = matrix.dot(face_normals) return summed def summed_loop(): # loop through every face, in tests was ~50x slower than # doing this with a sparse matrix summed = np.zeros((vertex_count, 3)) for face, normal in zip(faces, face_normals): summed[face] += normal return summed try: summed = summed_sparse() except BaseException: log.warning("unable to use sparse matrix, falling back!", exc_info=True) summed = summed_loop() # invalid normals will be returned as zero vertex_normals = util.unitize(summed) return vertex_normals def weighted_vertex_normals( vertex_count, faces, face_normals, face_angles, use_loop=False ): """ Compute vertex normals from the faces that contain that vertex. The contribution of a face's normal to a vertex normal is the ratio of the corner-angle in which the vertex is, with respect to the sum of all corner-angles surrounding the vertex. Grit Thuerrner & Charles A. Wuethrich (1998) Computing Vertex Normals from Polygonal Facets, Journal of Graphics Tools, 3:1, 43-46 Parameters ----------- vertex_count : int The number of vertices faces refer to faces : (n, 3) int List of vertex indices face_normals : (n, 3) float Normal vector for each face face_angles : (n, 3) float Angles at each vertex in the face Returns ----------- vertex_normals : (vertex_count, 3) float Normals for every vertex Vertices unreferenced by faces will be zero. """ def summed_sparse(): # use a sparse matrix of which face contains each vertex to # figure out the summed normal at each vertex # allow cached sparse matrix to be passed # fill the matrix with vertex-corner angles as weights matrix = index_sparse(vertex_count, faces, data=face_angles.ravel()) return matrix.dot(face_normals) def summed_loop(): summed = np.zeros((vertex_count, 3), np.float64) for vertex_idx in np.arange(vertex_count): # loop over all vertices # compute normal contributions from surrounding faces # obviously slower than with the sparse matrix face_idxs, inface_idxs = np.where(faces == vertex_idx) surrounding_angles = face_angles[face_idxs, inface_idxs] summed[vertex_idx] = np.dot( surrounding_angles / surrounding_angles.sum(), face_normals[face_idxs] ) return summed # normals should be unit vectors face_ok = (face_normals**2).sum(axis=1) > 0.5 # don't consider faces with invalid normals faces = faces[face_ok] face_normals = face_normals[face_ok] face_angles = face_angles[face_ok] if not use_loop: try: return util.unitize(summed_sparse()) except BaseException: log.warning("unable to use sparse matrix, falling back!", exc_info=True) # we either crashed or were asked to loop return util.unitize(summed_loop()) def index_sparse(columns, indices, data=None, dtype=None): """ Return a sparse matrix for which vertices are contained in which faces. A data vector can be passed which is then used instead of booleans Parameters ------------ columns : int Number of columns, usually number of vertices indices : (m, d) int Usually mesh.faces Returns --------- sparse: scipy.sparse.coo_matrix of shape (columns, len(faces)) dtype is boolean Examples ---------- In [1]: sparse = faces_sparse(len(mesh.vertices), mesh.faces) In [2]: sparse.shape Out[2]: (12, 20) In [3]: mesh.faces.shape Out[3]: (20, 3) co In [4]: mesh.vertices.shape Out[4]: (12, 3) In [5]: dense = sparse.toarray().astype(int) In [6]: dense Out[6]: array([[1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], [1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 0], [0, 0, 1, 1, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0], [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 1, 1, 0, 0, 1, 0, 0], [0, 0, 1, 0, 1, 0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0], [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 1, 0, 1, 0, 0, 0, 1], [1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 1, 0, 0], [0, 0, 0, 0, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 1, 0, 1, 1, 0, 0], [0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 1, 1], [0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 1, 0, 0, 1, 1]]) In [7]: dense.sum(axis=0) Out[7]: array([3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]) """ indices = np.asanyarray(indices) columns = int(columns) # flattened list row = indices.reshape(-1) col = np.tile( np.arange(len(indices)).reshape((-1, 1)), (1, indices.shape[1]) ).reshape(-1) shape = (columns, len(indices)) if data is None: data = np.ones(len(col), dtype=bool) elif len(data) != len(col): raise ValueError("data incorrect length") if dtype is not None: data = data.astype(dtype) # assemble into sparse matrix matrix = scipy.sparse.coo_matrix((data, (row, col)), shape=shape, dtype=data.dtype) return matrix trimesh-4.5.1/trimesh/graph.py000066400000000000000000000737211470574263400163500ustar00rootroot00000000000000""" graph.py ------------- Deal with graph operations. Primarily deal with graphs in (n, 2) edge list form, and abstract the backend graph library being used. Currently uses networkx or scipy.sparse.csgraph backend. """ import collections import warnings import numpy as np from . import exceptions, grouping, util from .constants import log, tol from .geometry import faces_to_edges from .typed import ArrayLike, List, NDArray, Number, Optional, Sequence, Union, int64 try: from scipy.sparse import coo_matrix, csgraph from scipy.spatial import cKDTree except BaseException as E: # re-raise exception when used cKDTree = exceptions.ExceptionWrapper(E) csgraph = exceptions.ExceptionWrapper(E) coo_matrix = exceptions.ExceptionWrapper(E) try: import networkx as nx except BaseException as E: # create a dummy module which will raise the ImportError # or other exception only when someone tries to use networkx nx = exceptions.ExceptionWrapper(E) def face_adjacency(faces=None, mesh=None, return_edges=False): """ Returns an (n, 2) list of face indices. Each pair of faces in the list shares an edge, making them adjacent. Parameters ----------- faces : (n, 3) int, or None Vertex indices representing triangles mesh : Trimesh object If passed will used cached edges instead of generating from faces return_edges : bool Return the edges shared by adjacent faces Returns ---------- adjacency : (m, 2) int Indexes of faces that are adjacent edges: (m, 2) int Only returned if return_edges is True Indexes of vertices which make up the edges shared by the adjacent faces Examples ---------- This is useful for lots of things such as finding face- connected components: ```python >>> graph = nx.Graph() >>> graph.add_edges_from(mesh.face_adjacency) >>> groups = nx.connected_components(graph_connected) ``` """ if mesh is None: # first generate the list of edges for the current faces # also return the index for which face the edge is from edges, edges_face = faces_to_edges(faces, return_index=True) # make sure edge rows are sorted edges.sort(axis=1) else: # if passed a mesh, used the cached values edges = mesh.edges_sorted edges_face = mesh.edges_face # this will return the indices for duplicate edges # every edge appears twice in a well constructed mesh # so for every row in edge_idx: # edges[edge_idx[*][0]] == edges[edge_idx[*][1]] # in this call to group rows we discard edges which # don't occur twice edge_groups = grouping.group_rows(edges, require_count=2) if len(edge_groups) == 0: log.debug("No adjacent faces detected! Did you merge vertices?") # the pairs of all adjacent faces # so for every row in face_idx, self.faces[face_idx[*][0]] and # self.faces[face_idx[*][1]] will share an edge adjacency = edges_face[edge_groups] # degenerate faces may appear in adjacency as the same value nondegenerate = adjacency[:, 0] != adjacency[:, 1] adjacency = adjacency[nondegenerate] # sort pairs in-place so we can search for indexes with ordered pairs adjacency.sort(axis=1) if return_edges: adjacency_edges = edges[edge_groups[:, 0][nondegenerate]] assert len(adjacency_edges) == len(adjacency) return adjacency, adjacency_edges return adjacency def face_neighborhood(mesh) -> NDArray[int64]: """ Find faces that share a vertex i.e. 'neighbors' faces. Relies on the fact that an adjacency matrix at a power p contains the number of paths of length p connecting two nodes. Here we take the bipartite graph from mesh.faces_sparse to the power 2. The non-zeros are the faces connected by one vertex. Returns ---------- neighborhood : (n, 2) int Pairs of faces which share a vertex """ VT = mesh.faces_sparse TT = VT.T * VT TT.setdiag(0) TT.eliminate_zeros() TT = TT.tocoo() neighborhood = np.concatenate( (TT.row[:, None], TT.col[:, None]), axis=-1, dtype=np.int64 ) return neighborhood def face_adjacency_unshared(mesh): """ Return the vertex index of the two vertices not in the shared edge between two adjacent faces Parameters ---------- mesh : Trimesh object Input mesh Returns ----------- vid_unshared : (len(mesh.face_adjacency), 2) int Indexes of mesh.vertices for degenerate faces without exactly one unshared vertex per face it will be -1 """ # the non- shared vertex index is the same shape # as face_adjacency holding vertex indices vs face indices vid_unshared = np.zeros_like(mesh.face_adjacency, dtype=np.int64) - 1 # get the shared edges between adjacent faces edges = mesh.face_adjacency_edges # loop through the two columns of face adjacency for i, fid in enumerate(mesh.face_adjacency.T): # faces from the current column of face adjacency faces = mesh.faces[fid] # should have one True per row of (3,) # index of vertex not included in shared edge unshared = np.logical_not( np.logical_or( faces == edges[:, 0].reshape((-1, 1)), faces == edges[:, 1].reshape((-1, 1)), ) ) # each row should have exactly one uncontained verted row_ok = unshared.sum(axis=1) == 1 # any degenerate row should be ignored unshared[~row_ok, :] = False # set the vid_unshared[row_ok, i] = faces[unshared] return vid_unshared def face_adjacency_radius(mesh): """ Compute an approximate radius between adjacent faces. Parameters -------------- mesh : trimesh.Trimesh Returns ------------- radii : (len(self.face_adjacency),) float Approximate radius between faces Parallel faces will have a value of np.inf span : (len(self.face_adjacency),) float Perpendicular projection distance of two unshared vertices onto the shared edge """ # solve for the radius of the adjacent faces # distance # R = --------------- # 2 * sin(theta) nonzero = mesh.face_adjacency_angles > np.radians(0.01) denominator = np.abs(2.0 * np.sin(mesh.face_adjacency_angles[nonzero])) # consider the distance between the non- shared vertices of the # face adjacency pair as the key distance point_pairs = mesh.vertices[mesh.face_adjacency_unshared] vectors = np.diff(point_pairs, axis=1).reshape((-1, 3)) # the vertex indices of the shared edge for the adjacency pairx edges = mesh.face_adjacency_edges # unit vector along shared the edge edges_vec = util.unitize(np.diff(mesh.vertices[edges], axis=1).reshape((-1, 3))) # the vector of the perpendicular projection to the shared edge perp = np.subtract( vectors, (util.diagonal_dot(vectors, edges_vec).reshape((-1, 1)) * edges_vec) ) # the length of the perpendicular projection span = util.row_norm(perp) # complete the values for non- infinite radii radii = np.ones(len(mesh.face_adjacency)) * np.inf radii[nonzero] = span[nonzero] / denominator return radii, span def vertex_adjacency_graph(mesh): """ Returns a networkx graph representing the vertices and their connections in the mesh. Parameters ---------- mesh : Trimesh object Returns --------- graph : networkx.Graph Graph representing vertices and edges between them where vertices are nodes and edges are edges Examples ---------- This is useful for getting nearby vertices for a given vertex, potentially for some simple smoothing techniques. >>> graph = mesh.vertex_adjacency_graph >>> graph.neighbors(0) > [1, 3, 4] """ g = nx.Graph() g.add_edges_from(mesh.edges_unique) return g def shared_edges(faces_a, faces_b): """ Given two sets of faces, find the edges which are in both sets. Parameters --------- faces_a : (n, 3) int Array of faces faces_b : (m, 3) int Array of faces Returns --------- shared : (p, 2) int Edges shared between faces """ e_a = np.sort(faces_to_edges(faces_a), axis=1) e_b = np.sort(faces_to_edges(faces_b), axis=1) shared = grouping.boolean_rows(e_a, e_b, operation=np.intersect1d) return shared def facets(mesh, engine=None, facet_threshold: Optional[Number] = None): """ Find the list of parallel adjacent faces. Parameters ----------- mesh : trimesh.Trimesh engine : str Which graph engine to use: ('scipy', 'networkx') facet_threshold : float Threshold for two facets to be considered coplanar Returns --------- facets : sequence of (n,) int Groups of face indexes of parallel adjacent faces. """ if facet_threshold is None: facet_threshold = tol.facet_threshold # what is the radius of a circle that passes through the perpendicular # projection of the vector between the two non- shared vertices # onto the shared edge, with the face normal from the two adjacent faces radii = mesh.face_adjacency_radius # what is the span perpendicular to the shared edge span = mesh.face_adjacency_span # a very arbitrary formula for declaring two adjacent faces # parallel in a way that is hopefully (and anecdotally) robust # to numeric error # a common failure mode is two faces that are very narrow with a slight # angle between them, so here we divide by the perpendicular span # to penalize very narrow faces, and then square it just for fun parallel = np.ones(len(radii), dtype=bool) # if span is zero we know faces are small/parallel nonzero = np.abs(span) > tol.zero # faces with a radii/span ratio larger than a threshold pass parallel[nonzero] = (radii[nonzero] / span[nonzero]) ** 2 > facet_threshold # run connected components on the parallel faces to group them components = connected_components( mesh.face_adjacency[parallel], nodes=np.arange(len(mesh.faces)), min_len=2, engine=engine, ) return components def split(mesh, only_watertight=True, adjacency=None, engine=None, **kwargs) -> List: """ Split a mesh into multiple meshes from face connectivity. If only_watertight is true it will only return watertight meshes and will attempt to repair single triangle or quad holes. Parameters ---------- mesh : trimesh.Trimesh only_watertight: bool Only return watertight components adjacency : (n, 2) int Face adjacency to override full mesh engine : str or None Which graph engine to use Returns ---------- meshes : (m,) trimesh.Trimesh Results of splitting """ if adjacency is None: adjacency = mesh.face_adjacency # if only watertight the shortest thing we can split has 3 triangles if only_watertight: min_len = 4 else: min_len = 1 components = connected_components( edges=adjacency, nodes=np.arange(len(mesh.faces)), min_len=min_len, engine=engine ) meshes = mesh.submesh(components, only_watertight=only_watertight, **kwargs) return meshes def connected_components(edges, min_len=1, nodes=None, engine=None): """ Find groups of connected nodes from an edge list. Parameters ----------- edges : (n, 2) int Edges between nodes nodes : (m, ) int or None List of nodes that exist min_len : int Minimum length of a component group to return engine : str or None Which graph engine to use (None for automatic): (None, 'networkx', 'scipy') Returns ----------- components : (n,) sequence of (*,) int Nodes which are connected """ def components_networkx(): """ Find connected components using networkx """ graph = nx.from_edgelist(edges) # make sure every face has a node, so single triangles # aren't discarded (as they aren't adjacent to anything) if min_len <= 1: graph.add_nodes_from(nodes) return [list(i) for i in nx.connected_components(graph)] def components_csgraph(): """ Find connected components using scipy.sparse.csgraph """ # label each node labels = connected_component_labels(edges, node_count=node_count) # we have to remove results that contain nodes outside # of the specified node set and reindex contained = np.zeros(node_count, dtype=bool) contained[nodes] = True index = np.arange(node_count, dtype=np.int64)[contained] components = grouping.group(labels[contained], min_len=min_len) return [index[c] for c in components] return components # check input edges edges = np.asanyarray(edges, dtype=np.int64) # if no nodes were specified just use unique if nodes is None: nodes = np.unique(edges) # exit early if we have no nodes if len(nodes) == 0: return [] elif len(edges) == 0: if min_len <= 1: return np.reshape(nodes, (-1, 1)).tolist() else: return [] if not util.is_shape(edges, (-1, 2)): raise ValueError("edges must be (n, 2)!") # find the maximum index referenced in either nodes or edges counts = [0] if len(edges) > 0: counts.append(edges.max()) if len(nodes) > 0: counts.append(nodes.max()) node_count = np.max(counts) + 1 # remove edges that don't have both nodes in the node set mask = np.zeros(node_count, dtype=bool) mask[nodes] = True edges_ok = mask[edges].all(axis=1) edges = edges[edges_ok] # networkx is pure python and is usually 5-10x slower than scipy engines = collections.OrderedDict( (("scipy", components_csgraph), ("networkx", components_networkx)) ) # if a graph engine has explicitly been requested use it if engine in engines: return engines[engine]() # otherwise, go through our ordered list of graph engines # until we get to one that has actually been installed for function in engines.values(): try: return function() # will be raised if the library didn't import correctly above except BaseException: continue raise ImportError("no graph engines available!") def connected_component_labels(edges, node_count=None): """ Label graph nodes from an edge list, using scipy.sparse.csgraph Parameters ----------- edges : (n, 2) int Edges of a graph node_count : int, or None The largest node in the graph. Returns ---------- labels : (node_count,) int Component labels for each node """ matrix = edges_to_coo(edges, node_count) _body_count, labels = csgraph.connected_components(matrix, directed=False) if node_count is not None: assert len(labels) == node_count return labels def _split_traversal(traversal: NDArray, edges_tree) -> List[NDArray]: """ Given a traversal as a list of nodes split the traversal if a sequential index pair is not in the given edges. Useful since the implementation of DFS we're using will happily return disconnected values in a flat traversal. Parameters -------------- traversal : (m,) int Traversal through edges edges_tree : cKDTree A way to reconstruct original edge indices from sorted (n, 2) edge values. This is a slight misuse of a kdtree since one could just hash the tuples of the integer edges, but that isn't possible with numpy arrays easily and this allows a vectorized reconstruction. Returns --------------- split : sequence of (p,) int Traversals split into only connected paths. """ # turn the (n,) traversal into (n-1, 2) edges # save the original order of the edges for reconstruction trav_edge = np.column_stack((traversal[:-1], traversal[1:])) # check to see if the traversal edges exists in the original edges # the tree is holding the sorted edges so query after sorting exists = edges_tree.query(np.sort(trav_edge, axis=1))[0] < 1e-10 if exists.all(): split = [traversal] else: # contiguous groups of edges blocks = grouping.blocks(exists, min_len=1, only_nonzero=True) split = [ np.concatenate([trav_edge[:, 0][b], trav_edge[b[-1]][1:]]) for b in blocks ] # a traversal may be effectively closed so check # to see if we need to add on the first index to the end needs_close = np.array( [ len(s) > 2 and s[0] != s[-1] and edges_tree.query(sorted([s[0], s[-1]]))[0] < 1e-10 for s in split ] ) if needs_close.any(): for i in np.nonzero(needs_close)[0]: split[i] = np.concatenate([split[i], split[i][:1]]) if tol.strict: for s in split: check_edge = np.sort(np.column_stack((s[:-1], s[1:])), axis=1) assert (edges_tree.query(check_edge)[0] < 1e-10).all() return split def fill_traversals(traversals: Sequence, edges: ArrayLike) -> Union[Sequence, NDArray]: """ Convert a traversal of a list of edges into a sequence of traversals where every pair of consecutive node indexes is an edge in a passed edge list Parameters ------------- traversals : sequence of (m,) int Node indexes of traversals of a graph edges : (n, 2) int Pairs of connected node indexes Returns -------------- splits : sequence of (p,) int Node indexes of connected traversals """ # make sure edges are correct type edges = np.sort(edges, axis=1) edges_tree = cKDTree(edges) # if there are no traversals just return edges if len(traversals) == 0: return edges.copy() splits = [] for nodes in traversals: # split traversals to remove edges that don't actually exist splits.extend(_split_traversal(traversal=nodes, edges_tree=edges_tree)) # turn the split traversals back into (n, 2) edges included = util.vstack_empty([np.column_stack((i[:-1], i[1:])) for i in splits]) if len(included) > 0: # sort included edges in place included.sort(axis=1) # make sure any edges not included in split traversals # are just added as a length 2 traversal splits.extend(grouping.boolean_rows(edges, included, operation=np.setdiff1d)) else: # no edges were included, so our filled traversal # is just the original edges copied over splits = edges.copy() return splits def traversals(edges, mode="bfs"): """ Given an edge list generate a sequence of ordered depth first search traversals using scipy.csgraph routines. Parameters ------------ edges : (n, 2) int Undirected edges of a graph mode : str Traversal type, 'bfs' or 'dfs' Returns ----------- traversals : (m,) sequence of (p,) int Ordered DFS or BFS traversals of the graph. """ edges = np.array(edges, dtype=np.int64) if len(edges) == 0: return [] elif not util.is_shape(edges, (-1, 2)): raise ValueError("edges are not (n, 2)!") # pick the traversal method mode = str(mode).lower().strip() if mode == "bfs": func = csgraph.breadth_first_order elif mode == "dfs": func = csgraph.depth_first_order else: raise ValueError("traversal mode must be either dfs or bfs") # make sure edges are sorted so we can query # an ordered pair later edges.sort(axis=1) # set of nodes to make sure we get every node nodes = set(edges.reshape(-1)) # coo_matrix for csgraph routines graph = edges_to_coo(edges) # we're going to make a sequence of traversals traversals = [] while len(nodes) > 0: # starting at any node start = nodes.pop() # get an (n,) ordered traversal ordered = func( graph, i_start=start, return_predecessors=False, directed=False ).astype(np.int64) traversals.append(ordered) # remove the nodes we've consumed nodes.difference_update(ordered) return traversals def edges_to_coo(edges, count=None, data=None): """ Given an edge list, return a boolean scipy.sparse.coo_matrix representing the edges in matrix form. Parameters ------------ edges : (n, 2) int Edges of a graph count : int The total number of nodes in the graph if None: count = edges.max() + 1 data : (n,) any Assign data to each edge, if None will be bool True for each specified edge Returns ------------ matrix: (count, count) scipy.sparse.coo_matrix Sparse COO """ edges = np.asanyarray(edges, dtype=np.int64) if not (len(edges) == 0 or util.is_shape(edges, (-1, 2))): raise ValueError("edges must be (n, 2)!") # if count isn't specified just set it to largest # value referenced in edges if count is None: count = edges.max() + 1 count = int(count) # if no data is specified set every specified edge # to True if data is None: data = np.ones(len(edges), dtype=bool) matrix = coo_matrix((data, edges.T), dtype=data.dtype, shape=(count, count)) return matrix def neighbors(edges, max_index=None, directed=False): """ Find the neighbors for each node in an edgelist graph. TODO : re-write this with sparse matrix operations Parameters ------------ edges : (n, 2) int Connected nodes directed : bool If True, only connect edges in one direction Returns --------- neighbors : sequence Vertex index corresponds to set of other vertex indices """ neighbors = collections.defaultdict(set) if directed: [neighbors[edge[0]].add(edge[1]) for edge in edges] else: [ (neighbors[edge[0]].add(edge[1]), neighbors[edge[1]].add(edge[0])) for edge in edges ] if max_index is None: max_index = edges.max() + 1 array = [list(neighbors[i]) for i in range(max_index)] return array def smoothed(*args, **kwargs): """ DEPRECATED: use `trimesh.graph.smooth_shade(mesh, ...)` """ warnings.warn( "`trimesh.graph.smoothed` is deprecated and will be removed in March 2024: " + "use `trimesh.graph.smooth_shade(mesh, ...)`", category=DeprecationWarning, stacklevel=2, ) return smooth_shade(*args, **kwargs) def smooth_shade( mesh, angle: Optional[Number] = None, facet_minarea: Optional[Number] = 10.0 ): """ Return a non-watertight version of the mesh which will render nicely with smooth shading by disconnecting faces at sharp angles to each other. Parameters ----------- mesh : trimesh.Trimesh Source geometry angle : float or None Angle in radians face pairs with angles smaller than this will appear smoothed facet_minarea : float or None Minimum area fraction to consider IE for `facets_minarea=25` only facets larger than `mesh.area / 25` will be considered. Returns --------- smooth : trimesh.Trimesh Geometry with disconnected face patches """ if angle is None: angle = np.radians(20) # if the mesh has no adjacent faces return a copy if len(mesh.face_adjacency) == 0: return mesh.copy() # face pairs below angle threshold angle_ok = mesh.face_adjacency_angles < angle # subset of face adjacency adjacency = mesh.face_adjacency[angle_ok] # coplanar groups of faces facets = [] nodes = None # collect coplanar regions for smoothing if facet_minarea is not None: areas = mesh.area_faces min_area = mesh.area / facet_minarea try: # we can survive not knowing facets # exclude facets with few faces facets = [f for f in mesh.facets if areas[f].sum() > min_area] if len(facets) > 0: # mask for removing adjacency pairs where # one of the faces is contained in a facet mask = np.ones(len(mesh.faces), dtype=bool) mask[np.hstack(facets)] = False # apply the mask to adjacency adjacency = adjacency[mask[adjacency].all(axis=1)] # nodes are no longer every faces nodes = np.unique(adjacency) except BaseException: log.warning("failed to calculate facets", exc_info=True) # run connected components on facet adjacency components = connected_components(adjacency, min_len=2, nodes=nodes) # add back coplanar groups if any exist if len(facets) > 0: components.extend(facets) if len(components) == 0: # if no components for some reason # just return a copy of the original mesh return mesh.copy() # add back any faces that were missed unique = np.unique(np.hstack(components)) if len(unique) != len(mesh.faces): # things like single loose faces # or groups below facet_minlen broke = np.setdiff1d(np.arange(len(mesh.faces)), unique) components.extend(broke.reshape((-1, 1))) # get a submesh as a single appended Trimesh smooth = mesh.submesh(components, only_watertight=False, append=True) # store face indices from original mesh smooth.metadata["original_components"] = components # smoothed should have exactly the same number of faces if len(smooth.faces) != len(mesh.faces): log.warning("face count in smooth wrong!") return smooth def is_watertight(edges, edges_sorted=None): """ Parameters ----------- edges : (n, 2) int List of vertex indices edges_sorted : (n, 2) int Pass vertex indices sorted on axis 1 as a speedup Returns --------- watertight : boolean Whether every edge is shared by an even number of faces winding : boolean Whether every shared edge is reversed """ # passing edges_sorted is a speedup only if edges_sorted is None: edges_sorted = np.sort(edges, axis=1) # group sorted edges groups = grouping.group_rows(edges_sorted, require_count=2) watertight = bool((len(groups) * 2) == len(edges)) # are opposing edges reversed opposing = edges[groups].reshape((-1, 4))[:, 1:3].T # wrap the weird numpy bool winding = bool(np.equal(*opposing).all()) return watertight, winding def graph_to_svg(graph): """ Turn a networkx graph into an SVG string using graphviz `dot`. Parameters ---------- graph: networkx graph Returns --------- svg: string, pictoral layout in SVG format """ import subprocess import tempfile with tempfile.NamedTemporaryFile() as dot_file: nx.drawing.nx_agraph.write_dot(graph, dot_file.name) svg = subprocess.check_output(["dot", dot_file.name, "-Tsvg"]) return svg def multigraph_paths(G, source, cutoff=None): """ For a networkx MultiDiGraph, find all paths from a source node to leaf nodes. This function returns edge instance numbers in addition to nodes, unlike networkx.all_simple_paths. Parameters --------------- G : networkx.MultiDiGraph Graph to evaluate source : hashable Node to start traversal at cutoff : int Number of nodes to visit If None will visit all nodes Returns ---------- traversals : (n,) list of [(node, edge instance index), ] paths Traversals of the multigraph """ if cutoff is None: cutoff = (len(G.edges()) * len(G.nodes())) + 1 # the path starts at the node specified current = [(source, 0)] # traversals we need to go back and do queue = [] # completed paths traversals = [] for _ in range(cutoff): # paths are stored as (node, instance) so # get the node of the last place visited current_node = current[-1][0] # get all the children of the current node child = G[current_node] if len(child) == 0: # we have no children, so we are at the end of this path # save the path as a completed traversal traversals.append(current) # if there is nothing on the queue, we are done if len(queue) == 0: break # otherwise continue traversing with the next path # on the queue current = queue.pop() else: # oh no, we have multiple edges from current -> child start = True # iterate through child nodes and edge instances for node in child.keys(): for instance in child[node].keys(): if start: # if this is the first edge, keep it on the # current traversal and save the others for later current.append((node, instance)) start = False else: # this child has multiple instances # so we will need to traverse them multiple times # we appended a node to current, so only take the # first n-1 visits queue.append(current[:-1] + [(node, instance)]) return traversals def multigraph_collect(G, traversal, attrib=None): """ Given a MultiDiGraph traversal, collect attributes along it. Parameters ------------- G: networkx.MultiDiGraph traversal: (n) list of (node, instance) tuples attrib: dict key, name to collect. If None, will return all Returns ------------- collected: (len(traversal) - 1) list of attributes """ collected = [] for u, v in util.pairwise(traversal): attribs = G[u[0]][v[0]][v[1]] if attrib is None: collected.append(attribs) else: collected.append(attribs[attrib]) return collected trimesh-4.5.1/trimesh/grouping.py000066400000000000000000000642461470574263400171030ustar00rootroot00000000000000""" grouping.py ------------- Functions for grouping values and rows. """ import numpy as np from . import util from .constants import log, tol from .typed import ArrayLike, Integer, NDArray, Optional try: from scipy.spatial import cKDTree except BaseException as E: # wrapping just ImportError fails in some cases # will raise the error when someone tries to use KDtree from . import exceptions cKDTree = exceptions.ExceptionWrapper(E) def merge_vertices( mesh, merge_tex: Optional[bool] = None, merge_norm: Optional[bool] = None, digits_vertex: Optional[Integer] = None, digits_norm: Optional[Integer] = None, digits_uv: Optional[Integer] = None, ): """ Removes duplicate vertices, grouped by position and optionally texture coordinate and normal. Parameters ------------- mesh : Trimesh object Mesh to merge vertices on merge_tex : bool If True textured meshes with UV coordinates will have vertices merged regardless of UV coordinates merge_norm : bool If True, meshes with vertex normals will have vertices merged ignoring different normals digits_vertex : None or int Number of digits to consider for vertex position digits_norm : int Number of digits to consider for unit normals digits_uv : int Number of digits to consider for UV coordinates """ # no vertices so exit early if len(mesh.vertices) == 0: return if merge_tex is None: merge_tex = False if merge_norm is None: merge_norm = False if digits_norm is None: digits_norm = 2 if digits_uv is None: digits_uv = 4 if digits_vertex is None: # use tol.merge if digit precision not passed digits_vertex = util.decimal_to_digits(tol.merge) # if we have a ton of unreferenced vertices it will # make the unique_rows call super slow so cull first if hasattr(mesh, "faces") and len(mesh.faces) > 0: referenced = np.zeros(len(mesh.vertices), dtype=bool) referenced[mesh.faces] = True else: # this is used for geometry without faces referenced = np.ones(len(mesh.vertices), dtype=bool) # collect vertex attributes into sequence we can stack stacked = [mesh.vertices * (10**digits_vertex)] # UV texture visuals require us to update the # vertices and normals differently if ( not merge_tex and mesh.visual.defined and mesh.visual.kind == "texture" and mesh.visual.uv is not None and len(mesh.visual.uv) == len(mesh.vertices) ): # get an array with vertices and UV coordinates # converted to integers at requested precision stacked.append(mesh.visual.uv * (10**digits_uv)) # check to see if we have vertex normals normals = mesh._cache["vertex_normals"] if not merge_norm and np.shape(normals) == mesh.vertices.shape: stacked.append(normals * (10**digits_norm)) # stack collected vertex properties and round to integer stacked = np.column_stack(stacked).round().astype(np.int64) # check unique rows of referenced vertices u, i = unique_rows(stacked[referenced], keep_order=True) # construct an inverse using the subset inverse = np.zeros(len(mesh.vertices), dtype=np.int64) inverse[referenced] = i # get the vertex mask mask = np.nonzero(referenced)[0][u] # run the update including normals and UV coordinates mesh.update_vertices(mask=mask, inverse=inverse) def group(values, min_len: Optional[Integer] = None, max_len: Optional[Integer] = None): """ Return the indices of values that are identical Parameters ---------- values : (n,) int Values to group min_len : int The shortest group allowed All groups will have len >= min_length max_len : int The longest group allowed All groups will have len <= max_length Returns ---------- groups : sequence Contains indices to form groups IE [0,1,0,1] returns [[0,2], [1,3]] """ original = np.asanyarray(values) # save the sorted order and then apply it order = original.argsort() values = original[order] # find the indexes which are duplicates if values.dtype.kind == "f": # for floats in a sorted array, neighbors are not duplicates # if the difference between them is greater than approximate zero nondupe = np.greater(np.abs(np.diff(values)), tol.zero) else: # for ints and strings we can check exact non- equality # for all other types this will only work if they defined # an __eq__ nondupe = values[1:] != values[:-1] dupe_idx = np.append(0, np.nonzero(nondupe)[0] + 1) # start with a mask that marks everything as ok dupe_ok = np.ones(len(dupe_idx), dtype=bool) # calculate the length of each group from their index dupe_len = np.diff(np.concatenate((dupe_idx, [len(values)]))) # cull by length if requested if min_len is not None or max_len is not None: if min_len is not None: dupe_ok &= dupe_len >= min_len if max_len is not None: dupe_ok &= dupe_len <= max_len groups = [order[i : (i + j)] for i, j in zip(dupe_idx[dupe_ok], dupe_len[dupe_ok])] return groups def hashable_rows( data: ArrayLike, digits: Optional[Integer] = None, allow_int: bool = True ) -> NDArray: """ We turn our array into integers based on the precision given by digits and then put them in a hashable format. Parameters --------- data : (n, m) array Input data digits : int or None How many digits to add to hash if data is floating point If None, tol.merge will be used Returns --------- hashable : (n,) May return as a `np.void` or a `np.uint64` """ # if there is no data return immediately if len(data) == 0: return np.array([], dtype=np.uint64) # get array as integer to precision we care about as_int = float_to_int(data, digits=digits) # if it is flat integers already return if len(as_int.shape) == 1: return as_int # if array is 2D and smallish, we can try bitbanging # this is significantly faster than the custom dtype if allow_int and len(as_int.shape) == 2 and as_int.shape[1] <= 4: # can we pack the whole row into a single 64 bit integer precision = int(np.floor(64 / as_int.shape[1])) # get the extreme values of the data set d_min, d_max = as_int.min(), as_int.max() # since we are quantizing the data down we need every value # to fit in a partial integer so we have to check against extrema threshold = (2 ** (precision - 1)) - 1 # if the data is within the range of our precision threshold if d_max < threshold and d_min > -threshold: # the resulting package hashable = np.zeros(len(as_int), dtype=np.uint64) # offset to the middle of the unsigned integer range # this array should contain only positive values bitbang = (as_int.T + (threshold + 1)).astype(np.uint64) # loop through each column and bitwise xor to combine # make sure as_int is int64 otherwise bit offset won't work for offset, column in enumerate(bitbang): # will modify hashable in place np.bitwise_xor(hashable, column << (offset * precision), out=hashable) return hashable # reshape array into magical data type that is weird but works with unique dtype = np.dtype((np.void, as_int.dtype.itemsize * as_int.shape[1])) # make sure result is contiguous and flat result = np.ascontiguousarray(as_int).view(dtype).reshape(-1) result.flags["WRITEABLE"] = False return result def float_to_int(data, digits: Optional[Integer] = None) -> NDArray[np.int64]: """ Given a numpy array of float/bool/int, return as integers. Parameters ------------- data : (n, d) float, int, or bool Input data digits : float or int Precision for float conversion Returns ------------- as_int : (n, d) int Data as integers """ # convert to any numpy array data = np.asanyarray(data) # we can early-exit if we've been passed data that is already # an integer, unsigned integer, boolean, or empty if data.dtype == np.int64: return data elif data.dtype.kind in "iub" or data.size == 0: return data.astype(np.int64) elif data.dtype.kind != "f": # if it's not a floating point try to make it one data = data.astype(np.float64) if digits is None: # get digits from `tol.merge` digits = util.decimal_to_digits(tol.merge) elif not isinstance(digits, (int, np.integer)): raise TypeError("Digits must be `None` or `int`, not `{type(digits)}`") # multiply by requested power of ten # then subtract small epsilon to avoid "go either way" rounding # then do the rounding and convert to integer return np.round((data * 10**digits) - 1e-6).astype(np.int64) def unique_ordered( data: ArrayLike, return_index: bool = False, return_inverse: bool = False ): """ Returns the same as np.unique, but ordered as per the first occurrence of the unique value in data. Examples --------- In [1]: a = [0, 3, 3, 4, 1, 3, 0, 3, 2, 1] In [2]: np.unique(a) Out[2]: array([0, 1, 2, 3, 4]) In [3]: trimesh.grouping.unique_ordered(a) Out[3]: array([0, 3, 4, 1, 2]) """ # uniques are the values, sorted # index is the value in the original `data` # i.e. `data[index] == unique` # inverse is how to re-construct `data` from `unique` # i.e. `unique[inverse] == data` unique, index, inverse = np.unique(data, return_index=True, return_inverse=True) # we want to maintain the original index order order = index.argsort() if not return_index and not return_inverse: return unique[order] # collect return values # start with the unique values in original order result = [unique[order]] # the new index values if return_index: # re-order the index in the original array result.append(index[order]) if return_inverse: # create the new inverse from the order of the order result.append(order.argsort()[inverse]) return result def unique_bincount( values: ArrayLike, minlength: Integer = 0, return_inverse: bool = False, return_counts: bool = False, ): """ For arrays of integers find unique values using bin counting. Roughly 10x faster for correct input than np.unique Parameters -------------- values : (n,) int Values to find unique members of minlength : int Maximum value that will occur in values (values.max()) return_inverse : bool If True, return an inverse such that unique[inverse] == values return_counts : bool If True, also return the number of times each unique item appears in values Returns ------------ unique : (m,) int Unique values in original array inverse : (n,) int, optional An array such that unique[inverse] == values Only returned if return_inverse is True counts : (m,) int, optional An array holding the counts of each unique item in values Only returned if return_counts is True """ values = np.asanyarray(values) if len(values.shape) != 1 or values.dtype.kind != "i": raise ValueError("input must be 1D integers!") try: # count the number of occurrences of each value counts = np.bincount(values, minlength=minlength) except TypeError: # casting failed on 32 bit windows log.warning("casting failed, falling back!") # fall back to numpy unique return np.unique( values, return_inverse=return_inverse, return_counts=return_counts ) # which bins are occupied at all # counts are integers so this works unique_bin = counts.astype(bool) # which values are unique # indexes correspond to original values unique = np.where(unique_bin)[0] ret = (unique,) if return_inverse: # find the inverse to reconstruct original inverse = (np.cumsum(unique_bin) - 1)[values] ret += (inverse,) if return_counts: unique_counts = counts[unique] ret += (unique_counts,) if len(ret) == 1: return ret[0] return ret def merge_runs(data: ArrayLike, digits: Optional[Integer] = None): """ Merge duplicate sequential values. This differs from unique_ordered in that values can occur in multiple places in the sequence, but only consecutive repeats are removed Parameters ----------- data: (n,) float or int Returns -------- merged: (m,) float or int Examples --------- In [1]: a Out[1]: array([-1, -1, -1, 0, 0, 1, 1, 2, 0, 3, 3, 4, 4, 5, 5, 6, 6, 7, 7, 8, 8, 9, 9, 9]) In [2]: trimesh.grouping.merge_runs(a) Out[2]: array([-1, 0, 1, 2, 0, 3, 4, 5, 6, 7, 8, 9]) """ if digits is None: epsilon = tol.merge else: epsilon = 10 ** (-digits) data = np.asanyarray(data) mask = np.zeros(len(data), dtype=bool) mask[0] = True mask[1:] = np.abs(data[1:] - data[:-1]) > epsilon return data[mask] def unique_float( data, return_index: bool = False, return_inverse: bool = False, digits: Optional[Integer] = None, ): """ Identical to the numpy.unique command, except evaluates floating point numbers, using a specified number of digits. If digits isn't specified, the library default TOL_MERGE will be used. """ data = np.asanyarray(data) as_int = float_to_int(data, digits) _junk, unique, inverse = np.unique(as_int, return_index=True, return_inverse=True) if (not return_index) and (not return_inverse): return data[unique] result = [data[unique]] if return_index: result.append(unique) if return_inverse: result.append(inverse) return tuple(result) def unique_rows(data, digits=None, keep_order=False): """ Returns indices of unique rows. It will return the first occurrence of a row that is duplicated: [[1,2], [3,4], [1,2]] will return [0,1] Parameters --------- data : (n, m) array Floating point data digits : int or None How many digits to consider Returns -------- unique : (j,) int Index in data which is a unique row inverse : (n,) int Array to reconstruct original Example: data[unique][inverse] == data """ # get rows hashable so we can run unique function on it rows = hashable_rows(data, digits=digits) # we are throwing away the first value which is the # garbage row-hash and only returning index and inverse if keep_order: # keeps order of original occurrence return unique_ordered(rows, return_index=True, return_inverse=True)[1:] # returns values sorted by row-hash but since our row-hash # were pretty much garbage the sort order isn't meaningful return np.unique(rows, return_index=True, return_inverse=True)[1:] def unique_value_in_row(data, unique=None): """ For a 2D array of integers find the position of a value in each row which only occurs once. If there are more than one value per row which occur once, the last one is returned. Parameters ---------- data : (n, d) int Data to check values unique : (m,) int List of unique values contained in data. Generated from np.unique if not passed Returns --------- result : (n, d) bool With one or zero True values per row. Examples ------------------------------------- In [0]: r = np.array([[-1, 1, 1], [-1, 1, -1], [-1, 1, 1], [-1, 1, -1], [-1, 1, -1]], dtype=np.int8) In [1]: unique_value_in_row(r) Out[1]: array([[ True, False, False], [False, True, False], [ True, False, False], [False, True, False], [False, True, False]], dtype=bool) In [2]: unique_value_in_row(r).sum(axis=1) Out[2]: array([1, 1, 1, 1, 1]) In [3]: r[unique_value_in_row(r)] Out[3]: array([-1, 1, -1, 1, 1], dtype=int8) """ if unique is None: unique = np.unique(data) data = np.asanyarray(data) result = np.zeros_like(data, dtype=bool, subok=False) for value in unique: test = np.equal(data, value) test_ok = test.sum(axis=1) == 1 result[test_ok] = test[test_ok] return result def group_rows(data, require_count=None, digits=None): """ Returns index groups of duplicate rows, for example: [[1,2], [3,4], [1,2]] will return [[0,2], [1]] Note that using require_count allows numpy advanced indexing to be used in place of looping and checking hashes and is ~10x faster. Parameters ---------- data : (n, m) array Data to group require_count : None or int Only return groups of a specified length, eg: require_count = 2 [[1,2], [3,4], [1,2]] will return [[0,2]] digits : None or int If data is floating point how many decimals to consider, or calculated from tol.merge Returns ---------- groups : sequence (*,) int Indices from in indicating identical rows. """ # start with getting a sortable format hashable = hashable_rows(data, digits=digits) # if there isn't a constant column size use more complex logic if require_count is None: return group(hashable) # record the order of the rows so we can get the original indices back order = hashable.argsort() # but for now, we want our hashes sorted hashable = hashable[order] # this is checking each neighbour for equality, example: # example: hashable = [1, 1, 1]; dupe = [0, 0] dupe = hashable[1:] != hashable[:-1] # we want the first index of a group, so we can slice from that location # example: hashable = [0 1 1]; dupe = [1,0]; dupe_idx = [0,1] dupe_idx = np.append(0, np.nonzero(dupe)[0] + 1) # if you wanted to use this one function to deal with non- regular groups # you could use: np.array_split(dupe_idx) # this is roughly 3x slower than using the group_dict method above. start_ok = np.diff(np.concatenate((dupe_idx, [len(hashable)]))) == require_count groups = np.tile(dupe_idx[start_ok].reshape((-1, 1)), require_count) + np.arange( require_count ) groups_idx = order[groups] if require_count == 1: return groups_idx.reshape(-1) return groups_idx def boolean_rows(a, b, operation=np.intersect1d): """ Find the rows in two arrays which occur in both rows. Parameters --------- a: (n, d) int Array with row vectors b: (m, d) int Array with row vectors operation : function Numpy boolean set operation function: -np.intersect1d -np.setdiff1d Returns -------- shared: (p, d) array containing rows in both a and b """ a = np.asanyarray(a, dtype=np.int64) b = np.asanyarray(b, dtype=np.int64) av = a.view([("", a.dtype)] * a.shape[1]).ravel() bv = b.view([("", b.dtype)] * b.shape[1]).ravel() return operation(av, bv).view(a.dtype).reshape(-1, a.shape[1]) def group_vectors(vectors, angle=1e-4, include_negative=False): """ Group vectors based on an angle tolerance, with the option to include negative vectors. Parameters ----------- vectors : (n,3) float Direction vector angle : float Group vectors closer than this angle in radians include_negative : bool If True consider the same: [0,0,1] and [0,0,-1] Returns ------------ new_vectors : (m,3) float Direction vector groups : (m,) sequence of int Indices of source vectors """ vectors = np.asanyarray(vectors, dtype=np.float64) angle = float(angle) if include_negative: vectors = util.vector_hemisphere(vectors) spherical = util.vector_to_spherical(vectors) angles, groups = group_distance(spherical, angle) new_vectors = util.spherical_to_vector(angles) return new_vectors, groups def group_distance(values, distance): """ Find groups of points which have neighbours closer than radius, where no two points in a group are farther than distance apart. Parameters --------- points : (n, d) float Points of dimension d distance : float Max distance between points in a cluster Returns ---------- unique : (m, d) float Median value of each group groups : (m) sequence of int Indexes of points that make up a group """ values = np.asanyarray(values, dtype=np.float64) consumed = np.zeros(len(values), dtype=bool) tree = cKDTree(values) # (n, d) set of values that are unique unique = [] # (n) sequence of indices in values groups = [] for index, value in enumerate(values): if consumed[index]: continue group = np.array(tree.query_ball_point(value, distance), dtype=np.int64) consumed[group] = True unique.append(np.median(values[group], axis=0)) groups.append(group) return np.array(unique), groups def clusters(points, radius): """ Find clusters of points which have neighbours closer than radius Parameters --------- points : (n, d) float Points of dimension d radius : float Max distance between points in a cluster Returns ---------- groups : (m,) sequence of int Indices of points in a cluster """ from . import graph tree = cKDTree(points) # some versions return pairs as a set of tuples pairs = tree.query_pairs(r=radius, output_type="ndarray") # group connected components groups = graph.connected_components(pairs) return groups def blocks(data, min_len=2, max_len=np.inf, wrap=False, digits=None, only_nonzero=False): """ Find the indices in an array of contiguous blocks of equal values. Parameters ------------ data : (n,) array Data to find blocks on min_len : int The minimum length group to be returned max_len : int The maximum length group to be retuurned wrap : bool Combine blocks on both ends of 1D array digits : None or int If dealing with floats how many digits to consider only_nonzero : bool Only return blocks of non- zero values Returns --------- blocks : (m) sequence of (*,) int Indices referencing data """ data = float_to_int(data, digits=digits) # keep an integer range around so we can slice arange = np.arange(len(data)) arange.flags["WRITEABLE"] = False nonzero = arange[1:][data[1:] != data[:-1]] infl = np.zeros(len(nonzero) + 2, dtype=int) infl[-1] = len(data) infl[1:-1] = nonzero # the length of each chunk infl_len = infl[1:] - infl[:-1] # check the length of each group infl_ok = np.logical_and(infl_len >= min_len, infl_len <= max_len) if only_nonzero: # check to make sure the values of each contiguous block # are True by checking the first value of each block infl_ok = np.logical_and(infl_ok, data[infl[:-1]]) # inflate start/end indexes into full ranges of values blocks = [arange[infl[i] : infl[i + 1]] for i, ok in enumerate(infl_ok) if ok] if wrap: # wrap only matters if first and last points are the same if data[0] != data[-1]: return blocks # if we are only grouping nonzero things and # the first and last point are zero we can exit if only_nonzero and not bool(data[0]): return blocks # if all values are True or False we can exit if len(blocks) == 1 and len(blocks[0]) == len(data): return blocks # so now first point equals last point, so the cases are: # - first and last point are in a block: combine two blocks # - first OR last point are in block: add other point to block # - neither are in a block: check if combined is eligible block # first point is in a block first = len(blocks) > 0 and blocks[0][0] == 0 # last point is in a block last = len(blocks) > 0 and blocks[-1][-1] == (len(data) - 1) # CASE: first and last point are BOTH in block: combine blocks if first and last: blocks[0] = np.append(blocks[-1], blocks[0]) blocks.pop() else: # combined length combined = infl_len[0] + infl_len[-1] # exit if lengths aren't OK if combined < min_len or combined > max_len: return blocks # new block combines both ends new_block = np.append( np.arange(infl[-2], infl[-1]), np.arange(infl[0], infl[1]) ) # we are in a first OR last situation now if first: # first was already in a block so replace it with combined blocks[0] = new_block elif last: # last was already in a block so replace with superset blocks[-1] = new_block else: # both are false # combined length generated new block blocks.append(new_block) return blocks def group_min(groups, data): """ Given a list of groups find the minimum element of data within each group Parameters ----------- groups : (n,) sequence of (q,) int Indexes of each group corresponding to each element in data data : (m,) The data that groups indexes reference Returns ----------- minimums : (n,) Minimum value of data per group """ # sort with major key groups, minor key data order = np.lexsort((data, groups)) groups = groups[order] # this is only needed if groups is unsorted data = data[order] # construct an index which marks borders between groups index = np.zeros(len(groups), "bool") index[0] = True index[1:] = groups[1:] != groups[:-1] return data[index] trimesh-4.5.1/trimesh/inertia.py000066400000000000000000000206151470574263400166740ustar00rootroot00000000000000""" inertia.py ------------- Functions for dealing with inertia tensors. Results validated against known geometries and checked for internal consistency. """ import numpy as np from .typed import ArrayLike, NDArray, Number, Optional, float64 from .util import multi_dot def cylinder_inertia( mass: Number, radius: Number, height: Number, transform: Optional[ArrayLike] = None ) -> NDArray[float64]: """ Return the inertia tensor of a cylinder. Parameters ------------ mass : float Mass of cylinder radius : float Radius of cylinder height : float Height of cylinder transform : (4, 4) float Transformation of cylinder Returns ------------ inertia : (3, 3) float Inertia tensor """ h2, r2 = height**2, radius**2 diagonal = np.array( [ ((mass * h2) / 12) + ((mass * r2) / 4), ((mass * h2) / 12) + ((mass * r2) / 4), (mass * r2) / 2, ] ) inertia = diagonal * np.eye(3) if transform is not None: inertia = transform_inertia(transform, inertia) return inertia def sphere_inertia(mass: Number, radius: Number) -> NDArray[float64]: """ Return the inertia tensor of a sphere. Parameters ------------ mass : float Mass of sphere radius : float Radius of sphere Returns ------------ inertia : (3, 3) float Inertia tensor """ return (2.0 / 5.0) * (radius**2) * mass * np.eye(3) def principal_axis(inertia: ArrayLike): """ Find the principal components and principal axis of inertia from the inertia tensor. Parameters ------------ inertia : (3, 3) float Inertia tensor Returns ------------ components : (3,) float Principal components of inertia vectors : (3, 3) float Row vectors pointing along the principal axes of inertia """ inertia = np.asanyarray(inertia, dtype=np.float64) if inertia.shape != (3, 3): raise ValueError("inertia tensor must be (3, 3)!") # you could any of the following to calculate this: # np.linalg.svd, np.linalg.eig, np.linalg.eigh # moment of inertia is square symmetric matrix # eigh has the best precision in tests components, vectors = np.linalg.eigh(inertia) # eigh returns them as column vectors, change them to row vectors vectors = vectors.T return components, vectors def transform_inertia( transform: ArrayLike, inertia_tensor: ArrayLike, parallel_axis: bool = False, mass: Optional[Number] = None, ): """ Transform an inertia tensor to a new frame. Note that in trimesh `mesh.moment_inertia` is *axis aligned* and at `mesh.center_mass`. So to transform to a new frame and get the moment of inertia at the center of mass the translation should be ignored and only rotation applied. If parallel axis is enabled it will compute the inertia about a new location. More details in the MIT OpenCourseWare PDF: ` MIT16_07F09_Lec26.pdf` Parameters ------------ transform : (3, 3) or (4, 4) float Transformation matrix inertia_tensor : (3, 3) float Inertia tensor. parallel_axis : bool Apply the parallel axis theorum or not. If the passed inertia tensor is at the center of mass and you want the new post-transform tensor also at the center of mass you DON'T want this enabled as you *only* want to apply the rotation. Use this to get moment of inertia at an arbitrary frame that isn't the center of mass. Returns ------------ transformed : (3, 3) float Inertia tensor in new frame. """ # check inputs and extract rotation transform = np.asanyarray(transform, dtype=np.float64) if transform.shape == (4, 4): rotation = transform[:3, :3] elif transform.shape == (3, 3): rotation = transform else: raise ValueError("transform must be (3, 3) or (4, 4)!") inertia_tensor = np.asanyarray(inertia_tensor, dtype=np.float64) if inertia_tensor.shape != (3, 3): raise ValueError("inertia_tensor must be (3, 3)!") if parallel_axis: if transform.shape == (3, 3): # shorthand for "translation" a = np.zeros(3, dtype=np.float64) else: # get the translation a = transform[:3, 3] # First the changed origin of the new transform is taken into # account. To calculate the inertia tensor # the parallel axis theorem is used M = np.array( [ [a[1] ** 2 + a[2] ** 2, -a[0] * a[1], -a[0] * a[2]], [-a[0] * a[1], a[0] ** 2 + a[2] ** 2, -a[1] * a[2]], [-a[0] * a[2], -a[1] * a[2], a[0] ** 2 + a[1] ** 2], ] ) aligned_inertia = inertia_tensor + mass * M return multi_dot([rotation.T, aligned_inertia, rotation]) return multi_dot([rotation, inertia_tensor, rotation.T]) def radial_symmetry(mesh): """ Check whether a mesh has radial symmetry. Returns ----------- symmetry : None or str None No rotational symmetry 'radial' Symmetric around an axis 'spherical' Symmetric around a point axis : None or (3,) float Rotation axis or point section : None or (3, 2) float If radial symmetry provide vectors to get cross section """ # shortcuts to avoid typing and hitting cache scalar = mesh.principal_inertia_components.copy() # exit early if inertia components are all zero if (scalar < 1e-30).any(): return None, None, None # normalize the PCI so we can compare them scalar = scalar / np.linalg.norm(scalar) vector = mesh.principal_inertia_vectors # the sorted order of the principal components order = scalar.argsort() # we are checking if a geometry has radial symmetry # if 2 of the PCI are equal, it is a revolved 2D profile # if 3 of the PCI (all of them) are equal it is a sphere diff = np.abs(np.diff(scalar[order])) # diffs that are within tol of zero diff_zero = diff < 1e-4 if diff_zero.all(): # this is the case where all 3 PCI are identical # this means that the geometry is symmetric about a point # examples of this are a sphere, icosahedron, etc axis = vector[0] section = vector[1:] return "spherical", axis, section elif diff_zero.any(): # this is the case for 2/3 PCI are identical # this means the geometry is symmetric about an axis # probably a revolved 2D profile # we know that only 1/2 of the diff values are True # if the first diff is 0, it means if we take the first element # in the ordered PCI we will have one of the non- revolve axis # if the second diff is 0, we take the last element of # the ordered PCI for the section axis # if we wanted the revolve axis we would just switch [0,-1] to # [-1,0] # since two vectors are the same, we know the middle # one is one of those two section_index = order[np.array([[0, 1], [1, -1]])[diff_zero]].flatten() section = vector[section_index] # we know the rotation axis is the sole unique value # and is either first or last of the sorted values axis_index = order[np.array([-1, 0])[diff_zero]][0] axis = vector[axis_index] return "radial", axis, section return None, None, None def scene_inertia(scene, transform: Optional[ArrayLike] = None) -> NDArray[float64]: """ Calculate the inertia of a scene about a specific frame. Parameters ------------ scene : trimesh.Scene Scene with geometry. transform : None or (4, 4) float Homogeneous transform to compute inertia at. Returns ---------- moment : (3, 3) Inertia tensor about requested frame """ # shortcuts for tight loop graph = scene.graph geoms = scene.geometry # get the matrix ang geometry name for nodes = [graph[n] for n in graph.nodes_geometry] # get the moment of inertia with the mesh moved to a location moments = np.array( [ geoms[g].moment_inertia_frame(np.dot(np.linalg.inv(mat), transform)) for mat, g in nodes if hasattr(geoms[g], "moment_inertia_frame") ], dtype=np.float64, ) return moments.sum(axis=0) trimesh-4.5.1/trimesh/interfaces/000077500000000000000000000000001470574263400170065ustar00rootroot00000000000000trimesh-4.5.1/trimesh/interfaces/__init__.py000066400000000000000000000001301470574263400211110ustar00rootroot00000000000000from . import blender, gmsh # add to __all__ as per pep8 __all__ = ["blender", "gmsh"] trimesh-4.5.1/trimesh/interfaces/blender.py000066400000000000000000000073441470574263400210030ustar00rootroot00000000000000import os import platform from .. import resources, util from ..constants import log from ..typed import Iterable from .generic import MeshScript if platform.system() == "Windows": # try to find Blender install on Windows # split existing path by delimiter _search_path = [i for i in os.environ.get("PATH", "").split(";") if len(i) > 0] for pf in [r"C:\Program Files", r"C:\Program Files (x86)"]: pf = os.path.join(pf, "Blender Foundation") if os.path.exists(pf): for p in os.listdir(pf): if "Blender" in p: _search_path.append(os.path.join(pf, p)) _search_path = ";".join(set(_search_path)) log.debug("searching for blender in: %s", _search_path) elif platform.system() == "Darwin": # try to find Blender on Mac OSX _search_path = [i for i in os.environ.get("PATH", "").split(":") if len(i) > 0] _search_path.extend( [ "/Applications/blender.app/Contents/MacOS", "/Applications/Blender.app/Contents/MacOS", "/Applications/Blender/blender.app/Contents/MacOS", ] ) _search_path = ":".join(set(_search_path)) log.debug("searching for blender in: %s", _search_path) else: _search_path = os.environ.get("PATH", "") _blender_executable = util.which("blender", path=_search_path) exists = _blender_executable is not None def boolean( meshes: Iterable, operation: str = "difference", use_exact: bool = False, use_self: bool = False, debug: bool = False, ): """ Run a boolean operation with multiple meshes using Blender. Parameters ----------- meshes List of mesh objects to be operated on operation Type of boolean operation ("difference", "union", "intersect"). use_exact Use the "exact" mode as opposed to the "fast" mode. use_self Whether to consider self-intersections. debug Provide additional output for troubleshooting. Returns ---------- result The result of the boolean operation on the provided meshes. """ if not exists: raise ValueError("No blender available!") operation = str.upper(operation) if operation == "INTERSECTION": operation = "INTERSECT" if use_exact: solver_options = "EXACT" else: solver_options = "FAST" # get the template from our resources folder template = resources.get_string("templates/blender_boolean.py.tmpl") script = template.replace("$OPERATION", operation) script = script.replace("$SOLVER_OPTIONS", solver_options) script = script.replace("$USE_SELF", f"{use_self}") with MeshScript(meshes=meshes, script=script, debug=debug) as blend: result = blend.run(_blender_executable + " --background --python $SCRIPT") result = util.make_sequence(result) for m in result: # blender returns actively incorrect face normals m.face_normals = None return util.concatenate(result) def unwrap( mesh, angle_limit: float = 66.0, island_margin: float = 0.0, debug: bool = False ): """ Run an unwrap operation using blender. """ if not exists: raise ValueError("No blender available!") # get the template from our resources folder template = resources.get_string("templates/blender_unwrap.py.template") script = template.replace("$ANGLE_LIMIT", f"{angle_limit:.6f}").replace( "$ISLAND_MARGIN", f"{island_margin:.6f}" ) with MeshScript(meshes=[mesh], script=script, exchange="obj", debug=debug) as blend: result = blend.run(_blender_executable + " --background --python $SCRIPT") for m in util.make_sequence(result): # blender returns actively incorrect face normals m.face_normals = None return result trimesh-4.5.1/trimesh/interfaces/generic.py000066400000000000000000000067421470574263400210050ustar00rootroot00000000000000import os import platform import subprocess from string import Template from subprocess import CalledProcessError, check_output from tempfile import NamedTemporaryFile from .. import exchange from ..util import log class MeshScript: def __init__(self, meshes, script, exchange="stl", debug=False, **kwargs): self.debug = debug self.kwargs = kwargs self.meshes = meshes self.script = script self.exchange = exchange def __enter__(self): # windows has problems with multiple programs using open files so we close # them at the end of the enter call, and delete them ourselves at exit # Blender sorts its objects alphabetically # so prefix the mesh number on the file name digit_count = len(str(len(self.meshes))) self.mesh_pre = [ NamedTemporaryFile( suffix=f".{self.exchange}", prefix=f"{str(i).zfill(digit_count)}_", mode="wb", delete=False, ) for i in range(len(self.meshes)) ] self.mesh_post = NamedTemporaryFile( suffix=f".{self.exchange}", mode="rb", delete=False ) self.script_out = NamedTemporaryFile(mode="wb", delete=False) # export the meshes to a temporary STL container for mesh, file_obj in zip(self.meshes, self.mesh_pre): mesh.export(file_obj=file_obj.name) self.replacement = {"MESH_" + str(i): m.name for i, m in enumerate(self.mesh_pre)} self.replacement["MESH_PRE"] = str([i.name for i in self.mesh_pre]) self.replacement["MESH_POST"] = self.mesh_post.name self.replacement["SCRIPT"] = self.script_out.name script_text = Template(self.script).substitute(self.replacement) if platform.system() == "Windows": script_text = script_text.replace("\\", "\\\\") self.script_out.write(script_text.encode("utf-8")) # close all temporary files self.script_out.close() self.mesh_post.close() for file_obj in self.mesh_pre: file_obj.close() return self def run(self, command): command_run = Template(command).substitute(self.replacement).split() # run the binary startupinfo = None if platform.system() == "Windows": startupinfo = subprocess.STARTUPINFO() startupinfo.dwFlags |= subprocess.STARTF_USESHOWWINDOW if self.debug: log.info("executing: {}".format(" ".join(command_run))) try: output = check_output( command_run, stderr=subprocess.STDOUT, startupinfo=startupinfo ) except CalledProcessError as e: # Log output if debug is enabled if self.debug: log.info(e.output.decode()) raise if self.debug: log.info(output.decode()) # bring the binaries result back as a set of Trimesh kwargs mesh_results = exchange.load.load_mesh(self.mesh_post.name, **self.kwargs) return mesh_results def __exit__(self, *args, **kwargs): if self.debug: log.info(f"MeshScript.debug: not deleting {self.script_out.name}") return # delete all the temporary files by name # they are closed but their names are still available os.remove(self.script_out.name) for file_obj in self.mesh_pre: os.remove(file_obj.name) os.remove(self.mesh_post.name) trimesh-4.5.1/trimesh/interfaces/gmsh.py000066400000000000000000000217621470574263400203260ustar00rootroot00000000000000import os import tempfile import warnings import numpy as np from ..constants import log from ..typed import Integer, Number, Optional # the old `gmsh-sdk` package is deprecated and # has a different incompatible API! _min_gmsh = (4, 12, 1) _warning = " ".join( [ "`trimesh.interfaces.gmsh` is deprecated and will be removed January 2025!", "There are *many* gmsh options on PyPi: `scikit-gmsh` `gmsh` `pygmsh` `gmsh-sdk`,", "users should pick one of those and use it directly. If STEP loading is the only", "thing needed you may want `pip install cascadio` which uses OpenCASCADE more", "directly and will immediately enable STEP as a loadable format in trimesh.", ] ) def load_gmsh(file_name, gmsh_args=None, interruptible=True): """ Returns a surface mesh from CAD model in Open Cascade Breap (.brep), Step (.stp or .step) and Iges formats Or returns a surface mesh from 3D volume mesh using gmsh. For a list of possible options to pass to GMSH, check: http://gmsh.info/doc/texinfo/gmsh.html An easy way to install the GMSH SDK is through the `gmsh` package on PyPi, which downloads and sets up gmsh: >>> pip install gmsh Parameters -------------- file_name : str Location of the file to be imported gmsh_args : (n, 2) list List of (parameter, value) pairs to be passed to gmsh.option.setNumber max_element : float or None Maximum length of an element in the volume mesh interruptible : bool Allows load_gmsh to run outside of the main thread if False, default behaviour if set to True. Added in 4.12.0 Returns ------------ mesh : trimesh.Trimesh Surface mesh of input geometry """ warnings.warn(_warning, category=DeprecationWarning, stacklevel=2) # use STL as an intermediate format # do import here to avoid very occasional segfaults import gmsh # the deprecated `pip install gmsh-sdk` package has an entirely different API # require a minimum version here if tuple(int(i) for i in gmsh.__version__.split(".")) < _min_gmsh: raise ImportError( f"`gmsh.__version__ < {_min_gmsh}`: run `pip install --upgrade gmsh`" ) from ..exchange.stl import load_stl # start with default args for the meshing step # Mesh.Algorithm=2 MeshAdapt/Delaunay, there are others but they may include quads # With this planes are meshed using Delaunay and cylinders are meshed # using MeshAdapt args = [ ("Mesh.Algorithm", 2), ("Mesh.CharacteristicLengthFromCurvature", 1), ("Mesh.MinimumCirclePoints", 32), ] # add passed argument tuples last so we can override defaults if gmsh_args is not None: args.extend(gmsh_args) # formats GMSH can load supported = [ ".brep", ".stp", ".step", ".igs", ".iges", ".bdf", ".msh", ".inp", ".diff", ".mesh", ] # check extensions to make sure it is supported format if file_name is not None: if not any(file_name.lower().endswith(e) for e in supported): raise ValueError( "Supported formats are: BREP (.brep), STEP (.stp or .step), " + "IGES (.igs or .iges), Nastran (.bdf), Gmsh (.msh), Abaqus (*.inp), " + "Diffpack (*.diff), Inria Medit (*.mesh)" ) else: raise ValueError("No import since no file was provided!") # hmmm init = False try: if hasattr(gmsh, "isInitialized"): init = gmsh.isInitialized() elif hasattr(gmsh, "is_initialized"): init = gmsh.is_initialized() except BaseException: log.debug("gmsh unexpected", exc_info=True) if not init: gmsh.initialize(interruptible=interruptible) gmsh.option.setNumber("General.Terminal", 1) gmsh.model.add("Surface_Mesh_Generation") # loop through our numbered args which do things, stuff for arg in args: gmsh.option.setNumber(*arg) gmsh.open(file_name) # create a temporary file for the results out_data = tempfile.NamedTemporaryFile(suffix=".stl", delete=False) # windows gets mad if two processes try to open the same file out_data.close() # we have to mesh the surface as these are analytic BREP formats if any( file_name.lower().endswith(e) for e in [".brep", ".stp", ".step", ".igs", ".iges"] ): gmsh.model.geo.synchronize() # generate the mesh gmsh.model.mesh.generate(2) # write to the temporary file gmsh.write(out_data.name) else: gmsh.plugin.run("NewView") gmsh.plugin.run("Skin") gmsh.view.write(1, out_data.name) # load the data from the temporary outfile with open(out_data.name, "rb") as f: kwargs = load_stl(f) gmsh.finalize() return kwargs def to_volume( mesh, file_name: Optional[str] = None, file_type: Optional[str] = None, max_element: Optional[Number] = None, mesher_id: Integer = 1, ) -> bytes: """ Convert a surface mesh to a 3D volume mesh generated by gmsh. An easy way to install the gmsh sdk is through the gmsh package on pypi, which downloads and sets up gmsh: pip install gmsh Algorithm details, although check gmsh docs for more information: The "Delaunay" algorithm is split into three separate steps. First, an initial mesh of the union of all the volumes in the model is performed, without inserting points in the volume. The surface mesh is then recovered using H. Si's boundary recovery algorithm Tetgen/BR. Then a three-dimensional version of the 2D Delaunay algorithm described above is applied to insert points in the volume to respect the mesh size constraints. The Frontal" algorithm uses J. Schoeberl's Netgen algorithm. The "HXT" algorithm is a new efficient and parallel reimplementaton of the Delaunay algorithm. The "MMG3D" algorithm (experimental) allows to generate anisotropic tetrahedralizations Parameters -------------- mesh : trimesh.Trimesh Surface mesh of input geometry file_type Location to save output, in .msh (gmsh) or .bdf (Nastran) format max_element : float or None Maximum length of an element in the volume mesh mesher_id : int 3D unstructured algorithms: 1: Delaunay, 3: Initial mesh only, 4: Frontal, 7: MMG3D, 9: R-tree, 10: HXT Returns ------------ data : None or bytes MSH data, only returned if file_name is None """ warnings.warn(_warning, category=DeprecationWarning, stacklevel=2) # do import here to avoid very occasional segfaults import gmsh if tuple(int(i) for i in gmsh.__version__.split(".")) < _min_gmsh: raise ImportError( f"`gmsh.__version__ < {_min_gmsh}`: run `pip install --upgrade gmsh`" ) # checks mesher selection if mesher_id not in [1, 3, 4, 7, 9, 10]: raise ValueError("unavailable mesher selected!") else: mesher_id = int(mesher_id) # set max element length to a best guess if not specified if max_element is None: max_element = np.sqrt(np.mean(mesh.area_faces)) if file_name is not None: file_type = file_name.split(".")[-1].lower() elif file_type is not None: file_type = file_type.lower().strip(".") else: file_type = "msh" if file_type not in ["bdf", "msh", "inp", "diff", "mesh"]: raise ValueError( "Only Nastran (`bdf`), Gmsh (`msh`), Abaqus (`inp`), " + "Diffpack (`diff`) and Inria Medit (`mesh`) formats " + "are available!" ) # use a temporary directory for input and output with tempfile.TemporaryDirectory() as D: mesh_file = os.path.join(D, "input.stl") mesh.export(mesh_file) # starts Gmsh Python API script gmsh.initialize() gmsh.option.setNumber("General.Terminal", 1) gmsh.model.add("Nastran_stl") gmsh.merge(mesh_file) dimtag = gmsh.model.getEntities()[0] dim = dimtag[0] tag = dimtag[1] surf_loop = gmsh.model.geo.addSurfaceLoop([tag]) gmsh.model.geo.addVolume([surf_loop]) gmsh.model.geo.synchronize() # We can then generate a 3D mesh... gmsh.option.setNumber("Mesh.Algorithm3D", mesher_id) gmsh.option.setNumber("Mesh.CharacteristicLengthMax", max_element) gmsh.model.mesh.generate(3) dimtag2 = gmsh.model.getEntities()[1] dim2 = dimtag2[0] tag2 = dimtag2[1] p2 = gmsh.model.addPhysicalGroup(dim2, [tag2]) gmsh.model.setPhysicalName(dim, p2, "Nastran_bdf") out_path = os.path.join(D, f"temp.{file_type}") gmsh.write(out_path) with open(out_path, "rb") as f: data = f.read() # close up shop gmsh.finalize() # write the data if file_name is not None: with open(os.path.abspath(os.path.expanduser(file_name)), "wb") as f: f.write(data) return data trimesh-4.5.1/trimesh/intersections.py000066400000000000000000000676051470574263400201440ustar00rootroot00000000000000""" intersections.py ------------------ Primarily mesh-plane intersections (slicing). """ import numpy as np from . import geometry, grouping, util from . import transformations as tf from . import triangles as tm from .constants import tol from .triangles import points_to_barycentric def mesh_plane( mesh, plane_normal, plane_origin, return_faces=False, local_faces=None, cached_dots=None, ): """ Find a the intersections between a mesh and a plane, returning a set of line segments on that plane. Parameters --------- mesh : Trimesh object Source mesh to slice plane_normal : (3,) float Normal vector of plane to intersect with mesh plane_origin : (3,) float Point on plane to intersect with mesh return_faces : bool If True return face index each line is from local_faces : None or (m,) int Limit section to just these faces. cached_dots : (n, 3) float If an external function has stored dot products pass them here to avoid recomputing. Returns ---------- lines : (m, 2, 3) float List of 3D line segments in space. face_index : (m,) int Index of mesh.faces for each line Only returned if return_faces was True """ def triangle_cases(signs): """ Figure out which faces correspond to which intersection case from the signs of the dot product of each vertex. Does this by bitbang each row of signs into an 8 bit integer. code : signs : intersects 0 : [-1 -1 -1] : No 2 : [-1 -1 0] : No 4 : [-1 -1 1] : Yes; 2 on one side, 1 on the other 6 : [-1 0 0] : Yes; one edge fully on plane 8 : [-1 0 1] : Yes; one vertex on plane 2 on different sides 12 : [-1 1 1] : Yes; 2 on one side, 1 on the other 14 : [0 0 0] : No (on plane fully) 16 : [0 0 1] : Yes; one edge fully on plane 20 : [0 1 1] : No 28 : [1 1 1] : No Parameters ---------- signs: (n,3) int, all values are -1,0, or 1 Each row contains the dot product of all three vertices in a face with respect to the plane Returns --------- basic : (n,) bool Which faces are in the basic intersection case one_vertex : (n,) bool Which faces are in the one vertex case one_edge : (n,) bool Which faces are in the one edge case """ signs_sorted = np.sort(signs, axis=1) coded = np.zeros(len(signs_sorted), dtype=np.int8) + 14 for i in range(3): coded += signs_sorted[:, i] << 3 - i # one edge fully on the plane # note that we are only accepting *one* of the on- edge cases, # where the other vertex has a positive dot product (16) instead # of both on- edge cases ([6, 16]) # this is so that for regions that are co-planar with the the section plane # we don't end up with an invalid boundary key = np.zeros(29, dtype=bool) key[16] = True one_edge = key[coded] # one vertex on plane, other two on different sides key[:] = False key[8] = True one_vertex = key[coded] # one vertex on one side of the plane, two on the other key[:] = False key[[4, 12]] = True basic = key[coded] return basic, one_vertex, one_edge def handle_on_vertex(signs, faces, vertices): # case where one vertex is on plane # and two are on different sides vertex_plane = faces[signs == 0] edge_thru = faces[signs != 0].reshape((-1, 2)) point_intersect, valid = plane_lines( plane_origin, plane_normal, vertices[edge_thru.T], line_segments=False ) lines = np.column_stack((vertices[vertex_plane[valid]], point_intersect)).reshape( (-1, 2, 3) ) return lines def handle_on_edge(signs, faces, vertices): # case where two vertices are on the plane and one is off edges = faces[signs == 0].reshape((-1, 2)) points = vertices[edges] return points def handle_basic(signs, faces, vertices): # case where one vertex is on one side and two are on the other unique_element = grouping.unique_value_in_row(signs, unique=[-1, 1]) edges = np.column_stack( ( faces[unique_element], faces[np.roll(unique_element, 1, axis=1)], faces[unique_element], faces[np.roll(unique_element, 2, axis=1)], ) ).reshape((-1, 2)) intersections, valid = plane_lines( plane_origin, plane_normal, vertices[edges.T], line_segments=False ) # since the data has been pre- culled, any invalid intersections at all # means the culling was done incorrectly and thus things are broken assert valid.all() return intersections.reshape((-1, 2, 3)) # check input plane plane_normal = np.asanyarray(plane_normal, dtype=np.float64) plane_origin = np.asanyarray(plane_origin, dtype=np.float64) if plane_origin.shape != (3,) or plane_normal.shape != (3,): raise ValueError("Plane origin and normal must be (3,)!") if local_faces is None: # do a cross section against all faces faces = mesh.faces else: local_faces = np.asanyarray(local_faces, dtype=np.int64) # only take the subset of faces if passed faces = mesh.faces[local_faces] if cached_dots is not None: dots = cached_dots else: # dot product of each vertex with the plane normal indexed by face # so for each face the dot product of each vertex is a row # shape is the same as mesh.faces (n,3) dots = np.dot(mesh.vertices - plane_origin, plane_normal) # sign of the dot product is -1, 0, or 1 # shape is the same as mesh.faces (n,3) signs = np.zeros(len(mesh.vertices), dtype=np.int8) signs[dots < -tol.merge] = -1 signs[dots > tol.merge] = 1 signs = signs[faces] # figure out which triangles are in the cross section, # and which of the three intersection cases they are in cases = triangle_cases(signs) # handlers for each case handlers = (handle_basic, handle_on_vertex, handle_on_edge) # the (m, 2, 3) line segments lines = np.vstack( [h(signs[c], faces[c], mesh.vertices) for c, h in zip(cases, handlers)] ) if return_faces: # everything that hit something index = np.hstack([np.nonzero(c)[0] for c in cases]) assert index.dtype.kind == "i" if local_faces is None: return lines, index # we are considering a subset of faces # so we need to take the indexes from original return lines, local_faces[index] return lines def mesh_multiplane(mesh, plane_origin, plane_normal, heights): """ A utility function for slicing a mesh by multiple parallel planes which caches the dot product operation. Parameters ------------- mesh : trimesh.Trimesh Geometry to be sliced by planes plane_origin : (3,) float Point on a plane plane_normal : (3,) float Normal vector of plane heights : (m,) float Offset distances from plane to slice at: at `height=0` it will be exactly on the passed plane. Returns -------------- lines : (m,) sequence of (n, 2, 2) float Lines in space for m planes to_3D : (m, 4, 4) float Transform to move each section back to 3D face_index : (m,) sequence of (n,) int Indexes of mesh.faces for each segment """ # check input plane plane_normal = util.unitize(plane_normal) plane_origin = np.asanyarray(plane_origin, dtype=np.float64) heights = np.asanyarray(heights, dtype=np.float64) # dot product of every vertex with plane vertex_dots = np.dot(plane_normal, (mesh.vertices - plane_origin).T) # reconstruct transforms for each 2D section base_transform = geometry.plane_transform(origin=plane_origin, normal=plane_normal) base_transform = np.linalg.inv(base_transform) # alter translation Z inside loop translation = np.eye(4) # store results transforms = [] face_index = [] segments = [] # loop through user specified heights for height in heights: # offset the origin by the height new_origin = plane_origin + (plane_normal * height) # offset the dot products by height and index by faces new_dots = vertex_dots - height # run the intersection with the cached dot products lines, index = mesh_plane( mesh=mesh, plane_origin=new_origin, plane_normal=plane_normal, return_faces=True, cached_dots=new_dots, ) # get the transforms to 3D space and back translation[2, 3] = height to_3D = np.dot(base_transform, translation) to_2D = np.linalg.inv(to_3D) transforms.append(to_3D) # transform points to 2D frame lines_2D = tf.transform_points(lines.reshape((-1, 3)), to_2D) # if we didn't screw up the transform all # of the Z values should be zero # assert np.allclose(lines_2D[:, 2], 0.0) # reshape back in to lines and discard Z lines_2D = lines_2D[:, :2].reshape((-1, 2, 2)) # store (n, 2, 2) float lines segments.append(lines_2D) # store (n,) int indexes of mesh.faces face_index.append(index) # (n, 4, 4) transforms from 2D to 3D transforms = np.array(transforms, dtype=np.float64) return segments, transforms, face_index def plane_lines(plane_origin, plane_normal, endpoints, line_segments=True): """ Calculate plane-line intersections Parameters --------- plane_origin : (3,) float Point on plane plane_normal : (3,) float Plane normal vector endpoints : (2, n, 3) float Points defining lines to be tested line_segments : bool If True, only returns intersections as valid if vertices from endpoints are on different sides of the plane. Returns --------- intersections : (m, 3) float Cartesian intersection points valid : (n, 3) bool Indicate whether a valid intersection exists for each input line segment """ endpoints = np.asanyarray(endpoints) plane_origin = np.asanyarray(plane_origin).reshape(3) line_dir = util.unitize(endpoints[1] - endpoints[0]) plane_normal = util.unitize(np.asanyarray(plane_normal).reshape(3)) t = np.dot(plane_normal, (plane_origin - endpoints[0]).T) b = np.dot(plane_normal, line_dir.T) # If the plane normal and line direction are perpendicular, it means # the vector is 'on plane', and there isn't a valid intersection. # We discard on-plane vectors by checking that the dot product is nonzero valid = np.abs(b) > tol.zero if line_segments: test = np.dot(plane_normal, np.transpose(plane_origin - endpoints[1])) different_sides = np.sign(t) != np.sign(test) nonzero = np.logical_or(np.abs(t) > tol.zero, np.abs(test) > tol.zero) valid = np.logical_and(valid, different_sides) valid = np.logical_and(valid, nonzero) d = np.divide(t[valid], b[valid]) intersection = endpoints[0][valid] intersection = intersection + np.reshape(d, (-1, 1)) * line_dir[valid] return intersection, valid def planes_lines( plane_origins, plane_normals, line_origins, line_directions, return_distance=False, return_denom=False, ): """ Given one line per plane find the intersection points. Parameters ----------- plane_origins : (n,3) float Point on each plane plane_normals : (n,3) float Normal vector of each plane line_origins : (n,3) float Point at origin of each line line_directions : (n,3) float Direction vector of each line return_distance : bool Return distance from origin to point also return_denom : bool Return denominator, so you can check for small values Returns ---------- on_plane : (n,3) float Points on specified planes valid : (n,) bool Did plane intersect line or not distance : (n,) float [OPTIONAL] Distance from point denom : (n,) float [OPTIONAL] Denominator """ # check input types plane_origins = np.asanyarray(plane_origins, dtype=np.float64) plane_normals = np.asanyarray(plane_normals, dtype=np.float64) line_origins = np.asanyarray(line_origins, dtype=np.float64) line_directions = np.asanyarray(line_directions, dtype=np.float64) # vector from line to plane origin_vectors = plane_origins - line_origins projection_ori = util.diagonal_dot(origin_vectors, plane_normals) projection_dir = util.diagonal_dot(line_directions, plane_normals) valid = np.abs(projection_dir) > 1e-5 distance = np.divide(projection_ori[valid], projection_dir[valid]) on_plane = line_directions[valid] * distance.reshape((-1, 1)) on_plane += line_origins[valid] result = [on_plane, valid] if return_distance: result.append(distance) if return_denom: result.append(projection_dir) return result def slice_faces_plane( vertices, faces, plane_normal, plane_origin, uv=None, face_index=None, cached_dots=None, ): """ Slice a mesh (given as a set of faces and vertices) with a plane, returning a new mesh (again as a set of faces and vertices) that is the portion of the original mesh to the positive normal side of the plane. Parameters --------- vertices : (n, 3) float Vertices of source mesh to slice faces : (n, 3) int Faces of source mesh to slice plane_normal : (3,) float Normal vector of plane to intersect with mesh plane_origin : (3,) float Point on plane to intersect with mesh uv : (n, 2) float, optional UV coordinates of source mesh to slice face_index : ((m,) int) Indexes of faces to slice. When no mask is provided, the default is to slice all faces. cached_dots : (n, 3) float If an external function has stored dot products pass them here to avoid recomputing Returns ---------- new_vertices : (n, 3) float Vertices of sliced mesh new_faces : (n, 3) int Faces of sliced mesh new_uv : (n, 2) int or None UV coordinates of sliced mesh """ if len(vertices) == 0: return vertices, faces, uv have_uv = uv is not None # Construct a mask for the faces to slice. if face_index is not None: faces = faces[face_index] if cached_dots is not None: dots = cached_dots else: # dot product of each vertex with the plane normal indexed by face # so for each face the dot product of each vertex is a row # shape is the same as faces (n,3) dots = np.dot(vertices - plane_origin, plane_normal) # Find vertex orientations w.r.t. faces for all triangles: # -1 -> vertex "inside" plane (positive normal direction) # 0 -> vertex on plane # 1 -> vertex "outside" plane (negative normal direction) signs = np.zeros(len(vertices), dtype=np.int8) signs[dots < -tol.merge] = 1 signs[dots > tol.merge] = -1 signs = signs[faces] # Find all triangles that intersect this plane # onedge <- indices of all triangles intersecting the plane # inside <- indices of all triangles "inside" the plane (positive normal) signs_sum = signs.sum(axis=1, dtype=np.int8) signs_asum = np.abs(signs).sum(axis=1, dtype=np.int8) # Cases: # (0,0,0), (-1,0,0), (-1,-1,0), (-1,-1,-1) <- inside # (1,0,0), (1,1,0), (1,1,1) <- outside # (1,0,-1), (1,-1,-1), (1,1,-1) <- onedge onedge = np.logical_and(signs_asum >= 2, np.abs(signs_sum) <= 1) inside = signs_sum == -signs_asum # for any faces that lie exactly on-the-plane # we want to only include them if their normal # is backwards from the slicing normal on_plane = signs_asum == 0 if on_plane.any(): # compute the normals and whether # face is degenerate here check, valid = tm.normals(vertices[faces[on_plane]]) # only include faces back from normal dot_check = np.dot(check, plane_normal) # exclude any degenerate faces from the result inside[on_plane] = valid # exclude the degenerate face from our mask on_plane[on_plane] = valid # apply results for this subset inside[on_plane] = dot_check < 0.0 # Automatically include all faces that are "inside" new_faces = faces[inside] # Separate faces on the edge into two cases: those which will become # quads (two vertices inside plane) and those which will become triangles # (one vertex inside plane) triangles = vertices[faces] cut_triangles = triangles[onedge] cut_faces_quad = faces[np.logical_and(onedge, signs_sum < 0)] cut_faces_tri = faces[np.logical_and(onedge, signs_sum >= 0)] cut_signs_quad = signs[np.logical_and(onedge, signs_sum < 0)] cut_signs_tri = signs[np.logical_and(onedge, signs_sum >= 0)] # If no faces to cut, the surface is not in contact with this plane. # Thus, return a mesh with only the inside faces if len(cut_faces_quad) + len(cut_faces_tri) == 0: if len(new_faces) == 0: # if no new faces at all return empty arrays empty = ( np.zeros((0, 3), dtype=np.float64), np.zeros((0, 3), dtype=np.int64), np.zeros((0, 2), dtype=np.float64) if have_uv else None, ) return empty # find the unique indices in the new faces # using an integer-only unique function unique, inverse = grouping.unique_bincount( new_faces.reshape(-1), minlength=len(vertices), return_inverse=True ) # use the unique indices for our final vertices and faces final_vert = vertices[unique] final_face = inverse.reshape((-1, 3)) final_uv = uv[unique] if have_uv else None return final_vert, final_face, final_uv # Extract the intersections of each triangle's edges with the plane o = cut_triangles # origins d = np.roll(o, -1, axis=1) - o # directions num = (plane_origin - o).dot(plane_normal) # compute num/denom denom = np.dot(d, plane_normal) denom[denom == 0.0] = 1e-12 # prevent division by zero dist = np.divide(num, denom) # intersection points for each segment int_points = np.einsum("ij,ijk->ijk", dist, d) + o # Initialize the array of new vertices with the current vertices new_vertices = vertices new_quad_vertices = np.zeros((0, 3)) new_tri_vertices = np.zeros((0, 3)) # Handle the case where a new quad is formed by the intersection # First, extract the intersection points belonging to a new quad quad_int_points = int_points[(signs_sum < 0)[onedge], :, :] num_quads = len(quad_int_points) if num_quads > 0: # Extract the vertex on the outside of the plane, then get the vertices # (in CCW order of the inside vertices) quad_int_inds = np.where(cut_signs_quad == 1)[1] quad_int_verts = cut_faces_quad[ np.stack((range(num_quads), range(num_quads)), axis=1), np.stack(((quad_int_inds + 1) % 3, (quad_int_inds + 2) % 3), axis=1), ] # Fill out new quad faces with the intersection points as vertices new_quad_faces = np.append( quad_int_verts, np.arange(len(new_vertices), len(new_vertices) + 2 * num_quads).reshape( num_quads, 2 ), axis=1, ) # Extract correct intersection points from int_points and order them in # the same way as they were added to faces new_quad_vertices = quad_int_points[ np.stack((range(num_quads), range(num_quads)), axis=1), np.stack((((quad_int_inds + 2) % 3).T, quad_int_inds.T), axis=1), :, ].reshape(2 * num_quads, 3) # Add new vertices to existing vertices, triangulate quads, and add the # resulting triangles to the new faces new_vertices = np.append(new_vertices, new_quad_vertices, axis=0) new_tri_faces_from_quads = geometry.triangulate_quads(new_quad_faces) new_faces = np.append(new_faces, new_tri_faces_from_quads, axis=0) # Handle the case where a new triangle is formed by the intersection # First, extract the intersection points belonging to a new triangle tri_int_points = int_points[(signs_sum >= 0)[onedge], :, :] num_tris = len(tri_int_points) if num_tris > 0: # Extract the single vertex for each triangle inside the plane and get the # inside vertices (CCW order) tri_int_inds = np.where(cut_signs_tri == -1)[1] tri_int_verts = cut_faces_tri[range(num_tris), tri_int_inds].reshape(num_tris, 1) # Fill out new triangles with the intersection points as vertices new_tri_faces = np.append( tri_int_verts, np.arange(len(new_vertices), len(new_vertices) + 2 * num_tris).reshape( num_tris, 2 ), axis=1, ) # Extract correct intersection points and order them in the same way as # the vertices were added to the faces new_tri_vertices = tri_int_points[ np.stack((range(num_tris), range(num_tris)), axis=1), np.stack((tri_int_inds.T, ((tri_int_inds + 2) % 3).T), axis=1), :, ].reshape(2 * num_tris, 3) # Append new vertices and new faces new_vertices = np.append(new_vertices, new_tri_vertices, axis=0) new_faces = np.append(new_faces, new_tri_faces, axis=0) # find the unique indices in the new faces # using an integer-only unique function unique, inverse = grouping.unique_bincount( new_faces.reshape(-1), minlength=len(new_vertices), return_inverse=True ) # use the unique indexes for our final vertex and faces final_vert = new_vertices[unique] final_face = inverse.reshape((-1, 3)) final_uv = None if have_uv: # Generate barycentric coordinates for intersection vertices quad_barycentrics = points_to_barycentric( np.repeat(vertices[cut_faces_quad], 2, axis=0), new_quad_vertices ) tri_barycentrics = points_to_barycentric( np.repeat(vertices[cut_faces_tri], 2, axis=0), new_tri_vertices ) all_barycentrics = np.concatenate([quad_barycentrics, tri_barycentrics]) # Interpolate UVs cut_uv = np.concatenate([uv[cut_faces_quad], uv[cut_faces_tri]]) new_uv = np.einsum("ijk,ij->ik", np.repeat(cut_uv, 2, axis=0), all_barycentrics) final_uv = np.concatenate([uv, new_uv])[unique] return final_vert, final_face, final_uv def slice_mesh_plane( mesh, plane_normal, plane_origin, face_index=None, cap=False, engine=None, **kwargs, ): """ Slice a mesh with a plane returning a new mesh that is the portion of the original mesh to the positive normal side of the plane. Parameters --------- mesh : Trimesh object Source mesh to slice plane_normal : (3,) float Normal vector of plane to intersect with mesh plane_origin : (3,) float Point on plane to intersect with mesh cap : bool If True, cap the result with a triangulated polygon face_index : ((m,) int) Indexes of mesh.faces to slice. When no mask is provided, the default is to slice all faces. cached_dots : (n, 3) float If an external function has stored dot products pass them here to avoid recomputing engine : None or str Triangulation engine passed to `triangulate_polygon` kwargs : dict Passed to the newly created sliced mesh Returns ---------- new_mesh : Trimesh object Sliced mesh """ # check input for none if mesh is None: return None # avoid circular import from scipy.spatial import cKDTree from .base import Trimesh from .creation import triangulate_polygon from .path import polygons from .visual import TextureVisuals # check input plane plane_normal = np.asanyarray(plane_normal, dtype=np.float64) plane_origin = np.asanyarray(plane_origin, dtype=np.float64) # check to make sure origins and normals have acceptable shape shape_ok = ( (plane_origin.shape == (3,) or util.is_shape(plane_origin, (-1, 3))) and (plane_normal.shape == (3,) or util.is_shape(plane_normal, (-1, 3))) and plane_origin.shape == plane_normal.shape ) if not shape_ok: raise ValueError("plane origins and normals must be (n, 3)!") # start with copy of original mesh, faces, and vertices vertices = mesh.vertices.copy() faces = mesh.faces.copy() # We copy the UV coordinates if available has_uv = ( hasattr(mesh.visual, "uv") and np.shape(mesh.visual.uv) == (len(mesh.vertices), 2) ) and not cap uv = mesh.visual.uv.copy() if has_uv else None if "process" not in kwargs: kwargs["process"] = False # slice away specified planes for origin, normal in zip( plane_origin.reshape((-1, 3)), plane_normal.reshape((-1, 3)) ): # save the new vertices and faces vertices, faces, uv = slice_faces_plane( vertices=vertices, faces=faces, uv=uv, plane_normal=normal, plane_origin=origin, face_index=face_index, ) # check if cap arg specified if cap: if face_index: # This hasn't been implemented yet. raise NotImplementedError("face_index and cap can't be used together") # start by deduplicating vertices again unique, inverse = grouping.unique_rows(vertices) vertices = vertices[unique] # will collect additional faces f = inverse[faces] # remove degenerate faces by checking to make sure # that each face has three unique indices f = f[(f[:, :1] != f[:, 1:]).all(axis=1)] # transform to the cap plane to_2D = geometry.plane_transform(origin=origin, normal=-normal) to_3D = np.linalg.inv(to_2D) vertices_2D = tf.transform_points(vertices, to_2D) edges = geometry.faces_to_edges(f) edges.sort(axis=1) on_plane = np.abs(vertices_2D[:, 2]) < 1e-8 edges = edges[on_plane[edges].all(axis=1)] edges = edges[edges[:, 0] != edges[:, 1]] unique_edge = grouping.group_rows(edges, require_count=1) if len(unique) < 3: continue tree = cKDTree(vertices) # collect new faces faces = [f] for p in polygons.edges_to_polygons(edges[unique_edge], vertices_2D[:, :2]): # triangulate cap and raise an error if any new vertices were inserted vn, fn = triangulate_polygon(p, engine=engine, force_vertices=True) # collect the original index for the new vertices vn3 = tf.transform_points(util.stack_3D(vn), to_3D) distance, vid = tree.query(vn3) if distance.max() > 1e-8: util.log.debug("triangulate may have inserted vertex!") # triangulation should not have inserted vertices nf = vid[fn] # hmm but it may have returned faces that are now degenerate nf_ok = (nf[:, 1:] != nf[:, :1]).all(axis=1) & (nf[:, 1] != nf[:, 2]) faces.append(nf[nf_ok]) faces = np.vstack(faces) visual = ( TextureVisuals(uv=uv, material=mesh.visual.material.copy()) if has_uv else None ) # return the sliced mesh return Trimesh(vertices=vertices, faces=faces, visual=visual, **kwargs) trimesh-4.5.1/trimesh/interval.py000066400000000000000000000052721470574263400170670ustar00rootroot00000000000000""" interval.py -------------- Deal with 1D intervals which are defined by: [start position, end position] """ import numpy as np from .typed import ArrayLike, NDArray, float64 def intersection(a: ArrayLike, b: NDArray[float64]) -> NDArray[float64]: """ Given pairs of ranges merge them in to one range if they overlap. Parameters -------------- a : (2, ) or (n, 2) Start and end of a 1D interval b : (2, ) float Start and end of a 1D interval Returns -------------- inter : (2, ) or (2, 2) float The unioned range from the two inputs, if not np.ptp(`inter, axis=1)` will be zero. """ a = np.array(a, dtype=np.float64) b = np.array(b, dtype=np.float64) # convert to vectorized form is_1D = a.shape == (2,) a = a.reshape((-1, 2)) b = b.reshape((-1, 2)) # make sure they're min-max a.sort(axis=1) b.sort(axis=1) a_low, a_high = a.T b_low, b_high = b.T # do the checks check = np.logical_not(np.logical_or(b_low >= a_high, a_low >= b_high)) overlap = np.zeros(a.shape, dtype=np.float64) overlap[check] = np.column_stack( ( np.array([a_low[check], b_low[check]]).max(axis=0), np.array([a_high[check], b_high[check]]).min(axis=0), ) ) if is_1D: return overlap[0] return overlap def union(intervals: ArrayLike, sort: bool = True) -> NDArray[float64]: """ For array of multiple intervals union them all into the subset of intervals. For example: `intervals = [[1,2], [2,3]] -> [[1, 3]]` `intervals = [[1,2], [2.5,3]] -> [[1, 2], [2.5, 3]]` Parameters ------------ intervals : (n, 2) Pairs of `(min, max)` values. sort If the array is already ordered into (min, max) pairs and then pairs sorted by minimum value you can skip the sorting in this function. Returns ---------- unioned : (m, 2) New intervals where `m <= n` """ if len(intervals) == 0: return np.zeros(0) # if the intervals have not been pre-sorted we should apply our sorting logic # you would only skip this if you are subsetting a larger list elsewhere. if sort: # copy inputs and make sure they are (min, max) pairs intervals = np.sort(intervals, axis=1) # order them by lowest starting point intervals = intervals[intervals[:, 0].argsort()] # we know we will have at least one interval unions = [intervals[0].tolist()] for begin, end in intervals[1:]: if unions[-1][1] >= begin: unions[-1][1] = max(unions[-1][1], end) else: unions.append([begin, end]) return np.array(unions) trimesh-4.5.1/trimesh/nsphere.py000066400000000000000000000136141470574263400167060ustar00rootroot00000000000000""" nsphere.py -------------- Functions for fitting and minimizing nspheres: circles, spheres, hyperspheres, etc. """ import numpy as np from . import convex, util from .constants import log, tol try: # scipy is a soft dependency from scipy import spatial from scipy.optimize import leastsq except BaseException as E: # raise the exception when someone tries to use it from . import exceptions leastsq = exceptions.ExceptionWrapper(E) spatial = exceptions.ExceptionWrapper(E) try: import psutil def _MAX_MEMORY(): # if we have psutil check actual free memory when called return psutil.virtual_memory().free / 2.0 except BaseException: def _MAX_MEMORY(): # use a hardcoded best guess estimate return 1e9 def minimum_nsphere(obj): """ Compute the minimum n- sphere for a mesh or a set of points. Uses the fact that the minimum n- sphere will be centered at one of the vertices of the furthest site voronoi diagram, which is n*log(n) but should be pretty fast due to using the scipy/qhull implementations of convex hulls and voronoi diagrams. Parameters ---------- obj : (n, d) float or trimesh.Trimesh Points or mesh to find minimum bounding nsphere Returns ---------- center : (d,) float Center of fitted n- sphere radius : float Radius of fitted n-sphere """ # reduce the input points or mesh to the vertices of the convex hull # since we are computing the furthest site voronoi diagram this reduces # the input complexity substantially and returns the same value points = convex.hull_points(obj) # we are scaling the mesh to a unit cube # this used to pass qhull_options 'QbB' to Voronoi however this had a bug somewhere # to avoid this we scale to a unit cube ourselves inside this function points_origin = points.min(axis=0) points_scale = np.ptp(points, axis=0).min() points = (points - points_origin) / points_scale # if all of the points are on an n-sphere already the voronoi # method will fail so we check a least squares fit before # bothering to compute the voronoi diagram fit_C, fit_R, fit_E = fit_nsphere(points) # return fit radius and center to global scale fit_R = (((points - fit_C) ** 2).sum(axis=1).max() ** 0.5) * points_scale fit_C = (fit_C * points_scale) + points_origin if fit_E < 1e-6: # points were on an n-sphere so just return fit return fit_C, fit_R # calculate a furthest site voronoi diagram # this will fail if the points are ALL on the surface of # the n-sphere but hopefully the least squares check caught those cases # , qhull_options='QbB Pp') voronoi = spatial.Voronoi(points, furthest_site=True) # find the maximum radius^2 point for each of the voronoi vertices # this is worst case quite expensive but we have taken # convex hull to reduce n for this operation # we are doing comparisons on the radius squared then rooting once try: # cdist is massivly faster than looping or tiling methods # although it does create a very large intermediate array # first, get an order of magnitude memory size estimate # a float64 would be 8 bytes per entry plus overhead memory_estimate = len(voronoi.vertices) * len(points) * 9 if memory_estimate > _MAX_MEMORY(): raise MemoryError radii_2 = spatial.distance.cdist( voronoi.vertices, points, metric="sqeuclidean" ).max(axis=1) except MemoryError: # log the MemoryError log.warning("MemoryError: falling back to slower check!") # fall back to a potentially very slow list comprehension radii_2 = np.array( [((points - v) ** 2).sum(axis=1).max() for v in voronoi.vertices] ) # we want the smallest sphere so take the min of the radii radii_idx = radii_2.argmin() # return voronoi radius and center to global scale radius_v = np.sqrt(radii_2[radii_idx]) * points_scale center_v = (voronoi.vertices[radii_idx] * points_scale) + points_origin if radius_v > fit_R: return fit_C, fit_R return center_v, radius_v def fit_nsphere(points, prior=None): """ Fit an n-sphere to a set of points using least squares. Parameters ------------ points : (n, d) float Points in space prior : (d,) float Best guess for center of nsphere Returns --------- center : (d,) float Location of center radius : float Mean radius across circle error : float Peak to peak value of deviation from mean radius """ # make sure points are numpy array points = np.asanyarray(points, dtype=np.float64) # create ones so we can dot instead of using slower sum ones = np.ones(points.shape[1]) def residuals(center): # do the axis sum with a dot # this gets called a LOT so worth optimizing radii_sq = np.dot((points - center) ** 2, ones) # residuals are difference between mean # use our sum mean vs .mean() as it is slightly faster return radii_sq - (radii_sq.sum() / len(radii_sq)) if prior is None: guess = points.mean(axis=0) else: guess = np.asanyarray(prior) center_result, return_code = leastsq(residuals, guess, xtol=1e-8) if return_code not in [1, 2, 3, 4]: raise ValueError("Least square fit failed!") radii = util.row_norm(points - center_result) radius = radii.mean() error = np.ptp(radii) return center_result, radius, error def is_nsphere(points): """ Check if a list of points is an nsphere. Parameters ----------- points : (n, dimension) float Points in space Returns ----------- check : bool True if input points are on an nsphere """ _center, _radius, error = fit_nsphere(points) check = error < tol.merge return check trimesh-4.5.1/trimesh/parent.py000066400000000000000000000233051470574263400165310ustar00rootroot00000000000000""" parent.py ------------- The base class for Trimesh, PointCloud, and Scene objects """ import abc import numpy as np from . import bounds, caching from . import transformations as tf from .caching import cache_decorator from .constants import tol from .typed import Any, ArrayLike, Dict, NDArray, Optional from .util import ABC class Geometry(ABC): """ `Geometry` is the parent class for all geometry. By decorating a method with `abc.abstractmethod` it means the objects that inherit from `Geometry` MUST implement those methods. """ # geometry should have a dict to store loose metadata metadata: Dict @property @abc.abstractmethod def bounds(self) -> NDArray[np.float64]: pass @property @abc.abstractmethod def extents(self) -> NDArray[np.float64]: pass @abc.abstractmethod def apply_transform(self, matrix: ArrayLike) -> Any: pass @property @abc.abstractmethod def is_empty(self) -> bool: pass def __hash__(self): """ Get a hash of the current geometry. Returns --------- hash : int Hash of current graph and geometry. """ return self._data.__hash__() # type: ignore @abc.abstractmethod def copy(self): pass @abc.abstractmethod def show(self): pass @abc.abstractmethod def __add__(self, other): pass @abc.abstractmethod def export(self, file_obj, file_type=None): pass def __repr__(self): """ Print quick summary of the current geometry without computing properties. Returns ----------- repr : str Human readable quick look at the geometry. """ elements = [] if hasattr(self, "vertices"): # for Trimesh and PointCloud elements.append(f"vertices.shape={self.vertices.shape}") if hasattr(self, "faces"): # for Trimesh elements.append(f"faces.shape={self.faces.shape}") if hasattr(self, "geometry") and isinstance(self.geometry, dict): # for Scene elements.append(f"len(geometry)={len(self.geometry)}") if "Voxel" in type(self).__name__: # for VoxelGrid objects elements.append(str(self.shape)[1:-1]) if "file_name" in self.metadata: display = self.metadata["file_name"] elements.append(f"name=`{display}`") return "".format(type(self).__name__, ", ".join(elements)) def apply_translation(self, translation: ArrayLike): """ Translate the current mesh. Parameters ---------- translation : (3,) float Translation in XYZ """ translation = np.asanyarray(translation, dtype=np.float64) if translation.shape == (2,): # create a planar matrix if we were passed a 2D offset return self.apply_transform(tf.planar_matrix(offset=translation)) elif translation.shape != (3,): raise ValueError("Translation must be (3,) or (2,)!") # manually create a translation matrix matrix = np.eye(4) matrix[:3, 3] = translation return self.apply_transform(matrix) def apply_scale(self, scaling): """ Scale the mesh. Parameters ---------- scaling : float or (3,) float Scale factor to apply to the mesh """ matrix = tf.scale_and_translate(scale=scaling) # apply_transform will work nicely even on negative scales return self.apply_transform(matrix) def __radd__(self, other): """ Concatenate the geometry allowing concatenation with built in `sum()` function: `sum(Iterable[trimesh.Trimesh])` Parameters ------------ other : Geometry Geometry or 0 Returns ---------- concat : Geometry Geometry of combined result """ if other == 0: # adding 0 to a geometry never makes sense return self # otherwise just use the regular add function return self.__add__(type(self)(other)) @cache_decorator def scale(self) -> float: """ A loosely specified "order of magnitude scale" for the geometry which always returns a value and can be used to make code more robust to large scaling differences. It returns the diagonal of the axis aligned bounding box or if anything is invalid or undefined, `1.0`. Returns ---------- scale : float Approximate order of magnitude scale of the geometry. """ # if geometry is empty return 1.0 if self.extents is None: return 1.0 # get the length of the AABB diagonal scale = float((self.extents**2).sum() ** 0.5) if scale < tol.zero: return 1.0 return scale @property def units(self) -> Optional[str]: """ Definition of units for the mesh. Returns ---------- units : str Unit system mesh is in, or None if not defined """ return self.metadata.get("units", None) @units.setter def units(self, value: str) -> None: """ Define the units of the current mesh. """ self.metadata["units"] = str(value).lower().strip() class Geometry3D(Geometry): """ The `Geometry3D` object is the parent object of geometry objects which are three dimensional, including Trimesh, PointCloud, and Scene objects. """ @caching.cache_decorator def bounding_box(self): """ An axis aligned bounding box for the current mesh. Returns ---------- aabb : trimesh.primitives.Box Box object with transform and extents defined representing the axis aligned bounding box of the mesh """ from . import primitives transform = np.eye(4) # translate to center of axis aligned bounds transform[:3, 3] = self.bounds.mean(axis=0) return primitives.Box(transform=transform, extents=self.extents, mutable=False) @caching.cache_decorator def bounding_box_oriented(self): """ An oriented bounding box for the current mesh. Returns --------- obb : trimesh.primitives.Box Box object with transform and extents defined representing the minimum volume oriented bounding box of the mesh """ from . import bounds, primitives to_origin, extents = bounds.oriented_bounds(self) return primitives.Box( transform=np.linalg.inv(to_origin), extents=extents, mutable=False ) @caching.cache_decorator def bounding_sphere(self): """ A minimum volume bounding sphere for the current mesh. Note that the Sphere primitive returned has an unpadded exact `sphere_radius` so while the distance of every vertex of the current mesh from sphere_center will be less than sphere_radius, the faceted sphere primitive may not contain every vertex. Returns -------- minball : trimesh.primitives.Sphere Sphere primitive containing current mesh """ from . import nsphere, primitives center, radius = nsphere.minimum_nsphere(self) return primitives.Sphere(center=center, radius=radius, mutable=False) @caching.cache_decorator def bounding_cylinder(self): """ A minimum volume bounding cylinder for the current mesh. Returns -------- mincyl : trimesh.primitives.Cylinder Cylinder primitive containing current mesh """ from . import bounds, primitives kwargs = bounds.minimum_cylinder(self) return primitives.Cylinder(mutable=False, **kwargs) @caching.cache_decorator def bounding_primitive(self): """ The minimum volume primitive (box, sphere, or cylinder) that bounds the mesh. Returns --------- bounding_primitive : object Smallest primitive which bounds the mesh: trimesh.primitives.Sphere trimesh.primitives.Box trimesh.primitives.Cylinder """ options = [ self.bounding_box_oriented, self.bounding_sphere, self.bounding_cylinder, ] volume_min = np.argmin([i.volume for i in options]) return options[volume_min] def apply_obb(self, **kwargs): """ Apply the oriented bounding box transform to the current mesh. This will result in a mesh with an AABB centered at the origin and the same dimensions as the OBB. Parameters ------------ kwargs Passed through to `bounds.oriented_bounds` Returns ---------- matrix : (4, 4) float Transformation matrix that was applied to mesh to move it into OBB frame """ # save the pre-transform volume if tol.strict and hasattr(self, "volume"): volume = self.volume # calculate the OBB passing keyword arguments through matrix, extents = bounds.oriented_bounds(self, **kwargs) # apply the transform self.apply_transform(matrix) if tol.strict: # obb transform should not have changed volume if hasattr(self, "volume") and getattr(self, "is_watertight", False): assert np.isclose(self.volume, volume) # overall extents should match what we expected assert np.allclose(self.extents, extents) return matrix trimesh-4.5.1/trimesh/path/000077500000000000000000000000001470574263400156175ustar00rootroot00000000000000trimesh-4.5.1/trimesh/path/__init__.py000066400000000000000000000005721470574263400177340ustar00rootroot00000000000000""" trimesh.path ------------- Handle 2D and 3D vector paths such as those contained in an SVG or DXF file. """ try: from .path import Path2D, Path3D except BaseException as E: from .. import exceptions Path2D = exceptions.ExceptionWrapper(E) Path3D = exceptions.ExceptionWrapper(E) # explicitly add objects to all as per pep8 __all__ = ["Path2D", "Path3D"] trimesh-4.5.1/trimesh/path/arc.py000066400000000000000000000176351470574263400167520ustar00rootroot00000000000000from dataclasses import dataclass import numpy as np from .. import util from ..constants import log from ..constants import res_path as res from ..constants import tol_path as tol from ..typed import ArrayLike, NDArray, Number, Optional, float64 # floating point zero _TOL_ZERO = 1e-12 @dataclass class ArcInfo: # What is the radius of the circular arc? radius: float # what is the center of the circular arc # it is either 2D or 3D depending on input. center: NDArray[float64] # what is the 3D normal vector of the plane the arc lies on normal: Optional[NDArray[float64]] = None # what is the starting and ending angle of the arc. angles: Optional[NDArray[float64]] = None # what is the angular span of this circular arc. span: Optional[Number] = None def __getitem__(self, item): # add for backwards compatibility return getattr(self, item) def arc_center( points: ArrayLike, return_normal: bool = True, return_angle: bool = True ) -> ArcInfo: """ Given three points on a 2D or 3D arc find the center, radius, normal, and angular span. Parameters --------- points : (3, dimension) float Points in space, where dimension is either 2 or 3 return_normal : bool If True calculate the 3D normal unit vector return_angle : bool If True calculate the start and stop angle and span Returns --------- info Arc center, radius, and other information. """ points = np.asanyarray(points, dtype=np.float64) # get the non-unit vectors of the three points vectors = points[[2, 0, 1]] - points[[1, 2, 0]] # we need both the squared row sum and the non-squared abc2 = np.dot(vectors**2, [1] * points.shape[1]) # same as np.linalg.norm(vectors, axis=1) abc = np.sqrt(abc2) # perform radius calculation scaled to shortest edge # to avoid precision issues with small or large arcs scale = abc.min() # get the edge lengths scaled to the smallest edges = abc / scale # half the total length of the edges half = edges.sum() / 2.0 # check the denominator for the radius calculation denom = half * np.prod(half - edges) if denom < tol.merge: raise ValueError("arc is colinear!") # find the radius and scale back after the operation radius = scale * ((np.prod(edges) / 4.0) / np.sqrt(denom)) # use a barycentric approach to get the center ba2 = (abc2[[1, 2, 0, 0, 2, 1, 0, 1, 2]] * [1, 1, -1, 1, 1, -1, 1, 1, -1]).reshape( (3, 3) ).sum(axis=1) * abc2 center = points.T.dot(ba2) / ba2.sum() if tol.strict: # all points should be at the calculated radius from center assert util.allclose(np.linalg.norm(points - center, axis=1), radius) # start with initial results result = {"center": center, "radius": radius} if return_normal: if points.shape == (3, 2): # for 2D arcs still use the cross product so that # the sign of the normal vector is consistent result["normal"] = util.unitize( np.cross(np.append(-vectors[1], 0), np.append(vectors[2], 0)) ) else: # otherwise just take the cross product result["normal"] = util.unitize(np.cross(-vectors[1], vectors[2])) if return_angle: # vectors from points on arc to center point vector = util.unitize(points - center) edge_direction = np.diff(points, axis=0) # find the angle between the first and last vector dot = np.dot(*vector[[0, 2]]) if dot < (_TOL_ZERO - 1): angle = np.pi elif dot > 1 - _TOL_ZERO: angle = 0.0 else: angle = np.arccos(dot) # if the angle is nonzero and vectors are opposite direction # it means we have a long arc rather than the short path if abs(angle) > _TOL_ZERO and np.dot(*edge_direction) < 0.0: angle = (np.pi * 2) - angle # convoluted angle logic angles = np.arctan2(*vector[:, :2].T[::-1]) + np.pi * 2 angles_sorted = np.sort(angles[[0, 2]]) reverse = angles_sorted[0] < angles[1] < angles_sorted[1] angles_sorted = angles_sorted[:: (1 - int(not reverse) * 2)] result["angles"] = angles_sorted result["span"] = angle return ArcInfo(**result) def discretize_arc(points, close=False, scale=1.0): """ Returns a version of a three point arc consisting of line segments. Parameters --------- points : (3, d) float Points on the arc where d in [2,3] close : boolean If True close the arc into a circle scale : float What is the approximate overall drawing scale Used to establish order of magnitude for precision Returns --------- discrete : (m, d) float Connected points in space """ # make sure points are (n, 3) points, is_2D = util.stack_3D(points, return_2D=True) # find the center of the points try: # try to find the center from the arc points center_info = arc_center(points) except BaseException: # if we hit an exception return a very bad but # technically correct discretization of the arc if is_2D: return points[:, :2] return points center, R, N, angle = ( center_info.center, center_info.radius, center_info.normal, center_info.span, ) # if requested, close arc into a circle if close: angle = np.pi * 2 # the number of facets, based on the angle criteria count_a = angle / res.seg_angle count_l = (R * angle) / (res.seg_frac * scale) # figure out the number of line segments count = np.max([count_a, count_l]) # force at LEAST 4 points for the arc # otherwise the endpoints will diverge count = np.clip(count, 4, np.inf) count = int(np.ceil(count)) V1 = util.unitize(points[0] - center) V2 = util.unitize(np.cross(-N, V1)) t = np.linspace(0, angle, count) discrete = np.tile(center, (count, 1)) discrete += R * np.cos(t).reshape((-1, 1)) * V1 discrete += R * np.sin(t).reshape((-1, 1)) * V2 # do an in-process check to make sure result endpoints # match the endpoints of the source arc if tol.strict and not close: arc_dist = util.row_norm(points[[0, -1]] - discrete[[0, -1]]) arc_ok = (arc_dist < tol.merge).all() if not arc_ok: log.warning( "failed to discretize arc (endpoint_distance=%s R=%s)", str(arc_dist), R ) log.warning("Failed arc points: %s", str(points)) raise ValueError("Arc endpoints diverging!") discrete = discrete[:, : (3 - is_2D)] return discrete def to_threepoint(center, radius, angles=None): """ For 2D arcs, given a center and radius convert them to three points on the arc. Parameters ----------- center : (2,) float Center point on the plane radius : float Radius of arc angles : (2,) float Angles in radians for start and end angle if not specified, will default to (0.0, pi) Returns ---------- three : (3, 2) float Arc control points """ # if no angles provided assume we want a half circle if angles is None: angles = [0.0, np.pi] # force angles to float64 angles = np.asanyarray(angles, dtype=np.float64) if angles.shape != (2,): raise ValueError("angles must be (2,)!") # provide the wrap around if angles[1] < angles[0]: angles[1] += np.pi * 2 center = np.asanyarray(center, dtype=np.float64) if center.shape != (2,): raise ValueError("only valid on 2D arcs!") # turn the angles of [start, end] # into [start, middle, end] angles = np.array([angles[0], angles.mean(), angles[1]], dtype=np.float64) # turn angles into (3, 2) points three = (np.column_stack((np.cos(angles), np.sin(angles))) * radius) + center return three trimesh-4.5.1/trimesh/path/creation.py000066400000000000000000000205511470574263400200000ustar00rootroot00000000000000import numpy as np from .. import transformations, util from ..geometry import plane_transform from . import arc from .entities import Arc, Line def circle_pattern( pattern_radius, circle_radius, count, center=None, angle=None, **kwargs ): """ Create a Path2D representing a circle pattern. Parameters ------------ pattern_radius : float Radius of circle centers circle_radius : float The radius of each circle count : int Number of circles in the pattern center : (2,) float Center of pattern angle : float If defined pattern will span this angle If None, pattern will be evenly spaced Returns ------------- pattern : trimesh.path.Path2D Path containing circular pattern """ from .path import Path2D if angle is None: angles = np.linspace(0.0, np.pi * 2.0, count + 1)[:-1] elif isinstance(angle, float) or isinstance(angle, int): angles = np.linspace(0.0, angle, count) else: raise ValueError("angle must be float or int!") if center is None: center = [0.0, 0.0] # centers of circles centers = np.column_stack((np.cos(angles), np.sin(angles))) * pattern_radius vert = [] ents = [] for circle_center in centers: # (3,3) center points of arc three = arc.to_threepoint( angles=[0, np.pi], center=circle_center, radius=circle_radius ) # add a single circle entity ents.append(Arc(points=np.arange(3) + len(vert), closed=True)) # keep flat array by extend instead of append vert.extend(three) # translate vertices to pattern center vert = np.array(vert) + center pattern = Path2D(entities=ents, vertices=vert, **kwargs) return pattern def circle(radius, center=None, **kwargs): """ Create a Path2D containing circle with the specified radius. Parameters -------------- radius : float The radius of the circle center : None or (2,) float Center of the circle, origin by default ** kwargs : dict Passed to trimesh.path.Path2D constructor Returns ------------- circle : Path2D Path containing specified circle """ from .path import Path2D if center is None: center = [0.0, 0.0] else: center = np.asanyarray(center, dtype=np.float64) # make sure radius is a float radius = float(radius) # (3, 2) float, points on arc three = arc.to_threepoint(angles=[0, np.pi], center=center, radius=radius) # generate the path object result = Path2D( entities=[Arc(points=np.arange(3), closed=True)], vertices=three, **kwargs ) return result def rectangle(bounds, **kwargs): """ Create a Path2D containing a single or multiple rectangles with the specified bounds. Parameters -------------- bounds : (2, 2) float, or (m, 2, 2) float Minimum XY, Maximum XY Returns ------------- rect : Path2D Path containing specified rectangles """ from .path import Path2D # data should be float bounds = np.asanyarray(bounds, dtype=np.float64) # bounds are extents, re- shape to origin- centered rectangle if bounds.shape == (2,): half = np.abs(bounds) / 2.0 bounds = np.array([-half, half]) # should have one bounds or multiple bounds if not (util.is_shape(bounds, (2, 2)) or util.is_shape(bounds, (-1, 2, 2))): raise ValueError("bounds must be (m, 2, 2) or (2, 2)") # hold Line objects lines = [] # hold (n, 2) cartesian points vertices = [] # loop through each rectangle for lower, upper in bounds.reshape((-1, 2, 2)): lines.append(Line((np.arange(5) % 4) + len(vertices))) vertices.extend([lower, [upper[0], lower[1]], upper, [lower[0], upper[1]]]) # create the Path2D with specified rectangles rect = Path2D(entities=lines, vertices=vertices, **kwargs) return rect def box_outline(extents=None, transform=None, **kwargs): """ Return a cuboid. Parameters ------------ extents : float, or (3,) float Edge lengths transform: (4, 4) float Transformation matrix **kwargs: passed to Trimesh to create box Returns ------------ geometry : trimesh.Path3D Path outline of a cuboid geometry """ from .exchange.load import load_path # create vertices for the box vertices = [0, 0, 0, 0, 0, 1, 0, 1, 0, 0, 1, 1, 1, 0, 0, 1, 0, 1, 1, 1, 0, 1, 1, 1] vertices = np.array(vertices, order="C", dtype=np.float64).reshape((-1, 3)) vertices -= 0.5 # resize the vertices based on passed size if extents is not None: extents = np.asanyarray(extents, dtype=np.float64) if extents.shape != (3,): raise ValueError("Extents must be (3,)!") vertices *= extents # apply transform if passed if transform is not None: vertices = transformations.transform_points(vertices, transform) # vertex indices indices = [0, 1, 3, 2, 0, 4, 5, 7, 6, 4, 0, 2, 6, 7, 3, 1, 5] outline = load_path(vertices[indices]) return outline def grid( side, count=5, transform=None, plane_origin=None, plane_normal=None, include_circle=True, sections_circle=32, ): """ Create a Path3D for a grid visualization of a plane. Parameters ----------- side : float Length of half of a grid side count : int Number of grid lines per grid half transform : None or (4, 4) float Transformation matrix to move grid location. Takes precedence over plane_origin if both are passed. plane_origin : None or (3,) float Plane origin plane_normal : None or (3,) float Unit normal vector include_circle : bool Include a circular pattern inside the grid sections_circle : int How many sections should the smallest circle have Returns ---------- grid : trimesh.path.Path3D Path containing grid plane visualization """ from .path import Path3D # change full side length to half-side side = float(side) # make sure count is an integer count = int(count) # get a spaced sequence of radius radii = np.linspace(0.0, side, count + 1)[1:] # what's the maximum radius rmax = radii[-1] # keep a count of the current vertex count current = 0 # collect vertices and entities vertices = [] entities = [] for r in radii: if include_circle: # scale the section count by radius circle_res = int((r / radii[0]) * sections_circle) # generate a circule pattern theta = np.linspace(0.0, np.pi * 2, circle_res) circle = np.column_stack((np.cos(theta), np.sin(theta))) * r # append the circle pattern vertices.append(circle) entities.append(Line(points=np.arange(len(circle)) + current)) # keep the vertex count correct current += len(circle) # generate a series of grid lines vertices.append( [ [-rmax, r], [rmax, r], [-rmax, -r], [rmax, -r], [r, -rmax], [r, rmax], [-r, -rmax], [-r, rmax], ] ) # append an entity per grid line for i in [0, 2, 4, 6]: entities.append(Line(points=np.arange(2) + current + i)) current += len(vertices[-1]) # add the middle lines which were skipped vertices.append([[0, rmax], [0, -rmax], [-rmax, 0], [rmax, 0]]) entities.append(Line(points=np.arange(2) + current)) entities.append(Line(points=np.arange(2) + current + 2)) # stack vertices into clean (n, 3) float vertices = np.vstack(vertices) # if plane was passed instead of transform create the matrix here if transform is None and plane_origin is not None and plane_normal is not None: transform = np.linalg.inv( plane_transform(origin=plane_origin, normal=plane_normal) ) # stack vertices to 3D vertices = np.column_stack((vertices, np.zeros(len(vertices)))) # apply transform if passed if transform is not None: vertices = transformations.transform_points(vertices, matrix=transform) # combine result into a Path3D object grid_path = Path3D(entities=entities, vertices=vertices) return grid_path trimesh-4.5.1/trimesh/path/curve.py000066400000000000000000000070641470574263400173240ustar00rootroot00000000000000import numpy as np from ..constants import res_path as res from ..constants import tol_path as tol def discretize_bezier(points, count=None, scale=1.0): """ Parameters ---------- points : (order, dimension) float Control points of the bezier curve For a 2D cubic bezier, order=3, dimension=2 count : int, or None Number of segments scale : float Scale of curve Returns ---------- discrete: (n, dimension) float Points forming a a polyline representation """ # make sure we have a numpy array points = np.asanyarray(points, dtype=np.float64) if count is None: # how much distance does a small percentage of the curve take # this is so we can figure out how finely we have to sample t norm = np.linalg.norm(np.diff(points, axis=0), axis=1).sum() count = np.ceil(norm / (res.seg_frac * scale)) count = int( np.clip(count, res.min_sections * len(points), res.max_sections * len(points)) ) count = int(count) # parameterize incrementing 0.0 - 1.0 t = np.linspace(0.0, 1.0, count) # decrementing 1.0-0.0 t_d = 1.0 - t n = len(points) - 1 # binomial coefficients, i, and each point iterable = zip(binomial(n), np.arange(len(points)), points) # run the actual interpolation stacked = [ ((t**i) * (t_d ** (n - i))).reshape((-1, 1)) * p * c for c, i, p in iterable ] result = np.sum(stacked, axis=0) # test to make sure end points are correct test = np.sum((result[[0, -1]] - points[[0, -1]]) ** 2, axis=1) assert (test < tol.merge).all() assert len(result) >= 2 return result def discretize_bspline(control, knots, count=None, scale=1.0): """ Given a B-Splines control points and knot vector, return a sampled version of the curve. Parameters ---------- control : (o, d) float Control points of the b- spline knots : (j,) float B-spline knots count : int Number of line segments to discretize the spline If not specified will be calculated as something reasonable Returns ---------- discrete : (count, dimension) float Points on a polyline version of the B-spline """ # evaluate the b-spline using scipy/fitpack from scipy.interpolate import splev # (n, d) control points where d is the dimension of vertices control = np.asanyarray(control, dtype=np.float64) degree = len(knots) - len(control) - 1 if count is None: norm = np.linalg.norm(np.diff(control, axis=0), axis=1).sum() count = int( np.clip( norm / (res.seg_frac * scale), res.min_sections * len(control), res.max_sections * len(control), ) ) ipl = np.linspace(knots[0], knots[-1], count) discrete = splev(ipl, [knots, control.T, degree]) discrete = np.column_stack(discrete) return discrete def binomial(n): """ Return all binomial coefficients for a given order. For n > 5, scipy.special.binom is used, below we hardcode. Parameters -------------- n : int Order of binomial Returns --------------- binom : (n + 1,) int Binomial coefficients of a given order """ if n == 1: return [1, 1] elif n == 2: return [1, 2, 1] elif n == 3: return [1, 3, 3, 1] elif n == 4: return [1, 4, 6, 4, 1] elif n == 5: return [1, 5, 10, 10, 5, 1] else: from scipy.special import binom return binom(n, np.arange(n + 1)) trimesh-4.5.1/trimesh/path/entities.py000066400000000000000000000513771470574263400200320ustar00rootroot00000000000000""" entities.py -------------- Basic geometric primitives which only store references to vertex indices rather than vertices themselves. """ from copy import deepcopy import numpy as np from .. import util from ..util import ABC from .arc import arc_center, discretize_arc from .curve import discretize_bezier, discretize_bspline class Entity(ABC): def __init__( self, points, closed=None, layer=None, metadata=None, color=None, **kwargs ): # points always reference vertex indices and are int self.points = np.asanyarray(points, dtype=np.int64) # save explicit closed if closed is not None: self.closed = closed # save the passed layer if layer is not None: self.layer = layer if metadata is not None: self.metadata.update(metadata) self._cache = {} # save the passed color self.color = color # save any other kwargs for general use self.kwargs = kwargs @property def metadata(self): """ Get any metadata about the entity. Returns --------- metadata : dict Bag of properties. """ if not hasattr(self, "_metadata"): self._metadata = {} # note that we don't let a new dict be assigned return self._metadata @property def layer(self): """ Set the layer the entity resides on as a shortcut to putting it in the entity metadata. Returns ---------- layer : any Hashable layer identifier. """ return self.metadata.get("layer") @layer.setter def layer(self, value): """ Set the current layer of the entity. Returns ---------- layer : any Hashable layer indicator """ self.metadata["layer"] = value def to_dict(self): """ Returns a dictionary with all of the information about the entity. Returns ----------- as_dict : dict Has keys 'type', 'points', 'closed' """ return { "type": self.__class__.__name__, "points": self.points.tolist(), "closed": self.closed, } @property def closed(self): """ If the first point is the same as the end point the entity is closed Returns ----------- closed : bool Is the entity closed or not? """ closed = len(self.points) > 2 and self.points[0] == self.points[-1] return closed @property def nodes(self): """ Returns an (n,2) list of nodes, or vertices on the path. Note that this generic class function assumes that all of the reference points are on the path which is true for lines and three point arcs. If you were to define another class where that wasn't the case (for example, the control points of a bezier curve), you would need to implement an entity- specific version of this function. The purpose of having a list of nodes is so that they can then be added as edges to a graph so we can use functions to check connectivity, extract paths, etc. The slicing on this function is essentially just tiling points so the first and last vertices aren't repeated. Example: self.points = [0,1,2] returns: [[0,1], [1,2]] """ return ( np.column_stack((self.points, self.points)).reshape(-1)[1:-1].reshape((-1, 2)) ) @property def end_points(self): """ Returns the first and last points. Also note that if you define a new entity class where the first and last vertices in self.points aren't the endpoints of the curve you need to implement this function for your class. Returns ------------- ends : (2,) int Indices of the two end points of the entity """ return self.points[[0, -1]] @property def is_valid(self): """ Is the current entity valid. Returns ----------- valid : bool Is the current entity well formed """ return True def reverse(self, direction=-1): """ Reverse the current entity in place. Parameters ---------------- direction : int If positive will not touch direction If negative will reverse self.points """ if direction < 0: self._direction = -1 else: self._direction = 1 def _orient(self, curve): """ Reverse a curve if a flag is set. Parameters -------------- curve : (n, dimension) float Curve made up of line segments in space Returns ------------ orient : (n, dimension) float Original curve, but possibly reversed """ if hasattr(self, "_direction") and self._direction < 0: return curve[::-1] return curve def bounds(self, vertices): """ Return the AABB of the current entity. Parameters ----------- vertices : (n, dimension) float Vertices in space Returns ----------- bounds : (2, dimension) float Coordinates of AABB, in (min, max) form """ bounds = np.array( [vertices[self.points].min(axis=0), vertices[self.points].max(axis=0)] ) return bounds def length(self, vertices): """ Return the total length of the entity. Parameters -------------- vertices : (n, dimension) float Vertices in space Returns --------- length : float Total length of entity """ diff = np.diff(self.discrete(vertices), axis=0) ** 2 length = (np.dot(diff, [1] * vertices.shape[1]) ** 0.5).sum() return length def explode(self): """ Split the entity into multiple entities. Returns ------------ explode : list of Entity Current entity split into multiple entities. """ return [self.copy()] def copy(self): """ Return a copy of the current entity. Returns ------------ copied : Entity Copy of current entity """ copied = deepcopy(self) # only copy metadata if set if hasattr(self, "_metadata"): copied._metadata = deepcopy(self._metadata) # check for very annoying subtle copy failures assert id(copied._metadata) != id(self._metadata) assert id(copied.points) != id(self.points) return copied def __hash__(self): """ Return a hash that represents the current entity. Returns ---------- hashed : int Hash of current class name, points, and closed """ return hash(self._bytes()) def _bytes(self): """ Get hashable bytes that define the current entity. Returns ------------ data : bytes Hashable data defining the current entity """ # give consistent ordering of points for hash if self.points[0] > self.points[-1]: return self.__class__.__name__.encode("utf-8") + self.points.tobytes() else: return self.__class__.__name__.encode("utf-8") + self.points[::-1].tobytes() class Text(Entity): """ Text to annotate a 2D or 3D path. """ def __init__( self, origin, text, height=None, vector=None, normal=None, align=None, layer=None, color=None, metadata=None, ): """ An entity for text labels. Parameters -------------- origin : int Index of a single vertex for text origin text : str The text to label height : float or None The height of text vector : int or None An vertex index for which direction text is written along unitized: vector - origin normal : int or None A vertex index for the plane normal: vector is along unitized: normal - origin align : (2,) str or None Where to draw from for [horizontal, vertical]: 'center', 'left', 'right' """ # where is text placed self.origin = origin # what direction is the text pointing self.vector = vector # what is the normal of the text plane self.normal = normal # how high is the text entity self.height = height # what layer is the entity on if layer is not None: self.layer = layer if metadata is not None: self.metadata.update(metadata) # what color is the entity self.color = color # None or (2,) str if align is None: # if not set make everything centered align = ["center", "center"] elif isinstance(align, str): # if only one is passed set for both # horizontal and vertical align = [align, align] elif len(align) != 2: # otherwise raise rror raise ValueError("align must be (2,) str") self.align = align # make sure text is a string if hasattr(text, "decode"): self.text = text.decode("utf-8") else: self.text = str(text) @property def origin(self): """ The origin point of the text. Returns ----------- origin : int Index of vertices """ return self.points[0] @origin.setter def origin(self, value): value = int(value) if not hasattr(self, "points") or np.ptp(self.points) == 0: self.points = np.ones(3, dtype=np.int64) * value else: self.points[0] = value @property def vector(self): """ A point representing the text direction along the vector: vertices[vector] - vertices[origin] Returns ---------- vector : int Index of vertex """ return self.points[1] @vector.setter def vector(self, value): if value is None: return self.points[1] = int(value) @property def normal(self): """ A point representing the plane normal along the vector: vertices[normal] - vertices[origin] Returns ------------ normal : int Index of vertex """ return self.points[2] @normal.setter def normal(self, value): if value is None: return self.points[2] = int(value) def plot(self, vertices, show=False): """ Plot the text using matplotlib. Parameters -------------- vertices : (n, 2) float Vertices in space show : bool If True, call plt.show() """ if vertices.shape[1] != 2: raise ValueError("only for 2D points!") import matplotlib.pyplot as plt # get rotation angle in degrees angle = np.degrees(self.angle(vertices)) # TODO: handle text size better plt.text( *vertices[self.origin], s=self.text, rotation=angle, ha=self.align[0], va=self.align[1], size=18, ) if show: plt.show() def angle(self, vertices): """ If Text is 2D, get the rotation angle in radians. Parameters ----------- vertices : (n, 2) float Vertices in space referenced by self.points Returns --------- angle : float Rotation angle in radians """ if vertices.shape[1] != 2: raise ValueError("angle only valid for 2D points!") # get the vector from origin direction = vertices[self.vector] - vertices[self.origin] # get the rotation angle in radians angle = np.arctan2(*direction[::-1]) return angle def length(self, vertices): return 0.0 def discrete(self, *args, **kwargs): return np.array([]) @property def closed(self): return False @property def is_valid(self): return True @property def nodes(self): return np.array([]) @property def end_points(self): return np.array([]) def _bytes(self): data = b"".join([b"Text", self.points.tobytes(), self.text.encode("utf-8")]) return data class Line(Entity): """ A line or poly-line entity """ def discrete(self, vertices, scale=1.0): """ Discretize into a world- space path. Parameters ------------ vertices: (n, dimension) float Points in space scale : float Size of overall scene for numerical comparisons Returns ------------- discrete: (m, dimension) float Path in space composed of line segments """ return self._orient(vertices[self.points]) @property def is_valid(self): """ Is the current entity valid. Returns ----------- valid : bool Is the current entity well formed """ valid = np.any((self.points - self.points[0]) != 0) return valid def explode(self): """ If the current Line entity consists of multiple line break it up into n Line entities. Returns ---------- exploded: (n,) Line entities """ # copy over the current layer layer = self.layer points = ( np.column_stack((self.points, self.points)).ravel()[1:-1].reshape((-1, 2)) ) exploded = [Line(i, layer=layer) for i in points] return exploded def _bytes(self): # give consistent ordering of points for hash if self.points[0] > self.points[-1]: return b"Line" + self.points.tobytes() else: return b"Line" + self.points[::-1].tobytes() class Arc(Entity): @property def closed(self): """ A boolean flag for whether the arc is closed (a circle) or not. Returns ---------- closed : bool If set True, Arc will be a closed circle """ return getattr(self, "_closed", False) @closed.setter def closed(self, value): """ Set the Arc to be closed or not, without changing the control points Parameters ------------ value : bool Should this Arc be a closed circle or not """ self._closed = bool(value) @property def is_valid(self): """ Is the current Arc entity valid. Returns ----------- valid : bool Does the current Arc have exactly 3 control points """ return len(np.unique(self.points)) == 3 def _bytes(self): # give consistent ordering of points for hash order = int(self.points[0] > self.points[-1]) * 2 - 1 return b"Arc" + bytes(self.closed) + self.points[::order].tobytes() def length(self, vertices): """ Return the arc length of the 3-point arc. Parameter ---------- vertices : (n, d) float Vertices for overall drawing. Returns ----------- length : float Length of arc. """ # find the actual radius and angle span if self.closed: # we don't need the angular span as # it's indicated as a closed circle fit = self.center(vertices, return_normal=False, return_angle=False) return np.pi * fit.radius * 4 # get the angular span of the circular arc fit = self.center(vertices, return_normal=False, return_angle=True) return fit.span * fit.radius * 2 def discrete(self, vertices, scale=1.0): """ Discretize the arc entity into line sections. Parameters ------------ vertices : (n, dimension) float Points in space scale : float Size of overall scene for numerical comparisons Returns ------------- discrete : (m, dimension) float Path in space made up of line segments """ return self._orient( discretize_arc(vertices[self.points], close=self.closed, scale=scale) ) def center(self, vertices, **kwargs): """ Return the center information about the arc entity. Parameters ------------- vertices : (n, dimension) float Vertices in space Returns ------------- info : dict With keys: 'radius', 'center' """ return arc_center(vertices[self.points], **kwargs) def bounds(self, vertices): """ Return the AABB of the arc entity. Parameters ----------- vertices: (n, dimension) float Vertices in space Returns ----------- bounds : (2, dimension) float Coordinates of AABB in (min, max) form """ if util.is_shape(vertices, (-1, 2)) and self.closed: # if we have a closed arc (a circle), we can return the actual bounds # this only works in two dimensions, otherwise this would return the # AABB of an sphere info = self.center(vertices, return_normal=False, return_angle=False) bounds = np.array( [info.center - info.radius, info.center + info.radius], dtype=np.float64 ) else: # since the AABB of a partial arc is hard, approximate # the bounds by just looking at the discrete values discrete = self.discrete(vertices) bounds = np.array( [discrete.min(axis=0), discrete.max(axis=0)], dtype=np.float64 ) return bounds class Curve(Entity): """ The parent class for all wild curves in space. """ @property def nodes(self): # a point midway through the curve mid = self.points[len(self.points) // 2] return [[self.points[0], mid], [mid, self.points[-1]]] class Bezier(Curve): """ An open or closed Bezier curve """ def discrete(self, vertices, scale=1.0, count=None): """ Discretize the Bezier curve. Parameters ------------- vertices : (n, 2) or (n, 3) float Points in space scale : float Scale of overall drawings (for precision) count : int Number of segments to return Returns ------------- discrete : (m, 2) or (m, 3) float Curve as line segments """ return self._orient( discretize_bezier(vertices[self.points], count=count, scale=scale) ) class BSpline(Curve): """ An open or closed B- Spline. """ def __init__(self, points, knots, layer=None, metadata=None, color=None, **kwargs): self.points = np.asanyarray(points, dtype=np.int64) self.knots = np.asanyarray(knots, dtype=np.float64) if layer is not None: self.layer = layer if metadata is not None: self.metadata.update(metadata) self._cache = {} self.kwargs = kwargs self.color = color def discrete(self, vertices, count=None, scale=1.0): """ Discretize the B-Spline curve. Parameters ------------- vertices : (n, 2) or (n, 3) float Points in space scale : float Scale of overall drawings (for precision) count : int Number of segments to return Returns ------------- discrete : (m, 2) or (m, 3) float Curve as line segments """ discrete = discretize_bspline( control=vertices[self.points], knots=self.knots, count=count, scale=scale ) return self._orient(discrete) def _bytes(self): # give consistent ordering of points for hash if self.points[0] > self.points[-1]: return b"BSpline" + self.knots.tobytes() + self.points.tobytes() else: return b"BSpline" + self.knots[::-1].tobytes() + self.points[::-1].tobytes() def to_dict(self): """ Returns a dictionary with all of the information about the entity. """ return { "type": self.__class__.__name__, "points": self.points.tolist(), "knots": self.knots.tolist(), "closed": self.closed, } trimesh-4.5.1/trimesh/path/exchange/000077500000000000000000000000001470574263400174015ustar00rootroot00000000000000trimesh-4.5.1/trimesh/path/exchange/__init__.py000066400000000000000000000000001470574263400215000ustar00rootroot00000000000000trimesh-4.5.1/trimesh/path/exchange/dxf.py000066400000000000000000001005371470574263400205420ustar00rootroot00000000000000from collections import defaultdict import numpy as np from ... import grouping, resources, util from ... import transformations as tf from ...constants import log from ...constants import tol_path as tol from ...util import multi_dict from ..arc import to_threepoint from ..entities import Arc, BSpline, Line, Text # unit codes _DXF_UNITS = { 1: "inches", 2: "feet", 3: "miles", 4: "millimeters", 5: "centimeters", 6: "meters", 7: "kilometers", 8: "microinches", 9: "mils", 10: "yards", 11: "angstroms", 12: "nanometers", 13: "microns", 14: "decimeters", 15: "decameters", 16: "hectometers", 17: "gigameters", 18: "AU", 19: "light years", 20: "parsecs", } # backwards, for reference _UNITS_TO_DXF = {v: k for k, v in _DXF_UNITS.items()} # a string which we will replace spaces with temporarily _SAFESPACE = "|<^>|" # save metadata to a DXF Xrecord starting here # Valid values are 1-369 (except 5 and 105) XRECORD_METADATA = 134 # the sentinel string for trimesh metadata # this should be seen at XRECORD_METADATA XRECORD_SENTINEL = "TRIMESH_METADATA:" # the maximum line length before we split lines XRECORD_MAX_LINE = 200 # the maximum index of XRECORDS XRECORD_MAX_INDEX = 368 def load_dxf(file_obj, **kwargs): """ Load a DXF file to a dictionary containing vertices and entities. Parameters ---------- file_obj: file or file- like object (has object.read method) Returns ---------- result: dict, keys are entities, vertices and metadata """ # in a DXF file, lines come in pairs, # a group code then the next line is the value # we are removing all whitespace then splitting with the # splitlines function which uses the universal newline method raw = file_obj.read() # if we've been passed bytes if hasattr(raw, "decode"): # search for the sentinel string indicating binary DXF # do it by encoding sentinel to bytes and subset searching if raw[:22].find(b"AutoCAD Binary DXF") != -1: # no converter to ASCII DXF available raise ValueError("binary DXF not supported!") else: # we've been passed bytes that don't have the # header for binary DXF so try decoding as UTF-8 raw = raw.decode("utf-8", errors="ignore") # remove trailing whitespace raw = str(raw).strip() # without any spaces and in upper case cleaned = raw.replace(" ", "").strip().upper() # blob with spaces and original case blob_raw = np.array(str.splitlines(raw)).reshape((-1, 2)) # if this reshape fails, it means the DXF is malformed blob = np.array(str.splitlines(cleaned)).reshape((-1, 2)) # get the section which contains the header in the DXF file endsec = np.nonzero(blob[:, 1] == "ENDSEC")[0] # store metadata metadata = {} # try reading the header, which may be malformed header_start = np.nonzero(blob[:, 1] == "HEADER")[0] if len(header_start) > 0: header_end = endsec[np.searchsorted(endsec, header_start[0])] header_blob = blob[header_start[0] : header_end] # store some properties from the DXF header metadata["DXF_HEADER"] = {} for key, group in [ ("$ACADVER", "1"), ("$DIMSCALE", "40"), ("$DIMALT", "70"), ("$DIMALTF", "40"), ("$DIMUNIT", "70"), ("$INSUNITS", "70"), ("$LUNITS", "70"), ]: value = get_key(header_blob, key, group) if value is not None: metadata["DXF_HEADER"][key] = value # store unit data pulled from the header of the DXF # prefer LUNITS over INSUNITS # I couldn't find a table for LUNITS values but they # look like they are 0- indexed versions of # the INSUNITS keys, so for now offset the key value for offset, key in [(-1, "$LUNITS"), (0, "$INSUNITS")]: # get the key from the header blob units = get_key(header_blob, key, "70") # if it exists add the offset if units is None: continue metadata[key] = units units += offset # if the key is in our list of units store it if units in _DXF_UNITS: metadata["units"] = _DXF_UNITS[units] # warn on drawings with no units if "units" not in metadata: log.debug("DXF doesn't have units specified!") # get the section which contains entities in the DXF file entity_start = np.nonzero(blob[:, 1] == "ENTITIES")[0][0] entity_end = endsec[np.searchsorted(endsec, entity_start)] blocks = None check_entity = blob[entity_start:entity_end][:, 1] # only load blocks if an entity references them via an INSERT if "INSERT" in check_entity or "BLOCK" in check_entity: try: # which part of the raw file contains blocks block_start = np.nonzero(blob[:, 1] == "BLOCKS")[0][0] block_end = endsec[np.searchsorted(endsec, block_start)] blob_block = blob[block_start:block_end] blob_block_raw = blob_raw[block_start:block_end] block_infl = np.nonzero((blob_block == ["0", "BLOCK"]).all(axis=1))[0] # collect blocks by name blocks = {} for index in np.array_split(np.arange(len(blob_block)), block_infl): try: v, e, name = convert_entities( blob_block[index], blob_block_raw[index], return_name=True ) if len(e) > 0: blocks[name] = (v, e) except BaseException: pass except BaseException: log.error("failed to parse blocks!", exc_info=True) # actually load referenced entities vertices, entities = convert_entities( blob[entity_start:entity_end], blob_raw[entity_start:entity_end], blocks=blocks ) # return result as kwargs for trimesh.path.Path2D constructor result = {"vertices": vertices, "entities": entities, "metadata": metadata} return result def convert_entities(blob, blob_raw=None, blocks=None, return_name=False): """ Convert a chunk of entities into trimesh entities. Parameters ------------ blob : (n, 2) str Blob of entities uppercased blob_raw : (n, 2) str Blob of entities not uppercased blocks : None or dict Blocks referenced by INSERT entities return_name : bool If True return the first '2' value Returns ---------- """ if blob_raw is None: blob_raw = blob def info(e): """ Pull metadata based on group code, and return as a dict. """ # which keys should we extract from the entity data # DXF group code : our metadata key get = {"8": "layer", "2": "name"} # replace group codes with names and only # take info from the entity dict if it is in cand renamed = {get[k]: util.make_sequence(v)[0] for k, v in e.items() if k in get} return renamed def convert_line(e): """ Convert DXF LINE entities into trimesh Line entities. """ # create a single Line entity entities.append(Line(points=len(vertices) + np.arange(2), **info(e))) # add the vertices to our collection vertices.extend( np.array([[e["10"], e["20"]], [e["11"], e["21"]]], dtype=np.float64) ) def convert_circle(e): """ Convert DXF CIRCLE entities into trimesh Circle entities """ R = float(e["40"]) C = np.array([e["10"], e["20"]]).astype(np.float64) points = to_threepoint(center=C[:2], radius=R) entities.append( Arc(points=(len(vertices) + np.arange(3)), closed=True, **info(e)) ) vertices.extend(points) def convert_arc(e): """ Convert DXF ARC entities into into trimesh Arc entities. """ # the radius of the circle R = float(e["40"]) # the center point of the circle C = np.array([e["10"], e["20"]], dtype=np.float64) # the start and end angle of the arc, in degrees # this may depend on an AUNITS header data A = np.radians(np.array([e["50"], e["51"]], dtype=np.float64)) # convert center/radius/angle representation # to three points on the arc representation points = to_threepoint(center=C[:2], radius=R, angles=A) # add a single Arc entity entities.append(Arc(points=len(vertices) + np.arange(3), closed=False, **info(e))) # add the three vertices vertices.extend(points) def convert_polyline(e): """ Convert DXF LWPOLYLINE entities into trimesh Line entities. """ # load the points in the line lines = np.column_stack((e["10"], e["20"])).astype(np.float64) # save entity info so we don't have to recompute polyinfo = info(e) # 70 is the closed flag for polylines # if the closed flag is set make sure to close is_closed = "70" in e and int(e["70"][0]) & 1 if is_closed: lines = np.vstack((lines, lines[:1])) # 42 is the vertex bulge flag for LWPOLYLINE entities # "bulge" is autocad for "add a stupid arc using flags # in my otherwise normal polygon", it's like SVG arc # flags but somehow even more annoying if "42" in e: # get the actual bulge float values bulge = np.array(e["42"], dtype=np.float64) # what position were vertices stored at vid = np.nonzero(chunk[:, 0] == "10")[0] # what position were bulges stored at in the chunk bid = np.nonzero(chunk[:, 0] == "42")[0] # filter out endpoint bulge if we're not closed if not is_closed: bid_ok = bid < vid.max() bid = bid[bid_ok] bulge = bulge[bid_ok] # which vertex index is bulge value associated with bulge_idx = np.searchsorted(vid, bid) # convert stupid bulge to Line/Arc entities v, e = bulge_to_arcs( lines=lines, bulge=bulge, bulge_idx=bulge_idx, is_closed=is_closed ) for i in e: # offset added entities by current vertices length i.points += len(vertices) vertices.extend(v) entities.extend(e) # done with this polyline return # we have a normal polyline so just add it # as single line entity and vertices entities.append(Line(points=np.arange(len(lines)) + len(vertices), **polyinfo)) vertices.extend(lines) def convert_bspline(e): """ Convert DXF Spline entities into trimesh BSpline entities. """ # in the DXF there are n points and n ordered fields # with the same group code points = np.column_stack((e["10"], e["20"])).astype(np.float64) knots = np.array(e["40"]).astype(np.float64) # if there are only two points, save it as a line if len(points) == 2: # create a single Line entity entities.append(Line(points=len(vertices) + np.arange(2), **info(e))) # add the vertices to our collection vertices.extend(points) return # check bit coded flag for closed # closed = bool(int(e['70'][0]) & 1) # check euclidean distance to see if closed closed = np.linalg.norm(points[0] - points[-1]) < tol.merge # create a BSpline entity entities.append( BSpline( points=np.arange(len(points)) + len(vertices), knots=knots, closed=closed, **info(e), ) ) # add the vertices vertices.extend(points) def convert_text(e): """ Convert a DXF TEXT entity into a native text entity. """ # text with leading and trailing whitespace removed text = e["1"].strip() # try getting optional height of text try: height = float(e["40"]) except BaseException: height = None try: # rotation angle converted to radians angle = np.radians(float(e["50"])) except BaseException: # otherwise no rotation angle = 0.0 # origin point origin = np.array([e["10"], e["20"]], dtype=np.float64) # an origin-relative point (so transforms work) vector = origin + [np.cos(angle), np.sin(angle)] # try to extract a (horizontal, vertical) text alignment align = ["center", "center"] try: align[0] = ["left", "center", "right"][int(e["72"])] except BaseException: pass # append the entity entities.append( Text( origin=len(vertices), vector=len(vertices) + 1, height=height, text=text, align=align, ) ) # append the text origin and direction vertices.append(origin) vertices.append(vector) def convert_insert(e): """ Convert an INSERT entity, which inserts a named group of entities (i.e. a "BLOCK") at a specific location. """ if blocks is None: return # name of block to insert name = e["2"] # if we haven't loaded the block skip if name not in blocks: return # angle to rotate the block by angle = float(e.get("50", 0.0)) # the insertion point of the block offset = np.array([e.get("10", 0.0), e.get("20", 0.0)], dtype=np.float64) # what to scale the block by scale = np.array([e.get("41", 1.0), e.get("42", 1.0)], dtype=np.float64) # the current entities and vertices of the referenced block. cv, ce = blocks[name] for i in ce: # copy the referenced entity as it may be included multiple times entities.append(i.copy()) # offset its vertices to the current index entities[-1].points += len(vertices) # transform the block's vertices based on the entity settings vertices.extend( tf.transform_points( cv, tf.planar_matrix(offset=offset, theta=np.radians(angle), scale=scale) ) ) # find the start points of entities # DXF object to trimesh object converters loaders = { "LINE": (dict, convert_line), "LWPOLYLINE": (multi_dict, convert_polyline), "ARC": (dict, convert_arc), "CIRCLE": (dict, convert_circle), "SPLINE": (multi_dict, convert_bspline), "INSERT": (dict, convert_insert), "BLOCK": (dict, convert_insert), } # store loaded vertices vertices = [] # store loaded entities entities = [] # an old-style polyline entity strings its data across # multiple vertex entities like a real asshole polyline = None # chunks of entities are divided by group-code-0 inflection = np.nonzero(blob[:, 0] == "0")[0] unsupported = defaultdict(lambda: 0) # loop through chunks of entity information for index in np.array_split(np.arange(len(blob)), inflection): # if there is only a header continue if len(index) < 1: continue # chunk will be an (n, 2) array of (group code, data) pairs chunk = blob[index] # the string representing entity type entity_type = chunk[0][1] # if we are referencing a block or insert by name make # sure the name key is in the original case vs upper-case if entity_type in ("BLOCK", "INSERT"): try: index_name = next(i for i, v in enumerate(chunk) if v[0] == "2") chunk[index_name][1] = blob_raw[index][index_name][1] except StopIteration: pass # special case old- style polyline entities if entity_type == "POLYLINE": polyline = [dict(chunk)] # if we are collecting vertex entities elif polyline is not None and entity_type == "VERTEX": polyline.append(dict(chunk)) # the end of a polyline elif polyline is not None and entity_type == "SEQEND": # pull the geometry information for the entity lines = np.array([[i["10"], i["20"]] for i in polyline[1:]], dtype=np.float64) is_closed = False # check for a closed flag on the polyline if "70" in polyline[0]: # flag is bit- coded integer flag = int(polyline[0]["70"]) # first bit represents closed is_closed = bool(flag & 1) if is_closed: lines = np.vstack((lines, lines[:1])) # get the index of each bulged vertices bulge_idx = np.array( [i for i, e in enumerate(polyline) if "42" in e], dtype=np.int64 ) # get the actual bulge value bulge = np.array( [float(e["42"]) for i, e in enumerate(polyline) if "42" in e], dtype=np.float64, ) # convert bulge to new entities cv, ce = bulge_to_arcs( lines=lines, bulge=bulge, bulge_idx=bulge_idx, is_closed=is_closed ) for i in ce: # offset entities by existing vertices i.points += len(vertices) vertices.extend(cv) entities.extend(ce) # we no longer have an active polyline polyline = None elif entity_type == "TEXT": # text entities need spaces preserved so take # group codes from clean representation (0- column) # and data from the raw representation (1- column) chunk_raw = blob_raw[index] # if we didn't use clean group codes we wouldn't # be able to access them by key as whitespace # is random and crazy, like: ' 1 ' chunk_raw[:, 0] = blob[index][:, 0] try: convert_text(dict(chunk_raw)) except BaseException: log.debug("failed to load text entity!", exc_info=True) # if the entity contains all relevant data we can # cleanly load it from inside a single function elif entity_type in loaders: # the chunker converts an (n,2) list into a dict chunker, loader = loaders[entity_type] # convert data to dict entity_data = chunker(chunk) # append data to the lists we're collecting loader(entity_data) elif entity_type != "ENTITIES": unsupported[entity_type] += 1 if len(unsupported) > 0: log.debug( "skipping dxf entities: {}".format( ", ".join(f"{k}: {v}" for k, v in unsupported.items()) ) ) # stack vertices into single array vertices = util.vstack_empty(vertices).astype(np.float64) if return_name: name = blob_raw[blob[:, 0] == "2"][0][1] return vertices, entities, name return vertices, entities def export_dxf(path, only_layers=None): """ Export a 2D path object to a DXF file. Parameters ---------- path : trimesh.path.path.Path2D Input geometry to export only_layers : None or set If passed only export the layers specified Returns ---------- export : str Path formatted as a DXF file """ # get the template for exporting DXF files template = resources.get_json("templates/dxf.json") def format_points(points, as_2D=False, increment=True): """ Format points into DXF- style point string. Parameters ----------- points : (n,2) or (n,3) float Points in space as_2D : bool If True only output 2 points per vertex increment : bool If True increment group code per point Example: [[X0, Y0, Z0], [X1, Y1, Z1]] Result, new lines replaced with spaces: True -> 10 X0 20 Y0 30 Z0 11 X1 21 Y1 31 Z1 False -> 10 X0 20 Y0 30 Z0 10 X1 20 Y1 30 Z1 Returns ----------- packed : str Points formatted with group code """ points = np.asanyarray(points, dtype=np.float64) # get points in 3D three = util.stack_3D(points) if increment: group = np.tile( np.arange(len(three), dtype=np.int64).reshape((-1, 1)), (1, 3) ) else: group = np.zeros((len(three), 3), dtype=np.int64) group += [10, 20, 30] if as_2D: group = group[:, :2] three = three[:, :2] # join into result string packed = "\n".join( f"{g:d}\n{v:.12g}" for g, v in zip(group.reshape(-1), three.reshape(-1)) ) return packed def entity_info(entity): """ Pull layer, color, and name information about an entity Parameters ----------- entity : entity object Source entity to pull metadata Returns ---------- subs : dict Has keys 'COLOR', 'LAYER', 'NAME' """ # TODO : convert RGBA entity.color to index subs = { "COLOR": 255, # default is ByLayer "LAYER": 0, "NAME": str(id(entity))[:16], } if hasattr(entity, "layer"): # make sure layer name is forced into ASCII subs["LAYER"] = util.to_ascii(entity.layer) return subs def convert_line(line, vertices): """ Convert an entity to a discrete polyline Parameters ------------- line : entity Entity which has 'e.discrete' method vertices : (n, 2) float Vertices in space Returns ----------- as_dxf : str Entity exported as a DXF """ # get a discrete representation of entity points = line.discrete(vertices) # if one or fewer points return nothing if len(points) <= 1: return "" # generate a substitution dictionary for template subs = entity_info(line) subs["POINTS"] = format_points(points, as_2D=True, increment=False) subs["TYPE"] = "LWPOLYLINE" subs["VCOUNT"] = len(points) # 1 is closed # 0 is default (open) subs["FLAG"] = int(bool(line.closed)) result = template["line"].format(**subs) return result def convert_arc(arc, vertices): # get the center of arc and include span angles info = arc.center(vertices, return_angle=True, return_normal=False) subs = entity_info(arc) center = info.center if len(center) == 2: center = np.append(center, 0.0) data = "10\n{:.12g}\n20\n{:.12g}\n30\n{:.12g}".format(*center) data += f"\n40\n{info.radius:.12g}" if arc.closed: subs["TYPE"] = "CIRCLE" else: subs["TYPE"] = "ARC" # an arc is the same as a circle, with an added start # and end angle field data += "\n100\nAcDbArc" data += "\n50\n{:.12g}\n51\n{:.12g}".format(*np.degrees(info.angles)) subs["DATA"] = data result = template["arc"].format(**subs) return result def convert_bspline(spline, vertices): # points formatted with group code points = format_points(vertices[spline.points], increment=False) # (n,) float knots, formatted with group code knots = ("40\n{:.12g}\n" * len(spline.knots)).format(*spline.knots)[:-1] # bit coded flags = {"closed": 1, "periodic": 2, "rational": 4, "planar": 8, "linear": 16} flag = flags["planar"] if spline.closed: flag = flag | flags["closed"] normal = [0.0, 0.0, 1.0] n_code = [210, 220, 230] n_str = "\n".join(f"{i:d}\n{j:.12g}" for i, j in zip(n_code, normal)) subs = entity_info(spline) subs.update( { "TYPE": "SPLINE", "POINTS": points, "KNOTS": knots, "NORMAL": n_str, "DEGREE": 3, "FLAG": flag, "FCOUNT": 0, "KCOUNT": len(spline.knots), "PCOUNT": len(spline.points), } ) # format into string template result = template["bspline"].format(**subs) return result def convert_text(txt, vertices): """ Convert a Text entity to DXF string. """ # start with layer info sub = entity_info(txt) # get the origin point of the text sub["ORIGIN"] = format_points(vertices[[txt.origin]], increment=False) # rotation angle in degrees sub["ANGLE"] = np.degrees(txt.angle(vertices)) # actual string of text with spaces escaped # force into ASCII to avoid weird encoding issues sub["TEXT"] = ( txt.text.replace(" ", _SAFESPACE) .encode("ascii", errors="ignore") .decode("ascii") ) # height of text sub["HEIGHT"] = txt.height result = template["text"].format(**sub) return result def convert_generic(entity, vertices): """ For entities we don't know how to handle, return their discrete form as a polyline """ return convert_line(entity, vertices) # make sure we're not losing a ton of # precision in the string conversion np.set_printoptions(precision=12) # trimesh entity to DXF entity converters conversions = { "Line": convert_line, "Text": convert_text, "Arc": convert_arc, "Bezier": convert_generic, "BSpline": convert_bspline, } collected = [] for e, layer in zip(path.entities, path.layers): name = type(e).__name__ # only export specified layers if only_layers is not None and layer not in only_layers: continue if name in conversions: converted = conversions[name](e, path.vertices).strip() if len(converted) > 0: # only save if we converted something collected.append(converted) else: log.debug("Entity type %s not exported!", name) # join all entities into one string entities_str = "\n".join(collected) # add in the extents of the document as explicit XYZ lines hsub = {f"EXTMIN_{k}": v for k, v in zip("XYZ", np.append(path.bounds[0], 0.0))} hsub.update({f"EXTMAX_{k}": v for k, v in zip("XYZ", np.append(path.bounds[1], 0.0))}) # apply a units flag defaulting to `1` hsub["LUNITS"] = _UNITS_TO_DXF.get(path.units, 1) # run the format for the header sections = [template["header"].format(**hsub).strip()] # do the same for entities sections.append(template["entities"].format(ENTITIES=entities_str).strip()) # and the footer sections.append(template["footer"].strip()) # filter out empty sections # random whitespace causes AutoCAD to fail to load # although Draftsight, LibreCAD, and Inkscape don't care # what a giant legacy piece of shit # create the joined string blob blob = "\n".join(sections).replace(_SAFESPACE, " ") # run additional self- checks if tol.strict: # check that every line pair is (group code, value) lines = str.splitlines(str(blob)) # should be even number of lines assert (len(lines) % 2) == 0 # group codes should all be convertible to int and positive assert all(int(i) >= 0 for i in lines[::2]) # make sure we didn't slip any unicode in there blob.encode("ascii") return blob def bulge_to_arcs(lines, bulge, bulge_idx, is_closed=False, metadata=None): """ Polylines can have "vertex bulge," which means the polyline has an arc tangent to segments, rather than meeting at a vertex. From Autodesk reference: The bulge is the tangent of one fourth the included angle for an arc segment, made negative if the arc goes clockwise from the start point to the endpoint. A bulge of 0 indicates a straight segment, and a bulge of 1 is a semicircle. Parameters ---------------- lines : (n, 2) float Polyline vertices in order bulge : (m,) float Vertex bulge value bulge_idx : (m,) float Which index of lines is bulge associated with is_closed : bool Is segment closed metadata : None, or dict Entity metadata to add Returns --------------- vertices : (a, 2) float New vertices for poly-arc entities : (b,) entities.Entity New entities, either line or arc """ # make sure lines are 2D array lines = np.asanyarray(lines, dtype=np.float64) # make sure inputs are numpy arrays bulge = np.asanyarray(bulge, dtype=np.float64) bulge_idx = np.asanyarray(bulge_idx, dtype=np.int64) # filter out zero- bulged polylines ok = np.abs(bulge) > 1e-5 bulge = bulge[ok] bulge_idx = bulge_idx[ok] # metadata to apply to new entities if metadata is None: metadata = {} # if there's no bulge, just return the input curve if len(bulge) == 0: index = np.arange(len(lines)) # add a single line entity and vertices entities = [Line(index, **metadata)] return lines, entities # use bulge to calculate included angle of the arc angle = np.arctan(bulge) * 4.0 # the indexes making up a bulged segment tid = np.column_stack((bulge_idx, bulge_idx - 1)) # if it's a closed segment modulus to start vertex if is_closed: tid %= len(lines) # the vector connecting the two ends of the arc vector = lines[tid[:, 0]] - lines[tid[:, 1]] # the length of the connector segment length = np.linalg.norm(vector, axis=1) # perpendicular vectors by crossing vector with Z perp = np.cross( np.column_stack((vector, np.zeros(len(vector)))), np.ones((len(vector), 3)) * [0, 0, 1], ) # strip the zero Z perp = util.unitize(perp[:, :2]) # midpoint of each line midpoint = lines[tid].mean(axis=1) # calculate the signed radius of each arc segment radius = (length / 2.0) / np.sin(angle / 2.0) # offset magnitude to point on arc offset = radius - np.cos(angle / 2) * radius # convert each arc to three points: # start, any point on arc, end three = np.column_stack( (lines[tid[:, 0]], midpoint + perp * offset.reshape((-1, 1)), lines[tid[:, 1]]) ).reshape((-1, 3, 2)) # if we're in strict mode make sure our arcs # have the same magnitude as the input data if tol.strict: from ..arc import arc_center check_angle = [arc_center(i).span for i in three] assert np.allclose(np.abs(angle), np.abs(check_angle)) check_radii = [arc_center(i).radius for i in three] assert np.allclose(check_radii, np.abs(radius)) # collect new entities and vertices entities, vertices = [], [] # add the entities for each new arc for arc_points in three: entities.append(Arc(points=np.arange(3) + len(vertices), **metadata)) vertices.extend(arc_points) # if there are unconsumed line # segments add them to drawing if (len(lines) - 1) > len(bulge): # indexes of line segments existing = util.stack_lines(np.arange(len(lines))) # remove line segments replaced with arcs for line_idx in grouping.boolean_rows( existing, np.sort(tid, axis=1), np.setdiff1d ): # add a single line entity and vertices entities.append(Line(points=np.arange(2) + len(vertices), **metadata)) vertices.extend(lines[line_idx].copy()) # make sure vertices are clean numpy array vertices = np.array(vertices, dtype=np.float64) return vertices, entities def get_key(blob, field, code): """ Given a loaded (n, 2) blob and a field name get a value by code. """ try: line = blob[np.nonzero(blob[:, 1] == field)[0][0] + 1] except IndexError: return None if line[0] == code: try: return int(line[1]) except ValueError: return line[1] else: return None # store the loaders we have available _dxf_loaders = {"dxf": load_dxf} trimesh-4.5.1/trimesh/path/exchange/export.py000066400000000000000000000037241470574263400213020ustar00rootroot00000000000000import os from ... import util from ...exchange import ply from . import dxf, svg_io def export_path(path, file_type=None, file_obj=None, **kwargs): """ Export a Path object to a file- like object, or to a filename Parameters --------- file_obj: None, str, or file object A filename string or a file-like object file_type: None or str File type, e.g.: 'svg', 'dxf' kwargs : passed to loader Returns --------- exported : str or bytes Data exported """ # if file object is a string it is probably a file path # so we can split the extension to set the file type if isinstance(file_obj, str): file_type = util.split_extension(file_obj) # run the export export = _path_exporters[file_type](path, **kwargs) # if we've been passed files write the data _write_export(export=export, file_obj=file_obj) return export def export_dict(path): """ Export a path as a dict of kwargs for the Path constructor. """ export_entities = [e.to_dict() for e in path.entities] export_object = {"entities": export_entities, "vertices": path.vertices.tolist()} return export_object def _write_export(export, file_obj=None): """ Write a string to a file. If file_obj isn't specified, return the string Parameters --------- export: a string of the export data file_obj: a file-like object or a filename """ if file_obj is None: return export if hasattr(file_obj, "write"): out_file = file_obj else: # expand user and relative paths file_path = os.path.abspath(os.path.expanduser(file_obj)) out_file = open(file_path, "wb") try: out_file.write(export) except TypeError: out_file.write(export.encode("utf-8")) out_file.close() return export _path_exporters = { "dxf": dxf.export_dxf, "svg": svg_io.export_svg, "ply": ply.export_ply, "dict": export_dict, } trimesh-4.5.1/trimesh/path/exchange/load.py000066400000000000000000000063001470574263400206710ustar00rootroot00000000000000import os from ... import util from ...exchange.ply import load_ply from ..path import Path from . import misc from .dxf import _dxf_loaders from .svg_io import svg_to_path def load_path(file_obj, file_type=None, **kwargs): """ Load a file to a Path file_object. Parameters ----------- file_obj : One of the following: - Path, Path2D, or Path3D file_objects - open file file_object (dxf or svg) - file name (dxf or svg) - shapely.geometry.Polygon - shapely.geometry.MultiLineString - dict with kwargs for Path constructor - (n,2,(2|3)) float, line segments file_type : str Type of file is required if file file_object passed. Returns --------- path : Path, Path2D, Path3D file_object Data as a native trimesh Path file_object """ # avoid a circular import from ...exchange.load import load_kwargs # record how long we took tic = util.now() if isinstance(file_obj, Path): # we have been passed a Path file_object so # do nothing and return the passed file_object return file_obj elif util.is_file(file_obj): # for open file file_objects use loaders if file_type == "ply": # we cannot register this exporter to path_loaders since this is already reserved by TriMesh in ply format in trimesh.load() kwargs.update(load_ply(file_obj, file_type=file_type)) else: kwargs.update(path_loaders[file_type](file_obj, file_type=file_type)) elif isinstance(file_obj, str): # strings passed are evaluated as file file_objects with open(file_obj, "rb") as f: # get the file type from the extension file_type = os.path.splitext(file_obj)[-1][1:].lower() if file_type == "ply": # we cannot register this exporter to path_loaders since this is already reserved by TriMesh in ply format in trimesh.load() kwargs.update(load_ply(f, file_type=file_type)) else: # call the loader kwargs.update(path_loaders[file_type](f, file_type=file_type)) elif util.is_instance_named(file_obj, ["Polygon", "MultiPolygon"]): # convert from shapely polygons to Path2D kwargs.update(misc.polygon_to_path(file_obj)) elif util.is_instance_named(file_obj, "MultiLineString"): # convert from shapely LineStrings to Path2D kwargs.update(misc.linestrings_to_path(file_obj)) elif isinstance(file_obj, dict): # load as kwargs return load_kwargs(file_obj) elif util.is_sequence(file_obj): # load as lines in space kwargs.update(misc.lines_to_path(file_obj)) else: raise ValueError("Not a supported object type!") result = load_kwargs(kwargs) util.log.debug(f"loaded {result!s} in {util.now() - tic:0.4f}s") return result def path_formats(): """ Get a list of supported path formats. Returns ------------ loaders : list of str Extensions of loadable formats, ie: ['svg', 'dxf'] """ return set(path_loaders.keys()) path_loaders = {"svg": svg_to_path} path_loaders.update(_dxf_loaders) trimesh-4.5.1/trimesh/path/exchange/misc.py000066400000000000000000000136321470574263400207130ustar00rootroot00000000000000import numpy as np from ... import graph, grouping, util from ...constants import tol_path from ...typed import ArrayLike, Dict from ..entities import Arc, Line def dict_to_path(as_dict): """ Turn a pure dict into a dict containing entity objects that can be sent directly to a Path constructor. Parameters ------------ as_dict : dict Has keys: 'vertices', 'entities' Returns ------------ kwargs : dict Has keys: 'vertices', 'entities' """ # start kwargs with initial value result = as_dict.copy() # map of constructors loaders = {"Arc": Arc, "Line": Line} # pre- allocate entity array entities = [None] * len(as_dict["entities"]) # run constructor for dict kwargs for entity_index, entity in enumerate(as_dict["entities"]): entities[entity_index] = loaders[entity["type"]]( points=entity["points"], closed=entity["closed"] ) result["entities"] = entities return result def lines_to_path(lines): """ Turn line segments into a Path2D or Path3D object. Parameters ------------ lines : (n, 2, dimension) or (n, dimension) float Line segments or connected polyline curve in 2D or 3D Returns ----------- kwargs : dict kwargs for Path constructor """ lines = np.asanyarray(lines, dtype=np.float64) if util.is_shape(lines, (-1, (2, 3))): # the case where we have a list of points # we are going to assume they are connected result = {"entities": np.array([Line(np.arange(len(lines)))]), "vertices": lines} return result elif util.is_shape(lines, (-1, 2, (2, 3))): # case where we have line segments in 2D or 3D dimension = lines.shape[-1] # convert lines to even number of (n, dimension) points lines = lines.reshape((-1, dimension)) # merge duplicate vertices unique, inverse = grouping.unique_rows(lines, digits=tol_path.merge_digits) # use scipy edges_to_path to skip creating # a bajillion individual line entities which # will be super slow vs. fewer polyline entities return edges_to_path(edges=inverse.reshape((-1, 2)), vertices=lines[unique]) else: raise ValueError("Lines must be (n,(2|3)) or (n,2,(2|3))") return result def polygon_to_path(polygon): """ Load shapely Polygon objects into a trimesh.path.Path2D object Parameters ------------- polygon : shapely.geometry.Polygon Input geometry Returns ----------- kwargs : dict Keyword arguments for Path2D constructor """ # start with a single polyline for the exterior entities = [] # start vertices vertices = [] if hasattr(polygon.boundary, "geoms"): boundaries = polygon.boundary.geoms else: boundaries = [polygon.boundary] # append interiors as single Line objects current = 0 for boundary in boundaries: entities.append(Line(np.arange(len(boundary.coords)) + current)) current += len(boundary.coords) # append the new vertex array vertices.append(np.array(boundary.coords)) # make sure result arrays are numpy kwargs = { "entities": entities, "vertices": np.vstack(vertices) if len(vertices) > 0 else vertices, } return kwargs def linestrings_to_path(multi): """ Load shapely LineString objects into a trimesh.path.Path2D object Parameters ------------- multi : shapely.geometry.LineString or MultiLineString Input 2D geometry Returns ------------- kwargs : dict Keyword arguments for Path2D constructor """ # append to result as we go entities = [] vertices = [] if not util.is_sequence(multi): multi = [multi] for line in multi: # only append geometry with points if hasattr(line, "coords"): coords = np.array(line.coords) if len(coords) < 2: continue entities.append(Line(np.arange(len(coords)) + len(vertices))) vertices.extend(coords) kwargs = {"entities": np.array(entities), "vertices": np.array(vertices)} return kwargs def faces_to_path(mesh, face_ids=None, **kwargs): """ Given a mesh and face indices find the outline edges and turn them into a Path3D. Parameters ------------ mesh : trimesh.Trimesh Triangulated surface in 3D face_ids : (n,) int Indexes referencing mesh.faces Returns --------- kwargs : dict Kwargs for Path3D constructor """ if face_ids is None: edges = mesh.edges_sorted else: # take advantage of edge ordering to index as single row edges = mesh.edges_sorted.reshape((-1, 6))[face_ids].reshape((-1, 2)) # an edge which occurs onely once is on the boundary unique_edges = grouping.group_rows(edges, require_count=1) # add edges and vertices to kwargs kwargs.update(edges_to_path(edges=edges[unique_edges], vertices=mesh.vertices)) return kwargs def edges_to_path(edges: ArrayLike, vertices: ArrayLike, **kwargs) -> Dict: """ Given an edge list of indices and associated vertices representing lines, generate kwargs for a Path object. Parameters ----------- edges : (n, 2) int Vertex indices of line segments vertices : (m, dimension) float Vertex positions where dimension is 2 or 3 Returns ---------- kwargs : dict Kwargs for Path constructor """ # sequence of ordered traversals dfs = graph.traversals(edges, mode="dfs") # make sure every consecutive index in DFS # traversal is an edge in the source edge list dfs_connected = graph.fill_traversals(dfs, edges=edges) # kwargs for Path constructor # turn traversals into Line objects lines = [Line(d) for d in dfs_connected] kwargs.update({"entities": lines, "vertices": vertices, "process": False}) return kwargs trimesh-4.5.1/trimesh/path/exchange/svg_io.py000066400000000000000000000553231470574263400212510ustar00rootroot00000000000000import base64 import collections import json from copy import deepcopy import numpy as np from ... import exceptions, grouping, resources, util from ...constants import log, tol from ...transformations import planar_matrix, transform_points from ...typed import NDArray, Number from ...util import jsonify from ..arc import arc_center from ..entities import Arc, Bezier, Line try: # pip install svg.path from svg.path import parse_path except BaseException as E: # will re-raise the import exception when # someone tries to call `parse_path` parse_path = exceptions.ExceptionWrapper(E) try: from lxml import etree except BaseException as E: # will re-raise the import exception when # someone actually tries to use the module etree = exceptions.ExceptionWrapper(E) # store any additional properties using a trimesh namespace _ns_name = "trimesh" _ns_url = "https://github.com/mikedh/trimesh" _ns = f"{{{_ns_url}}}" _IDENTITY = np.eye(3) _IDENTITY.flags["WRITEABLE"] = False def svg_to_path(file_obj=None, file_type=None, path_string=None): """ Load an SVG file into a Path2D object. Parameters ----------- file_obj : open file object Contains SVG data file_type: None Not used path_string : None or str If passed, parse a single path string and ignore `file_obj`. Returns ----------- loaded : dict With kwargs for Path2D constructor """ def element_transform(e, max_depth=10): """ Find a transformation matrix for an XML element. Parameters -------------- e : lxml.etree.Element Element to search upwards from. max_depth : int Maximum depth to search for transforms. """ matrices = [] current = e for _ in range(max_depth): if "transform" in current.attrib: matrices.extend(transform_to_matrices(current.attrib["transform"])) current = current.getparent() if current is None: break if len(matrices) == 0: return _IDENTITY elif len(matrices) == 1: return matrices[0] else: return util.multi_dot(matrices[::-1]) force = None if file_obj is not None: # first parse the XML tree = etree.fromstring(file_obj.read()) # store paths and transforms as # (path string, 3x3 matrix) paths = [] for element in tree.iter("{*}path"): # store every path element attributes and transform paths.append((element.attrib, element_transform(element))) try: # see if the SVG should be reproduced as a scene force = tree.attrib[_ns + "class"] except BaseException: pass elif path_string is not None: # parse a single SVG path string paths = [({"d": path_string}, np.eye(3))] else: raise ValueError("`file_obj` or `pathstring` required") result = _svg_path_convert(paths=paths, force=force) try: # get overall metadata from JSON string if it exists result["metadata"] = _decode(tree.attrib[_ns + "metadata"]) except KeyError: # not in the trimesh ns pass except BaseException: # no metadata stored with trimesh ns log.debug("failed metadata", exc_info=True) # if the result is a scene try to get the metadata # for each subgeometry here if "geometry" in result: try: # get per-geometry metadata if available bag = _decode(tree.attrib[_ns + "metadata_geometry"]) for name, meta in bag.items(): if name in result["geometry"]: # assign this metadata to the geometry result["geometry"][name]["metadata"] = meta except KeyError: # no stored geometry metadata so ignore pass except BaseException: # failed to load existing metadata log.debug("failed metadata", exc_info=True) return result def transform_to_matrices(transform): """ Convert an SVG transform string to an array of matrices. i.e. "rotate(-10 50 100) translate(-36 45.5) skewX(40) scale(1 0.5)" Parameters ----------- transform : str Contains transformation information in SVG form Returns ----------- matrices : (n, 3, 3) float Multiple transformation matrices from input transform string """ # split the transform string in to components of: # (operation, args) i.e. (translate, '-1.0, 2.0') components = [ [j.strip() for j in i.strip().split("(") if len(j) > 0] for i in transform.lower().split(")") if len(i) > 0 ] # store each matrix without dotting matrices = [] for line in components: if len(line) == 0: continue elif len(line) != 2: raise ValueError("should always have two components!") key, args = line # convert string args to array of floats # support either comma or space delimiter values = np.array([float(i) for i in args.replace(",", " ").split()]) if key == "translate": # convert translation to a (3, 3) homogeneous matrix matrices.append(_IDENTITY.copy()) matrices[-1][:2, 2] = values elif key == "matrix": # [a b c d e f] -> # [[a c e], # [b d f], # [0 0 1]] matrices.append(np.vstack((values.reshape((3, 2)).T, [0, 0, 1]))) elif key == "rotate": # SVG rotations are in degrees angle = np.degrees(values[0]) # if there are three values rotate around point if len(values) == 3: point = values[1:] else: point = None matrices.append(planar_matrix(theta=angle, point=point)) elif key == "scale": # supports (x_scale, y_scale) or (scale) mat = _IDENTITY.copy() mat[:2, :2] *= values matrices.append(mat) else: log.debug(f"unknown SVG transform: {key}") return matrices def _svg_path_convert(paths, force=None): """ Convert an SVG path string into a Path2D object Parameters ------------- paths: list of tuples Containing (path string, (3, 3) matrix, metadata) Returns ------------- drawing : dict Kwargs for Path2D constructor """ def complex_to_float(values): return np.array([[i.real, i.imag] for i in values], dtype=np.float64) def load_multi(multi): # load a previously parsed multiline # start the count where indicated start = counts[name] # end at the block of our new points end = start + len(multi.points) return (Line(points=np.arange(start, end)), multi.points) def load_arc(svg_arc): # load an SVG arc into a trimesh arc points = complex_to_float([svg_arc.start, svg_arc.point(0.5), svg_arc.end]) # create an arc from the now numpy points arc = Arc( points=np.arange(3) + counts[name], # we may have monkey-patched the entity to # indicate that it is a closed circle closed=getattr(svg_arc, "closed", False), ) return arc, points def load_quadratic(svg_quadratic): # load a quadratic bezier spline points = complex_to_float( [svg_quadratic.start, svg_quadratic.control, svg_quadratic.end] ) return Bezier(points=np.arange(3) + counts[name]), points def load_cubic(svg_cubic): # load a cubic bezier spline points = complex_to_float( [svg_cubic.start, svg_cubic.control1, svg_cubic.control2, svg_cubic.end] ) return Bezier(np.arange(4) + counts[name]), points class MultiLine: # An object to hold one or multiple Line entities. def __init__(self, lines): if tol.strict: # in unit tests make sure we only have lines assert all(type(L).__name__ in ("Line", "Close") for L in lines) # get the starting point of every line points = [L.start for L in lines] # append the endpoint points.append(lines[-1].end) # convert to (n, 2) float points self.points = np.array([[i.real, i.imag] for i in points], dtype=np.float64) # load functions for each entity loaders = { "Arc": load_arc, "MultiLine": load_multi, "CubicBezier": load_cubic, "QuadraticBezier": load_quadratic, } entities = collections.defaultdict(list) vertices = collections.defaultdict(list) counts = collections.defaultdict(lambda: 0) for attrib, matrix in paths: # the path string is stored under `d` path_string = attrib.get("d", "") if len(path_string) == 0: log.debug("empty path string!") continue # get the name of the geometry if trimesh specified it # note that the get will by default return `None` name = _decode(attrib.get(_ns + "name")) # get parsed entities from svg.path raw = np.array(list(parse_path(path_string))) # if there is no path string exit if len(raw) == 0: continue # create an integer code for entities we can combine kinds_lookup = {"Line": 1, "Close": 1, "Arc": 2} # get a code for each entity we parsed kinds = np.array([kinds_lookup.get(type(i).__name__, 0) for i in raw], dtype=int) # find groups of consecutive entities so we can combine blocks = grouping.blocks(kinds, min_len=1, only_nonzero=False) if tol.strict: # in unit tests make sure we didn't lose any entities assert util.allclose(np.hstack(blocks), np.arange(len(raw))) # Combine consecutive entities that can be represented # more concisely as a single trimesh entity. parsed = [] for b in blocks: chunk = raw[b] current = type(raw[b[0]]).__name__ if current in ("Line", "Close"): # if entity consists of lines add a multiline parsed.append(MultiLine(chunk)) elif len(b) > 1 and current == "Arc": # if we have multiple arcs check to see if they # actually represent a single closed circle # get a single array with the relevant arc points verts = np.array( [ [ a.start.real, a.start.imag, a.end.real, a.end.imag, a.center.real, a.center.imag, a.radius.real, a.radius.imag, a.rotation, ] for a in chunk ], dtype=np.float64, ) # all arcs share the same center radius and rotation closed = False if np.ptp(verts[:, 4:], axis=0).mean() < 1e-3: start, end = verts[:, :2], verts[:, 2:4] # if every end point matches the start point of a new # arc that means this is really a closed circle made # up of multiple arc segments closed = util.allclose(start, np.roll(end, 1, axis=0)) if closed: # hot-patch a closed arc flag chunk[0].closed = True # all arcs in this block are now represented by one entity parsed.append(chunk[0]) else: # we don't have a closed circle so add each # arc entity individually without combining parsed.extend(chunk) else: # otherwise just add the entities parsed.extend(chunk) try: # try to retrieve any trimesh attributes as metadata entity_meta = { k.lstrip(_ns): _decode(v) for k, v in attrib.items() if k[1:].startswith(_ns_url) } except BaseException: entity_meta = {} # loop through parsed entity objects for svg_entity in parsed: # keyed by entity class name type_name = type(svg_entity).__name__ if type_name in loaders: # get new entities and vertices e, v = loaders[type_name](svg_entity) e.metadata.update(entity_meta) # append them to the result entities[name].append(e) # transform the vertices by the matrix and append vertices[name].append(transform_points(v, matrix)) counts[name] += len(v) if len(vertices) == 0: return {"vertices": [], "entities": []} geoms = { name: {"vertices": np.vstack(v), "entities": entities[name]} for name, v in vertices.items() } if len(geoms) > 1 or force == "Scene": kwargs = {"geometry": geoms} else: # return a single Path2D kwargs = next(iter(geoms.values())) return kwargs def _entities_to_str(entities, vertices, name=None, digits=None, only_layers=None): """ Convert the entities of a path to path strings. Parameters ------------ entities : (n,) list Entity objects vertices : (m, 2) float Vertices entities reference name : any Trimesh namespace name to assign to entity digits : int Number of digits to format exports into only_layers : set Only export these layers if passed """ if digits is None: digits = 13 points = vertices.copy() # generate a format string with the requested digits temp_digits = f"0.{int(digits)}f" # generate a format string for circles as two arc segments temp_circle = ( "M {x:DI},{y:DI}a{r:DI},{r:DI},0,1,0,{d:DI}," + "0a{r:DI},{r:DI},0,1,0,-{d:DI},0Z" ).replace("DI", temp_digits) # generate a format string for an absolute move-to command temp_move = "M{:DI},{:DI}".replace("DI", temp_digits) # generate a format string for an absolute-line command temp_line = "L{:DI},{:DI}".replace("DI", temp_digits) # generate a format string for a single arc temp_arc = "M{SX:DI} {SY:DI}A{R},{R} 0 {L:d},{S:d} {EX:DI},{EY:DI}".replace( "DI", temp_digits ) def _cross_2d(a: NDArray, b: NDArray) -> Number: """ Numpy 2.0 depreciated cross products of 2D arrays. """ return a[0] * b[1] - a[1] * b[0] def svg_arc(arc): """ arc string: (rx ry x-axis-rotation large-arc-flag sweep-flag x y)+ large-arc-flag: greater than 180 degrees sweep flag: direction (cw/ccw) """ vertices = points[arc.points] info = arc_center(vertices, return_normal=False, return_angle=True) C, R, angle = info.center, info.radius, info.span if arc.closed: return temp_circle.format(x=C[0] - R, y=C[1], r=R, d=2.0 * R) vertex_start, vertex_mid, vertex_end = vertices large_flag = int(angle > np.pi) sweep_flag = int( _cross_2d(vertex_mid - vertex_start, vertex_end - vertex_start) > 0.0 ) return temp_arc.format( SX=vertex_start[0], SY=vertex_start[1], L=large_flag, S=sweep_flag, EX=vertex_end[0], EY=vertex_end[1], R=R, ) def svg_discrete(entity): """ Use an entities discrete representation to export a curve as a polyline """ discrete = entity.discrete(points) # if entity contains no geometry return if len(discrete) == 0: return "" # the format string for the SVG path return (temp_move + (temp_line * (len(discrete) - 1))).format( *discrete.reshape(-1) ) # tuples of (metadata, path string) pairs = [] for entity in entities: if only_layers is not None and entity.layer not in only_layers: continue # check the class name of the entity if entity.__class__.__name__ == "Arc": # export the exact version of the entity path_string = svg_arc(entity) else: # just export the polyline version of the entity path_string = svg_discrete(entity) meta = deepcopy(entity.metadata) if name is not None: meta["name"] = name pairs.append((meta, path_string)) return pairs def export_svg(drawing, return_path=False, only_layers=None, digits=None, **kwargs): """ Export a Path2D object into an SVG file. Parameters ----------- drawing : Path2D Source geometry return_path : bool If True return only path string not wrapped in XML only_layers : None or set If passed only export the specified layers digits : None or int Number of digits for floating point values Returns ----------- as_svg : str XML formatted SVG, or path string """ # collect custom attributes for the overall export attribs = {"class": type(drawing).__name__} if util.is_instance_named(drawing, "Scene"): pairs = [] geom_meta = {} for name, geom in drawing.geometry.items(): if not util.is_instance_named(geom, "Path2D"): continue geom_meta[name] = geom.metadata # a pair of (metadata, path string) pairs.extend( _entities_to_str( entities=geom.entities, vertices=geom.vertices, name=name, digits=digits, only_layers=only_layers, ) ) if len(geom_meta) > 0: # encode the whole metadata bundle here to avoid # polluting the file with a ton of loose attribs attribs["metadata_geometry"] = _encode(geom_meta) elif util.is_instance_named(drawing, "Path2D"): pairs = _entities_to_str( entities=drawing.entities, vertices=drawing.vertices, digits=digits, only_layers=only_layers, ) else: raise ValueError("drawing must be Scene or Path2D object!") # return path string without XML wrapping if return_path: return " ".join(v[1] for v in pairs) # fetch the export template for the base SVG file template_svg = resources.get_string("templates/base.svg") elements = [] for meta, path_string in pairs: # create a simple path element elements.append(f'') # format as XML if "stroke_width" in kwargs: stroke_width = float(kwargs["stroke_width"]) else: # set stroke to something OK looking stroke_width = drawing.extents.max() / 800.0 try: # store metadata in XML as JSON -_- attribs["metadata"] = _encode(drawing.metadata) except BaseException: # log failed metadata encoding log.debug("failed to encode", exc_info=True) subs = { "elements": "\n".join(elements), "min_x": drawing.bounds[0][0], "min_y": drawing.bounds[0][1], "width": drawing.extents[0], "height": drawing.extents[1], "stroke_width": stroke_width, "attribs": _format_attrib(attribs), } return template_svg.format(**subs) def _format_attrib(attrib): """ Format attribs into the trimesh namespace. Parameters ----------- attrib : dict Bag of keys and values. """ bag = {k: _encode(v) for k, v in attrib.items()} return "\n".join( f'{_ns_name}:{k}="{v}"' for k, v in bag.items() if len(k) > 0 and v is not None and len(v) > 0 ) def _encode(stuff): """ Wangle things into a string. Parameters ----------- stuff : dict, str Thing to pack Returns ------------ encoded : str Packaged into url-safe b64 string """ if isinstance(stuff, str) and '"' not in stuff: return stuff pack = base64.urlsafe_b64encode( jsonify( {k: v for k, v in stuff.items() if not k.startswith("_")}, separators=(",", ":"), ).encode("utf-8") ) result = "base64," + util.decode_text(pack) if tol.strict: # make sure we haven't broken the things _deep_same(stuff, _decode(result)) return result def _deep_same(original, other): """ Do a recursive comparison of two items to check our encoding scheme in unit tests. Parameters ----------- original : str, bytes, list, dict Original item other : str, bytes, list, dict Item that should be identical Raises ------------ AssertionError If items are not the same. """ # ndarrays will be converted to lists # but otherwise types should be identical if isinstance(original, np.ndarray): assert isinstance(other, (list, np.ndarray)) elif isinstance(original, str): assert isinstance(other, str) else: # otherwise they should be the same type assert isinstance(original, type(other)) if isinstance(original, (str, bytes)): # string and bytes should just be identical assert original == other return elif isinstance(original, (float, int, np.ndarray)): # for Number classes use numpy magic comparison # which includes an epsilon for floating point assert np.allclose(original, other) return elif isinstance(original, list): # lengths should match assert len(original) == len(other) # every element should be identical for a, b in zip(original, other): _deep_same(a, b) return # we should have special-cased everything else by here assert isinstance(original, dict) # all keys should match assert set(original.keys()) == set(other.keys()) # do a recursive comparison of the values for k in original.keys(): _deep_same(original[k], other[k]) def _decode(bag): """ Decode a base64 bag of stuff. Parameters ------------ bag : str Starts with `base64,` Returns ------------- loaded : dict Loaded bag of stuff """ if bag is None: return text = util.decode_text(bag) if text.startswith("base64,"): return json.loads( base64.urlsafe_b64decode(text[7:].encode("utf-8")).decode("utf-8") ) return text trimesh-4.5.1/trimesh/path/intersections.py000066400000000000000000000042761470574263400210730ustar00rootroot00000000000000import numpy as np from .. import util from ..constants import tol_path as tol def line_line(origins, directions, plane_normal=None): """ Find the intersection between two lines. Uses terminology from: http://geomalgorithms.com/a05-_intersect-1.html line 1: P(s) = p_0 + sU line 2: Q(t) = q_0 + tV Parameters --------- origins : (2, d) float Points on lines (d in [2,3]) directions : (2, d) float Direction vectors plane_normal : (3, ) float If not passed computed from cross Returns --------- intersects : bool Whether the lines intersect. In 2D, false if the lines are parallel In 3D, false if lines are not coplanar intersection : (d,) float or None Point of intersection """ # check so we can accept 2D or 3D points origins, is_2D = util.stack_3D(origins, return_2D=True) directions, is_2D = util.stack_3D(directions, return_2D=True) # unitize direction vectors directions /= util.row_norm(directions).reshape((-1, 1)) # exit if values are parallel if np.sum(np.abs(np.diff(directions, axis=0))) < tol.zero: return False, None # using notation from docstring q_0, p_0 = origins v, u = directions w = p_0 - q_0 # recompute plane normal if not passed if plane_normal is None: # the normal of the plane given by the two direction vectors plane_normal = np.cross(u, v) plane_normal /= np.linalg.norm(plane_normal) # vectors perpendicular to the two lines v_perp = np.cross(v, plane_normal) v_perp /= np.linalg.norm(v_perp) # if the vector from origin to origin is on the plane given by # the direction vector, the dot product with the plane normal # should be within floating point error of zero w_norm = np.linalg.norm(w) if w_norm > tol.zero and abs(np.dot(plane_normal, w / w_norm)) > tol.zero: # not coplanar return False, None # value of parameter s where intersection occurs s_I = np.dot(-v_perp, w) / np.dot(v_perp, u) # plug back into the equation of the line to find the point intersection = p_0 + s_I * u return True, intersection[: (3 - is_2D)] trimesh-4.5.1/trimesh/path/packing.py000066400000000000000000000630241470574263400176120ustar00rootroot00000000000000""" packing.py ------------ Pack rectangular regions onto larger rectangular regions. """ import numpy as np from ..constants import log, tol from ..typed import Integer, Number, Optional from ..util import allclose, bounds_tree # floating point zero _TOL_ZERO = 1e-12 class RectangleBin: """ An N-dimensional binary space partition tree for packing hyper-rectangles. Split logic is pure `numpy` but behaves similarly to `scipy.spatial.Rectangle`. Mostly useful for packing 2D textures and 3D boxes and has not been tested outside of 2 and 3 dimensions. Original article about using this for packing textures: http://www.blackpawn.com/texts/lightmaps/ """ def __init__(self, bounds): """ Create a rectangular bin. Parameters ------------ bounds : (2, dimension *) float Bounds array are `[mins, maxes]` """ # this is a *binary* tree so regardless of the dimensionality # of the rectangles each node has exactly two children self.child = [] # is this node occupied. self.occupied = False # assume bounds are a list self.bounds = np.array(bounds, dtype=np.float64) @property def extents(self): """ Bounding box size. Returns ---------- extents : (dimension,) float Edge lengths of bounding box """ bounds = self.bounds return bounds[1] - bounds[0] def insert(self, size, rotate=True): """ Insert a rectangle into the bin. Parameters ------------- size : (dimension,) float Size of rectangle to insert/ Returns ---------- inserted : (2,) float or None Position of insertion in the tree or None if the insertion was unsuccessful. """ for child in self.child: # try inserting into child cells attempt = child.insert(size=size, rotate=rotate) if attempt is not None: return attempt # can't insert into occupied cells if self.occupied: return None # shortcut for our bounds bounds = self.bounds.copy() extents = bounds[1] - bounds[0] if rotate: # we are allowed to rotate the rectangle for roll in range(len(size)): size_test = extents - _roll(size, roll) fits = (size_test > -_TOL_ZERO).all() if fits: size = _roll(size, roll) break # we tried rotating and none of the directions fit if not fits: return None else: # compare the bin size to the insertion candidate size # manually compute extents here to avoid function call size_test = extents - size if (size_test < -_TOL_ZERO).any(): return None # since the cell is big enough for the current rectangle, either it # is going to be inserted here, or the cell is going to be split # either way the cell is now occupied. self.occupied = True # this means the inserted rectangle fits perfectly # since we already checked to see if it was negative # no abs is needed if (size_test < _TOL_ZERO).all(): return bounds # pick the axis to split along axis = size_test.argmax() # split hyper-rectangle along axis # note that split is *absolute* distance not offset # so we have to add the current min to the size splits = np.vstack((bounds, bounds)) splits[1:3, axis] = bounds[0][axis] + size[axis] # assign two children self.child[:] = RectangleBin(splits[:2]), RectangleBin(splits[2:]) # insert the requested item into the first child return self.child[0].insert(size, rotate=rotate) def _roll(a, count): """ A speedup for `numpy.roll` that only works on flat arrays and is fast on 2D and 3D and reverts to `numpy.roll` for other cases. Parameters ----------- a : (n,) any Array to roll count : int Number of places to shift array Returns --------- rolled : (n,) any Input array shifted by requested amount """ # a lookup table for roll in 2 and 3 dimensions lookup = [[[0, 1], [1, 0]], [[0, 1, 2], [2, 0, 1], [1, 2, 0]]] try: # roll the array using advanced indexing and a lookup table return a[lookup[len(a) - 2][count]] except IndexError: # failing that return the results using concat return np.concatenate([a[-count:], a[:-count]]) def rectangles_single(extents, size=None, shuffle=False, rotate=True, random=None): """ Execute a single insertion order of smaller rectangles onto a larger rectangle using a binary space partition tree. Parameters ---------- extents : (n, dimension) float The size of the hyper-rectangles to pack. size : None or (dim,) float Maximum size of container to pack onto. If not passed it will re-root the tree when items larger than any available node are inserted. shuffle : bool Whether or not to shuffle the insert order of the smaller rectangles, as the final packing density depends on insertion order. rotate : bool If True, allow integer-roll rotation. Returns --------- bounds : (m, 2, dim) float Axis aligned resulting bounds in space transforms : (m, dim + 1, dim + 1) float Homogeneous transformation including rotation. consume : (n,) bool Which of the original rectangles were packed, i.e. `consume.sum() == m` """ extents = np.asanyarray(extents, dtype=np.float64) dimension = extents.shape[1] # the return arrays offset = np.zeros((len(extents), 2, dimension)) consume = np.zeros(len(extents), dtype=bool) # start by ordering them by maximum length order = np.argsort(extents.max(axis=1))[::-1] if shuffle: if random is not None: order = random.permutation(order) else: # reorder with permutations order = np.random.permutation(order) if size is None: # if no bounds are passed start it with the size of a large # rectangle exactly which will require re-rooting for # subsequent insertions root_bounds = [[0.0] * dimension, extents[np.ptp(extents, axis=1).argmax()]] else: # restrict the bounds to passed size and disallow re-rooting root_bounds = [[0.0] * dimension, size] # the current root node to insert each rectangle root = RectangleBin(bounds=root_bounds) for index in order: # the current rectangle to be inserted rectangle = extents[index] # try to insert the hyper-rectangle into children inserted = root.insert(rectangle, rotate=rotate) if inserted is None and size is None: # we failed to insert into children # so we need to create a new parent # get the size of the current root node bounds = root.bounds # current extents current = np.ptp(bounds, axis=0) # pick the direction which has the least hyper-volume. best = np.inf for roll in range(len(current)): stack = np.array([current, _roll(rectangle, roll)]) # we are going to combine two hyper-rect # so we have `dim` choices on ways to split # choose the split that minimizes the new hyper-volume # the new AABB is going to be the `max` of the lengths # on every dim except one which will be the `sum` ch = np.tile(stack.max(axis=0), (len(current), 1)) np.fill_diagonal(ch, stack.sum(axis=0)) # choose the new AABB by which one minimizes hyper-volume choice_prod = np.prod(ch, axis=1) if choice_prod.min() < best: choices = ch choices_idx = choice_prod.argmin() best = choice_prod[choices_idx] if not rotate: break # we now know the full extent of the AABB new_max = bounds[0] + choices[choices_idx] # offset the new bounding box corner new_min = bounds[0].copy() new_min[choices_idx] += current[choices_idx] # original bounds may be stretched new_ori_max = np.vstack((bounds[1], new_max)).max(axis=0) new_ori_max[choices_idx] = bounds[1][choices_idx] assert (new_ori_max >= bounds[1]).all() # the bounds containing the original sheet bounds_ori = np.array([bounds[0], new_ori_max]) # the bounds containing the location to insert # the new rectangle bounds_ins = np.array([new_min, new_max]) # generate the new root node new_root = RectangleBin([bounds[0], new_max]) # this node has children so it is occupied new_root.occupied = True # create a bin for both bounds new_root.child = [RectangleBin(bounds_ori), RectangleBin(bounds_ins)] # insert the original sheet into the new tree root_offset = new_root.child[0].insert(np.ptp(bounds, axis=0), rotate=rotate) # we sized the cells so original tree would fit assert root_offset is not None # existing inserts need to be moved if not allclose(root_offset[0][0], 0.0): offset[consume] += root_offset[0][0] # insert the child that didn't fit before into the other child child = new_root.child[1].insert(rectangle, rotate=rotate) # since we re-sized the cells to fit insertion should always work assert child is not None offset[index] = child consume[index] = True # subsume the existing tree into a new root root = new_root elif inserted is not None: # we successfully inserted offset[index] = inserted consume[index] = True if tol.strict: # in tests make sure we've never returned overlapping bounds assert not bounds_overlap(offset[consume]) return offset[consume], consume def paths(paths, **kwargs): """ Pack a list of Path2D objects into a rectangle. Parameters ------------ paths: (n,) Path2D Geometry to be packed Returns ------------ packed : trimesh.path.Path2D All paths packed into a single path object. transforms : (m, 3, 3) float Homogeneous transforms to move paths from their original position to the new one. consume : (n,) bool Which of the original paths were inserted, i.e. `consume.sum() == m` """ from .util import concatenate # pack using exterior polygon which will have the # oriented bounding box calculated before packing packable = [] original = [] for index, path in enumerate(paths): quantity = path.metadata.get("quantity", 1) original.extend([index] * quantity) packable.extend([path.polygons_closed[path.root[0]]] * quantity) # pack the polygons using rectangular bin packing transforms, consume = polygons(polygons=packable, **kwargs) positioned = [] for index, matrix in zip(np.nonzero(consume)[0], transforms): current = paths[original[index]].copy() current.apply_transform(matrix) positioned.append(current) # append all packed paths into a single Path object packed = concatenate(positioned) return packed, transforms, consume def polygons(polygons, **kwargs): """ Pack polygons into a rectangle by taking each Polygon's OBB and then packing that as a rectangle. Parameters ------------ polygons : (n,) shapely.geometry.Polygon Source geometry **kwargs : dict Passed through to `packing.rectangles`. Returns ------------- transforms : (m, 3, 3) float Homogeonous transforms from original frame to packed frame. consume : (n,) bool Which of the original polygons was packed, i.e. `consume.sum() == m` """ from .polygons import polygon_bounds, polygons_obb # find the oriented bounding box of the polygons obb, extents = polygons_obb(polygons) # run packing for a number of iterations bounds, consume = rectangles(extents=extents, **kwargs) log.debug("%i/%i parts were packed successfully", consume.sum(), len(polygons)) # transformations to packed positions roll = roll_transform(bounds=bounds, extents=extents[consume]) transforms = np.array([np.dot(b, a) for a, b in zip(obb[consume], roll)]) if tol.strict: # original bounds should not overlap assert not bounds_overlap(bounds) # confirm transfor check_bound = np.array( [ polygon_bounds(polygons[index], matrix=m) for index, m in zip(np.nonzero(consume)[0], transforms) ] ) assert not bounds_overlap(check_bound) return transforms, consume def rectangles( extents, size=None, density_escape=0.99, spacing=None, iterations=50, rotate=True, quanta=None, seed=None, ): """ Run multiple iterations of rectangle packing, this is the core function for all rectangular packing. Parameters ------------ extents : (n, dimension) float Size of hyper-rectangle to be packed size : None or (dimension,) float Size of sheet to pack onto. If not passed tree will be allowed to create new volume-minimizing parent nodes. density_escape : float Exit early if rectangular density is above this threshold. spacing : float Distance to allow between rectangles iterations : int Number of iterations to run rotate : bool Allow right angle rotations or not. quanta : None or float Discrete "snap" interval. seed If deterministic results are needed seed the RNG here. Returns --------- bounds : (m, 2, dimension) float Axis aligned bounding boxes of inserted hyper-rectangle. inserted : (n,) bool Which of the original rect were packed. """ # copy extents and make sure they are floats extents = np.array(extents, dtype=np.float64) dim = extents.shape[1] if spacing is not None: # add on any requested spacing extents += spacing * 2.0 # hyper-volume: area in 2D, volume in 3D, party in 4D area = np.prod(extents, axis=1) # best density percentage in 0.0 - 1.0 best_density = 0.0 # how many rect were inserted best_count = 0 if seed is None: random = None else: random = np.random.default_rng(seed=seed) for i in range(iterations): # run a single insertion order # don't shuffle the first run, shuffle subsequent runs bounds, insert = rectangles_single( extents=extents, size=size, shuffle=(i != 0), rotate=rotate, random=random ) count = insert.sum() extents_all = np.ptp(bounds.reshape((-1, dim)), axis=0) if quanta is not None: # compute the density using an upsized quanta extents = np.ceil(extents_all / quanta) * quanta # calculate the packing density density = area[insert].sum() / np.prod(extents_all) # compare this packing density against our best if density > best_density or count > best_count: best_density = density best_count = count # save the result result = [bounds, insert] # exit early if everything is inserted and # we have exceeded our target density if density > density_escape and insert.all(): break if spacing is not None: # shrink the bounds by spacing result[0] += [[[spacing], [-spacing]]] log.debug(f"{iterations} iterations packed with density {best_density:0.3f}") return result def images( images, power_resize: bool = False, deduplicate: bool = False, iterations: Optional[Integer] = 50, seed: Optional[Integer] = None, spacing: Optional[Number] = None, mode: Optional[str] = None, ): """ Pack a list of images and return result and offsets. Parameters ------------ images : (n,) PIL.Image Images to be packed power_resize : bool Should the result image be upsized to the nearest power of two? Not every GPU supports materials that aren't a power of two size. deduplicate Should images that have identical hashes be inserted more than once? mode If passed return an output image with the requested mode, otherwise will be picked from the input images. Returns ----------- packed : PIL.Image Multiple images packed into result offsets : (n, 2) int Offsets for original image to pack """ from PIL import Image if deduplicate: # only pack duplicate images once _, index, inverse = np.unique( [hash(i.tobytes()) for i in images], return_index=True, return_inverse=True ) # use the number of pixels as the rectangle size bounds, insert = rectangles( extents=[images[i].size for i in index], rotate=False, iterations=iterations, seed=seed, spacing=spacing, ) # really should have inserted all the rect assert insert.all() # re-index bounds back to original indexes bounds = bounds[inverse] assert np.allclose(np.ptp(bounds, axis=1), [i.size for i in images]) else: # use the number of pixels as the rectangle size bounds, insert = rectangles( extents=[i.size for i in images], rotate=False, iterations=iterations, seed=seed, spacing=spacing, ) # really should have inserted all the rect assert insert.all() if spacing is None: spacing = 0 else: spacing = int(spacing) # offsets should be integer multiple of pizels offset = bounds[:, 0].round().astype(int) extents = np.ptp(bounds.reshape((-1, 2)), axis=0) + (spacing * 2) size = extents.round().astype(int) if power_resize: # round up all dimensions to powers of 2 size = (2 ** np.ceil(np.log2(size))).astype(np.int64) if mode is None: # get the mode of every input image modes = list({i.mode for i in images}) # pick the longest mode as a simple heuristic # which prefers "RGBA" over "RGB" mode = modes[np.argmax([len(m) for m in modes])] # create the image in the mode of the first image result = Image.new(mode, tuple(size)) done = set() # paste each image into the result for img, off in zip(images, offset): if tuple(off) not in done: # box is upper left corner corner = (off[0], size[1] - img.size[1] - off[1]) result.paste(img, box=corner) else: done.add(tuple(off)) return result, offset def meshes(meshes, **kwargs): """ Pack 3D meshes into a rectangular volume using box packing. Parameters ------------ meshes : (n,) trimesh.Trimesh Input geometry to pack **kwargs : dict Passed to `packing.rectangles` Returns ------------ placed : (m,) trimesh.Trimesh Meshes moved into the rectangular volume. transforms : (m, 4, 4) float Homogeneous transform moving mesh from original position to being packed in a rectangular volume. consume : (n,) bool Which of the original meshes were inserted, i.e. `consume.sum() == m` """ # pack meshes relative to their oriented bounding boxes obbs = [i.bounding_box_oriented for i in meshes] obb_extent = np.array([i.primitive.extents for i in obbs]) obb_transform = np.array([o.primitive.transform for o in obbs]) # run packing bounds, consume = rectangles(obb_extent, **kwargs) # generate the transforms from an origin centered AABB # to the final placed and rotated AABB transforms = np.array( [ np.dot(r, np.linalg.inv(o)) for o, r in zip( obb_transform[consume], roll_transform(bounds=bounds, extents=obb_extent[consume]), ) ], dtype=np.float64, ) # copy the meshes and move into position placed = [ meshes[index].copy().apply_transform(T) for index, T in zip(np.nonzero(consume)[0], transforms) ] return placed, transforms, consume def visualize(extents, bounds): """ Visualize a 3D box packing. Parameters ------------ extents : (n, 3) float AABB size before packing. bounds : (n, 2, 3) float AABB location after packing. Returns ------------ scene : trimesh.Scene Scene with boxes at requested locations. """ from ..creation import box from ..scene import Scene from ..visual import random_color # use a roll transform to verify extents transforms = roll_transform(bounds=bounds, extents=extents) meshes = [box(extents=e) for e in extents] for m, matrix, check in zip(meshes, transforms, bounds): m.apply_transform(matrix) assert np.allclose(m.bounds, check) m.visual.face_colors = random_color() return Scene(meshes) def roll_transform(bounds, extents): """ Packing returns rotations with integer "roll" which needs to be converted into a homogeneous rotation matrix. Currently supports `dimension=2` and `dimension=3`. Parameters -------------- bounds : (n, 2, dimension) float Axis aligned bounding boxes of packed position extents : (n, dimension) float Original pre-rolled extents will be used to determine rotation to move to `bounds`. Returns ---------- transforms : (n, dimension + 1, dimension + 1) float Homogeneous transformation to move cuboid at the origin into the position determined by `bounds`. """ if len(bounds) != len(extents): raise ValueError("`bounds` must match `extents`") if len(extents) == 0: return [] # find the size of the AABB of the passed bounds passed = np.ptp(bounds, axis=1) # zeroth index is 2D, `1` is 3D dimension = passed.shape[1] # store the resulting transformation matrices result = np.tile(np.eye(dimension + 1), (len(bounds), 1, 1)) # a lookup table for rotations for rolling cuboiods # as `lookup[dimension - 2][roll]` # implemented for 2D and 3D lookup = [ np.array( [np.eye(3), np.array([[0.0, -1.0, 0.0], [1.0, 0.0, 0.0], [0.0, 0.0, 1.0]])] ), np.array( [ np.eye(4), [ [-0.0, -0.0, -1.0, -0.0], [-1.0, -0.0, -0.0, -0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0], ], [ [-0.0, -1.0, -0.0, -0.0], [0.0, 0.0, 1.0, 0.0], [-1.0, -0.0, -0.0, -0.0], [0.0, 0.0, 0.0, 1.0], ], ] ), ] # rectangular rotation involves rolling for roll in range(extents.shape[1]): # find all the passed bounding boxes represented by # rolling the original extents by this amount rolled = np.roll(extents, roll, axis=1) # check to see if the rolled original extents # match the requested bounding box ok = np.ptp((passed - rolled), axis=1) < _TOL_ZERO if not ok.any(): continue # the base rotation for this mat = lookup[dimension - 2][roll] # the lower corner of the AABB plus the rolled extent offset = np.tile(np.eye(dimension + 1), (ok.sum(), 1, 1)) offset[:, :dimension, dimension] = bounds[:, 0][ok] + rolled[ok] / 2.0 result[ok] = [np.dot(o, mat) for o in offset] if tol.strict: if dimension == 3: # make sure bounds match inputs from ..creation import box assert all( allclose(box(extents=e).apply_transform(m).bounds, b) for b, e, m in zip(bounds, extents, result) ) elif dimension == 2: # in 2D check with a rectangle from .creation import rectangle assert all( allclose(rectangle(bounds=[-e / 2, e / 2]).apply_transform(m).bounds, b) for b, e, m in zip(bounds, extents, result) ) else: raise ValueError("unsupported dimension") return result def bounds_overlap(bounds, epsilon=1e-8): """ Check to see if multiple axis-aligned bounding boxes contains overlaps using `rtree`. Parameters ------------ bounds : (n, 2, dimension) float Axis aligned bounding boxes epsilon : float Amount to shrink AABB to avoid spurious floating point hits. Returns -------------- overlap : bool True if any bound intersects any other bound. """ # pad AABB by epsilon for deterministic intersections padded = np.array(bounds) + np.reshape([epsilon, -epsilon], (1, 2, 1)) tree = bounds_tree(padded) # every returned AABB should not overlap with any other AABB return any( set(tree.intersection(current.ravel())) != {i} for i, current in enumerate(bounds) ) trimesh-4.5.1/trimesh/path/path.py000066400000000000000000001263001470574263400171270ustar00rootroot00000000000000""" path.py ----------- A module designed to work with vector paths such as those stored in a DXF or SVG file. """ import collections import copy from hashlib import sha256 import numpy as np from .. import bounds, caching, exceptions, grouping, parent, units, util from .. import transformations as tf from ..constants import log from ..constants import tol_path as tol from ..geometry import plane_transform from ..points import plane_fit from ..typed import ArrayLike, Dict, Iterable, List, NDArray, Optional, float64 from ..visual import to_rgba from . import ( creation, # NOQA raster, segments, # NOQA simplify, traversal, ) from .entities import Entity from .exchange.export import export_path from .util import concatenate # now import things which require non-minimal install of Trimesh # create a dummy module which will raise the ImportError # or other exception only when someone tries to use that function try: from . import repair except BaseException as E: repair = exceptions.ExceptionWrapper(E) try: from . import polygons except BaseException as E: polygons = exceptions.ExceptionWrapper(E) try: from scipy.spatial import cKDTree except BaseException as E: cKDTree = exceptions.ExceptionWrapper(E) try: from shapely.geometry import Polygon from shapely.prepared import prep except BaseException as E: Polygon = exceptions.ExceptionWrapper(E) prep = exceptions.ExceptionWrapper(E) try: import networkx as nx except BaseException as E: nx = exceptions.ExceptionWrapper(E) class Path(parent.Geometry): """ A Path object consists of vertices and entities. Vertices are a simple (n, dimension) float array of points in space. Entities are a list of objects representing geometric primitives, such as Lines, Arcs, BSpline, etc. All entities reference vertices by index, so any transform applied to the simple vertex array is applied to the entity. """ def __init__( self, entities: Optional[Iterable[Entity]] = None, vertices: Optional[ArrayLike] = None, metadata: Optional[Dict] = None, process: bool = True, colors=None, **kwargs, ): """ Instantiate a path object. Parameters ----------- entities : (m,) trimesh.path.entities.Entity Contains geometric entities vertices : (n, dimension) float The vertices referenced by entities metadata : dict Any metadata about the path process : bool Run simple cleanup or not """ self.entities = entities self.vertices = vertices # assign each color to each entity self.colors = colors # collect metadata self.metadata = {} if isinstance(metadata, dict): self.metadata.update(metadata) # cache will dump whenever self.crc changes self._cache = caching.Cache(id_function=self.__hash__) if process: # if our input had disconnected but identical points # pretty much nothing will work if vertices aren't merged properly self.merge_vertices() def __repr__(self): """ Print a quick summary of the number of vertices and entities. """ return f"" def process(self): """ Apply basic cleaning functions to the Path object in-place. """ with self._cache: self.merge_vertices() self.remove_duplicate_entities() self.remove_unreferenced_vertices() return self @property def colors(self): """ Colors are stored per-entity. Returns ------------ colors : (len(entities), 4) uint8 RGBA colors for each entity """ # start with default colors raw = [e.color for e in self.entities] if not any(c is not None for c in raw): return None colors = np.array([to_rgba(c) for c in raw]) # don't allow parts of the color array to be written colors.flags["WRITEABLE"] = False return colors @colors.setter def colors(self, values): """ Set the color for every entity in the Path. Parameters ------------ values : (len(entities), 4) uint8 Color of each entity """ # if not set return if values is None: return # make sure colors are RGBA colors = to_rgba(values) if len(colors) != len(self.entities): raise ValueError("colors must be per-entity!") # otherwise assign each color to the entity for c, e in zip(colors, self.entities): e.color = c @property def vertices(self) -> NDArray[float64]: return self._vertices @vertices.setter def vertices(self, values: Optional[ArrayLike]): if values is None: self._vertices = caching.tracked_array([], dtype=np.float64) else: self._vertices = caching.tracked_array(values, dtype=np.float64) @property def entities(self): """ The actual entities making up the path. Returns ----------- entities : (n,) trimesh.path.entities.Entity Entities such as Line, Arc, or BSpline curves """ return self._entities @entities.setter def entities(self, values): if values is None: self._entities = np.array([]) else: self._entities = np.asanyarray(values) @property def layers(self): """ Get a list of the layer for every entity. Returns --------- layers : (len(entities), ) any Whatever is stored in each `entity.layer` """ # layer is a required meta-property for entities return [e.layer for e in self.entities] def __hash__(self): """ A hash of the current vertices and entities. Returns ------------ hash : long int Appended hashes """ # get the hash of the trackedarray vertices hashable = [hex(self.vertices.__hash__()).encode("utf-8")] # get the bytes for each entity hashable.extend(e._bytes() for e in self.entities) # hash the combined result return caching.hash_fast(b"".join(hashable)) @caching.cache_decorator def paths(self): """ Sequence of closed paths, encoded by entity index. Returns --------- paths : (n,) sequence of (*,) int Referencing self.entities """ paths = traversal.closed_paths(self.entities, self.vertices) return paths @caching.cache_decorator def dangling(self): """ List of entities that aren't included in a closed path Returns ---------- dangling : (n,) int Index of self.entities """ if len(self.paths) == 0: return np.arange(len(self.entities)) return np.setdiff1d(np.arange(len(self.entities)), np.hstack(self.paths)) @caching.cache_decorator def kdtree(self): """ A KDTree object holding the vertices of the path. Returns ---------- kdtree : scipy.spatial.cKDTree Object holding self.vertices """ kdtree = cKDTree(self.vertices.view(np.ndarray)) return kdtree @caching.cache_decorator def length(self): """ The total discretized length of every entity. Returns -------- length : float Summed length of every entity """ length = float(sum(i.length(self.vertices) for i in self.entities)) return length @caching.cache_decorator def bounds(self): """ Return the axis aligned bounding box of the current path. Returns ---------- bounds : (2, dimension) float AABB with (min, max) coordinates """ # get the exact bounds of each entity # some entities (aka 3- point Arc) have bounds that can't # be generated from just bound box of vertices points = np.array( [e.bounds(self.vertices) for e in self.entities], dtype=np.float64 ) # flatten bound extrema into (n, dimension) array points = points.reshape((-1, self.vertices.shape[1])) # get the max and min of all bounds return np.array([points.min(axis=0), points.max(axis=0)], dtype=np.float64) @caching.cache_decorator def centroid(self): """ Return the centroid of axis aligned bounding box enclosing all entities of the path object. Returns ----------- centroid : (d,) float Approximate centroid of the path """ return self.bounds.mean(axis=0) @property def extents(self): """ The size of the axis aligned bounding box. Returns --------- extents : (dimension,) float Edge length of AABB """ return np.ptp(self.bounds, axis=0) def convert_units(self, desired: str, guess: bool = False): """ Convert the units of the current drawing in place. Parameters ----------- desired : str Unit system to convert to guess : bool If True will attempt to guess units """ units._convert_units(self, desired=desired, guess=guess) def explode(self): """ Turn every multi- segment entity into single segment entities in- place. """ new_entities = [] for entity in self.entities: # explode into multiple entities new_entities.extend(entity.explode()) # avoid setter and assign new entities self._entities = np.array(new_entities) # explicitly clear cache self._cache.clear() def fill_gaps(self, distance=0.025): """ Find vertices without degree 2 and try to connect to other vertices. Operations are done in-place. Parameters ---------- distance : float Connect vertices up to this distance """ repair.fill_gaps(self, distance=distance) @property def is_closed(self): """ Are all entities connected to other entities. Returns ----------- closed : bool Every entity is connected at its ends """ closed = all(i == 2 for i in dict(self.vertex_graph.degree()).values()) return closed @property def is_empty(self): """ Are any entities defined for the current path. Returns ---------- empty : bool True if no entities are defined """ return len(self.entities) == 0 @caching.cache_decorator def vertex_graph(self): """ Return a networkx.Graph object for the entity connectivity graph : networkx.Graph Holds vertex indexes """ graph, _closed = traversal.vertex_graph(self.entities) return graph @caching.cache_decorator def vertex_nodes(self): """ Get a list of which vertex indices are nodes, which are either endpoints or points where the entity makes a direction change. Returns -------------- nodes : (n, 2) int Indexes of self.vertices which are nodes """ nodes = np.vstack([e.nodes for e in self.entities]) return nodes def apply_transform(self, transform): """ Apply a transformation matrix to the current path in- place Parameters ----------- transform : (d+1, d+1) float Homogeneous transformations for vertices """ dimension = self.vertices.shape[1] transform = np.asanyarray(transform, dtype=np.float64) if transform.shape != (dimension + 1, dimension + 1): raise ValueError("transform is incorrect shape!") elif np.abs(transform - np.eye(dimension + 1)).max() < 1e-8: # if we've been passed an identity matrix do nothing return self # make sure cache is up to date self._cache.verify() # new cache to transfer items cache = {} # apply transform to discretized paths if "discrete" in self._cache.cache: cache["discrete"] = [ tf.transform_points(d, matrix=transform) for d in self.discrete ] # things we can just straight up copy # as they are topological not geometric for key in [ "root", "paths", "path_valid", "dangling", "vertex_graph", "enclosure", "enclosure_shell", "enclosure_directed", ]: # if they're in cache save them from the purge if key in self._cache.cache: cache[key] = self._cache.cache[key] # transform vertices in place self.vertices = tf.transform_points(self.vertices, matrix=transform) # explicitly clear the cache self._cache.clear() self._cache.id_set() # populate the things we wangled self._cache.cache.update(cache) return self def apply_layer(self, name): """ Apply a layer name to every entity in the path. Parameters ------------ name : str Apply layer name to every entity """ for e in self.entities: e.layer = name def rezero(self): """ Translate so that every vertex is positive in the current mesh is positive. Returns ----------- matrix : (dimension + 1, dimension + 1) float Homogeneous transformations that was applied to the current Path object. """ # transform to the lower left corner matrix = tf.translation_matrix(-self.bounds[0]) # cleanly apply trransformation matrix self.apply_transform(matrix) return matrix def merge_vertices(self, digits=None): """ Merges vertices which are identical and replace references by altering `self.entities` and `self.vertices` Parameters -------------- digits : None, or int How many digits to consider when merging vertices """ if len(self.vertices) == 0: return if digits is None: digits = util.decimal_to_digits(tol.merge * self.scale, min_digits=1) unique, inverse = grouping.unique_rows(self.vertices, digits=digits) self.vertices = self.vertices[unique] entities_ok = np.ones(len(self.entities), dtype=bool) for index, entity in enumerate(self.entities): # what kind of entity are we dealing with kind = type(entity).__name__ # entities that don't need runs merged # don't screw up control- point- knot relationship if kind in "BSpline Bezier Text": entity.points = inverse[entity.points] continue # if we merged duplicate vertices, the entity may # have multiple references to the same vertex points = grouping.merge_runs(inverse[entity.points]) # if there are three points and two are identical fix it if kind == "Line": if len(points) == 3 and points[0] == points[-1]: points = points[:2] elif len(points) < 2: # lines need two or more vertices entities_ok[index] = False elif kind == "Arc" and len(points) != 3: # three point arcs need three points entities_ok[index] = False # store points in entity entity.points = points # remove degenerate entities self.entities = self.entities[entities_ok] def replace_vertex_references(self, mask): """ Replace the vertex index references in every entity. Parameters ------------ mask : (len(self.vertices), ) int Contains new vertex indexes Notes ------------ entity.points in self.entities Replaced by mask[entity.points] """ for entity in self.entities: entity.points = mask[entity.points] def remove_entities(self, entity_ids): """ Remove entities by index. Parameters ----------- entity_ids : (n,) int Indexes of self.entities to remove """ if len(entity_ids) == 0: return keep = np.ones(len(self.entities), dtype=bool) keep[entity_ids] = False self.entities = self.entities[keep] def remove_invalid(self): """ Remove entities which declare themselves invalid Notes ---------- self.entities: shortened """ valid = np.array([i.is_valid for i in self.entities], dtype=bool) self.entities = self.entities[valid] def remove_duplicate_entities(self): """ Remove entities that are duplicated Notes ------- self.entities: length same or shorter """ entity_hashes = np.array([hash(i) for i in self.entities]) unique, _inverse = grouping.unique_rows(entity_hashes) if len(unique) != len(self.entities): self.entities = self.entities[unique] @caching.cache_decorator def referenced_vertices(self): """ Which vertices are referenced by an entity. Returns ----------- referenced_vertices: (n,) int, indexes of self.vertices """ # no entities no reference if len(self.entities) == 0: return np.array([], dtype=np.int64) referenced = np.concatenate([e.points for e in self.entities]) referenced = np.unique(referenced.astype(np.int64)) return referenced def remove_unreferenced_vertices(self): """ Removes all vertices which aren't used by an entity. Notes --------- self.vertices : reordered and shortened self.entities : entity.points references updated """ unique = self.referenced_vertices mask = np.ones(len(self.vertices), dtype=np.int64) * -1 mask[unique] = np.arange(len(unique), dtype=np.int64) self.replace_vertex_references(mask=mask) self.vertices = self.vertices[unique] @caching.cache_decorator def discrete(self) -> List[NDArray[float64]]: """ A sequence of connected vertices in space, corresponding to self.paths. Returns --------- discrete : (len(self.paths),) A sequence of (m*, dimension) float """ # avoid cache hits in the loop scale = self.scale entities = self.entities vertices = self.vertices # discretize each path return [ traversal.discretize_path( entities=entities, vertices=vertices, path=path, scale=scale ) for path in self.paths ] def export(self, file_obj=None, file_type=None, **kwargs): """ Export the path to a file object or return data. Parameters --------------- file_obj : None, str, or file object File object or string to export to file_type : None or str Type of file: dxf, dict, svg Returns --------------- exported : bytes or str Exported as specified type """ return export_path(self, file_type=file_type, file_obj=file_obj, **kwargs) def to_dict(self): export_dict = self.export(file_type="dict") return export_dict def copy(self): """ Get a copy of the current mesh Returns --------- copied : Path object Copy of self """ metadata = {} # grab all the keys into a list so if something is added # in another thread it probably doesn't stomp on our loop for key in list(self.metadata.keys()): try: metadata[key] = copy.deepcopy(self.metadata[key]) except RuntimeError: # multiple threads log.warning(f"key {key} changed during copy") # copy the core data copied = type(self)( entities=copy.deepcopy(self.entities), vertices=copy.deepcopy(self.vertices), metadata=metadata, process=False, ) cache = {} # try to copy the cache over to the new object try: # save dict keys before doing slow iteration keys = list(self._cache.cache.keys()) # run through each key and copy into new cache for k in keys: cache[k] = copy.deepcopy(self._cache.cache[k]) except RuntimeError: # if we have multiple threads this may error and is NBD log.debug("unable to copy cache") except BaseException: # catch and log errors we weren't expecting log.error("unable to copy cache", exc_info=True) copied._cache.cache = cache copied._cache.id_set() return copied def scene(self): """ Get a scene object containing the current Path3D object. Returns -------- scene: trimesh.scene.Scene object containing current path """ from ..scene import Scene scene = Scene(self) return scene def __add__(self, other): """ Concatenate two Path objects by appending vertices and reindexing point references. Parameters ----------- other: Path object Returns ----------- concat: Path object, appended from self and other """ concat = concatenate([self, other]) return concat class Path3D(Path): """ Hold multiple vector curves (lines, arcs, splines, etc) in 3D. """ def to_planar( self, to_2D: Optional[ArrayLike] = None, normal: Optional[ArrayLike] = None, check: bool = True, ): """ Check to see if current vectors are all coplanar. If they are, return a Path2D and a transform which will transform the 2D representation back into 3 dimensions Parameters ----------- to_2D : (4, 4) float Homogeneous transformation matrix to apply, if not passed a plane will be fitted to vertices. normal : (3,) float or None Normal of direction of plane to use. check Raise a ValueError if points aren't coplanar Returns ----------- planar : trimesh.path.Path2D Current path transformed onto plane to_3D : (4,4) float Homeogenous transformations to move planar back into 3D space """ # which vertices are actually referenced referenced = self.referenced_vertices # if nothing is referenced return an empty path if len(referenced) == 0: return Path2D(), np.eye(4) # support (n, 2) and (n, 3) vertices here dim = self.vertices.shape[1] # already flat if dim == 2: to_2D = np.eye(4) elif dim != 3: raise ValueError(f"vertices are `{dim}D != 2D | 3D`!") # no explicit transform passed if to_2D is None: # fit a plane to our vertices C, N = plane_fit(self.vertices[referenced]) # apply the normal sign hint if normal is not None: # make sure normal is a 3D vector normal = np.array(normal, dtype=np.float64).reshape(3) # apply the sign from the passed normal N *= np.sign(np.dot(N, normal)) # create a transform from fit plane to XY to_2D = plane_transform(origin=C, normal=N) # make sure we've extracted a transform to_2D = np.array(to_2D, dtype=np.float64) if to_2D.shape != (4, 4): raise ValueError("unable to create transform!") if dim == 3: # transform all vertices to 2D plane flat = tf.transform_points(self.vertices, to_2D) # Z values of vertices which are referenced heights = flat[referenced][:, 2] # points are not on a plane because Z varies if np.ptp(heights) > tol.planar: # since Z is inconsistent set height to zero height = 0.0 if check: raise ValueError("points are not flat!") else: # if the points were planar store the height height = heights.mean() elif dim == 2: flat = self.vertices.copy() height = 0.0 # the transform from 2D to 3D to_3D = np.linalg.inv(to_2D) # if the transform didn't move the path to # exactly Z=0 adjust it so the returned transform does if np.abs(height) > tol.planar: # adjust to_3D transform by height adjust = tf.translation_matrix([0, 0, height]) # apply the height adjustment to_3D to_3D = np.dot(to_3D, adjust) # copy metadata to new object metadata = copy.deepcopy(self.metadata) # store transform we used to move it onto the plane metadata["to_3D"] = to_3D # create the Path2D with the same entities # and XY values of vertices projected onto the plane planar = Path2D( entities=copy.deepcopy(self.entities), vertices=flat[:, :2], metadata=metadata, process=False, ) return planar, to_3D def show(self, **kwargs): """ Show the current Path3D object. """ scene = self.scene() return scene.show(**kwargs) class Path2D(Path): """ Hold multiple vector curves (lines, arcs, splines, etc) in 3D. """ def show(self, annotations=True): """ Plot the current Path2D object using matplotlib. """ if self.is_closed: self.plot_discrete(show=True, annotations=annotations) else: self.plot_entities(show=True, annotations=annotations) def apply_obb(self): """ Transform the current path so that its OBB is axis aligned and OBB center is at the origin. Returns ----------- obb : (3, 3) float Homogeneous transformation matrix """ matrix = self.obb self.apply_transform(matrix) return matrix def apply_scale(self, scale): """ Apply a 2D scale to the current Path2D. Parameters ------------- scale : float or (2,) float Scale to apply in-place. """ matrix = np.eye(3) matrix[:2, :2] *= scale return self.apply_transform(matrix) @caching.cache_decorator def obb(self): """ Get a transform that centers and aligns the OBB of the referenced vertices with the XY axis. Returns ----------- obb : (3, 3) float Homogeneous transformation matrix """ matrix = bounds.oriented_bounds_2D(self.vertices[self.referenced_vertices])[0] return matrix def rasterize( self, pitch=None, origin=None, resolution=None, fill=True, width=None, **kwargs ): """ Rasterize a Path2D object into a boolean image ("mode 1"). Parameters ------------ pitch : float or (2,) float Length(s) in model space of pixel edges origin : (2,) float Origin position in model space resolution : (2,) int Resolution in pixel space fill : bool If True will return closed regions as filled width : int If not None will draw outline this wide (pixels) Returns ------------ raster : PIL.Image object, mode 1 Rasterized version of closed regions. """ image = raster.rasterize( self, pitch=pitch, origin=origin, resolution=resolution, fill=fill, width=width, ) return image def sample(self, count, **kwargs): """ Use rejection sampling to generate random points inside a polygon. Parameters ----------- count : int Number of points to return If there are multiple bodies, there will be up to count * bodies points returned factor : float How many points to test per loop IE, count * factor max_iter : int, Maximum number of intersection loops to run, total points sampled is count * factor * max_iter Returns ----------- hit : (n, 2) float Random points inside polygon """ poly = self.polygons_full if len(poly) == 0: samples = np.array([]) elif len(poly) == 1: samples = polygons.sample(poly[0], count=count, **kwargs) else: samples = util.vstack_empty( [polygons.sample(i, count=count, **kwargs) for i in poly] ) return samples @property def body_count(self): """ Returns a count of the number of unconnected polygons that may contain other curves but aren't contained themselves. Returns --------- body_count : int Number of unconnected independent polygons. """ return len(self.root) def to_3D(self, transform=None): """ Convert 2D path to 3D path on the XY plane. Parameters ------------- transform : (4, 4) float If passed, will transform vertices. If not passed and 'to_3D' is in self.metadata that transform will be used. Returns ----------- path_3D : Path3D 3D version of current path """ # if there is a stored 'to_3D' transform in metadata use it if transform is None and "to_3D" in self.metadata: transform = self.metadata["to_3D"] # copy vertices and stack with zeros from (n, 2) to (n, 3) vertices = np.column_stack( (copy.deepcopy(self.vertices), np.zeros(len(self.vertices))) ) if transform is not None: vertices = tf.transform_points(vertices, transform) # make sure everything is deep copied path_3D = Path3D( entities=copy.deepcopy(self.entities), vertices=vertices, metadata=copy.deepcopy(self.metadata), ) return path_3D @caching.cache_decorator def polygons_closed(self) -> NDArray: """ Cycles in the vertex graph, as shapely.geometry.Polygons. These are polygon objects for every closed circuit, with no notion of whether a polygon is a hole or an area. Every polygon in this list will have an exterior, but NO interiors. Returns --------- polygons_closed : (n,) list of shapely.geometry.Polygon objects """ # will attempt to recover invalid garbage geometry # and will be None if geometry is unrecoverable return polygons.paths_to_polygons(self.discrete) @caching.cache_decorator def polygons_full(self) -> List: """ A list of shapely.geometry.Polygon objects with interiors created by checking which closed polygons enclose which other polygons. Returns --------- full : (len(self.root),) shapely.geometry.Polygon Polygons containing interiors """ # pre- allocate the list to avoid indexing problems full = [None] * len(self.root) # store the graph to avoid cache thrashing enclosure = self.enclosure_directed # store closed polygons to avoid cache hits closed = self.polygons_closed # loop through root curves for i, root in enumerate(self.root): # a list of multiple Polygon objects that # are fully contained by the root curve children = [closed[child] for child in enclosure[root].keys()] # all polygons_closed are CCW, so for interiors reverse them holes = [np.array(p.exterior.coords)[::-1] for p in children] # a single Polygon object shell = closed[root].exterior # create a polygon with interiors full[i] = polygons.repair_invalid(Polygon(shell=shell, holes=holes)) return full @caching.cache_decorator def area(self): """ Return the area of the polygons interior. Returns --------- area : float Total area of polygons minus interiors """ area = float(sum(i.area for i in self.polygons_full)) return area def extrude(self, height, **kwargs): """ Extrude the current 2D path into a 3D mesh. Parameters ---------- height: float, how far to extrude the profile kwargs: passed directly to meshpy.triangle.build: triangle.build(mesh_info, verbose=False, refinement_func=None, attributes=False, volume_constraints=True, max_volume=None, allow_boundary_steiner=True, allow_volume_steiner=True, quality_meshing=True, generate_edges=None, generate_faces=False, min_angle=None) Returns -------- mesh: trimesh object representing extruded polygon """ from ..primitives import Extrusion result = [ Extrusion(polygon=i, height=height, **kwargs) for i in self.polygons_full ] if len(result) == 1: return result[0] return result def triangulate(self, **kwargs): """ Create a region- aware triangulation of the 2D path. Parameters ------------- **kwargs : dict Passed to `trimesh.creation.triangulate_polygon` Returns ------------- vertices : (n, 2) float 2D vertices of triangulation faces : (n, 3) int Indexes of vertices for triangles """ from ..creation import triangulate_polygon # append vertices and faces into sequence v_seq = [] f_seq = [] # loop through polygons with interiors for polygon in self.polygons_full: v, f = triangulate_polygon(polygon, **kwargs) v_seq.append(v) f_seq.append(f) return util.append_faces(v_seq, f_seq) def medial_axis(self, resolution=None, clip=None): """ Find the approximate medial axis based on a voronoi diagram of evenly spaced points on the boundary of the polygon. Parameters ---------- resolution : None or float Distance between each sample on the polygon boundary clip : None, or (2,) float Min, max number of samples Returns ---------- medial : Path2D object Contains only medial axis of Path """ if resolution is None: resolution = self.scale / 1000.0 # convert the edges to Path2D kwargs from .exchange.misc import edges_to_path # edges and vertices edge_vert = [ polygons.medial_axis(i, resolution, clip) for i in self.polygons_full ] # create a Path2D object for each region medials = [Path2D(**edges_to_path(edges=e, vertices=v)) for e, v in edge_vert] # get a single Path2D of medial axis medial = concatenate(medials) return medial def connected_paths(self, path_id, include_self=False): """ Given an index of self.paths find other paths which overlap with that path. Parameters ----------- path_id : int Index of self.paths include_self : bool Should the result include path_id or not Returns ----------- path_ids : (n, ) int Indexes of self.paths that overlap input path_id """ if len(self.root) == 1: path_ids = np.arange(len(self.polygons_closed)) else: path_ids = list(nx.node_connected_component(self.enclosure, path_id)) if include_self: return np.array(path_ids) return np.setdiff1d(path_ids, [path_id]) def simplify(self, **kwargs): """ Return a version of the current path with colinear segments merged, and circles entities replacing segmented circular paths. Returns --------- simplified : Path2D object """ return simplify.simplify_basic(self, **kwargs) def simplify_spline(self, smooth=0.0002, verbose=False): """ Convert paths into b-splines. Parameters ----------- smooth : float How much the spline should smooth the curve verbose : bool Print detailed log messages Returns ------------ simplified : Path2D Discrete curves replaced with splines """ return simplify.simplify_spline(self, smooth=smooth, verbose=verbose) def split(self, **kwargs): """ If the current Path2D consists of n 'root' curves, split them into a list of n Path2D objects Returns ---------- split: (n,) list of Path2D objects Each connected region and interiors """ return traversal.split(self) def plot_discrete(self, show=False, annotations=True): """ Plot the closed curves of the path. """ import matplotlib.pyplot as plt axis = plt.gca() axis.set_aspect("equal", "datalim") for i, points in enumerate(self.discrete): color = ["g", "k"][i in self.root] axis.plot(*points.T, color=color) if annotations: for e in self.entities: if not hasattr(e, "plot"): continue e.plot(self.vertices) if show: plt.show() return axis def plot_entities(self, show=False, annotations=True, color=None): """ Plot the entities of the path with no notion of topology. Parameters ------------ show : bool Open a window immediately or not annotations : bool Call an entities custom plot function. color : str Override entity colors and make them all this color. """ import matplotlib.pyplot as plt # keep plot axis scaled the same axis = plt.gca() axis.set_aspect("equal", "datalim") # hardcode a format for each entity type eformat = { "Line0": {"color": "g", "linewidth": 1}, "Line1": {"color": "y", "linewidth": 1}, "Arc0": {"color": "r", "linewidth": 1}, "Arc1": {"color": "b", "linewidth": 1}, "Bezier0": {"color": "k", "linewidth": 1}, "Bezier1": {"color": "k", "linewidth": 1}, "BSpline0": {"color": "m", "linewidth": 1}, "BSpline1": {"color": "m", "linewidth": 1}, } for entity in self.entities: # if the entity has it's own plot method use it if annotations and hasattr(entity, "plot"): entity.plot(self.vertices) continue # otherwise plot the discrete curve discrete = entity.discrete(self.vertices) # a unique key for entities e_key = entity.__class__.__name__ + str(int(entity.closed)) fmt = eformat[e_key].copy() if color is not None: # passed color will override other options fmt["color"] = color elif hasattr(entity, "color"): # if entity has specified color use it fmt["color"] = entity.color axis.plot(*discrete.T, **fmt) if show: plt.show() @property def identifier(self): """ A unique identifier for the path. Returns --------- identifier : (5,) float Unique identifier """ hasher = polygons.identifier target = self.polygons_full if len(target) == 1: return hasher(self.polygons_full[0]) elif len(target) == 0: return np.zeros(5) return np.sum([hasher(p) for p in target], axis=1) @caching.cache_decorator def identifier_hash(self): """ Return a hash of the identifier. Returns ---------- hashed : (64,) str SHA256 hash of the identifier vector. """ as_int = (self.identifier * 1e4).astype(np.int64) return sha256(as_int.tobytes(order="C")).hexdigest() @property def path_valid(self): """ Returns ---------- path_valid : (n,) bool Indexes of self.paths self.polygons_closed which are valid polygons. """ return np.array([i is not None for i in self.polygons_closed], dtype=bool) @caching.cache_decorator def root(self): """ Which indexes of self.paths/self.polygons_closed are root curves, also known as 'shell' or 'exterior. Returns --------- root : (n,) int List of indexes """ populate = self.enclosure_directed # NOQA return self._cache["root"] @caching.cache_decorator def enclosure(self): """ Undirected graph object of polygon enclosure. Returns ----------- enclosure : networkx.Graph Enclosure graph of self.polygons by index. """ with self._cache: undirected = self.enclosure_directed.to_undirected() return undirected @caching.cache_decorator def enclosure_directed(self): """ Directed graph of polygon enclosure. Returns ---------- enclosure_directed : networkx.DiGraph Directed graph: child nodes are fully contained by their parent node. """ root, enclosure = polygons.enclosure_tree(self.polygons_closed) self._cache["root"] = root return enclosure @caching.cache_decorator def enclosure_shell(self): """ A dictionary of path indexes which are 'shell' paths, and values of 'hole' paths. Returns ---------- corresponding : dict {index of self.paths of shell : [indexes of holes]} """ pairs = [(r, self.connected_paths(r, include_self=False)) for r in self.root] # OrderedDict to maintain corresponding order return collections.OrderedDict(pairs) trimesh-4.5.1/trimesh/path/polygons.py000066400000000000000000000744151470574263400200560ustar00rootroot00000000000000import numpy as np from shapely import ops from shapely.geometry import Polygon from .. import bounds, geometry, graph, grouping from ..boolean import reduce_cascade from ..constants import log from ..constants import tol_path as tol from ..transformations import transform_points from ..typed import Iterable, NDArray, Number, Optional, Union, float64, int64 from .simplify import fit_circle_check from .traversal import resample_path try: import networkx as nx except BaseException as E: # create a dummy module which will raise the ImportError # or other exception only when someone tries to use networkx from ..exceptions import ExceptionWrapper nx = ExceptionWrapper(E) try: from rtree.index import Index except BaseException as E: # create a dummy module which will raise the ImportError from ..exceptions import ExceptionWrapper Index = ExceptionWrapper(E) def enclosure_tree(polygons): """ Given a list of shapely polygons with only exteriors, find which curves represent the exterior shell or root curve and which represent holes which penetrate the exterior. This is done with an R-tree for rough overlap detection, and then exact polygon queries for a final result. Parameters ----------- polygons : (n,) shapely.geometry.Polygon Polygons which only have exteriors and may overlap Returns ----------- roots : (m,) int Index of polygons which are root contains : networkx.DiGraph Edges indicate a polygon is contained by another polygon """ # nodes are indexes in polygons contains = nx.DiGraph() if len(polygons) == 0: return np.array([], dtype=np.int64), contains elif len(polygons) == 1: # add an early exit for only a single polygon contains.add_node(0) return np.array([0], dtype=np.int64), contains # get the bounds for every valid polygon bounds = { k: v for k, v in { i: getattr(polygon, "bounds", []) for i, polygon in enumerate(polygons) }.items() if len(v) == 4 } # make sure we don't have orphaned polygon contains.add_nodes_from(bounds.keys()) if len(bounds) > 0: # if there are no valid bounds tree creation will fail # and we won't be calling `tree.intersection` anywhere # we could return here but having multiple return paths # seems more dangerous than iterating through an empty graph tree = Index(zip(bounds.keys(), bounds.values(), [None] * len(bounds))) # loop through every polygon for i, b in bounds.items(): # we first query for bounding box intersections from the R-tree for j in tree.intersection(b): # if we are checking a polygon against itself continue if i == j: continue # do a more accurate polygon in polygon test # for the enclosure tree information if polygons[i].contains(polygons[j]): contains.add_edge(i, j) elif polygons[j].contains(polygons[i]): contains.add_edge(j, i) # a root or exterior curve has an even number of parents # wrap in dict call to avoid networkx view degree = dict(contains.in_degree()) # convert keys and values to numpy arrays indexes = np.array(list(degree.keys())) degrees = np.array(list(degree.values())) # roots are curves with an even inward degree (parent count) roots = indexes[(degrees % 2) == 0] # if there are multiple nested polygons split the graph # so the contains logic returns the individual polygons if len(degrees) > 0 and degrees.max() > 1: # collect new edges for graph edges = [] # order the roots so they are sorted by degree roots = roots[np.argsort([degree[r] for r in roots])] # find edges of subgraph for each root and children for root in roots: children = indexes[degrees == degree[root] + 1] edges.extend(contains.subgraph(np.append(children, root)).edges()) # stack edges into new directed graph contains = nx.from_edgelist(edges, nx.DiGraph()) # if roots have no children add them anyway contains.add_nodes_from(roots) return roots, contains def edges_to_polygons(edges: NDArray[int64], vertices: NDArray[float64]): """ Given an edge list of indices and associated vertices representing lines, generate a list of polygons. Parameters ----------- edges : (n, 2) Indexes of vertices which represent lines vertices : (m, 2) Vertices in 2D space. Returns ---------- polygons : (p,) shapely.geometry.Polygon Polygon objects with interiors """ assert isinstance(vertices, np.ndarray) # create closed polygon objects polygons = [] # loop through a sequence of ordered traversals for dfs in graph.traversals(edges, mode="dfs"): try: # try to recover polygons before they are more complicated repaired = repair_invalid(Polygon(vertices[dfs])) # if it returned a multipolygon extend into a flat list if hasattr(repaired, "geoms"): polygons.extend(repaired.geoms) else: polygons.append(repaired) except ValueError: continue # if there is only one polygon, just return it if len(polygons) == 1: return polygons # find which polygons contain which other polygons roots, tree = enclosure_tree(polygons) # generate polygons with proper interiors return [ Polygon( shell=polygons[root].exterior, holes=[polygons[i].exterior for i in tree[root].keys()], ) for root in roots ] def polygons_obb(polygons: Iterable[Polygon]): """ Find the OBBs for a list of shapely.geometry.Polygons """ rectangles = [None] * len(polygons) transforms = [None] * len(polygons) for i, p in enumerate(polygons): transforms[i], rectangles[i] = polygon_obb(p) return np.array(transforms), np.array(rectangles) def polygon_obb(polygon: Union[Polygon, NDArray]): """ Find the oriented bounding box of a Shapely polygon. The OBB is always aligned with an edge of the convex hull of the polygon. Parameters ------------- polygons : shapely.geometry.Polygon Input geometry Returns ------------- transform : (3, 3) float Transformation matrix which will move input polygon from its original position to the first quadrant where the AABB is the OBB extents : (2,) float Extents of transformed polygon """ if hasattr(polygon, "exterior"): points = np.asanyarray(polygon.exterior.coords) elif isinstance(polygon, np.ndarray): points = polygon else: raise ValueError("polygon or points must be provided") transform, extents = bounds.oriented_bounds_2D(points) if tol.strict: moved = transform_points(points=points, matrix=transform) assert np.allclose(-extents / 2.0, moved.min(axis=0)) assert np.allclose(extents / 2.0, moved.max(axis=0)) return transform, extents def transform_polygon(polygon, matrix): """ Transform a polygon by a a 2D homogeneous transform. Parameters ------------- polygon : shapely.geometry.Polygon 2D polygon to be transformed. matrix : (3, 3) float 2D homogeneous transformation. Returns -------------- result : shapely.geometry.Polygon Polygon transformed by matrix. """ matrix = np.asanyarray(matrix, dtype=np.float64) if hasattr(polygon, "geoms"): result = [transform_polygon(p, t) for p, t in zip(polygon, matrix)] return result # transform the outer shell shell = transform_points(np.array(polygon.exterior.coords), matrix)[:, :2] # transform the interiors holes = [ transform_points(np.array(i.coords), matrix)[:, :2] for i in polygon.interiors ] # create a new polygon with the result result = Polygon(shell=shell, holes=holes) return result def polygon_bounds(polygon, matrix=None): """ Get the transformed axis aligned bounding box of a shapely Polygon object. Parameters ------------ polygon : shapely.geometry.Polygon Polygon pre-transform matrix : (3, 3) float or None. Homogeneous transform moving polygon in space Returns ------------ bounds : (2, 2) float Axis aligned bounding box of transformed polygon. """ if matrix is not None: assert matrix.shape == (3, 3) points = transform_points(points=np.array(polygon.exterior.coords), matrix=matrix) else: points = np.array(polygon.exterior.coords) bounds = np.array([points.min(axis=0), points.max(axis=0)]) assert bounds.shape == (2, 2) return bounds def plot(polygon=None, show=True, axes=None, **kwargs): """ Plot a shapely polygon using matplotlib. Parameters ------------ polygon : shapely.geometry.Polygon Polygon to be plotted show : bool If True will display immediately **kwargs Passed to plt.plot """ import matplotlib.pyplot as plt def plot_single(single): axes.plot(*single.exterior.xy, **kwargs) for interior in single.interiors: axes.plot(*interior.xy, **kwargs) # make aspect ratio non-stupid if axes is None: axes = plt.axes() axes.set_aspect("equal", "datalim") if polygon.__class__.__name__ == "MultiPolygon": [plot_single(i) for i in polygon.geoms] elif hasattr(polygon, "__iter__"): [plot_single(i) for i in polygon] elif polygon is not None: plot_single(polygon) if show: plt.show() return axes def resample_boundaries(polygon: Polygon, resolution: float, clip=None): """ Return a version of a polygon with boundaries re-sampled to a specified resolution. Parameters ------------- polygon : shapely.geometry.Polygon Source geometry resolution : float Desired distance between points on boundary clip : (2,) int Upper and lower bounds to clip number of samples to avoid exploding count Returns ------------ kwargs : dict Keyword args for a Polygon constructor `Polygon(**kwargs)` """ def resample_boundary(boundary): # add a polygon.exterior or polygon.interior to # the deque after resampling based on our resolution count = boundary.length / resolution count = int(np.clip(count, *clip)) return resample_path(boundary.coords, count=count) if clip is None: clip = [8, 200] # create a sequence of [(n,2)] points kwargs = {"shell": resample_boundary(polygon.exterior), "holes": []} for interior in polygon.interiors: kwargs["holes"].append(resample_boundary(interior)) return kwargs def stack_boundaries(boundaries): """ Stack the boundaries of a polygon into a single (n, 2) list of vertices. Parameters ------------ boundaries : dict With keys 'shell', 'holes' Returns ------------ stacked : (n, 2) float Stacked vertices """ if len(boundaries["holes"]) == 0: return boundaries["shell"] return np.vstack((boundaries["shell"], np.vstack(boundaries["holes"]))) def medial_axis(polygon: Polygon, resolution: Optional[Number] = None, clip=None): """ Given a shapely polygon, find the approximate medial axis using a voronoi diagram of evenly spaced points on the boundary of the polygon. Parameters ---------- polygon : shapely.geometry.Polygon The source geometry resolution : float Distance between each sample on the polygon boundary clip : None, or (2,) int Clip sample count to min of clip[0] and max of clip[1] Returns ---------- edges : (n, 2) int Vertex indices representing line segments on the polygon's medial axis vertices : (m, 2) float Vertex positions in space """ # a circle will have a single point medial axis if len(polygon.interiors) == 0: # what is the approximate scale of the polygon scale = np.ptp(np.reshape(polygon.bounds, (2, 2)), axis=0).max() # a (center, radius, error) tuple fit = fit_circle_check(polygon.exterior.coords, scale=scale) # is this polygon in fact a circle if fit is not None: # return an edge that has the center as the midpoint epsilon = np.clip(fit["radius"] / 500, 1e-5, np.inf) vertices = np.array( [fit["center"] + [0, epsilon], fit["center"] - [0, epsilon]], dtype=np.float64, ) # return a single edge to avoid consumers needing to special case edges = np.array([[0, 1]], dtype=np.int64) return edges, vertices from scipy.spatial import Voronoi from shapely import vectorized if resolution is None: resolution = np.ptp(np.reshape(polygon.bounds, (2, 2)), axis=0).max() / 100 # get evenly spaced points on the polygons boundaries samples = resample_boundaries(polygon=polygon, resolution=resolution, clip=clip) # stack the boundary into a (m,2) float array samples = stack_boundaries(samples) # create the voronoi diagram on 2D points voronoi = Voronoi(samples) # which voronoi vertices are contained inside the polygon contains = vectorized.contains(polygon, *voronoi.vertices.T) # ridge vertices of -1 are outside, make sure they are False contains = np.append(contains, False) # make sure ridge vertices is numpy array ridge = np.asanyarray(voronoi.ridge_vertices, dtype=np.int64) # only take ridges where every vertex is contained edges = ridge[contains[ridge].all(axis=1)] # now we need to remove uncontained vertices contained = np.unique(edges) mask = np.zeros(len(voronoi.vertices), dtype=np.int64) mask[contained] = np.arange(len(contained)) # mask voronoi vertices vertices = voronoi.vertices[contained] # re-index edges edges_final = mask[edges] if tol.strict: # make sure we didn't screw up indexes assert np.ptp(vertices[edges_final] - voronoi.vertices[edges]) < 1e-5 return edges_final, vertices def identifier(polygon: Polygon) -> NDArray[float64]: """ Return a vector containing values representative of a particular polygon. Parameters --------- polygon : shapely.geometry.Polygon Input geometry Returns --------- identifier : (8,) float Values which should be unique for this polygon. """ result = [ len(polygon.interiors), polygon.convex_hull.area, polygon.convex_hull.length, polygon.area, polygon.length, polygon.exterior.length, ] # include the principal second moments of inertia of the polygon # this is invariant to rotation and translation _, principal, _, _ = second_moments(polygon, return_centered=True) result.extend(principal) return np.array(result, dtype=np.float64) def random_polygon(segments=8, radius=1.0): """ Generate a random polygon with a maximum number of sides and approximate radius. Parameters --------- segments : int The maximum number of sides the random polygon will have radius : float The approximate radius of the polygon desired Returns --------- polygon : shapely.geometry.Polygon Geometry object with random exterior and no interiors. """ angles = np.sort(np.cumsum(np.random.random(segments) * np.pi * 2) % (np.pi * 2)) radii = np.random.random(segments) * radius points = np.column_stack((np.cos(angles), np.sin(angles))) * radii.reshape((-1, 1)) points = np.vstack((points, points[0])) polygon = Polygon(points).buffer(0.0) if hasattr(polygon, "geoms"): return polygon.geoms[0] return polygon def polygon_scale(polygon): """ For a Polygon object return the diagonal length of the AABB. Parameters ------------ polygon : shapely.geometry.Polygon Source geometry Returns ------------ scale : float Length of AABB diagonal """ extents = np.ptp(np.reshape(polygon.bounds, (2, 2)), axis=0) scale = (extents**2).sum() ** 0.5 return scale def paths_to_polygons(paths, scale=None): """ Given a sequence of connected points turn them into valid shapely Polygon objects. Parameters ----------- paths : (n,) sequence Of (m, 2) float closed paths scale : float Approximate scale of drawing for precision Returns ----------- polys : (p,) list Filled with Polygon or None """ polygons = [None] * len(paths) for i, path in enumerate(paths): if len(path) < 4: # since the first and last vertices are identical in # a closed loop a 4 vertex path is the minimum for # non-zero area continue try: polygon = Polygon(path) if polygon.is_valid: polygons[i] = polygon else: polygons[i] = repair_invalid(polygon, scale) except ValueError: # raised if a polygon is unrecoverable continue except BaseException: log.error("unrecoverable polygon", exc_info=True) polygons = np.array(polygons) return polygons def sample(polygon, count, factor=1.5, max_iter=10): """ Use rejection sampling to generate random points inside a polygon. Parameters ----------- polygon : shapely.geometry.Polygon Polygon that will contain points count : int Number of points to return factor : float How many points to test per loop max_iter : int Maximum number of intersection checks is: > count * factor * max_iter Returns ----------- hit : (n, 2) float Random points inside polygon where n <= count """ # do batch point-in-polygon queries from shapely import vectorized # get size of bounding box bounds = np.reshape(polygon.bounds, (2, 2)) extents = np.ptp(bounds, axis=0) # how many points to check per loop iteration per_loop = int(count * factor) # start with some rejection sampling points = bounds[0] + extents * np.random.random((per_loop, 2)) # do the point in polygon test and append resulting hits mask = vectorized.contains(polygon, *points.T) hit = [points[mask]] hit_count = len(hit[0]) # if our first non-looping check got enough samples exit if hit_count >= count: return hit[0][:count] # if we have to do iterations loop here slowly for _ in range(max_iter): # generate points inside polygons AABB points = np.random.random((per_loop, 2)) points = (points * extents) + bounds[0] # do the point in polygon test and append resulting hits mask = vectorized.contains(polygon, *points.T) hit.append(points[mask]) # keep track of how many points we've collected hit_count += len(hit[-1]) # if we have enough points exit the loop if hit_count > count: break # stack the hits into an (n,2) array and truncate hit = np.vstack(hit)[:count] return hit def repair_invalid(polygon, scale=None, rtol=0.5): """ Given a shapely.geometry.Polygon, attempt to return a valid version of the polygon through buffering tricks. Parameters ----------- polygon : shapely.geometry.Polygon Source geometry rtol : float How close does a perimeter have to be scale : float or None For numerical precision reference Returns ---------- repaired : shapely.geometry.Polygon Repaired polygon Raises ---------- ValueError If polygon can't be repaired """ if hasattr(polygon, "is_valid") and polygon.is_valid: return polygon # basic repair involves buffering the polygon outwards # this will fix a subset of problems. basic = polygon.buffer(tol.zero) # if it returned multiple polygons check the largest if hasattr(basic, "geoms"): basic = basic.geoms[np.argmax([i.area for i in basic.geoms])] # check perimeter of result against original perimeter if basic.is_valid and np.isclose(basic.length, polygon.length, rtol=rtol): return basic if scale is None: distance = 0.002 * np.ptp(np.reshape(polygon.bounds, (2, 2)), axis=0).mean() else: distance = 0.002 * scale # if there are no interiors, we can work with just the exterior # ring, which is often more reliable if len(polygon.interiors) == 0: # try buffering the exterior of the polygon # the interior will be offset by -tol.buffer rings = polygon.exterior.buffer(distance).interiors if len(rings) == 1: # reconstruct a single polygon from the interior ring recon = Polygon(shell=rings[0]).buffer(distance) # check perimeter of result against original perimeter if recon.is_valid and np.isclose(recon.length, polygon.length, rtol=rtol): return recon # try de-deuplicating the outside ring points = np.array(polygon.exterior.coords) # remove any segments shorter than tol.merge # this is a little risky as if it was discretized more # finely than 1-e8 it may remove detail unique = np.append(True, (np.diff(points, axis=0) ** 2).sum(axis=1) ** 0.5 > 1e-8) # make a new polygon with result dedupe = Polygon(shell=points[unique]) # check result if dedupe.is_valid and np.isclose(dedupe.length, polygon.length, rtol=rtol): return dedupe # buffer and unbuffer the whole polygon buffered = polygon.buffer(distance).buffer(-distance) # if it returned multiple polygons check the largest if hasattr(buffered, "geoms"): areas = np.array([b.area for b in buffered.geoms]) return buffered.geoms[areas.argmax()] # check perimeter of result against original perimeter if buffered.is_valid and np.isclose(buffered.length, polygon.length, rtol=rtol): log.debug("Recovered invalid polygon through double buffering") return buffered raise ValueError("unable to recover polygon!") def projected( mesh, normal, origin=None, ignore_sign=True, rpad=1e-5, apad=None, tol_dot=1e-10, precise: bool = False, ): """ Project a mesh onto a plane and then extract the polygon that outlines the mesh projection on that plane. Note that this will ignore back-faces, which is only relevant if the source mesh isn't watertight. Also padding: this generates a result by unioning the polygons of multiple connected regions, which requires the polygons be padded by a distance so that a polygon union produces a single coherent result. This distance is calculated as: `apad + (rpad * scale)` Parameters ---------- mesh : trimesh.Trimesh Source geometry check : bool If True make sure is flat normal : (3,) float Normal to extract flat pattern along origin : None or (3,) float Origin of plane to project mesh onto ignore_sign : bool Allow a projection from the normal vector in either direction: this provides a substantial speedup on watertight meshes where the direction is irrelevant but if you have a triangle soup and want to discard backfaces you should set this to False. rpad : float Proportion to pad polygons by before unioning and then de-padding result by to avoid zero-width gaps. apad : float Absolute padding to pad polygons by before unioning and then de-padding result by to avoid zero-width gaps. tol_dot : float Tolerance for discarding on-edge triangles. max_regions : int Raise an exception if the mesh has more than this number of disconnected regions to fail quickly before unioning. Returns ---------- projected : shapely.geometry.Polygon or None Outline of source mesh Raises --------- ValueError If max_regions is exceeded """ # make sure normal is a unitized copy normal = np.array(normal, dtype=np.float64) normal /= np.linalg.norm(normal) # the projection of each face normal onto facet normal dot_face = np.dot(normal, mesh.face_normals.T) if ignore_sign: # for watertight mesh speed up projection by handling side with less faces # check if face lies on front or back of normal front = dot_face > tol_dot back = dot_face < -tol_dot # divide the mesh into front facing section and back facing parts # and discard the faces perpendicular to the axis. # since we are doing a unary_union later we can use the front *or* # the back so we use which ever one has fewer triangles # we want the largest nonzero group count = np.array([front.sum(), back.sum()]) if count.min() == 0: # if one of the sides has zero faces we need the other pick = count.argmax() else: # otherwise use the normal direction with the fewest faces pick = count.argmin() # use the picked side side = [front, back][pick] else: # if explicitly asked to care about the sign # only handle the front side of normal side = dot_face > tol_dot # subset the adjacency pairs to ones which have both faces included # on the side we are currently looking at adjacency_check = side[mesh.face_adjacency].all(axis=1) adjacency = mesh.face_adjacency[adjacency_check] # transform from the mesh frame in 3D to the XY plane to_2D = geometry.plane_transform(origin=origin, normal=normal) # transform mesh vertices to 2D and clip the zero Z vertices_2D = transform_points(mesh.vertices, to_2D)[:, :2] if precise: eps = 1e-10 faces = mesh.faces[side] # just union all the polygons return ( ops.unary_union( [Polygon(f) for f in vertices_2D[np.column_stack((faces, faces[:, :1]))]] ) .buffer(eps) .buffer(-eps) ) # a sequence of face indexes that are connected face_groups = graph.connected_components(adjacency, nodes=np.nonzero(side)[0]) # reshape edges into shape length of faces for indexing edges = mesh.edges_sorted.reshape((-1, 6)) polygons = [] for faces in face_groups: # index edges by face then shape back to individual edges edge = edges[faces].reshape((-1, 2)) # edges that occur only once are on the boundary group = grouping.group_rows(edge, require_count=1) # turn each region into polygons polygons.extend(edges_to_polygons(edges=edge[group], vertices=vertices_2D)) padding = 0.0 if apad is not None: # set padding by absolute value padding += float(apad) if rpad is not None: # get the 2D scale as the longest side of the AABB scale = np.ptp(vertices_2D, axis=0).max() # apply the scale-relative padding padding += float(rpad) * scale # if there is only one region we don't need to run a union elif len(polygons) == 1: return polygons[0] elif len(polygons) == 0: return None # in my tests this was substantially faster than `shapely.ops.unary_union` reduced = reduce_cascade(lambda a, b: a.union(b), polygons) # can be None if reduced is not None: return reduced.buffer(padding).buffer(-padding) def second_moments(polygon: Polygon, return_centered=False): """ Calculate the second moments of area of a polygon from the boundary. Parameters ------------ polygon : shapely.geometry.Polygon Closed polygon. return_centered : bool Get second moments for a frame with origin at the centroid and perform a principal axis transformation. Returns ---------- moments : (3,) float The values of `[Ixx, Iyy, Ixy]` principal_moments : (2,) float Principal second moments of inertia: `[Imax, Imin]` Only returned if `centered`. alpha : float Angle by which the polygon needs to be rotated, so the principal axis align with the X and Y axis. Only returned if `centered`. transform : (3, 3) float Transformation matrix which rotates the polygon by alpha. Only returned if `centered`. """ transform = np.eye(3) if return_centered: # calculate centroid and move polygon transform[:2, 2] = -np.array(polygon.centroid.coords) polygon = transform_polygon(polygon, transform) # start with the exterior coords = np.array(polygon.exterior.coords) # shorthand the coordinates x1, y1 = np.vstack((coords[-1], coords[:-1])).T x2, y2 = coords.T # do vectorized operations v = x1 * y2 - x2 * y1 Ixx = np.sum(v * (y1 * y1 + y1 * y2 + y2 * y2)) / 12.0 Iyy = np.sum(v * (x1 * x1 + x1 * x2 + x2 * x2)) / 12.0 Ixy = np.sum(v * (x1 * y2 + 2 * x1 * y1 + 2 * x2 * y2 + x2 * y1)) / 24.0 for interior in polygon.interiors: coords = np.array(interior.coords) # shorthand the coordinates x1, y1 = np.vstack((coords[-1], coords[:-1])).T x2, y2 = coords.T # do vectorized operations v = x1 * y2 - x2 * y1 Ixx -= np.sum(v * (y1 * y1 + y1 * y2 + y2 * y2)) / 12.0 Iyy -= np.sum(v * (x1 * x1 + x1 * x2 + x2 * x2)) / 12.0 Ixy -= np.sum(v * (x1 * y2 + 2 * x1 * y1 + 2 * x2 * y2 + x2 * y1)) / 24.0 moments = [Ixx, Iyy, Ixy] if not return_centered: return moments # get the principal moments root = np.sqrt(((Iyy - Ixx) / 2.0) ** 2 + Ixy**2) Imax = (Ixx + Iyy) / 2.0 + root Imin = (Ixx + Iyy) / 2.0 - root principal_moments = [Imax, Imin] # do the principal axis transform if np.isclose(Ixy, 0.0, atol=1e-12): alpha = 0 elif np.isclose(Ixx, Iyy): # prevent division by 0 alpha = 0.25 * np.pi else: alpha = 0.5 * np.arctan(2.0 * Ixy / (Ixx - Iyy)) # construct transformation matrix cos_alpha = np.cos(alpha) sin_alpha = np.sin(alpha) transform[0, 0] = cos_alpha transform[1, 1] = cos_alpha transform[0, 1] = -sin_alpha transform[1, 0] = sin_alpha return moments, principal_moments, alpha, transform trimesh-4.5.1/trimesh/path/raster.py000066400000000000000000000062001470574263400174670ustar00rootroot00000000000000""" raster.py ------------ Turn 2D vector paths into raster images using `pillow` """ import numpy as np try: # keep pillow as a soft dependency from PIL import Image, ImageChops, ImageDraw except BaseException as E: from .. import exceptions # re-raise the useful exception when called _handle = exceptions.ExceptionWrapper(E) Image = _handle ImageDraw = _handle ImageChops = _handle from ..typed import ArrayLike, Floating, Optional, Union def rasterize( path: "trimesh.path.Path2D", # noqa pitch: Union[Floating, ArrayLike, None] = None, origin: Optional[ArrayLike] = None, resolution=None, fill=True, width=None, ): """ Rasterize a Path2D object into a boolean image ("mode 1"). Parameters ------------ path : Path2D Original geometry pitch : float or (2,) float Length(s) in model space of pixel edges origin : (2,) float Origin position in model space resolution : (2,) int Resolution in pixel space fill : bool If True will return closed regions as filled width : int If not None will draw outline this wide in pixels Returns ------------ raster : PIL.Image Rasterized version of input as `mode 1` image """ if pitch is None: if resolution is not None: resolution = np.array(resolution, dtype=np.int64) # establish pitch from passed resolution pitch = (path.extents / (resolution + 2)).max() else: pitch = path.extents.max() / 2048 if origin is None: origin = path.bounds[0] - (pitch * 2.0) # check inputs pitch = np.asanyarray(pitch, dtype=np.float64) origin = np.asanyarray(origin, dtype=np.float64) # if resolution is None make it larger than path if resolution is None: span = np.ptp(np.vstack((path.bounds, origin)), axis=0) resolution = np.ceil(span / pitch) + 2 # get resolution as a (2,) int tuple resolution = np.asanyarray(resolution, dtype=np.int64) resolution = tuple(resolution.tolist()) # convert all discrete paths to pixel space discrete = [((i - origin) / pitch).round().astype(np.int64) for i in path.discrete] # the path indexes that are exteriors # needed to know what to fill/empty but expensive roots = path.root enclosure = path.enclosure_directed # draw the exteriors result = Image.new(mode="1", size=resolution) draw = ImageDraw.Draw(result) # if a width is specified draw the outline if width is not None: width = int(width) for coords in discrete: draw.line(coords.flatten().tolist(), fill=1, width=width) # if we are not filling the polygon exit if not fill: return result # roots are ordered by degree # so we draw the outermost one first # and then go in as we progress for root in roots: # draw the exterior draw.polygon(discrete[root].flatten().tolist(), fill=1) # draw the interior children for child in enclosure[root]: draw.polygon(discrete[child].flatten().tolist(), fill=0) return result trimesh-4.5.1/trimesh/path/repair.py000066400000000000000000000062451470574263400174620ustar00rootroot00000000000000""" repair.py -------------- Try to fix problems with closed regions. """ import numpy as np from scipy.spatial import cKDTree from .. import util from . import segments def fill_gaps(path, distance=0.025): """ Find vertices without degree 2 and try to connect to other vertices. Operations are done in-place. Parameters ------------ segments : trimesh.path.Path2D Line segments defined by start and end points """ # find any vertex without degree 2 (connected to two things) broken = np.array([k for k, d in dict(path.vertex_graph.degree()).items() if d != 2]) # if all vertices have correct connectivity, exit if len(broken) == 0: return # first find broken vertices with distance tree = cKDTree(path.vertices[broken]) pairs = tree.query_pairs(r=distance, output_type="ndarray") connect_seg = [] if len(pairs) > 0: end_points = {tuple(sorted(e.end_points)) for e in path.entities} pair_set = {tuple(i) for i in np.sort(broken[pairs], axis=1)} # we don't want to connect entities to themselves so do a set # difference mask = np.array(list(pair_set.difference(end_points))) if len(mask) > 0: connect_seg = path.vertices[mask] # a set of values we can query intersections with quickly broken_set = set(broken) # query end points set vs path.dangling to avoid having # to compute every single path and discrete curve dangle = [ i for i, e in enumerate(path.entities) if len(broken_set.intersection(e.end_points)) > 0 ] segs = [] # mask for which entities to keep keep = np.ones(len(path.entities), dtype=bool) # save a reference to the line class to avoid circular import line_class = None for entity_index in dangle: # only consider line entities if path.entities[entity_index].__class__.__name__ != "Line": continue if line_class is None: line_class = path.entities[entity_index].__class__ # get discrete version of entity points = path.entities[entity_index].discrete(path.vertices) # turn connected curve into segments seg_idx = util.stack_lines(np.arange(len(points))) # append the segments to our collection segs.append(points[seg_idx]) # remove this entity and replace with segments keep[entity_index] = False # combine segments with connection segments all_segs = util.vstack_empty((util.vstack_empty(segs), connect_seg)) # go home early if len(all_segs) == 0: return # split segments at broken vertices so topology can happen split = segments.split(all_segs, path.vertices[broken]) # merge duplicate segments final_seg = segments.unique(split) # add line segments in as line entities entities = [] for i in range(len(final_seg)): entities.append(line_class(points=np.arange(2) + (i * 2) + len(path.vertices))) # replace entities with new entities path.entities = np.append(path.entities[keep], entities) path.vertices = np.vstack((path.vertices, np.vstack(final_seg))) path._cache.clear() path.process() trimesh-4.5.1/trimesh/path/segments.py000066400000000000000000000377361470574263400200360ustar00rootroot00000000000000""" segments.py -------------- Deal with (n, 2, 3) line segments. """ import numpy as np from .. import geometry, transformations, util from ..constants import tol from ..grouping import group_rows, unique_rows from ..interval import union from ..typed import ArrayLike, NDArray, float64 def segments_to_parameters(segments: ArrayLike): """ For 3D line segments defined by two points, turn them in to an origin defined as the closest point along the line to the zero origin as well as a direction vector and start and end parameter. Parameters ------------ segments : (n, 2, 3) float Line segments defined by start and end points Returns -------------- origins : (n, 3) float Point on line closest to [0, 0, 0] vectors : (n, 3) float Unit line directions parameters : (n, 2) float Start and end distance pairs for each line """ segments = np.asanyarray(segments, dtype=np.float64) if not util.is_shape(segments, (-1, 2, (2, 3))): raise ValueError("incorrect segment shape!", segments.shape) # make the initial origin one of the end points endpoint = segments[:, 0] vectors = segments[:, 1] - endpoint vectors_norm = util.row_norm(vectors) vectors /= vectors_norm.reshape((-1, 1)) # find the point along the line nearest the origin offset = util.diagonal_dot(endpoint, vectors) # points nearest [0, 0, 0] will be our new origin origins = endpoint + (offset.reshape((-1, 1)) * -vectors) # parametric start and end of line segment parameters = np.column_stack((offset, offset + vectors_norm)) # make sure signs are consistent vectors, signs = util.vector_hemisphere(vectors, return_sign=True) parameters *= signs.reshape((-1, 1)) return origins, vectors, parameters def parameters_to_segments( origins: NDArray[float64], vectors: ArrayLike, parameters: NDArray[float64] ): """ Convert a parametric line segment representation to a two point line segment representation Parameters ------------ origins : (n, 3) float Line origin point vectors : (n, 3) float Unit line directions parameters : (n, 2) float Start and end distance pairs for each line Returns -------------- segments : (n, 2, 3) float Line segments defined by start and end points """ # don't copy input origins = np.asanyarray(origins, dtype=np.float64) vectors = np.asanyarray(vectors, dtype=np.float64) parameters = np.asanyarray(parameters, dtype=np.float64) # turn the segments into a reshapable 2D array segments = np.hstack( (origins + vectors * parameters[:, :1], origins + vectors * parameters[:, 1:]) ) return segments.reshape((-1, 2, origins.shape[1])) def colinear_pairs(segments, radius=0.01, angle=0.01, length=None): """ Find pairs of segments which are colinear. Parameters ------------- segments : (n, 2, (2, 3)) float Two or three dimensional line segments radius : float Maximum radius line origins can differ and be considered colinear angle : float Maximum angle in radians segments can differ and still be considered colinear length : None or float If specified, will additionally require that pairs have a *vertex* within this distance. Returns ------------ pairs : (m, 2) int Indexes of segments which are colinear """ from scipy import spatial # convert segments to parameterized origins # which are the closest point on the line to # the actual zero- origin origins, vectors, _param = segments_to_parameters(segments) # create a kdtree for origins tree = spatial.cKDTree(origins) # find origins closer than specified radius pairs = tree.query_pairs(r=radius, output_type="ndarray") # calculate angles between pairs angles = geometry.vector_angle(vectors[pairs]) # angles can be within tolerance of 180 degrees or 0.0 degrees angle_ok = np.logical_or( util.isclose(angles, np.pi, atol=angle), util.isclose(angles, 0.0, atol=angle) ) # apply angle threshold colinear = pairs[angle_ok] # if length is specified check endpoint proximity if length is not None: # `segments` index of colinear pairs a, b = colinear.T # we want the minimum distance of any of these pairs: # a[0] - b[0] # a[1] - b[0] # a[0] - b[1] # a[1] - b[1] # do it in the most confusing possible vectorized way min_vertex = np.linalg.norm( segments[a][:, [0, 1, 0, 1], :] - segments[b][:, [0, 0, 1, 1], :], axis=2 ).min(axis=1) # remove pairs that don't meet the distance metric colinear = colinear[min_vertex < length] return colinear def clean(segments: ArrayLike, digits: int = 10) -> NDArray[float64]: """ Clean up line segments by unioning the ranges of colinear segments. Parameters ------------ segments : (n, 2, 2) or (n, 2, 3) Line segments in space. digits How many digits to consider. Returns ----------- cleaned : (m, 2, 2) or (m, 2, 3) Where `m <= n` """ # convert segments to parameterized origins # which are the closest point on the line to # the actual zero- origin origins, vectors, param = segments_to_parameters(segments) # make sure parameters are in min-max order param.sort(axis=1) # find the groups of values with identical origins and vectors groups = group_rows(np.column_stack((origins, vectors)), digits=digits) # get the union of every interval range for colinear segments unions = [union(param[g][param[g][:, 0].argsort()], sort=False) for g in groups] # reconstruct indexes for the origins and vectors indexes = np.concatenate([g[: len(u)] for g, u in zip(groups, unions)]) # convert parametric form back into vertex-segment form return parameters_to_segments( origins=origins[indexes], vectors=vectors[indexes], parameters=np.vstack(unions) ) def split(segments, points, atol=1e-5): """ Find any points that lie on a segment (not an endpoint) and then split that segment into two segments. We are basically going to find the distance between point and both segment vertex, and see if it is with tolerance of the segment length. Parameters -------------- segments : (n, 2, (2, 3) float Line segments in space points : (n, (2, 3)) float Points in space atol : float Absolute tolerance for distances Returns ------------- split : (n, 2, (3 | 3) float Line segments in space, split at vertices """ points = np.asanyarray(points, dtype=np.float64) segments = np.asanyarray(segments, dtype=np.float64) # reshape to a flat 2D (n, dimension) array seg_flat = segments.reshape((-1, segments.shape[2])) # find the length of every segment length = ((segments[:, 0, :] - segments[:, 1, :]) ** 2).sum(axis=1) ** 0.5 # a mask to remove segments we split at the end keep = np.ones(len(segments), dtype=bool) # append new segments to a list new_seg = [] # loop through every point for p in points: # note that you could probably get a speedup # by using scipy.spatial.distance.cdist here # find the distance from point to every segment endpoint pair = ((seg_flat - p) ** 2).sum(axis=1).reshape((-1, 2)) ** 0.5 # point is on a segment if it is not on a vertex # and the sum length is equal to the actual segment length on_seg = np.logical_and( util.isclose(length, pair.sum(axis=1), atol=atol), ~util.isclose(pair, 0.0, atol=atol).any(axis=1), ) # if we have any points on the segment split it in twain if on_seg.any(): # remove the original segment keep = np.logical_and(keep, ~on_seg) # split every segment that this point lies on for seg in segments[on_seg]: new_seg.append([p, seg[0]]) new_seg.append([p, seg[1]]) if len(new_seg) > 0: return np.vstack((segments[keep], new_seg)) else: return segments def unique(segments, digits=5): """ Find unique non-zero line segments. Parameters ------------ segments : (n, 2, (2|3)) float Line segments in space digits : int How many digits to consider when merging vertices Returns ----------- unique : (m, 2, (2|3)) float Segments with duplicates merged """ segments = np.asanyarray(segments, dtype=np.float64) # find segments as unique indexes so we can find duplicates inverse = unique_rows(segments.reshape((-1, segments.shape[2])), digits=digits)[ 1 ].reshape((-1, 2)) # make sure rows are sorted inverse.sort(axis=1) # remove segments where both indexes are the same mask = np.zeros(len(segments), dtype=bool) # only include the first occurrence of a segment mask[unique_rows(inverse)[0]] = True # remove segments that are zero-length mask[inverse[:, 0] == inverse[:, 1]] = False # apply the unique mask unique = segments[mask] return unique def extrude(segments, height, double_sided=False): """ Extrude 2D line segments into 3D triangles. Parameters ------------- segments : (n, 2, 2) float 2D line segments height : float Distance to extrude along Z double_sided : bool If true, return 4 triangles per segment Returns ------------- vertices : (n, 3) float Vertices in space faces : (n, 3) int Indices of vertices forming triangles """ segments = np.asanyarray(segments, dtype=np.float64) if not util.is_shape(segments, (-1, 2, 2)): raise ValueError("segments shape incorrect") # we are creating two vertices triangles for every 2D line segment # on the segments of the 2D triangulation vertices = np.column_stack( ( np.tile(segments.reshape((-1, 2)), 2).reshape((-1, 2)), np.tile([0, height, 0, height], len(segments)), ) ) faces = ( np.tile([3, 1, 2, 2, 1, 0], (len(segments), 1)) + np.arange(len(segments)).reshape((-1, 1)) * 4 ).reshape((-1, 3)) if double_sided: # stack so they will render from the back faces = np.vstack((faces, np.fliplr(faces))) return vertices, faces def length(segments, summed=True): """ Extrude 2D line segments into 3D triangles. Parameters ------------- segments : (n, 2, 2) float 2D line segments height : float Distance to extrude along Z double_sided : bool If true, return 4 triangles per segment Returns ------------- vertices : (n, 3) float Vertices in space faces : (n, 3) int Indices of vertices forming triangles """ segments = np.asanyarray(segments) norms = util.row_norm(segments[:, 0, :] - segments[:, 1, :]) if summed: return norms.sum() return norms def resample(segments, maxlen, return_index=False, return_count=False): """ Resample line segments until no segment is longer than maxlen. Parameters ------------- segments : (n, 2, 2|3) float 2D line segments maxlen : float The maximum length of a line segment return_index : bool Return the index of the source segment return_count : bool Return how many segments each original was split into Returns ------------- resampled : (m, 2, 2|3) float Line segments where no segment is longer than maxlen index : (m,) int [OPTIONAL] The index of segments resampled came from count : (n,) int [OPTIONAL] The count of the original segments """ # check arguments maxlen = float(maxlen) segments = np.array(segments, dtype=np.float64) if len(segments.shape) != 3: raise ValueError(f"{segments.shape} != (n, 2, 2|3)") dimension = segments.shape[2] # shortcut for endpoints pt1 = segments[:, 0] pt2 = segments[:, 1] # vector between endpoints vec = pt2 - pt1 # the integer number of times a segment needs to be split splits = np.ceil(util.row_norm(vec) / maxlen).astype(np.int64) # save resulting segments result = [] # save index of original segment index = [] tile = np.tile # generate the line indexes ahead of time stacks = util.stack_lines(np.arange(splits.max() + 1)) # loop through each count of unique splits needed for split in np.unique(splits): # get a mask of which segments need to be split mask = splits == split # the vector for each incremental length increment = vec[mask] / split # stack the increment vector into the shape needed v = tile(increment, split + 1).reshape((-1, dimension)) * tile( np.arange(split + 1), len(increment) ).reshape((-1, 1)) # stack the origin points correctly o = tile(pt1[mask], split + 1).reshape((-1, dimension)) # now get each segment as an (split, 3) polyline poly = (o + v).reshape((-1, split + 1, dimension)) # save the resulting segments # magical slicing is equivalent to: # > [p[stack] for p in poly] result.extend(poly[:, stacks[:split]]) if return_index: # get the original index from the mask index_original = np.nonzero(mask)[0].reshape((-1, 1)) # save one entry per split segment index.append( (np.ones((len(poly), split), dtype=np.int64) * index_original).ravel() ) if tol.strict: # check to make sure every start and end point # from the reconstructed result corresponds for original, recon in zip(segments[mask], poly): assert np.allclose(original[0], recon[0]) assert np.allclose(original[-1], recon[-1]) # make sure stack slicing was OK assert np.allclose(util.stack_lines(np.arange(split + 1)), stacks[:split]) # stack into (n, 2, 3) segments result = [np.concatenate(result)] if tol.strict: # make sure resampled segments have the same length as input assert np.isclose(length(segments), length(result[0]), atol=1e-3) # stack additional return options if return_index: # stack original indexes index = np.concatenate(index) if tol.strict: # index should correspond to result assert len(index) == len(result[0]) # every segment should be represented assert set(index) == set(range(len(segments))) result.append(index) if return_count: result.append(splits) if len(result) == 1: return result[0] return result def to_svg(segments, digits=4, matrix=None, merge=True): """ Convert (n, 2, 2) line segments to an SVG path string. Parameters ------------ segments : (n, 2, 2) float Line segments to convert digits : int Number of digits to include in SVG string matrix : None or (3, 3) float Homogeneous 2D transformation to apply before export Returns ----------- path : str SVG path string with one line per segment IE: 'M 0.1 0.2 L 10 12' """ segments = np.array(segments, copy=True) if not util.is_shape(segments, (-1, 2, 2)): raise ValueError("only for (n, 2, 2) segments!") # create the array to export # apply 2D transformation if passed if matrix is not None: segments = transformations.transform_points( segments.reshape((-1, 2)), matrix=matrix ).reshape((-1, 2, 2)) if merge: # remove duplicate and zero-length segments segments = unique(segments, digits=digits) # create the format string for a single line segment base = "M_ _L_ _".replace("_", "{:0." + str(int(digits)) + "f}") # create one large format string then apply points result = (base * len(segments)).format(*segments.ravel()) return result trimesh-4.5.1/trimesh/path/simplify.py000066400000000000000000000304111470574263400200240ustar00rootroot00000000000000import collections import copy import numpy as np from .. import util from ..constants import log from ..constants import tol_path as tol from ..nsphere import fit_nsphere from . import arc, entities def fit_circle_check(points, scale, prior=None, final=False, verbose=False): """ Fit a circle, and reject the fit if: * the radius is larger than tol.radius_min*scale or tol.radius_max*scale * any segment spans more than tol.seg_angle * any segment is longer than tol.seg_frac*scale * the fit deviates by more than tol.radius_frac*radius * the segments on the ends deviate from tangent by more than tol.tangent Parameters --------- points : (n, d) List of points which represent a path prior : (center, radius) tuple Best guess or None if unknown scale : float What is the overall scale of the set of points verbose : bool Output log.debug messages for the reasons for fit rejection only suggested for manual debugging Returns ----------- if fit is acceptable: (center, radius) tuple else: None """ # an arc needs at least three points if len(points) < 3: return None # make sure our points are a numpy array points = np.asanyarray(points, dtype=np.float64) # do a least squares fit on the points C, R, r_deviation = fit_nsphere(points, prior=prior) # check to make sure radius is between min and max allowed if not tol.radius_min < (R / scale) < tol.radius_max: if verbose: log.debug("circle fit error: R %f", R / scale) return None # check point radius error r_error = r_deviation / R if r_error > tol.radius_frac: if verbose: log.debug("circle fit error: fit %s", str(r_error)) return None vectors = np.diff(points, axis=0) segment = util.row_norm(vectors) # approximate angle in radians, segments are linear length # not arc length but this is close and avoids a cosine angle = segment / R if (angle > tol.seg_angle).any(): if verbose: log.debug("circle fit error: angle %s", str(angle)) return None if final and (angle > tol.seg_angle_min).sum() < 3: log.debug("final: angle %s", str(angle)) return None # check segment length as a fraction of drawing scale scaled = segment / scale if (scaled > tol.seg_frac).any(): if verbose: log.debug("circle fit error: segment %s", str(scaled)) return None # check to make sure the line segments on the ends are actually # tangent with the candidate circle fit mid_pt = points[[0, -2]] + (vectors[[0, -1]] * 0.5) radial = util.unitize(mid_pt - C) ends = util.unitize(vectors[[0, -1]]) tangent = np.abs(np.arccos(util.diagonal_dot(radial, ends))) tangent = np.abs(tangent - np.pi / 2).max() if tangent > tol.tangent: if verbose: log.debug("circle fit error: tangent %f", np.degrees(tangent)) return None result = {"center": C, "radius": R} return result def is_circle(points, scale, verbose=False): """ Given a set of points, quickly determine if they represent a circle or not. Parameters ------------- points : (n,2 ) float Points in space scale : float Scale of overall drawing verbose : bool Print all fit messages or not Returns ------------- control: (3,2) float, points in space, OR None, if not a circle """ # make sure input is a numpy array points = np.asanyarray(points) scale = float(scale) # can only be a circle if the first and last point are the # same (AKA is a closed path) if np.linalg.norm(points[0] - points[-1]) > tol.merge: return None box = np.ptp(points, axis=0) # the bounding box size of the points # check aspect ratio as an early exit if the path is not a circle aspect = np.divide(*box) if np.abs(aspect - 1.0) > tol.aspect_frac: return None # fit a circle with tolerance checks CR = fit_circle_check(points, scale=scale) if CR is None: return None # return the circle as three control points control = arc.to_threepoint(**CR) return control def merge_colinear(points, scale): """ Given a set of points representing a path in space, merge points which are colinear. Parameters ---------- points : (n, dimension) float Points in space scale : float Scale of drawing for precision Returns ---------- merged : (j, d) float Points with colinear and duplicate points merged, where (j < n) """ points = np.asanyarray(points, dtype=np.float64) scale = float(scale) if len(points.shape) != 2 or points.shape[1] != 2: raise ValueError("only for 2D points!") # if there's less than 3 points nothing to merge if len(points) < 3: return points.copy() # the vector from one point to the next direction = points[1:] - points[:-1] # the length of the direction vector direction_norm = util.row_norm(direction) # make sure points don't have zero length direction_ok = direction_norm > tol.merge # remove duplicate points points = np.vstack((points[0], points[1:][direction_ok])) direction = direction[direction_ok] direction_norm = direction_norm[direction_ok] # create a vector between every other point, then turn it perpendicular # if we have points A B C D # and direction vectors A-B, B-C, etc # these will be perpendicular to the vectors A-C, B-D, etc perp = (points[2:] - points[:-2]).T[::-1].T perp[:, 0] *= -1 perp_norm = util.row_norm(perp) perp_nonzero = perp_norm > tol.merge perp[perp_nonzero] /= perp_norm[perp_nonzero].reshape((-1, 1)) # find the projection of each direction vector # onto the perpendicular vector projection = np.abs(util.diagonal_dot(perp, direction[:-1])) projection_ratio = np.max( (projection / direction_norm[1:], projection / direction_norm[:-1]), axis=0 ) mask = np.ones(len(points), dtype=bool) # since we took diff, we need to offset by one mask[1:-1][projection_ratio < 1e-4 * scale] = False merged = points[mask] return merged def resample_spline(points, smooth=0.001, count=None, degree=3): """ Resample a path in space, smoothing along a b-spline. Parameters ----------- points : (n, dimension) float Points in space smooth : float Smoothing distance count : int or None Number of samples desired in output degree : int Degree of spline polynomial Returns --------- resampled : (count, dimension) float Points in space """ from scipy.interpolate import splev, splprep if count is None: count = len(points) points = np.asanyarray(points) closed = np.linalg.norm(points[0] - points[-1]) < tol.merge tpl = splprep(points.T, s=smooth, k=degree)[0] i = np.linspace(0.0, 1.0, count) resampled = np.column_stack(splev(i, tpl)) if closed: shared = resampled[[0, -1]].mean(axis=0) resampled[0] = shared resampled[-1] = shared return resampled def points_to_spline_entity(points, smooth=None, count=None): """ Create a spline entity from a curve in space Parameters ----------- points : (n, dimension) float Points in space smooth : float Smoothing distance count : int or None Number of samples desired in result Returns --------- entity : entities.BSpline Entity object with points indexed at zero control : (m, dimension) float New vertices for entity """ from scipy.interpolate import splprep if count is None: count = len(points) if smooth is None: smooth = 0.002 points = np.asanyarray(points, dtype=np.float64) closed = np.linalg.norm(points[0] - points[-1]) < tol.merge knots, control, _degree = splprep(points.T, s=smooth)[0] control = np.transpose(control) index = np.arange(len(control)) if closed: control[0] = control[[0, -1]].mean(axis=0) control = control[:-1] index[-1] = index[0] entity = entities.BSpline(points=index, knots=knots, closed=closed) return entity, control def simplify_basic(drawing, process=False, **kwargs): """ Merge colinear segments and fit circles. Parameters ----------- drawing : Path2D Source geometry, will not be modified Returns ----------- simplified : Path2D Original path but with some closed line-loops converted to circles """ if any(entity.__class__.__name__ != "Line" for entity in drawing.entities): log.debug("Skipping path containing entities other than `Line`") return drawing # we are going to do a bookkeeping to avoid having # to recompute literally everything when simplification is ran cache = copy.deepcopy(drawing._cache) # store new values vertices_new = collections.deque() entities_new = collections.deque() # avoid thrashing cache in loop scale = drawing.scale # loop through (n, 2) closed paths for discrete in drawing.discrete: # check to see if the closed entity is a circle circle = is_circle(discrete, scale=scale) if circle is not None: # the points are circular enough for our high standards # so replace them with a closed Arc entity entities_new.append( entities.Arc(points=np.arange(3) + len(vertices_new), closed=True) ) vertices_new.extend(circle) else: # not a circle, so clean up colinear segments # then save it as a single line entity points = merge_colinear(discrete, scale=scale) # references for new vertices indexes = np.arange(len(points)) + len(vertices_new) # discrete curves are always closed indexes[-1] = indexes[0] # append new vertices and entity entities_new.append(entities.Line(points=indexes)) vertices_new.extend(points) # create the new drawing object simplified = type(drawing)( entities=entities_new, vertices=vertices_new, metadata=copy.deepcopy(drawing.metadata), process=process, ) # we have changed every path to a single closed entity # either a closed arc, or a closed line # so all closed paths are now represented by a single entity cache.cache.update( { "paths": np.arange(len(entities_new)).reshape((-1, 1)), "path_valid": np.ones(len(entities_new), dtype=bool), "dangling": np.array([]), } ) # force recompute of exact bounds if "bounds" in cache.cache: cache.cache.pop("bounds") simplified._cache = cache # set the cache ID so it won't dump when a value is requested simplified._cache.id_set() return simplified def simplify_spline(path, smooth=None, verbose=False): """ Replace discrete curves with b-spline or Arc and return the result as a new Path2D object. Parameters ------------ path : trimesh.path.Path2D Input geometry smooth : float Distance to smooth Returns ------------ simplified : Path2D Consists of Arc and BSpline entities """ new_vertices = [] new_entities = [] scale = path.scale for discrete in path.discrete: circle = is_circle(discrete, scale=scale, verbose=verbose) if circle is not None: # the points are circular enough for our high standards # so replace them with a closed Arc entity new_entities.append( entities.Arc(points=np.arange(3) + len(new_vertices), closed=True) ) new_vertices.extend(circle) continue # entities for this path entity, vertices = points_to_spline_entity(discrete, smooth=smooth) # reindex returned control points entity.points += len(new_vertices) # save entity and vertices new_vertices.extend(vertices) new_entities.append(entity) # create the Path2D object for the result simplified = type(path)(entities=new_entities, vertices=new_vertices) return simplified trimesh-4.5.1/trimesh/path/traversal.py000066400000000000000000000372771470574263400202140ustar00rootroot00000000000000import copy import numpy as np from .. import constants, grouping, util from ..typed import ArrayLike, Integer, NDArray, Number, Optional from .util import is_ccw try: import networkx as nx except BaseException as E: # create a dummy module which will raise the ImportError # or other exception only when someone tries to use networkx from ..exceptions import ExceptionWrapper nx = ExceptionWrapper(E) def vertex_graph(entities): """ Given a set of entity objects generate a networkx.Graph that represents their vertex nodes. Parameters -------------- entities : list Objects with 'closed' and 'nodes' attributes Returns ------------- graph : networkx.Graph Graph where node indexes represent vertices closed : (n,) int Indexes of entities which are 'closed' """ graph = nx.Graph() closed = [] for index, entity in enumerate(entities): if entity.closed: closed.append(index) else: graph.add_edges_from(entity.nodes, entity_index=index) return graph, np.array(closed) def vertex_to_entity_path(vertex_path, graph, entities, vertices=None): """ Convert a path of vertex indices to a path of entity indices. Parameters ---------- vertex_path : (n,) int Ordered list of vertex indices representing a path graph : nx.Graph Vertex connectivity entities : (m,) list Entity objects vertices : (p, dimension) float Vertex points in space Returns ---------- entity_path : (q,) int Entity indices which make up vertex_path """ def edge_direction(a, b): """ Given two edges, figure out if the first needs to be reversed to keep the progression forward. [1,0] [1,2] -1 1 [1,0] [2,1] -1 -1 [0,1] [1,2] 1 1 [0,1] [2,1] 1 -1 Parameters ------------ a : (2,) int b : (2,) int Returns ------------ a_direction : int b_direction : int """ if a[0] == b[0]: return -1, 1 elif a[0] == b[1]: return -1, -1 elif a[1] == b[0]: return 1, 1 elif a[1] == b[1]: return 1, -1 else: constants.log.debug( "\n".join( [ "edges not connected!", "vertex path %s", "entity path: %s", "entity[a]: %s,", "entity[b]: %s", ] ), vertex_path, entity_path, entities[ea].points, entities[eb].points, ) return None, None if vertices is None or vertices.shape[1] != 2: ccw_direction = 1 else: ccw_check = is_ccw(vertices[np.append(vertex_path, vertex_path[0])]) ccw_direction = (ccw_check * 2) - 1 # make sure vertex path is correct type vertex_path = np.asanyarray(vertex_path, dtype=np.int64) # we will be saving entity indexes entity_path = [] # loop through pairs of vertices for i in np.arange(len(vertex_path) + 1): # get two wrapped vertex positions vertex_path_pos = np.mod(np.arange(2) + i, len(vertex_path)) vertex_index = vertex_path[vertex_path_pos] entity_index = graph.get_edge_data(*vertex_index)["entity_index"] entity_path.append(entity_index) # remove duplicate entities and order CCW entity_path = grouping.unique_ordered(entity_path)[::ccw_direction] # check to make sure there is more than one entity if len(entity_path) == 1: # apply CCW reverse in place if necessary if ccw_direction < 0: index = entity_path[0] entities[index].reverse() return entity_path # traverse the entity path and reverse entities in place to # align with this path ordering round_trip = np.append(entity_path, entity_path[0]) round_trip = zip(round_trip[:-1], round_trip[1:]) for ea, eb in round_trip: da, db = edge_direction(entities[ea].end_points, entities[eb].end_points) if da is not None: entities[ea].reverse(direction=da) entities[eb].reverse(direction=db) entity_path = np.array(entity_path) return entity_path def closed_paths(entities, vertices): """ Paths are lists of entity indices. We first generate vertex paths using graph cycle algorithms, and then convert them to entity paths. This will also change the ordering of entity.points in place so a path may be traversed without having to reverse the entity. Parameters ------------- entities : (n,) entity objects Entity objects vertices : (m, dimension) float Vertex points in space Returns ------------- entity_paths : sequence of (n,) int Ordered traversals of entities """ # get a networkx graph of entities graph, closed = vertex_graph(entities) # add entities that are closed as single- entity paths entity_paths = np.reshape(closed, (-1, 1)).tolist() # look for cycles in the graph, or closed loops vertex_paths = nx.cycles.cycle_basis(graph) # loop through every vertex cycle for vertex_path in vertex_paths: # a path has no length if it has fewer than 2 vertices if len(vertex_path) < 2: continue # convert vertex indices to entity indices entity_paths.append(vertex_to_entity_path(vertex_path, graph, entities, vertices)) return entity_paths def discretize_path(entities, vertices, path, scale=1.0): """ Turn a list of entity indices into a path of connected points. Parameters ----------- entities : (j,) entity objects Objects like 'Line', 'Arc', etc. vertices: (n, dimension) float Vertex points in space. path : (m,) int Indexes of entities scale : float Overall scale of drawing used for Number tolerances in certain cases Returns ----------- discrete : (p, dimension) float Connected points in space that lie on the path and can be connected with line segments. """ # make sure vertices are numpy array vertices = np.asanyarray(vertices) path_len = len(path) if path_len == 0: raise ValueError("Cannot discretize empty path!") if path_len == 1: # case where we only have one entity discrete = np.asanyarray(entities[path[0]].discrete(vertices, scale=scale)) else: # run through path appending each entity discrete = [] for i, entity_id in enumerate(path): # the current (n, dimension) discrete curve of an entity current = entities[entity_id].discrete(vertices, scale=scale) # check if we are on the final entity if i >= (path_len - 1): # if we are on the last entity include the last point discrete.append(current) else: # slice off the last point so we don't get duplicate # points from the end of one entity and the start of another discrete.append(current[:-1]) # stack all curves to one nice (n, dimension) curve discrete = np.vstack(discrete) # make sure 2D curves are are counterclockwise if vertices.shape[1] == 2 and not is_ccw(discrete): # reversing will make array non c- contiguous discrete = np.ascontiguousarray(discrete[::-1]) return discrete class PathSample: def __init__(self, points: ArrayLike): # make sure input array is numpy self._points = np.array(points) # find the direction of each segment self._vectors = np.diff(self._points, axis=0) # find the length of each segment self._norms = util.row_norm(self._vectors) # unit vectors for each segment nonzero = self._norms > constants.tol_path.zero self._unit_vec = self._vectors.copy() self._unit_vec[nonzero] /= self._norms[nonzero].reshape((-1, 1)) # total distance in the path self.length = self._norms.sum() # cumulative sum of section length # note that this is sorted self._cum_norm = np.cumsum(self._norms) def sample( self, distances: ArrayLike, include_original: bool = False ) -> NDArray[np.float64]: """ Return points at the distances along the path requested. Parameters ---------- distances Distances along the path to sample at. include_original Include the original vertices even if they are not specified in `distance`. Useful as this will return a result with identical area and length, however indexes of `distance` will not correspond with result. Returns -------- samples : (n, dimension) Samples requested. `n==len(distances)` if not `include_original` """ # return the indices in cum_norm that each sample would # need to be inserted at to maintain the sorted property positions = np.searchsorted(self._cum_norm, distances) positions = np.clip(positions, 0, len(self._unit_vec) - 1) offsets = np.append(0, self._cum_norm)[positions] # the distance past the reference vertex we need to travel projection = distances - offsets # find out which direction we need to project direction = self._unit_vec[positions] # find out which vertex we're offset from origin = self._points[positions] # just the parametric equation for a line resampled = origin + (direction * projection.reshape((-1, 1))) if include_original: # find the insertion index of the original positions unique, index = np.unique(positions, return_index=True) # see if we already have this point ok = projection[index] > 1e-12 # insert the original vertices into the resampled array resampled = np.insert(resampled, index[ok], self._points[unique[ok]], axis=0) return resampled def truncate(self, distance: Number) -> NDArray[np.float64]: """ Return a truncated version of the path. Only one vertex (at the endpoint) will be added. Parameters ---------- distance Distance along the path to truncate at. Returns ---------- path Path clipped to `distance` requested. """ position = np.searchsorted(self._cum_norm, distance) offset = distance - self._cum_norm[position - 1] if offset < constants.tol_path.merge: truncated = self._points[: position + 1] else: vector = util.unitize( np.diff(self._points[np.arange(2) + position], axis=0).reshape(-1) ) vector *= offset endpoint = self._points[position] + vector truncated = np.vstack((self._points[: position + 1], endpoint)) assert ( util.row_norm(np.diff(truncated, axis=0)).sum() - distance ) < constants.tol_path.merge return truncated def resample_path( points: ArrayLike, count: Optional[Integer] = None, step: Optional[Number] = None, step_round: bool = True, include_original: bool = False, ) -> NDArray[np.float64]: """ Given a path along (n,d) points, resample them such that the distance traversed along the path is constant in between each of the resampled points. Note that this can produce clipping at corners, as the original vertices are NOT guaranteed to be in the new, resampled path. ONLY ONE of count or step can be specified Result can be uniformly distributed (np.linspace) by specifying count Result can have a specific distance (np.arange) by specifying step Parameters ---------- points: (n, d) float Points in space count : int, Number of points to sample evenly (aka np.linspace) step : float Distance each step should take along the path (aka np.arange) step_round Alter `step` to the nearest integer division of overall length. include_original Include the exact original points in the output. Returns ---------- resampled : (j,d) float Points on the path """ points = np.array(points, dtype=np.float64) # generate samples along the perimeter from kwarg count or step if (count is not None) and (step is not None): raise ValueError("Only step OR count can be specified") if (count is None) and (step is None): raise ValueError("Either step or count must be specified") sampler = PathSample(points) if step is not None and step_round: if step >= sampler.length: return points[[0, -1]] count = int(np.ceil(sampler.length / step)) if count is not None: samples = np.linspace(0, sampler.length, count) elif step is not None: samples = np.arange(0, sampler.length, step) resampled = sampler.sample(samples, include_original=include_original) if constants.tol.strict: check = util.row_norm(points[[0, -1]] - resampled[[0, -1]]) assert check[0] < constants.tol_path.merge if count is not None: assert check[1] < constants.tol_path.merge return resampled def split(path): """ Split a Path2D into multiple Path2D objects where each one has exactly one root curve. Parameters -------------- path : trimesh.path.Path2D Input geometry Returns ------------- split : list of trimesh.path.Path2D Original geometry as separate paths """ # avoid a circular import by referencing class of path Path2D = type(path) # save the results of the split to an array split = [] # get objects from cache to avoid a bajillion # cache checks inside the tight loop paths = path.paths discrete = path.discrete polygons_closed = path.polygons_closed enclosure_directed = path.enclosure_directed for root_index, root in enumerate(path.root): # get a list of the root curve's children connected = list(enclosure_directed[root].keys()) # add the root node to the list connected.append(root) # store new paths and entities new_paths = [] new_entities = [] for index in connected: nodes = paths[index] # add a path which is just sequential indexes new_paths.append(np.arange(len(nodes)) + len(new_entities)) # save the entity indexes new_entities.extend(nodes) # store the root index from the original drawing metadata = copy.deepcopy(path.metadata) metadata["split_2D"] = root_index # we made the root path the last index of connected new_root = np.array([len(new_paths) - 1]) # prevents the copying from nuking our cache with path._cache: # create the Path2D split.append( Path2D( entities=copy.deepcopy(path.entities[new_entities]), vertices=copy.deepcopy(path.vertices), metadata=metadata, ) ) # add back expensive things to the cache split[-1]._cache.update( { "paths": new_paths, "polygons_closed": polygons_closed[connected], "discrete": [discrete[c] for c in connected], "root": new_root, } ) # set the cache ID split[-1]._cache.id_set() return np.array(split) trimesh-4.5.1/trimesh/path/util.py000066400000000000000000000032331470574263400171470ustar00rootroot00000000000000import numpy as np from ..util import is_ccw # NOQA def concatenate(paths): """ Concatenate multiple paths into a single path. Parameters ------------- paths : (n,) Path Path objects to concatenate Returns ------------- concat : Path, Path2D, or Path3D Concatenated result """ # if only one path object just return copy if len(paths) == 1: return paths[0].copy() # upgrade to 3D if we have mixed 2D and 3D paths dimensions = {i.vertices.shape[1] for i in paths} if len(dimensions) > 1: paths = [i.to_3D() if hasattr(i, "to_3D") else i for i in paths] # length of vertex arrays vert_len = np.array([len(i.vertices) for i in paths]) # how much to offset each paths vertex indices by offsets = np.append(0.0, np.cumsum(vert_len))[:-1].astype(np.int64) # resulting entities entities = [] # resulting vertices vertices = [] # resulting metadata metadata = {} for path, offset in zip(paths, offsets): # update metadata metadata.update(path.metadata) # copy vertices, we will stack later vertices.append(path.vertices.copy()) # copy entity then reindex points for entity in path.entities: # cleanly copy the entity into a new object copied = entity.copy() # offset the indexes copied.points += offset entities.append(copied) # generate the single new concatenated path # use input types so we don't have circular imports concat = type(path)( metadata=metadata, entities=entities, vertices=np.vstack(vertices) ) return concat trimesh-4.5.1/trimesh/permutate.py000066400000000000000000000105661470574263400172530ustar00rootroot00000000000000""" permutate.py ------------- Randomly deform meshes in different ways. """ import numpy as np from . import transformations, util from . import triangles as triangles_module def transform(mesh, translation_scale=1000.0): """ Return a permutated variant of a mesh by randomly reordering faces and rotatating + translating a mesh by a random matrix. Parameters ---------- mesh : trimesh.Trimesh Mesh, will not be altered by this function Returns ---------- permutated : trimesh.Trimesh Mesh with same faces as input mesh but reordered and rigidly transformed in space. """ # rotate and translate randomly matrix = transformations.random_rotation_matrix(translate=translation_scale) # randomly re-order triangles triangles = np.random.permutation(mesh.triangles).reshape((-1, 3)) # apply rigid transform triangles = transformations.transform_points(triangles, matrix) # extract the class from the input object mesh_type = util.type_named(mesh, "Trimesh") # generate a new mesh from the permutated data permutated = mesh_type(**triangles_module.to_kwargs(triangles.reshape((-1, 3, 3)))) return permutated def noise(mesh, magnitude=None): """ Add gaussian noise to every vertex of a mesh, making no effort to maintain topology or sanity. Parameters ---------- mesh : trimesh.Trimesh Input geometry, will not be altered magnitude : float What is the maximum distance per axis we can displace a vertex. If None, value defaults to (mesh.scale / 100.0) Returns ---------- permutated : trimesh.Trimesh Input mesh with noise applied """ if magnitude is None: magnitude = mesh.scale / 100.0 random = (np.random.random(mesh.vertices.shape) - 0.5) * magnitude vertices_noise = mesh.vertices.copy() + random # make sure we've re- ordered faces randomly triangles = np.random.permutation(vertices_noise[mesh.faces]) mesh_type = util.type_named(mesh, "Trimesh") permutated = mesh_type(**triangles_module.to_kwargs(triangles)) return permutated def tessellation(mesh): """ Subdivide each face of a mesh into three faces with the new vertex randomly placed inside the old face. This produces a mesh with exactly the same surface area and volume but with different tessellation. Parameters ------------ mesh : trimesh.Trimesh Input geometry Returns ---------- permutated : trimesh.Trimesh Mesh with remeshed facets """ # create random barycentric coordinates for each face # pad all coordinates by a small amount to bias new vertex towards center barycentric = np.random.random(mesh.faces.shape) + 0.05 barycentric /= barycentric.sum(axis=1).reshape((-1, 1)) # create one new vertex somewhere in a face vertex_face = (barycentric.reshape((-1, 3, 1)) * mesh.triangles).sum(axis=1) vertex_face_id = np.arange(len(vertex_face)) + len(mesh.vertices) # new vertices are the old vertices stacked on the vertices in the faces vertices = np.vstack((mesh.vertices, vertex_face)) # there are three new faces per old face, and we maintain correct winding faces = np.vstack( ( np.column_stack((mesh.faces[:, [0, 1]], vertex_face_id)), np.column_stack((mesh.faces[:, [1, 2]], vertex_face_id)), np.column_stack((mesh.faces[:, [2, 0]], vertex_face_id)), ) ) # make sure the order of the faces is permutated faces = np.random.permutation(faces) mesh_type = util.type_named(mesh, "Trimesh") permutated = mesh_type(vertices=vertices, faces=faces) return permutated class Permutator: def __init__(self, mesh): """ A convenience object to get permutated versions of a mesh. """ self._mesh = mesh def transform(self, translation_scale=1000): return transform(self._mesh, translation_scale=translation_scale) def noise(self, magnitude=None): return noise(self._mesh, magnitude) def tessellation(self): return tessellation(self._mesh) try: # copy the function docstrings to the helper object Permutator.noise.__doc__ = noise.__doc__ Permutator.transform.__doc__ = transform.__doc__ Permutator.tessellation.__doc__ = tessellation.__doc__ except AttributeError: # no docstrings in Python2 pass trimesh-4.5.1/trimesh/points.py000066400000000000000000000470041470574263400165560ustar00rootroot00000000000000""" points.py ------------- Functions dealing with (n, d) points. """ import copy import numpy as np from numpy import float64 from . import caching, grouping, transformations, util from .constants import tol from .geometry import plane_transform from .parent import Geometry3D from .visual.color import VertexColor def point_plane_distance(points, plane_normal, plane_origin=None): """ The minimum perpendicular distance of a point to a plane. Parameters ----------- points : (n, 3) float Points in space plane_normal : (3,) float Unit normal vector plane_origin : (3,) float Plane origin in space Returns ------------ distances : (n,) float Distance from point to plane """ points = np.asanyarray(points, dtype=float64) if plane_origin is None: w = points else: w = points - plane_origin distances = np.dot(plane_normal, w.T) / np.linalg.norm(plane_normal) return distances def major_axis(points): """ Returns an approximate vector representing the major axis of the passed points. Parameters ------------- points : (n, dimension) float Points in space Returns ------------- axis : (dimension,) float Vector along approximate major axis """ _U, S, V = np.linalg.svd(points) axis = util.unitize(np.dot(S, V)) return axis def plane_fit(points): """ Fit a plane to points using SVD. Parameters --------- points : (n, 3) float or (p, n, 3,) float 3D points in space Second option allows to simultaneously compute p centroids and normals Returns --------- C : (3,) float or (p, 3,) float Point on the plane N : (3,) float or (p, 3,) float Unit normal vector of plane """ # make sure input is numpy array points = np.asanyarray(points, dtype=float64) assert points.ndim == 2 or points.ndim == 3 # with only one point set, np.dot is faster if points.ndim == 2: # make the plane origin the mean of the points C = points.mean(axis=0) # points offset by the plane origin x = points - C[None, :] # create a (3, 3) matrix M = np.dot(x.T, x) else: # make the plane origin the mean of the points C = points.mean(axis=1) # points offset by the plane origin x = points - C[:, None, :] # create a (p, 3, 3) matrix M = np.einsum("pnd, pnm->pdm", x, x) # run SVD N = np.linalg.svd(M)[0][..., -1] # return the centroid(s) and normal(s) return C, N def radial_sort(points, origin, normal, start=None): """ Sorts a set of points radially (by angle) around an axis specified by origin and normal vector. Parameters -------------- points : (n, 3) float Points in space origin : (3,) float Origin to sort around normal : (3,) float Vector to sort around start : (3,) float Vector to specify start position in counter-clockwise order viewing in direction of normal, MUST not be parallel with normal Returns -------------- ordered : (n, 3) float Same as input points but reordered """ # create two axis perpendicular to each other and # the normal and project the points onto them if start is None: axis0 = [normal[0], normal[2], -normal[1]] axis1 = np.cross(normal, axis0) else: normal, start = util.unitize([normal, start]) if np.abs(1 - np.abs(np.dot(normal, start))) < tol.zero: raise ValueError("start must not parallel with normal") axis0 = np.cross(start, normal) axis1 = np.cross(axis0, normal) vectors = points - origin # calculate the angles of the points on the axis angles = np.arctan2(np.dot(vectors, axis0), np.dot(vectors, axis1)) # return the points sorted by angle return points[angles.argsort()[::-1]] def project_to_plane( points, plane_normal, plane_origin, transform=None, return_transform=False, return_planar=True, ): """ Project (n, 3) points onto a plane. Parameters ----------- points : (n, 3) float Points in space. plane_normal : (3,) float Unit normal vector of plane plane_origin : (3,) Origin point of plane transform : None or (4, 4) float Homogeneous transform, if specified, normal+origin are overridden return_transform : bool Returns the (4, 4) matrix used or not return_planar : bool Return (n, 2) points rather than (n, 3) points """ if np.all(np.abs(plane_normal) < tol.zero): raise NameError("Normal must be nonzero!") if transform is None: transform = plane_transform(plane_origin, plane_normal) transformed = transformations.transform_points(points, transform) transformed = transformed[:, 0 : (3 - int(return_planar))] if return_transform: polygon_to_3D = np.linalg.inv(transform) return transformed, polygon_to_3D return transformed def remove_close(points, radius): """ Given an (n, m) array of points return a subset of points where no point is closer than radius. Parameters ------------ points : (n, dimension) float Points in space radius : float Minimum radius between result points Returns ------------ culled : (m, dimension) float Points in space mask : (n,) bool Which points from the original points were returned """ from scipy.spatial import cKDTree tree = cKDTree(points) # get the index of every pair of points closer than our radius pairs = tree.query_pairs(radius, output_type="ndarray") # how often each vertex index appears in a pair # this is essentially a cheaply computed "vertex degree" # in the graph that we could construct for connected points count = np.bincount(pairs.ravel(), minlength=len(points)) # for every pair we know we have to remove one of them # which of the two options we pick can have a large impact # on how much over-culling we end up doing column = count[pairs].argmax(axis=1) # take the value in each row with the highest degree # there is probably better numpy slicing you could do here highest = pairs.ravel()[column + 2 * np.arange(len(column))] # mask the vertices by index mask = np.ones(len(points), dtype=bool) mask[highest] = False if tol.strict: # verify we actually did what we said we'd do test = cKDTree(points[mask]) assert len(test.query_pairs(radius)) == 0 return points[mask], mask def k_means(points, k, **kwargs): """ Find k centroids that attempt to minimize the k- means problem: https://en.wikipedia.org/wiki/Metric_k-center Parameters ---------- points: (n, d) float Points in space k : int Number of centroids to compute **kwargs : dict Passed directly to scipy.cluster.vq.kmeans Returns ---------- centroids : (k, d) float Points in some space labels: (n) int Indexes for which points belong to which centroid """ from scipy.cluster.vq import kmeans from scipy.spatial import cKDTree points = np.asanyarray(points, dtype=float64) points_std = points.std(axis=0) points_std[points_std < tol.zero] = 1 whitened = points / points_std centroids_whitened, _distortion = kmeans(whitened, k, **kwargs) centroids = centroids_whitened * points_std # find which centroid each point is closest to tree = cKDTree(centroids) labels = tree.query(points, k=1)[1] return centroids, labels def tsp(points, start=0): """ Find an ordering of points where each is visited and the next point is the closest in euclidean distance, and if there are multiple points with equal distance go to an arbitrary one. Assumes every point is visitable from every other point, i.e. the travelling salesman problem on a fully connected graph. It is not a MINIMUM traversal; rather it is a "not totally goofy traversal, quickly." On random points this traversal is often ~20x shorter than random ordering, and executes on 1000 points in around 29ms on a 2014 i7. Parameters --------------- points : (n, dimension) float ND points in space start : int The index of points we should start at Returns --------------- traversal : (n,) int Ordered traversal visiting every point distances : (n - 1,) float The euclidean distance between points in traversal """ # points should be float points = np.asanyarray(points, dtype=float64) if len(points.shape) != 2: raise ValueError("points must be (n, dimension)!") # start should be an index start = int(start) # a mask of unvisited points by index unvisited = np.ones(len(points), dtype=bool) unvisited[start] = False # traversal of points by index traversal = np.zeros(len(points), dtype=np.int64) - 1 traversal[0] = start # list of distances distances = np.zeros(len(points) - 1, dtype=float64) # a mask of indexes in order index_mask = np.arange(len(points), dtype=np.int64) # in the loop we want to call distances.sum(axis=1) # a lot and it's actually kind of slow for "reasons" # dot products with ones is equivalent and ~2x faster sum_ones = np.ones(points.shape[1]) # loop through all points for i in range(len(points) - 1): # which point are we currently on current = points[traversal[i]] # do NlogN distance query # use dot instead of .sum(axis=1) or np.linalg.norm # as it is faster, also don't square root here dist = np.dot((points[unvisited] - current) ** 2, sum_ones) # minimum distance index min_index = dist.argmin() # successor is closest unvisited point successor = index_mask[unvisited][min_index] # update the mask unvisited[successor] = False # store the index to the traversal traversal[i + 1] = successor # store the distance distances[i] = dist[min_index] # we were comparing distance^2 so take square root distances **= 0.5 return traversal, distances def plot_points(points, show=True): """ Plot an (n, 3) list of points using matplotlib Parameters ------------- points : (n, 3) float Points in space show : bool If False, will not show until plt.show() is called """ import matplotlib.pyplot as plt from mpl_toolkits.mplot3d import Axes3D # NOQA points = np.asanyarray(points, dtype=float64) if len(points.shape) != 2: raise ValueError("Points must be (n, 2|3)!") if points.shape[1] == 3: fig = plt.figure() ax = fig.add_subplot(111, projection="3d") ax.scatter(*points.T) elif points.shape[1] == 2: plt.scatter(*points.T) else: raise ValueError(f"points not 2D/3D: {points.shape}") if show: plt.show() class PointCloud(Geometry3D): """ Hold 3D points in an object which can be visualized in a scene. """ def __init__(self, vertices, colors=None, metadata=None, **kwargs): """ Load an array of points into a PointCloud object. Parameters ------------- vertices : (n, 3) float Points in space colors : (n, 4) uint8 or None RGBA colors for each point metadata : dict or None Metadata about points """ self._data = caching.DataStore() self._cache = caching.Cache(self._data.__hash__) self.metadata = {} if metadata is not None: self.metadata.update(metadata) # load vertices self.vertices = vertices if "vertex_colors" in kwargs and colors is None: colors = kwargs["vertex_colors"] # save visual data to vertex color object self.visual = VertexColor(colors=colors, obj=self) def __setitem__(self, *args, **kwargs): return self.vertices.__setitem__(*args, **kwargs) def __getitem__(self, *args, **kwargs): return self.vertices.__getitem__(*args, **kwargs) @property def shape(self): """ Get the shape of the pointcloud Returns ---------- shape : (2,) int Shape of vertex array """ return self.vertices.shape @property def is_empty(self): """ Are there any vertices defined or not. Returns ---------- empty : bool True if no vertices defined """ return len(self.vertices) == 0 def copy(self): """ Safely get a copy of the current point cloud. Copied objects will have emptied caches to avoid memory issues and so may be slow on initial operations until caches are regenerated. Current object will *not* have its cache cleared. Returns --------- copied : trimesh.PointCloud Copy of current point cloud """ copied = PointCloud(vertices=None) # copy vertex and face data copied._data.data = copy.deepcopy(self._data.data) # copy visual data copied.visual = copy.deepcopy(self.visual) # get metadata copied.metadata = copy.deepcopy(self.metadata) # make sure cache is set from here copied._cache.clear() return copied def hash(self): """ Get a hash of the current vertices. Returns ---------- hash : str Hash of self.vertices """ return self._data.__hash__() def crc(self): """ Get a CRC hash of the current vertices. Returns ---------- crc : int Hash of self.vertices """ return self._data.crc() def merge_vertices(self): """ Merge vertices closer than tol.merge (default: 1e-8) """ # run unique rows unique, inverse = grouping.unique_rows(self.vertices) # apply unique mask to vertices self.vertices = self.vertices[unique] # apply unique mask to colors if self.colors is not None and len(self.colors) == len(inverse): self.colors = self.colors[unique] def apply_transform(self, transform): """ Apply a homogeneous transformation to the PointCloud object in- place. Parameters -------------- transform : (4, 4) float Homogeneous transformation to apply to PointCloud """ self.vertices = transformations.transform_points(self.vertices, matrix=transform) return self @property def bounds(self): """ The axis aligned bounds of the PointCloud Returns ------------ bounds : (2, 3) float Minimum, Maximum verteex """ return np.array([self.vertices.min(axis=0), self.vertices.max(axis=0)]) @property def extents(self): """ The size of the axis aligned bounds Returns ------------ extents : (3,) float Edge length of axis aligned bounding box """ return np.ptp(self.bounds, axis=0) @property def centroid(self): """ The mean vertex position Returns ------------ centroid : (3,) float Mean vertex position """ return self.vertices.mean(axis=0) @property def vertices(self): """ Vertices of the PointCloud Returns ------------ vertices : (n, 3) float Points in the PointCloud """ return self._data.get("vertices", np.zeros(shape=(0, 3), dtype=float64)) @vertices.setter def vertices(self, values): """ Assign vertex values to the point cloud. Parameters -------------- values : (n, 3) float Points in space """ if values is None or len(values) == 0: return self._data.data.pop("vertices", None) self._data["vertices"] = np.asanyarray(values, order="C", dtype=float64) @property def colors(self): """ Stored per- point color Returns ---------- colors : (len(self.vertices), 4) np.uint8 Per- point RGBA color """ return self.visual.vertex_colors @colors.setter def colors(self, data): self.visual.vertex_colors = data @caching.cache_decorator def kdtree(self): """ Return a scipy.spatial.cKDTree of the vertices of the mesh. Not cached as this lead to observed memory issues and segfaults. Returns --------- tree : scipy.spatial.cKDTree Contains mesh.vertices """ from scipy.spatial import cKDTree tree = cKDTree(self.vertices.view(np.ndarray)) return tree @caching.cache_decorator def convex_hull(self): """ A convex hull of every point. Returns ------------- convex_hull : trimesh.Trimesh A watertight mesh of the hull of the points """ from . import convex return convex.convex_hull(self.vertices) def scene(self): """ A scene containing just the PointCloud Returns ---------- scene : trimesh.Scene Scene object containing this PointCloud """ from .scene.scene import Scene return Scene(self) def show(self, **kwargs): """ Open a viewer window displaying the current PointCloud """ self.scene().show(**kwargs) def export(self, file_obj=None, file_type=None, **kwargs): """ Export the current pointcloud to a file object. If file_obj is a filename, file will be written there. Supported formats are xyz Parameters ------------ file_obj: open writeable file object str, file name where to save the pointcloud None, if you would like this function to return the export blob file_type: str Which file type to export as. If file name is passed this is not required """ from .exchange.export import export_mesh return export_mesh(self, file_obj=file_obj, file_type=file_type, **kwargs) def query(self, input_points, **kwargs): """ Find the the closest points and associated attributes from this PointCloud. Parameters ------------ input_points : (n, 3) float Input query points kwargs : dict Arguments for proximity.query_from_points result : proximity.NearestQueryResult Result of the query. """ from .proximity import query_from_points return query_from_points(self.vertices, input_points, self.kdtree, **kwargs) def __add__(self, other): if len(other.colors) == len(self.colors) == 0: colors = None else: # preserve colors # if one point cloud has no color property use black other_colors = ( [[0, 0, 0, 255]] * len(other.vertices) if len(other.colors) == 0 else other.colors ) self_colors = ( [[0, 0, 0, 255]] * len(self.vertices) if len(self.colors) == 0 else self.colors ) colors = np.vstack((self_colors, other_colors)) return PointCloud( vertices=np.vstack((self.vertices, other.vertices)), colors=colors ) trimesh-4.5.1/trimesh/poses.py000066400000000000000000000240331470574263400163700ustar00rootroot00000000000000""" poses.py ----------- Find stable orientations of meshes. """ import numpy as np from .triangles import points_to_barycentric try: import networkx as nx except BaseException as E: # create a dummy module which will raise the ImportError # or other exception only when someone tries to use networkx from .exceptions import ExceptionWrapper nx = ExceptionWrapper(E) def compute_stable_poses(mesh, center_mass=None, sigma=0.0, n_samples=1, threshold=0.0): """ Computes stable orientations of a mesh and their quasi-static probabilities. This method samples the location of the center of mass from a multivariate gaussian with the mean at the center of mass, and a covariance equal to and identity matrix times sigma, over n_samples. For each sample, it computes the stable resting poses of the mesh on a a planar workspace and evaluates the probabilities of landing in each pose if the object is dropped onto the table randomly. This method returns the 4x4 homogeneous transform matrices that place the shape against the planar surface with the z-axis pointing upwards and a list of the probabilities for each pose. The transforms and probabilities that are returned are sorted, with the most probable pose first. Parameters ---------- mesh : trimesh.Trimesh The target mesh com : (3,) float Rhe object center of mass. If None, this method assumes uniform density and watertightness and computes a center of mass explicitly sigma : float Rhe covariance for the multivariate gaussian used to sample center of mass locations n_samples : int The number of samples of the center of mass location threshold : float The probability value at which to threshold returned stable poses Returns ------- transforms : (n, 4, 4) float The homogeneous matrices that transform the object to rest in a stable pose, with the new z-axis pointing upwards from the table and the object just touching the table. probs : (n,) float Probability in (0, 1) for each pose """ # save convex hull mesh to avoid a cache check cvh = mesh.convex_hull if center_mass is None: center_mass = mesh.center_mass # Sample center of mass, rejecting points outside of conv hull sample_coms = [] while len(sample_coms) < n_samples: remaining = n_samples - len(sample_coms) coms = np.random.multivariate_normal(center_mass, sigma * np.eye(3), remaining) for c in coms: dots = np.einsum("ij,ij->i", c - cvh.triangles_center, cvh.face_normals) if np.all(dots < 0): sample_coms.append(c) norms_to_probs = {} # Map from normal to probabilities # For each sample, compute the stable poses for sample_com in sample_coms: # Create toppling digraph dg = _create_topple_graph(cvh, sample_com) # Propagate probabilities to sink nodes with a breadth-first traversal nodes = [n for n in dg.nodes() if dg.in_degree(n) == 0] n_iters = 0 while len(nodes) > 0 and n_iters <= len(mesh.faces): new_nodes = [] for node in nodes: if dg.out_degree(node) == 0: continue successor = next(iter(dg.successors(node))) dg.nodes[successor]["prob"] += dg.nodes[node]["prob"] dg.nodes[node]["prob"] = 0.0 new_nodes.append(successor) nodes = new_nodes n_iters += 1 # Collect stable poses for node in dg.nodes(): if dg.nodes[node]["prob"] > 0.0: normal = cvh.face_normals[node] prob = dg.nodes[node]["prob"] key = tuple(np.around(normal, decimals=3)) if key in norms_to_probs: norms_to_probs[key]["prob"] += 1.0 / n_samples * prob else: norms_to_probs[key] = { "prob": 1.0 / n_samples * prob, "normal": normal, } transforms = [] probs = [] # Filter stable poses for key in norms_to_probs: prob = norms_to_probs[key]["prob"] if prob > threshold: tf = np.eye(4) # Compute a rotation matrix for this stable pose z = -1.0 * norms_to_probs[key]["normal"] x = np.array([-z[1], z[0], 0]) if np.linalg.norm(x) == 0.0: x = np.array([1, 0, 0]) else: x = x / np.linalg.norm(x) y = np.cross(z, x) y = y / np.linalg.norm(y) tf[:3, :3] = np.array([x, y, z]) # Compute the necessary translation for this stable pose m = cvh.copy() m.apply_transform(tf) z = -m.bounds[0][2] tf[:3, 3] = np.array([0, 0, z]) transforms.append(tf) probs.append(prob) # Sort the results transforms = np.array(transforms) probs = np.array(probs) inds = np.argsort(-probs) return transforms[inds], probs[inds] def _orient3dfast(plane, pd): """ Performs a fast 3D orientation test. Parameters ---------- plane: (3,3) float, three points in space that define a plane pd: (3,) float, a single point Returns ------- result: float, if greater than zero then pd is above the plane through the given three points, if less than zero then pd is below the given plane, and if equal to zero then pd is on the given plane. """ pa, pb, pc = plane adx = pa[0] - pd[0] bdx = pb[0] - pd[0] cdx = pc[0] - pd[0] ady = pa[1] - pd[1] bdy = pb[1] - pd[1] cdy = pc[1] - pd[1] adz = pa[2] - pd[2] bdz = pb[2] - pd[2] cdz = pc[2] - pd[2] return ( adx * (bdy * cdz - bdz * cdy) + bdx * (cdy * adz - cdz * ady) + cdx * (ady * bdz - adz * bdy) ) def _compute_static_prob(tri, com): """ For an object with the given center of mass, compute the probability that the given tri would be the first to hit the ground if the object were dropped with a pose chosen uniformly at random. Parameters ---------- tri: (3,3) float, the vertices of a triangle cm: (3,) float, the center of mass of the object Returns ------- prob: float, the probability in [0,1] for the given triangle """ sv = [(v - com) / np.linalg.norm(v - com) for v in tri] # Use L'Huilier's Formula to compute spherical area a = np.arccos(min(1, max(-1, np.dot(sv[0], sv[1])))) b = np.arccos(min(1, max(-1, np.dot(sv[1], sv[2])))) c = np.arccos(min(1, max(-1, np.dot(sv[2], sv[0])))) s = (a + b + c) / 2.0 # Prevents weirdness with arctan try: return ( 1.0 / np.pi * np.arctan( np.sqrt( np.tan(s / 2) * np.tan((s - a) / 2) * np.tan((s - b) / 2) * np.tan((s - c) / 2) ) ) ) except BaseException: s = s + 1e-8 return ( 1.0 / np.pi * np.arctan( np.sqrt( np.tan(s / 2) * np.tan((s - a) / 2) * np.tan((s - b) / 2) * np.tan((s - c) / 2) ) ) ) def _create_topple_graph(cvh_mesh, com): """ Constructs a toppling digraph for the given convex hull mesh and center of mass. Each node n_i in the digraph corresponds to a face f_i of the mesh and is labelled with the probability that the mesh will land on f_i if dropped randomly. Not all faces are stable, and node n_i has a directed edge to node n_j if the object will quasi-statically topple from f_i to f_j if it lands on f_i initially. This computation is described in detail in http://goldberg.berkeley.edu/pubs/eps.pdf. Parameters ---------- cvh_mesh : trimesh.Trimesh Rhe convex hull of the target shape com : (3,) float The 3D location of the target shape's center of mass Returns ------- graph : networkx.DiGraph Graph representing static probabilities and toppling order for the convex hull """ adj_graph = nx.Graph() topple_graph = nx.DiGraph() # Create face adjacency graph face_pairs = cvh_mesh.face_adjacency edges = cvh_mesh.face_adjacency_edges graph_edges = [] for fp, e in zip(face_pairs, edges): verts = cvh_mesh.vertices[e] graph_edges.append([fp[0], fp[1], {"verts": verts}]) adj_graph.add_edges_from(graph_edges) # Compute static probabilities of landing on each face for i, tri in enumerate(cvh_mesh.triangles): prob = _compute_static_prob(tri, com) topple_graph.add_node(i, prob=prob) # Compute COM projections onto planes of each triangle in cvh_mesh proj_dists = np.einsum( "ij,ij->i", cvh_mesh.face_normals, com - cvh_mesh.triangles[:, 0] ) proj_coms = com - np.einsum("i,ij->ij", proj_dists, cvh_mesh.face_normals) barys = points_to_barycentric(cvh_mesh.triangles, proj_coms) unstable_face_indices = np.where(np.any(barys < 0, axis=1))[0] # For each unstable face, compute the face it topples to for fi in unstable_face_indices: proj_com = proj_coms[fi] centroid = cvh_mesh.triangles_center[fi] norm = cvh_mesh.face_normals[fi] for tfi in adj_graph[fi]: v1, v2 = adj_graph[fi][tfi]["verts"] if np.dot(np.cross(v1 - centroid, v2 - centroid), norm) < 0: tmp = v2 v2 = v1 v1 = tmp plane1 = [centroid, v1, v1 + norm] plane2 = [centroid, v2 + norm, v2] if ( _orient3dfast(plane1, proj_com) >= 0 and _orient3dfast(plane2, proj_com) >= 0 ): break topple_graph.add_edge(fi, tfi) return topple_graph trimesh-4.5.1/trimesh/primitives.py000066400000000000000000001013071470574263400174320ustar00rootroot00000000000000""" primitives.py ---------------- Subclasses of Trimesh objects that are parameterized as primitives. Useful because you can move boxes and spheres around and then use trimesh operations on them at any point. """ import abc import numpy as np from . import caching, creation, inertia, sample, triangles, util from . import transformations as tf from .base import Trimesh from .constants import log, tol from .typed import ArrayLike, Integer, Number, Optional # immutable identity matrix for checks _IDENTITY = np.eye(4) _IDENTITY.flags.writeable = False class Primitive(Trimesh): """ Geometric Primitives which are a subclass of Trimesh. Mesh is generated lazily when vertices or faces are requested. """ # ignore superclass copy directives __copy__ = None __deepcopy__ = None def __init__(self): # run the Trimesh constructor with no arguments super().__init__() # remove any data self._data.clear() self._validate = False # make sure any cached numpy arrays have # set `array.flags.writable = False` self._cache.force_immutable = True def __repr__(self): return f"" @property def faces(self): stored = self._cache["faces"] if util.is_shape(stored, (-1, 3)): return stored self._create_mesh() return self._cache["faces"] @faces.setter def faces(self, values): if values is not None: raise ValueError("primitive faces are immutable: not setting!") @property def vertices(self): stored = self._cache["vertices"] if util.is_shape(stored, (-1, 3)): return stored self._create_mesh() return self._cache["vertices"] @vertices.setter def vertices(self, values): if values is not None: raise ValueError("primitive vertices are immutable: not setting!") @property def face_normals(self): # we need to avoid the logic in the superclass that # is specific to the data model prioritizing faces stored = self._cache["face_normals"] if util.is_shape(stored, (-1, 3)): return stored # just calculate if not stored unit, valid = triangles.normals(self.triangles) normals = np.zeros((len(valid), 3)) normals[valid] = unit # store and return self._cache["face_normals"] = normals return normals @face_normals.setter def face_normals(self, values): if values is not None: log.warning("Primitive face normals are immutable!") @property def transform(self): """ The transform of the Primitive object. Returns ------------- transform : (4, 4) float Homogeneous transformation matrix """ return self.primitive.transform @abc.abstractmethod def to_dict(self): """ Should be implemented by each primitive. """ raise NotImplementedError() def copy(self, include_visual=True, **kwargs): """ Return a copy of the Primitive object. Returns ------------- copied : object Copy of current primitive """ # get the constructor arguments kwargs.update(self.to_dict()) # remove the type indicator, i.e. `Cylinder` kwargs.pop("kind") # create a new object with kwargs primitive_copy = type(self)(**kwargs) if include_visual: # copy visual information primitive_copy.visual = self.visual.copy() # copy metadata primitive_copy.metadata = self.metadata.copy() for k, v in self._data.data.items(): if k not in primitive_copy._data: primitive_copy._data[k] = v return primitive_copy def to_mesh(self, **kwargs): """ Return a copy of the Primitive object as a Trimesh. Parameters ----------- kwargs : dict Passed to the Trimesh object constructor. Returns ------------ mesh : trimesh.Trimesh Tessellated version of the primitive. """ result = Trimesh( vertices=self.vertices.copy(), faces=self.faces.copy(), face_normals=self.face_normals.copy(), process=kwargs.pop("process", False), **kwargs, ) return result def apply_transform(self, matrix): """ Apply a transform to the current primitive by applying a new transform on top of existing `self.primitive.transform`. If the matrix contains scaling it will change parameters like `radius` or `height` automatically. Parameters ------------ matrix: (4, 4) float Homogeneous transformation """ matrix = np.asanyarray(matrix, order="C", dtype=np.float64) if matrix.shape != (4, 4): raise ValueError("matrix must be `(4, 4)`!") if util.allclose(matrix, _IDENTITY, 1e-8): # identity matrix is a no-op return self prim = self.primitive # copy the current transform current = prim.transform.copy() # see if matrix has scaling from the matrix scale = np.linalg.det(matrix[:3, :3]) ** (1.0 / 3.0) # the objects we handle re-scaling for # note that `Extrusion` is NOT supported kinds = (Box, Cylinder, Capsule, Sphere) if isinstance(self, kinds) and abs(scale - 1.0) > 1e-8: # scale the primitive attributes if hasattr(prim, "height"): prim.height *= scale if hasattr(prim, "radius"): prim.radius *= scale if hasattr(prim, "extents"): prim.extents *= scale # scale the translation of the current matrix current[:3, 3] *= scale # apply new matrix, rescale, translate, current updated = util.multi_dot([matrix, tf.scale_matrix(1.0 / scale), current]) else: # without scaling just multiply updated = np.dot(matrix, current) # make sure matrix is a rigid transform if not tf.is_rigid(updated): raise ValueError("Couldn't produce rigid transform!") # apply the new matrix self.primitive.transform = updated return self def _create_mesh(self): raise ValueError("Primitive doesn't define mesh creation!") class PrimitiveAttributes: """ Hold the mutable data which defines a primitive. """ def __init__(self, parent, defaults, kwargs, mutable=True): """ Hold the attributes for a Primitive. Parameters ------------ parent : Primitive Parent object reference. defaults : dict The default values for this primitive type. kwargs : dict User-passed values, i.e. {'radius': 10.0} """ # store actual data in parent object self._data = parent._data # default values define the keys self._defaults = defaults # store a reference to the parent ubject self._parent = parent # start with a copy of all default objects self._data.update(defaults) # store whether this data is mutable after creation self._mutable = mutable # assign the keys passed by the user only if # they are a property of this primitive for key, default in defaults.items(): value = kwargs.get(key, None) if value is not None: # convert passed data into type of defaults self._data[key] = util.convert_like(value, default) # make sure stored values are immutable after setting if not self._mutable: self._data.mutable = False @property def __doc__(self): # this is generated dynamically as the format # operation can be surprisingly slow and most # people never call it import pprint doc = ( "Store the attributes of a {name} object.\n\n" + "When these values are changed, the mesh geometry will \n" + "automatically be updated to reflect the new values.\n\n" + "Available properties and their default values are:\n {defaults}" + "\n\nExample\n---------------\n" + "p = trimesh.primitives.{name}()\n" + "p.primitive.radius = 10\n" + "\n" ).format( name=self._parent.__class__.__name__, defaults=pprint.pformat(self._defaults, width=-1)[1:-1], ) return doc def __getattr__(self, key): if key.startswith("_"): return super().__getattr__(key) elif key == "center": # this whole __getattr__ is a little hacky return self._data["transform"][:3, 3] elif key in self._defaults: return util.convert_like(self._data[key], self._defaults[key]) raise AttributeError(f"primitive object has no attribute '{key}' ") def __setattr__(self, key, value): if key.startswith("_"): return super().__setattr__(key, value) elif key == "center": value = np.array(value, dtype=np.float64) transform = np.eye(4) transform[:3, 3] = value self._data["transform"] = transform return elif key in self._defaults: if self._mutable: self._data[key] = util.convert_like(value, self._defaults[key]) else: raise ValueError( "Primitive is configured as immutable! Cannot set attribute!" ) else: keys = list(self._defaults.keys()) raise ValueError(f"Only default attributes {keys} can be set!") def __dir__(self): result = sorted(dir(type(self)) + list(self._defaults.keys())) return result class Cylinder(Primitive): def __init__(self, radius=1.0, height=1.0, transform=None, sections=32, mutable=True): """ Create a Cylinder Primitive, a subclass of Trimesh. Parameters ------------- radius : float Radius of cylinder height : float Height of cylinder transform : (4, 4) float Homogeneous transformation matrix sections : int Number of facets in circle. mutable : bool Are extents and transform mutable after creation. """ super().__init__() defaults = {"height": 10.0, "radius": 1.0, "transform": np.eye(4), "sections": 32} self.primitive = PrimitiveAttributes( self, defaults=defaults, kwargs={ "height": height, "radius": radius, "transform": transform, "sections": sections, }, mutable=mutable, ) @caching.cache_decorator def volume(self): """ The analytic volume of the cylinder primitive. Returns --------- volume : float Volume of the cylinder """ volume = (np.pi * self.primitive.radius**2) * self.primitive.height return volume @caching.cache_decorator def moment_inertia(self): """ The analytic inertia tensor of the cylinder primitive. Returns ---------- tensor: (3, 3) float 3D inertia tensor """ tensor = inertia.cylinder_inertia( mass=self.volume, radius=self.primitive.radius, height=self.primitive.height, transform=self.primitive.transform, ) return tensor @caching.cache_decorator def direction(self): """ The direction of the cylinder's axis. Returns -------- axis: (3,) float, vector along the cylinder axis """ axis = np.dot(self.primitive.transform, [0, 0, 1, 0])[:3] return axis @property def segment(self): """ A line segment which if inflated by cylinder radius would represent the cylinder primitive. Returns ------------- segment : (2, 3) float Points representing a single line segment """ # half the height half = self.primitive.height / 2.0 # apply the transform to the Z- aligned segment points = np.dot( self.primitive.transform, np.transpose([[0, 0, -half, 1], [0, 0, half, 1]]) ).T[:, :3] return points def to_dict(self): """ Get a copy of the current Cylinder primitive as a JSON-serializable dict that matches the schema in `trimesh/resources/schema/cylinder.schema.json` Returns ---------- as_dict : dict Serializable data for this primitive. """ return { "kind": "cylinder", "transform": self.primitive.transform.tolist(), "radius": float(self.primitive.radius), "height": float(self.primitive.height), } def buffer(self, distance): """ Return a cylinder primitive which covers the source cylinder by distance: radius is inflated by distance height by twice the distance. Parameters ------------ distance : float Distance to inflate cylinder radius and height Returns ------------- buffered : Cylinder Cylinder primitive inflated by distance """ distance = float(distance) buffered = Cylinder( height=self.primitive.height + distance * 2, radius=self.primitive.radius + distance, transform=self.primitive.transform.copy(), ) return buffered def _create_mesh(self): log.debug("creating mesh for Cylinder primitive") mesh = creation.cylinder( radius=self.primitive.radius, height=self.primitive.height, sections=self.primitive.sections, transform=self.primitive.transform, ) self._cache["vertices"] = mesh.vertices self._cache["faces"] = mesh.faces self._cache["face_normals"] = mesh.face_normals class Capsule(Primitive): def __init__( self, radius=1.0, height=10.0, transform=None, sections=32, mutable=True ): """ Create a Capsule Primitive, a subclass of Trimesh. Parameters ---------- radius : float Radius of cylinder height : float Height of cylinder transform : (4, 4) float Transformation matrix sections : int Number of facets in circle mutable : bool Are extents and transform mutable after creation. """ super().__init__() defaults = {"height": 1.0, "radius": 1.0, "transform": np.eye(4), "sections": 32} self.primitive = PrimitiveAttributes( self, defaults=defaults, kwargs={ "height": height, "radius": radius, "transform": transform, "sections": sections, }, mutable=mutable, ) @property def transform(self): return self.primitive.transform def to_dict(self): """ Get a copy of the current Capsule primitive as a JSON-serializable dict that matches the schema in `trimesh/resources/schema/capsule.schema.json` Returns ---------- as_dict : dict Serializable data for this primitive. """ return { "kind": "capsule", "transform": self.primitive.transform.tolist(), "height": float(self.primitive.height), "radius": float(self.primitive.radius), } @caching.cache_decorator def direction(self): """ The direction of the capsule's axis. Returns -------- axis : (3,) float Vector along the cylinder axis """ axis = np.dot(self.primitive.transform, [0, 0, 1, 0])[:3] return axis def _create_mesh(self): log.debug("creating mesh for `Capsule` primitive") mesh = creation.capsule( radius=self.primitive.radius, height=self.primitive.height ) mesh.apply_transform(self.primitive.transform) self._cache["vertices"] = mesh.vertices self._cache["faces"] = mesh.faces self._cache["face_normals"] = mesh.face_normals class Sphere(Primitive): def __init__( self, radius: Number = 1.0, center: Optional[ArrayLike] = None, transform: Optional[ArrayLike] = None, subdivisions: Integer = 3, mutable: bool = True, ): """ Create a Sphere Primitive, a subclass of Trimesh. Parameters ---------- radius Radius of sphere center : None or (3,) float Center of sphere. transform : None or (4, 4) float Full homogeneous transform. Pass `center` OR `transform. subdivisions Number of subdivisions for icosphere. mutable Are extents and transform mutable after creation. """ super().__init__() constructor = {"radius": float(radius), "subdivisions": int(subdivisions)} # center is a helper method for "transform" # since a sphere is rotationally symmetric if center is not None: if transform is not None: raise ValueError("only one of `center` and `transform` may be passed!") translate = np.eye(4) translate[:3, 3] = center constructor["transform"] = translate elif transform is not None: constructor["transform"] = transform # create the attributes object self.primitive = PrimitiveAttributes( self, defaults={"radius": 1.0, "transform": np.eye(4), "subdivisions": 3}, kwargs=constructor, mutable=mutable, ) @property def center(self): return self.primitive.center @center.setter def center(self, value): self.primitive.center = value def to_dict(self): """ Get a copy of the current Sphere primitive as a JSON-serializable dict that matches the schema in `trimesh/resources/schema/sphere.schema.json` Returns ---------- as_dict : dict Serializable data for this primitive. """ return { "kind": "sphere", "transform": self.primitive.transform.tolist(), "radius": float(self.primitive.radius), } @property def bounds(self): # no docstring so will inherit Trimesh docstring # return exact bounds from primitive center and radius (rather than faces) # self.extents will also use this information bounds = np.array( [ self.primitive.center - self.primitive.radius, self.primitive.center + self.primitive.radius, ] ) return bounds @property def bounding_box_oriented(self): # for a sphere the oriented bounding box is the same as the axis aligned # bounding box, and a sphere is the absolute slowest case for the OBB calculation # as it is a convex surface with a ton of face normals that all need to # be checked return self.bounding_box @caching.cache_decorator def area(self): """ Surface area of the current sphere primitive. Returns -------- area: float, surface area of the sphere Primitive """ area = 4.0 * np.pi * (self.primitive.radius**2) return area @caching.cache_decorator def volume(self): """ Volume of the current sphere primitive. Returns -------- volume: float, volume of the sphere Primitive """ volume = (4.0 * np.pi * (self.primitive.radius**3)) / 3.0 return volume @caching.cache_decorator def moment_inertia(self): """ The analytic inertia tensor of the sphere primitive. Returns ---------- tensor: (3, 3) float 3D inertia tensor. """ return inertia.sphere_inertia(mass=self.volume, radius=self.primitive.radius) def _create_mesh(self): log.debug("creating mesh for Sphere primitive") unit = creation.icosphere( subdivisions=self.primitive.subdivisions, radius=self.primitive.radius ) # apply the center offset here self._cache["vertices"] = unit.vertices + self.primitive.center self._cache["faces"] = unit.faces self._cache["face_normals"] = unit.face_normals class Box(Primitive): def __init__(self, extents=None, transform=None, bounds=None, mutable=True): """ Create a Box Primitive as a subclass of Trimesh Parameters ---------- extents : Optional[ndarray] (3,) float Length of each side of the 3D box. transform : Optional[ndarray] (4, 4) float Homogeneous transformation matrix for box center. bounds : Optional[ndarray] (2, 3) float Axis aligned bounding box, if passed extents and transform will be derived from this. mutable : bool Are extents and transform mutable after creation. """ super().__init__() defaults = {"transform": np.eye(4), "extents": np.ones(3)} if bounds is not None: # validate the multiple forms of input available here if extents is not None or transform is not None: raise ValueError( "if `bounds` is passed `extents` and `transform` must not be!" ) bounds = np.array(bounds, dtype=np.float64) if bounds.shape != (2, 3): raise ValueError("`bounds` must be (2, 3) float") # create extents from AABB extents = np.ptp(bounds, axis=0) # translate to the center of the box transform = np.eye(4) transform[:3, 3] = bounds[0] + extents / 2.0 self.primitive = PrimitiveAttributes( self, defaults=defaults, kwargs={"extents": extents, "transform": transform}, mutable=mutable, ) def to_dict(self): """ Get a copy of the current Box primitive as a JSON-serializable dict that matches the schema in `trimesh/resources/schema/box.schema.json` Returns ---------- as_dict : dict Serializable data for this primitive. """ return { "kind": "box", "transform": self.primitive.transform.tolist(), "extents": self.primitive.extents.tolist(), } @property def transform(self): return self.primitive.transform def sample_volume(self, count): """ Return random samples from inside the volume of the box. Parameters ------------- count : int Number of samples to return Returns ---------- samples : (count, 3) float Points inside the volume """ samples = sample.volume_rectangular( extents=self.primitive.extents, count=count, transform=self.primitive.transform, ) return samples def sample_grid(self, count=None, step=None): """ Return a 3D grid which is contained by the box. Samples are either 'step' distance apart, or there are 'count' samples per box side. Parameters ----------- count : int or (3,) int If specified samples are spaced with np.linspace step : float or (3,) float If specified samples are spaced with np.arange Returns ----------- grid : (n, 3) float Points inside the box """ if count is not None and step is not None: raise ValueError("only step OR count can be specified!") # create pre- transform bounds from extents bounds = np.array([-self.primitive.extents, self.primitive.extents]) * 0.5 if step is not None: grid = util.grid_arange(bounds, step=step) elif count is not None: grid = util.grid_linspace(bounds, count=count) else: raise ValueError("either count or step must be specified!") transformed = tf.transform_points(grid, matrix=self.primitive.transform) return transformed @property def is_oriented(self): """ Returns whether or not the current box is rotated at all. """ if util.is_shape(self.primitive.transform, (4, 4)): return not np.allclose(self.primitive.transform[0:3, 0:3], np.eye(3)) else: return False @caching.cache_decorator def volume(self): """ Volume of the box Primitive. Returns -------- volume : float Volume of box. """ volume = float(np.prod(self.primitive.extents)) return volume def _create_mesh(self): log.debug("creating mesh for Box primitive") box = creation.box( extents=self.primitive.extents, transform=self.primitive.transform ) self._cache.cache.update(box._cache.cache) self._cache["vertices"] = box.vertices self._cache["faces"] = box.faces self._cache["face_normals"] = box.face_normals def as_outline(self): """ Return a Path3D containing the outline of the box. Returns ----------- outline : trimesh.path.Path3D Outline of box primitive """ # do the import in function to keep soft dependency from .path.creation import box_outline # return outline with same size as primitive return box_outline( extents=self.primitive.extents, transform=self.primitive.transform ) class Extrusion(Primitive): def __init__(self, polygon=None, transform=None, height=1.0, mutable=True): """ Create an Extrusion primitive, which is a subclass of Trimesh. Parameters ---------- polygon : shapely.geometry.Polygon Polygon to extrude transform : (4, 4) float Transform to apply after extrusion height : float Height to extrude polygon by mutable : bool Are extents and transform mutable after creation. """ # do the import here, fail early if Shapely isn't installed from shapely.geometry import Point # run the Trimesh init super().__init__() # set default values defaults = { "polygon": Point([0, 0]).buffer(1.0), "transform": np.eye(4), "height": 1.0, } self.primitive = PrimitiveAttributes( self, defaults=defaults, kwargs={"transform": transform, "polygon": polygon, "height": height}, mutable=mutable, ) @caching.cache_decorator def area(self): """ The surface area of the primitive extrusion. Calculated from polygon and height to avoid mesh creation. Returns ---------- area: float Surface area of 3D extrusion """ # area of the sides of the extrusion area = abs(self.primitive.height * self.primitive.polygon.length) # area of the two caps of the extrusion area += self.primitive.polygon.area * 2 return area @caching.cache_decorator def volume(self): """ The volume of the Extrusion primitive. Calculated from polygon and height to avoid mesh creation. Returns ---------- volume : float Volume of 3D extrusion """ # height may be negative volume = abs(self.primitive.polygon.area * self.primitive.height) return volume @caching.cache_decorator def direction(self): """ Based on the extrudes transform what is the vector along which the polygon will be extruded. Returns --------- direction : (3,) float Unit direction vector """ # only consider rotation and signed height direction = np.dot( self.primitive.transform[:3, :3], [0.0, 0.0, np.sign(self.primitive.height)] ) return direction @property def origin(self): """ Based on the extrude transform what is the origin of the plane it is extruded from. Returns ----------- origin : (3,) float Origin of extrusion plane """ return self.primitive.transform[:3, 3] @property def transform(self): return self.primitive.transform @caching.cache_decorator def bounding_box_oriented(self): # no docstring for inheritance # calculate OBB using 2D polygon and known axis from . import bounds # find the 2D bounding box using the polygon to_origin, box = bounds.oriented_bounds_2D(self.primitive.polygon.exterior.coords) # 3D extents extents = np.append(box, abs(self.primitive.height)) # calculate to_3D transform from 2D obb rotation_Z = np.linalg.inv(tf.planar_matrix_to_3D(to_origin)) rotation_Z[2, 3] = self.primitive.height / 2.0 # combine the 2D OBB transformation with the 2D projection transform to_3D = np.dot(self.primitive.transform, rotation_Z) obb = Box(transform=to_3D, extents=extents, mutable=False) return obb def slide(self, distance): """ Alter the transform of the current extrusion to slide it along its extrude_direction vector Parameters ----------- distance : float Distance along self.extrude_direction to move """ distance = float(distance) translation = np.eye(4) translation[2, 3] = distance new_transform = np.dot(self.primitive.transform.copy(), translation.copy()) self.primitive.transform = new_transform def buffer(self, distance, distance_height=None, **kwargs): """ Return a new Extrusion object which is expanded in profile and in height by a specified distance. Parameters -------------- distance : float Distance to buffer polygon distance_height : float Distance to buffer above and below extrusion kwargs : dict Passed to Extrusion constructor Returns ---------- buffered : primitives.Extrusion Extrusion object with new values """ distance = float(distance) # if not specified use same distance for everything if distance_height is None: distance_height = distance # start with current height height = self.primitive.height # if current height is negative offset by negative amount height += np.sign(height) * 2.0 * distance_height # create a new extrusion with a buffered polygon # use type(self) vs Extrusion to handle subclasses buffered = type(self)( transform=self.primitive.transform.copy(), polygon=self.primitive.polygon.buffer(distance), height=height, **kwargs, ) # slide the stock along the axis buffered.slide(-np.sign(height) * distance_height) return buffered def to_dict(self): """ Get a copy of the current Extrusion primitive as a JSON-serializable dict that matches the schema in `trimesh/resources/schema/extrusion.schema.json` Returns ---------- as_dict : dict Serializable data for this primitive. """ return { "kind": "extrusion", "polygon": self.primitive.polygon.wkt, "transform": self.primitive.transform.tolist(), "height": float(self.primitive.height), } def _create_mesh(self): log.debug("creating mesh for Extrusion primitive") # extrude the polygon along Z mesh = creation.extrude_polygon( polygon=self.primitive.polygon, height=self.primitive.height, transform=self.primitive.transform, ) # check volume here in unit tests if tol.strict and mesh.volume < 0.0: raise ValueError("matrix inverted mesh!") # cache mesh geometry in the primitive self._cache["vertices"] = mesh.vertices self._cache["faces"] = mesh.faces trimesh-4.5.1/trimesh/proximity.py000066400000000000000000000452561470574263400173150ustar00rootroot00000000000000""" proximity.py --------------- Query mesh- point proximity. """ import numpy as np from . import util from .constants import log_time, tol from .grouping import group_min from .triangles import closest_point as _corresponding from .triangles import points_to_barycentric try: from scipy.spatial import cKDTree except BaseException as E: from .exceptions import ExceptionWrapper cKDTree = ExceptionWrapper(E) def nearby_faces(mesh, points): """ For each point find nearby faces relatively quickly. The closest point on the mesh to the queried point is guaranteed to be on one of the faces listed. Does this by finding the nearest vertex on the mesh to each point, and then returns all the faces that intersect the axis aligned bounding box centered at the queried point and extending to the nearest vertex. Parameters ---------- mesh : trimesh.Trimesh Mesh to query. points : (n, 3) float Points in space Returns ----------- candidates : (points,) int Sequence of indexes for mesh.faces """ points = np.asanyarray(points, dtype=np.float64) if not util.is_shape(points, (-1, 3)): raise ValueError("points must be (n,3)!") # an r-tree containing the axis aligned bounding box for every triangle rtree = mesh.triangles_tree # a kd-tree containing every vertex of the mesh kdtree = cKDTree(mesh.vertices[mesh.referenced_vertices]) # query the distance to the nearest vertex to get AABB of a sphere distance_vertex = kdtree.query(points)[0].reshape((-1, 1)) distance_vertex += tol.merge # axis aligned bounds bounds = np.column_stack((points - distance_vertex, points + distance_vertex)) # faces that intersect axis aligned bounding box candidates = [list(rtree.intersection(b)) for b in bounds] return candidates def closest_point_naive(mesh, points): """ Given a mesh and a list of points find the closest point on any triangle. Does this by constructing a very large intermediate array and comparing every point to every triangle. Parameters ---------- mesh : Trimesh Takes mesh to have same interfaces as `closest_point` points : (m, 3) float Points in space Returns ---------- closest : (m, 3) float Closest point on triangles for each point distance : (m,) float Distances between point and triangle triangle_id : (m,) int Index of triangle containing closest point """ # get triangles from mesh triangles = mesh.triangles.view(np.ndarray) # establish that input points are sane points = np.asanyarray(points, dtype=np.float64) if not util.is_shape(triangles, (-1, 3, 3)): raise ValueError("triangles shape incorrect") if not util.is_shape(points, (-1, 3)): raise ValueError("points must be (n,3)") # create a giant tiled array of each point tiled len(triangles) times points_tiled = np.tile(points, (1, len(triangles))) on_triangle = np.array( [_corresponding(triangles, i.reshape((-1, 3))) for i in points_tiled] ) # distance squared distance_2 = [((i - q) ** 2).sum(axis=1) for i, q in zip(on_triangle, points)] triangle_id = np.array([i.argmin() for i in distance_2]) # closest cartesian point closest = np.array([g[i] for i, g in zip(triangle_id, on_triangle)]) distance = np.array([g[i] for i, g in zip(triangle_id, distance_2)]) ** 0.5 return closest, distance, triangle_id def closest_point(mesh, points): """ Given a mesh and a list of points find the closest point on any triangle. Parameters ---------- mesh : trimesh.Trimesh Mesh to query points : (m, 3) float Points in space Returns ---------- closest : (m, 3) float Closest point on triangles for each point distance : (m,) float Distance to mesh. triangle_id : (m,) int Index of triangle containing closest point """ points = np.asanyarray(points, dtype=np.float64) if not util.is_shape(points, (-1, 3)): raise ValueError("points must be (n,3)!") # do a tree- based query for faces near each point candidates = nearby_faces(mesh, points) # view triangles as an ndarray so we don't have to recompute # the MD5 during all of the subsequent advanced indexing triangles = mesh.triangles.view(np.ndarray) # create the corresponding list of triangles # and query points to send to the closest_point function all_candidates = np.concatenate(candidates) num_candidates = list(map(len, candidates)) tile_idxs = np.repeat(np.arange(len(points)), num_candidates) query_point = points[tile_idxs, :] query_tri = triangles[all_candidates] # do the computation for closest point query_close = _corresponding(query_tri, query_point) query_group = np.cumsum(num_candidates)[:-1] # vectors and distances for # closest point to query point query_vector = query_point - query_close query_distance = util.diagonal_dot(query_vector, query_vector) # get best two candidate indices by arg-sorting the per-query_distances qds = np.array_split(query_distance, query_group) idxs = np.int32([qd.argsort()[:2] if len(qd) > 1 else [0, 0] for qd in qds]) idxs[1:] += query_group.reshape(-1, 1) # points, distances and triangle ids for best two candidates two_points = query_close[idxs] two_dists = query_distance[idxs] two_candidates = all_candidates[idxs] # the first candidate is the best result for unambiguous cases result_close = query_close[idxs[:, 0]] result_tid = two_candidates[:, 0] result_distance = two_dists[:, 0] # however: same closest point on two different faces # find the best one and correct triangle ids if necessary check_distance = np.ptp(two_dists, axis=1) < tol.merge check_magnitude = np.all(np.abs(two_dists) > tol.merge, axis=1) # mask results where corrections may be apply c_mask = np.bitwise_and(check_distance, check_magnitude) # get two face normals for the candidate points normals = mesh.face_normals[two_candidates[c_mask]] # compute normalized surface-point to query-point vectors vectors = query_vector[idxs[c_mask]] / two_dists[c_mask].reshape(-1, 2, 1) ** 0.5 # compare enclosed angle for both face normals dots = (normals * vectors).sum(axis=2) # take the idx with the most positive angle # allows for selecting the correct candidate triangle id c_idxs = dots.argmax(axis=1) # correct triangle ids where necessary # closest point and distance remain valid result_tid[c_mask] = two_candidates[c_mask, c_idxs] result_distance[c_mask] = two_dists[c_mask, c_idxs] result_close[c_mask] = two_points[c_mask, c_idxs] # we were comparing the distance squared so # now take the square root in one vectorized operation result_distance **= 0.5 return result_close, result_distance, result_tid def signed_distance(mesh, points): """ Find the signed distance from a mesh to a list of points. * Points OUTSIDE the mesh will have NEGATIVE distance * Points within tol.merge of the surface will have POSITIVE distance * Points INSIDE the mesh will have POSITIVE distance Parameters ----------- mesh : trimesh.Trimesh Mesh to query. points : (n, 3) float Points in space Returns ---------- signed_distance : (n,) float Signed distance from point to mesh """ # make sure we have a numpy array points = np.asanyarray(points, dtype=np.float64) # find the closest point on the mesh to the queried points closest, distance, triangle_id = closest_point(mesh, points) # we only care about nonzero distances nonzero = distance > tol.merge if not nonzero.any(): return distance # For closest points that project directly in to the triangle, compute sign from # triangle normal Project each point in to the closest triangle plane nonzero = np.where(nonzero)[0] normals = mesh.face_normals[triangle_id] projection = ( points[nonzero] - ( normals[nonzero].T * np.einsum("ij,ij->i", points[nonzero] - closest[nonzero], normals[nonzero]) ).T ) # Determine if the projection lies within the closest triangle barycentric = points_to_barycentric(mesh.triangles[triangle_id[nonzero]], projection) ontriangle = ~( ((barycentric < -tol.merge) | (barycentric > 1 + tol.merge)).any(axis=1) ) # Where projection does lie in the triangle, compare vector to projection to the # triangle normal to compute sign sign = np.sign( np.einsum( "ij,ij->i", normals[nonzero[ontriangle]], points[nonzero[ontriangle]] - projection[ontriangle], ) ) distance[nonzero[ontriangle]] *= -1.0 * sign # For all other triangles, resort to raycasting against the entire mesh inside = mesh.ray.contains_points(points[nonzero[~ontriangle]]) sign = (inside.astype(int) * 2) - 1.0 # apply sign to previously computed distance distance[nonzero[~ontriangle]] *= sign return distance class NearestQueryResult: """ Stores the nearest points and attributes for nearest points queries. """ def __init__(self): self.nearest = None self.distances = None self.normals = None self.triangle_indices = None self.barycentric_coordinates = None self.interpolated_normals = None self.vertex_indices = None def has_normals(self): return self.normals is not None or self.interpolated_normals is not None class ProximityQuery: """ Proximity queries for the current mesh. """ def __init__(self, mesh): self._mesh = mesh @log_time def on_surface(self, points): """ Given list of points, for each point find the closest point on any triangle of the mesh. Parameters ---------- points : (m,3) float, points in space Returns ---------- closest : (m, 3) float Closest point on triangles for each point distance : (m,) float Distance to surface triangle_id : (m,) int Index of closest triangle for each point. """ return closest_point(mesh=self._mesh, points=points) def vertex(self, points): """ Given a set of points, return the closest vertex index to each point Parameters ---------- points : (n, 3) float Points in space Returns ---------- distance : (n,) float Distance from source point to vertex. vertex_id : (n,) int Index of mesh.vertices for closest vertex. """ tree = self._mesh.kdtree return tree.query(points) def signed_distance(self, points): """ Find the signed distance from a mesh to a list of points. * Points OUTSIDE the mesh will have NEGATIVE distance * Points within tol.merge of the surface will have POSITIVE distance * Points INSIDE the mesh will have POSITIVE distance Parameters ----------- points : (n, 3) float Points in space Returns ---------- signed_distance : (n,) float Signed distance from point to mesh. """ return signed_distance(self._mesh, points) def longest_ray(mesh, points, directions): """ Find the lengths of the longest rays which do not intersect the mesh cast from a list of points in the provided directions. Parameters ----------- points : (n, 3) float Points in space. directions : (n, 3) float Directions of rays. Returns ---------- signed_distance : (n,) float Length of rays. """ points = np.asanyarray(points, dtype=np.float64) if not util.is_shape(points, (-1, 3)): raise ValueError("points must be (n,3)!") directions = np.asanyarray(directions, dtype=np.float64) if not util.is_shape(directions, (-1, 3)): raise ValueError("directions must be (n,3)!") if len(points) != len(directions): raise ValueError("number of points must equal number of directions!") _faces, rays, locations = mesh.ray.intersects_id( points, directions, return_locations=True, multiple_hits=True ) if len(rays) > 0: distances = np.linalg.norm(locations - points[rays], axis=1) else: distances = np.array([]) # Reject intersections at distance less than tol.planar rays = rays[distances > tol.planar] distances = distances[distances > tol.planar] # Add infinite length for those with no valid intersection no_intersections = np.setdiff1d(np.arange(len(points)), rays) rays = np.concatenate((rays, no_intersections)) distances = np.concatenate((distances, np.repeat(np.inf, len(no_intersections)))) return group_min(rays, distances) def max_tangent_sphere( mesh, points, inwards=True, normals=None, threshold=1e-6, max_iter=100 ): """ Find the center and radius of the sphere which is tangent to the mesh at the given point and at least one more point with no non-tangential intersections with the mesh. Masatomo Inui, Nobuyuki Umezu & Ryohei Shimane (2016) Shrinking sphere: A parallel algorithm for computing the thickness of 3D objects, Computer-Aided Design and Applications, 13:2, 199-207, DOI: 10.1080/16864360.2015.1084186 Parameters ---------- points : (n, 3) float Points in space. inwards : bool Whether to have the sphere inside or outside the mesh. normals : (n, 3) float or None Normals of the mesh at the given points if is None computed automatically. Returns ---------- centers : (n,3) float Centers of spheres radii : (n,) float Radii of spheres """ points = np.asanyarray(points, dtype=np.float64) if not util.is_shape(points, (-1, 3)): raise ValueError("points must be (n,3)!") if normals is not None: normals = np.asanyarray(normals, dtype=np.float64) if not util.is_shape(normals, (-1, 3)): raise ValueError("normals must be (n,3)!") if len(points) != len(normals): raise ValueError("number of points must equal number of normals!") else: normals = mesh.face_normals[closest_point(mesh, points)[2]] if inwards: normals = -normals # Find initial tangent spheres distances = longest_ray(mesh, points, normals) radii = distances * 0.5 not_converged = np.ones(len(points), dtype=bool) # boolean mask # If ray is infinite, find the vertex which is furthest from our point # when projected onto the ray. I.e. find v which maximises # (v-p).n = v.n - p.n. # We use a loop rather a vectorised approach to reduce memory cost # it also seems to run faster. for i in np.where(np.isinf(distances))[0]: projections = np.dot(mesh.vertices - points[i], normals[i]) # If no points lie outside the tangent plane, then the radius is infinite # otherwise we have a point outside the tangent plane, take the one with maximal # projection if projections.max() < tol.planar: radii[i] = np.inf not_converged[i] = False else: vertex = mesh.vertices[projections.argmax()] radii[i] = np.dot(vertex - points[i], vertex - points[i]) / ( 2 * np.dot(vertex - points[i], normals[i]) ) # Compute centers centers = points + normals * np.nan_to_num(radii.reshape(-1, 1)) centers[np.isinf(radii)] = [np.nan, np.nan, np.nan] # Our iterative process terminates when the difference in sphere # radius is less than threshold*D D = np.linalg.norm(mesh.bounds[1] - mesh.bounds[0]) convergence_threshold = threshold * D n_iter = 0 while not_converged.sum() > 0 and n_iter < max_iter: n_iter += 1 n_points, n_dists, _n_faces = mesh.nearest.on_surface(centers[not_converged]) # If the distance to the nearest point is the same as the distance # to the start point then we are done. done = ( np.abs( n_dists - np.linalg.norm(centers[not_converged] - points[not_converged], axis=1) ) < tol.planar ) not_converged[np.where(not_converged)[0][done]] = False # Otherwise find the radius and center of the sphere tangent to the mesh # at the point and the nearest point. diff = n_points[~done] - points[not_converged] old_radii = radii[not_converged].copy() # np.einsum produces element wise dot product radii[not_converged] = np.einsum("ij, ij->i", diff, diff) / ( 2 * np.einsum("ij, ij->i", diff, normals[not_converged]) ) centers[not_converged] = points[not_converged] + normals[not_converged] * radii[ not_converged ].reshape(-1, 1) # If change in radius is less than threshold we have converged cvged = old_radii - radii[not_converged] < convergence_threshold not_converged[np.where(not_converged)[0][cvged]] = False return centers, radii def thickness(mesh, points, exterior=False, normals=None, method="max_sphere"): """ Find the thickness of the mesh at the given points. Parameters ---------- points : (n, 3) float Points in space exterior : bool Whether to compute the exterior thickness (a.k.a. reach) normals : (n, 3) float Normals of the mesh at the given points If is None computed automatically. method : string One of 'max_sphere' or 'ray' Returns ---------- thickness : (n,) float Thickness at given points. """ points = np.asanyarray(points, dtype=np.float64) if not util.is_shape(points, (-1, 3)): raise ValueError("points must be (n,3)!") if normals is not None: normals = np.asanyarray(normals, dtype=np.float64) if not util.is_shape(normals, (-1, 3)): raise ValueError("normals must be (n,3)!") if len(points) != len(normals): raise ValueError("number of points must equal number of normals!") else: normals = mesh.face_normals[closest_point(mesh, points)[2]] if method == "max_sphere": _centers, radius = max_tangent_sphere( mesh=mesh, points=points, inwards=not exterior, normals=normals ) thickness = radius * 2 return thickness elif method == "ray": if exterior: return longest_ray(mesh, points, normals) else: return longest_ray(mesh, points, -normals) else: raise ValueError('Invalid method, use "max_sphere" or "ray"') trimesh-4.5.1/trimesh/py.typed000066400000000000000000000000001470574263400163500ustar00rootroot00000000000000trimesh-4.5.1/trimesh/ray/000077500000000000000000000000001470574263400154565ustar00rootroot00000000000000trimesh-4.5.1/trimesh/ray/__init__.py000066400000000000000000000005321470574263400175670ustar00rootroot00000000000000from . import ray_triangle # optionally load an interface to the embree raytracer try: from . import ray_pyembree has_embree = True except BaseException as E: from .. import exceptions ray_pyembree = exceptions.ExceptionWrapper(E) has_embree = False # add to __all__ as per pep8 __all__ = ["ray_pyembree", "ray_triangle"] trimesh-4.5.1/trimesh/ray/ray_pyembree.py000066400000000000000000000267711470574263400205300ustar00rootroot00000000000000""" Ray queries using the embreex package with the API wrapped to match our native raytracer. """ import numpy as np from .. import caching, intersections, util from ..constants import log_time from .ray_util import contains_points # the factor of geometry.scale to offset a ray from a triangle # to reliably not hit its origin triangle _ray_offset_factor = 1e-4 # we want to clip our offset to a sane distance _ray_offset_floor = 1e-8 try: # try the preferred wrapper which installs from wheels from embreex import rtcore_scene from embreex.mesh_construction import TriangleMesh # pass embree floats as 32 bit _embree_dtype = np.float32 except BaseException as E: try: # this will be deprecated at some point hopefully soon from pyembree import __version__, rtcore_scene from pyembree.mesh_construction import TriangleMesh # see if we're using a newer version of the pyembree wrapper _embree_new = tuple([int(i) for i in __version__.split(".")]) >= (0, 1, 4) # both old and new versions require exact but different type _embree_dtype = [np.float64, np.float32][int(_embree_new)] except BaseException: # raise the embreex error for better log message raise E class RayMeshIntersector: def __init__(self, geometry, scale_to_box=True): """ 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. """ self.mesh = geometry self._scale_to_box = scale_to_box self._cache = caching.Cache(id_function=self.mesh.__hash__) @property def _scale(self): """ Scaling factor for precision. """ if self._scale_to_box: # scale vertices to approximately a cube to help with # numerical issues at very large/small scales scale = 100.0 / self.mesh.scale else: scale = 1.0 return scale @caching.cache_decorator def _scene(self): """ A cached version of the embreex scene. """ return _EmbreeWrap( vertices=self.mesh.vertices, faces=self.mesh.faces, scale=self._scale ) def intersects_location(self, ray_origins, ray_directions, multiple_hits=True): """ 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 """ (index_tri, index_ray, locations) = self.intersects_id( ray_origins=ray_origins, ray_directions=ray_directions, multiple_hits=multiple_hits, return_locations=True, ) return locations, index_ray, index_tri @log_time def intersects_id( self, ray_origins, ray_directions, multiple_hits=True, max_hits=20, return_locations=False, ): """ 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 """ # make sure input is _dtype for embree ray_origins = np.array(ray_origins, dtype=np.float64) ray_directions = np.array(ray_directions, dtype=np.float64) if ray_origins.shape != ray_directions.shape: raise ValueError("Ray origin and direction don't match!") ray_directions = util.unitize(ray_directions) # since we are constructing all hits, save them to a deque then # stack into (depth, len(rays)) at the end result_triangle = [] result_ray_idx = [] result_locations = [] # the mask for which rays are still active current = np.ones(len(ray_origins), dtype=bool) if multiple_hits or return_locations: # how much to offset ray to transport to the other side of face distance = np.clip( _ray_offset_factor * self._scale, _ray_offset_floor, np.inf ) ray_offsets = ray_directions * distance # grab the planes from triangles plane_origins = self.mesh.triangles[:, 0, :] plane_normals = self.mesh.face_normals # use a for loop rather than a while to ensure this exits # if a ray is offset from a triangle and then is reported # hitting itself this could get stuck on that one triangle for _ in range(max_hits): # run the embreex query # if you set output=1 it will calculate distance along # ray, which is bizzarely slower than our calculation query = self._scene.run(ray_origins[current], ray_directions[current]) # basically we need to reduce the rays to the ones that hit # something hit = query != -1 # which triangle indexes were hit hit_triangle = query[hit] # eliminate rays that didn't hit anything from future queries current_index = np.nonzero(current)[0] current_index_no_hit = current_index[np.logical_not(hit)] current_index_hit = current_index[hit] current[current_index_no_hit] = False # append the triangle and ray index to the results result_triangle.append(hit_triangle) result_ray_idx.append(current_index_hit) # if we don't need all of the hits, return the first one if (not multiple_hits and not return_locations) or not hit.any(): break # find the location of where the ray hit the triangle plane new_origins, valid = intersections.planes_lines( plane_origins=plane_origins[hit_triangle], plane_normals=plane_normals[hit_triangle], line_origins=ray_origins[current], line_directions=ray_directions[current], ) if not valid.all(): # since a plane intersection was invalid we have to go back and # fix some stuff, we pop the ray index and triangle index, # apply the valid mask then append it right back to keep our # indexes intact result_ray_idx.append(result_ray_idx.pop()[valid]) result_triangle.append(result_triangle.pop()[valid]) # update the current rays to reflect that we couldn't find a # new origin current[current_index_hit[np.logical_not(valid)]] = False # since we had to find the intersection point anyway we save it # even if we're not going to return it result_locations.extend(new_origins) if multiple_hits: # move the ray origin to the other side of the triangle ray_origins[current] = new_origins + ray_offsets[current] else: break # stack the dequeues into nice 1D numpy arrays index_tri = np.hstack(result_triangle) index_ray = np.hstack(result_ray_idx) if return_locations: locations = ( np.zeros((0, 3), float) if len(result_locations) == 0 else np.array(result_locations) ) return index_tri, index_ray, locations return index_tri, index_ray @log_time def intersects_first(self, ray_origins, ray_directions): """ 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 """ ray_origins = np.array(ray_origins, dtype=np.float64) ray_directions = np.array(ray_directions, dtype=np.float64) if ray_origins.shape != ray_directions.shape: raise ValueError("Ray origin and direction don't match!") ray_directions = util.unitize(ray_directions) triangle_index = self._scene.run(ray_origins, ray_directions) return triangle_index def intersects_any(self, ray_origins, ray_directions): """ 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 """ first = self.intersects_first( ray_origins=ray_origins, ray_directions=ray_directions ) hit = first != -1 return hit def contains_points(self, points): """ 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 """ return contains_points(self, points) def __getstate__(self): state = self.__dict__.copy() # don't pickle cache state.pop("_cache", None) return state def __setstate__(self, state): self.__dict__.update(state) # Add cache back since it doesn't exist in the pickle self._cache = caching.Cache(id_function=self.mesh.__hash__) class _EmbreeWrap: """ 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. """ def __init__(self, vertices, faces, scale): scaled = np.array(vertices, dtype=np.float64) self.origin = scaled.min(axis=0) self.scale = float(scale) scaled = (scaled - self.origin) * self.scale self.scene = rtcore_scene.EmbreeScene() # assign the geometry to the scene TriangleMesh( scene=self.scene, vertices=scaled.astype(_embree_dtype), indices=faces.view(np.ndarray).astype(np.int32), ) def run(self, origins, normals, **kwargs): scaled = (np.array(origins, dtype=np.float64) - self.origin) * self.scale return self.scene.run( scaled.astype(_embree_dtype), normals.astype(_embree_dtype), **kwargs ) trimesh-4.5.1/trimesh/ray/ray_triangle.py000066400000000000000000000307051470574263400205150ustar00rootroot00000000000000""" A basic slow implementation of ray- triangle queries. """ import numpy as np from .. import caching, grouping, intersections, util from .. import triangles as triangles_mod from ..constants import tol from .ray_util import contains_points class RayMeshIntersector: """ An object to query a mesh for ray intersections. Precomputes an r-tree for each triangle on the mesh. """ def __init__(self, mesh): self.mesh = mesh self._cache = caching.Cache(self.mesh.__hash__) def intersects_id( self, ray_origins, ray_directions, return_locations=False, multiple_hits=True, **kwargs, ): """ 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 """ (index_tri, index_ray, locations) = ray_triangle_id( triangles=self.mesh.triangles, ray_origins=ray_origins, ray_directions=ray_directions, tree=self.mesh.triangles_tree, multiple_hits=multiple_hits, triangles_normal=self.mesh.face_normals, ) if return_locations: if len(index_tri) == 0: return index_tri, index_ray, locations unique = grouping.unique_rows(np.column_stack((locations, index_ray)))[0] return index_tri[unique], index_ray[unique], locations[unique] return index_tri, index_ray def intersects_location(self, ray_origins, ray_directions, **kwargs): """ 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 """ (index_tri, index_ray, locations) = self.intersects_id( ray_origins=ray_origins, ray_directions=ray_directions, return_locations=True, **kwargs, ) return locations, index_ray, index_tri def intersects_first(self, ray_origins, ray_directions, **kwargs): """ 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 """ (index_tri, index_ray) = self.intersects_id( ray_origins=ray_origins, ray_directions=ray_directions, return_locations=False, multiple_hits=False, **kwargs, ) # put the result into the form of "one triangle index per ray" result = np.ones(len(ray_origins), dtype=np.int64) * -1 result[index_ray] = index_tri return result def intersects_any(self, ray_origins, ray_directions, **kwargs): """ 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 """ _index_tri, index_ray = self.intersects_id(ray_origins, ray_directions) hit_any = np.zeros(len(ray_origins), dtype=bool) hit_idx = np.unique(index_ray) if len(hit_idx) > 0: hit_any[hit_idx] = True return hit_any def contains_points(self, points): """ Check if a mesh contains a list of points, using ray tests. If the point is on the surface of the mesh the behavior is undefined. Parameters ------------ points : (n, 3) float Points in space Returns --------- contains : (n,) bool Whether point is inside mesh or not """ return contains_points(self, points) def ray_triangle_id( triangles, ray_origins, ray_directions, triangles_normal=None, tree=None, multiple_hits=True, ): """ 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 """ triangles = np.asanyarray(triangles, dtype=np.float64) ray_origins = np.asanyarray(ray_origins, dtype=np.float64) ray_directions = np.asanyarray(ray_directions, dtype=np.float64) # if we didn't get passed an r-tree for the bounds of each # triangle create one here if tree is None: tree = triangles_mod.bounds_tree(triangles) # find the list of likely triangles and which ray they # correspond with, via rtree queries ray_candidates, ray_id = ray_triangle_candidates( ray_origins=ray_origins, ray_directions=ray_directions, tree=tree ) # get subsets which are corresponding rays and triangles # (c,3,3) triangle candidates triangle_candidates = triangles[ray_candidates] # (c,3) origins and vectors for the rays line_origins = ray_origins[ray_id] line_directions = ray_directions[ray_id] # get the plane origins and normals from the triangle candidates plane_origins = triangle_candidates[:, 0, :] if triangles_normal is None: plane_normals, triangle_ok = triangles_mod.normals(triangle_candidates) if not triangle_ok.all(): raise ValueError("Invalid triangles!") else: plane_normals = triangles_normal[ray_candidates] # find the intersection location of the rays with the planes location, valid = intersections.planes_lines( plane_origins=plane_origins, plane_normals=plane_normals, line_origins=line_origins, line_directions=line_directions, ) if len(triangle_candidates) == 0 or not valid.any(): # we got no hits so return early with empty array return ( np.array([], dtype=np.int64), np.array([], dtype=np.int64), np.array([], dtype=np.float64), ) # find the barycentric coordinates of each plane intersection on the # triangle candidates barycentric = triangles_mod.points_to_barycentric( triangle_candidates[valid], location ) # the plane intersection is inside the triangle if all barycentric # coordinates are between 0.0 and 1.0 hit = np.logical_and( (barycentric > -tol.zero).all(axis=1), (barycentric < (1 + tol.zero)).all(axis=1) ) # the result index of the triangle is a candidate with a valid # plane intersection and a triangle which contains the plane # intersection point index_tri = ray_candidates[valid][hit] # the ray index is a subset with a valid plane intersection and # contained by a triangle index_ray = ray_id[valid][hit] # locations are already valid plane intersections, just mask by hits location = location[hit] # only return points that are forward from the origin vector = location - ray_origins[index_ray] distance = util.diagonal_dot(vector, ray_directions[index_ray]) forward = distance > -1e-6 index_tri = index_tri[forward] index_ray = index_ray[forward] location = location[forward] distance = distance[forward] if multiple_hits: return index_tri, index_ray, location # since we are not returning multiple hits, we need to # figure out which hit is first if len(index_ray) == 0: return index_tri, index_ray, location # find the first hit first = np.array([g[distance[g].argmin()] for g in grouping.group(index_ray)]) return index_tri[first], index_ray[first], location[first] def ray_triangle_candidates(ray_origins, ray_directions, tree): """ 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 """ bounding = ray_bounds( ray_origins=ray_origins, ray_directions=ray_directions, bounds=tree.bounds ) index = [] candidates = [] for i, bounds in enumerate(bounding): cand = list(tree.intersection(bounds)) candidates.extend(cand) index.extend([i] * len(cand)) return np.array(candidates, dtype=np.int64), np.array(index, dtype=np.int64) def ray_bounds(ray_origins, ray_directions, bounds, buffer_dist=1e-5): """ 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 """ ray_origins = np.asanyarray(ray_origins, dtype=np.float64) ray_directions = np.asanyarray(ray_directions, dtype=np.float64) # bounding box we are testing against bounds = np.asanyarray(bounds) # find the primary axis of the vector axis = np.abs(ray_directions).argmax(axis=1) axis_bound = bounds.reshape((2, -1)).T[axis] axis_ori = np.array([ray_origins[i][a] for i, a in enumerate(axis)]).reshape((-1, 1)) axis_dir = np.array([ray_directions[i][a] for i, a in enumerate(axis)]).reshape( (-1, 1) ) # parametric equation of a line # point = direction*t + origin # p = dt + o # t = (p-o)/d nonzero = (axis_dir != 0.0).reshape(-1) t = np.zeros_like(axis_bound) t[nonzero] = (axis_bound[nonzero] - axis_ori[nonzero]) / axis_dir[nonzero] # prevent the bounding box from including triangles # behind the ray origin t[t < buffer_dist] = buffer_dist # the value of t for both the upper and lower bounds t_a = t[:, 0].reshape((-1, 1)) t_b = t[:, 1].reshape((-1, 1)) # the cartesian point for where the line hits the plane defined by # axis on_a = (ray_directions * t_a) + ray_origins on_b = (ray_directions * t_b) + ray_origins on_plane = np.column_stack((on_a, on_b)).reshape((-1, 2, ray_directions.shape[1])) ray_bounding = np.hstack((on_plane.min(axis=1), on_plane.max(axis=1))) # pad the bounding box by TOL_BUFFER # not sure if this is necessary, but if the ray is axis aligned # this function will otherwise return zero volume bounding boxes # which may or may not screw up the r-tree intersection queries ray_bounding += np.array([-1, -1, -1, 1, 1, 1]) * buffer_dist return ray_bounding trimesh-4.5.1/trimesh/ray/ray_util.py000066400000000000000000000102571470574263400176650ustar00rootroot00000000000000import numpy as np from .. import bounds, constants, util @constants.log_time def contains_points(intersector, points, check_direction=None): """ Check if a mesh contains a set of points, using ray tests. If the point is on the surface of the mesh, behavior is undefined. Parameters --------- mesh: Trimesh object points: (n,3) points in space Returns --------- contains : (n) bool Whether point is inside mesh or not """ # convert points to float and make sure they are 3D points = np.asanyarray(points, dtype=np.float64) if not util.is_shape(points, (-1, 3)): raise ValueError("points must be (n,3)") # placeholder result with no hits we'll fill in later contains = np.zeros(len(points), dtype=bool) # cull points outside of the axis aligned bounding box # this avoids running ray tests unless points are close inside_aabb = bounds.contains(intersector.mesh.bounds, points) # if everything is outside the AABB, exit early if not inside_aabb.any(): return contains # default ray direction is random, but we are not generating # uniquely each time so the behavior of this function is easier to debug default_direction = np.array([0.4395064455, 0.617598629942, 0.652231566745]) if check_direction is None: # if no check direction is specified use the default # stack it only for points inside the AABB ray_directions = np.tile(default_direction, (inside_aabb.sum(), 1)) else: # if a direction is passed use it ray_directions = np.tile( np.array(check_direction).reshape(3), (inside_aabb.sum(), 1) ) # cast a ray both forwards and backwards _location, index_ray, _c = intersector.intersects_location( np.vstack((points[inside_aabb], points[inside_aabb])), np.vstack((ray_directions, -ray_directions)), ) # if we hit nothing in either direction just return with no hits if len(index_ray) == 0: return contains # reshape so bi_hits[0] is the result in the forward direction and # bi_hits[1] is the result in the backwards directions bi_hits = np.bincount(index_ray, minlength=len(ray_directions) * 2).reshape((2, -1)) # a point is probably inside if it hits a surface an odd number of times bi_contains = np.mod(bi_hits, 2) == 1 # if the mod of the hit count is the same in both # directions, we can save that result and move on agree = np.equal(*bi_contains) # in order to do an assignment we can only have one # level of boolean indexes, for example this doesn't work: # contains[inside_aabb][agree] = bi_contains[0][agree] # no error is thrown, but nothing gets assigned # to get around that, we create a single mask for assignment mask = inside_aabb.copy() mask[mask] = agree # set contains flags for things inside the AABB and who have # ray tests that agree in both directions contains[mask] = bi_contains[0][agree] # if one of the rays in either direction hit nothing # it is a very solid indicator we are in free space # as the edge cases we are working around tend to # add hits rather than miss hits one_freespace = (bi_hits == 0).any(axis=0) # rays where they don't agree and one isn't in free space # are deemed to be broken broken = np.logical_and(np.logical_not(agree), np.logical_not(one_freespace)) # if all rays agree return if not broken.any(): return contains # try to run again with a new random vector # only do it if check_direction isn't specified # to avoid infinite recursion if check_direction is None: # we're going to run the check again in a random direction new_direction = util.unitize(np.random.random(3) - 0.5) # do the mask trick again to be able to assign results mask = inside_aabb.copy() mask[mask] = broken contains[mask] = contains_points( intersector, points[inside_aabb][broken], check_direction=new_direction ) constants.log.debug( "detected %d broken contains test, attempted to fix", broken.sum() ) return contains trimesh-4.5.1/trimesh/registration.py000066400000000000000000001174521470574263400177610ustar00rootroot00000000000000""" registration.py --------------- Functions for registering (aligning) point clouds with meshes. """ import numpy as np from . import bounds, transformations, util from .geometry import weighted_vertex_normals from .points import PointCloud, plane_fit from .transformations import transform_points from .triangles import angles, cross, normals from .typed import ArrayLike, Integer, Optional try: import scipy.sparse as sparse from scipy.spatial import cKDTree except BaseException as E: # wrapping just ImportError fails in some cases # will raise the error when someone tries to use KDtree from . import exceptions cKDTree = exceptions.ExceptionWrapper(E) sparse = exceptions.ExceptionWrapper(E) def mesh_other( mesh, other, samples: Integer = 500, scale: bool = False, icp_first: Integer = 10, icp_final: Integer = 50, **kwargs, ): """ Align a mesh with another mesh or a PointCloud using the principal axes of inertia as a starting point which is refined by iterative closest point. Parameters ------------ mesh : trimesh.Trimesh object Mesh to align with other other : trimesh.Trimesh or (n, 3) float Mesh or points in space samples : int Number of samples from mesh surface to align scale : bool Allow scaling in transform icp_first : int How many ICP iterations for the 9 possible combinations of sign flippage icp_final : int How many ICP iterations for the closest candidate from the wider search kwargs : dict Passed through to `icp`, which passes through to `procrustes` Returns ----------- mesh_to_other : (4, 4) float Transform to align mesh to the other object cost : float Average squared distance per point """ def key_points(m, count): """ Return a combination of mesh vertices and surface samples with vertices chosen by likelihood to be important to registration. """ if len(m.vertices) < (count / 2): return np.vstack((m.vertices, m.sample(count - len(m.vertices)))) else: return m.sample(count) if not util.is_instance_named(mesh, "Trimesh"): raise ValueError("mesh must be Trimesh object!") inverse = True search = mesh # if both are meshes use the smaller one for searching if util.is_instance_named(other, "Trimesh"): if len(mesh.vertices) > len(other.vertices): # do the expensive tree construction on the # smaller mesh and query the others points search = other inverse = False points = key_points(m=mesh, count=samples) points_mesh = mesh else: points_mesh = other points = key_points(m=other, count=samples) if points_mesh.is_volume: points_PIT = points_mesh.principal_inertia_transform else: points_PIT = points_mesh.bounding_box_oriented.principal_inertia_transform elif util.is_shape(other, (-1, 3)): # case where other is just points points = other points_PIT = bounds.oriented_bounds(points)[0] else: raise ValueError("other must be mesh or (n, 3) points!") # get the transform that aligns the search mesh principal # axes of inertia with the XYZ axis at the origin if search.is_volume: search_PIT = search.principal_inertia_transform else: search_PIT = search.bounding_box_oriented.principal_inertia_transform # transform that moves the principal axes of inertia # of the search mesh to be aligned with the best- guess # principal axes of the points search_to_points = np.dot(np.linalg.inv(points_PIT), search_PIT) # permutations of cube rotations # the principal inertia transform has arbitrary sign # along the 3 major axis so try all combinations of # 180 degree rotations with a quick first ICP pass cubes = np.array( [ np.eye(4) * np.append(diag, 1) for diag in [ [1, 1, 1], [1, 1, -1], [1, -1, 1], [-1, 1, 1], [-1, -1, 1], [-1, 1, -1], [1, -1, -1], [-1, -1, -1], ] ] ) # loop through permutations and run iterative closest point costs = np.ones(len(cubes)) * np.inf transforms = [None] * len(cubes) centroid = search.centroid for i, flip in enumerate(cubes): # transform from points to search mesh # flipped around the centroid of search a_to_b = np.dot( transformations.transform_around(flip, centroid), np.linalg.inv(search_to_points), ) # run first pass ICP matrix, _junk, cost = icp( a=points, b=search, initial=a_to_b, max_iterations=int(icp_first), scale=scale, **kwargs, ) # save transform and costs from ICP transforms[i] = matrix costs[i] = cost # run a final ICP refinement step matrix, _junk, cost = icp( a=points, b=search, initial=transforms[np.argmin(costs)], max_iterations=int(icp_final), scale=scale, **kwargs, ) # convert to per- point distance average cost /= len(points) # we picked the smaller mesh to construct the tree # on so we may have calculated a transform backwards # to save computation, so just invert matrix here if inverse: mesh_to_other = np.linalg.inv(matrix) else: mesh_to_other = matrix return mesh_to_other, cost def procrustes( a: ArrayLike, b: ArrayLike, weights: Optional[ArrayLike] = None, reflection: bool = True, translation: bool = True, scale: bool = True, return_cost: bool = True, ): """ Perform Procrustes' analysis to quickly align two corresponding point clouds subject to constraints. This is much cheaper than any other registration method but only applies if the two inputs correspond in order. Finds the transformation T mapping a to b which minimizes the square sum distances between Ta and b, also called the cost. Optionally specify different weights for the points in a to minimize the weighted square sum distances between Ta and b, which can improve transformation robustness on noisy data if the points' probability distribution is known. Parameters ---------- a : (n,3) float List of points in space b : (n,3) float List of points in space weights : (n,) float List of floats representing how much weight is assigned to each point of a reflection : bool If the transformation is allowed reflections translation : bool If the transformation is allowed translation and rotation. scale : bool If the transformation is allowed scaling return_cost : bool Whether to return the cost and transformed a as well Returns ---------- matrix : (4,4) float The transformation matrix sending a to b transformed : (n,3) float The image of a under the transformation cost : float The cost of the transformation """ a = np.asanyarray(a, dtype=np.float64) b = np.asanyarray(b, dtype=np.float64) if not util.is_shape(a, (-1, 3)) or not util.is_shape(b, (-1, 3)): raise ValueError("points must be (n,3)!") if len(a) != len(b): raise ValueError("a and b must contain same number of points!") if weights is not None: w = np.asanyarray(weights, dtype=np.float64) if len(w) != len(a): raise ValueError("weights must have same length as a and b!") w_norm = (w / w.sum()).reshape((-1, 1)) # Remove translation component if translation: # acenter is a weighted average of the individual points. if weights is None: acenter = a.mean(axis=0) else: acenter = (a * w_norm).sum(axis=0) bcenter = b.mean(axis=0) else: acenter = np.zeros(a.shape[1]) bcenter = np.zeros(b.shape[1]) # Remove scale component if scale: if weights is None: ascale = np.sqrt(((a - acenter) ** 2).sum() / len(a)) # ascale is the square root of weighted average of the # squared difference # between each point and acenter. else: ascale = np.sqrt((((a - acenter) ** 2) * w_norm).sum()) bscale = np.sqrt(((b - bcenter) ** 2).sum() / len(b)) else: ascale = 1 bscale = 1 # Use SVD to find optimal orthogonal matrix R # constrained to det(R) = 1 if necessary. # w_mat is multiplied with the centered and scaled a, such that the points # can be weighted differently. if weights is None: target = np.dot(((b - bcenter) / bscale).T, ((a - acenter) / ascale)) else: target = np.dot( ((b - bcenter) / bscale).T, ((a - acenter) / ascale) * w.reshape((-1, 1)) ) u, _s, vh = np.linalg.svd(target) if reflection: R = np.dot(u, vh) else: # no reflection allowed, so determinant must be 1.0 R = np.dot(np.dot(u, np.diag([1, 1, np.linalg.det(np.dot(u, vh))])), vh) # Compute our 4D transformation matrix encoding # a -> (R @ (a - acenter)/ascale) * bscale + bcenter # = (bscale/ascale)R @ a + (bcenter - (bscale/ascale)R @ acenter) translation = bcenter - (bscale / ascale) * np.dot(R, acenter) matrix = np.hstack((bscale / ascale * R, translation.reshape(-1, 1))) matrix = np.vstack((matrix, np.array([0.0] * (a.shape[1]) + [1.0]).reshape(1, -1))) if return_cost: transformed = transform_points(a, matrix) # return the mean euclidean distance squared as the cost cost = ((b - transformed) ** 2).mean() return matrix, transformed, cost else: return matrix def icp(a, b, initial=None, threshold=1e-5, max_iterations=20, **kwargs): """ Apply the iterative closest point algorithm to align a point cloud with another point cloud or mesh. Will only produce reasonable results if the initial transformation is roughly correct. Initial transformation can be found by applying Procrustes' analysis to a suitable set of landmark points (often picked manually). Parameters ---------- a : (n,3) float List of points in space. b : (m,3) float or Trimesh List of points in space or mesh. initial : (4,4) float Initial transformation. threshold : float Stop when change in cost is less than threshold max_iterations : int Maximum number of iterations kwargs : dict Args to pass to procrustes Returns ---------- matrix : (4,4) float The transformation matrix sending a to b transformed : (n,3) float The image of a under the transformation cost : float The cost of the transformation """ a = np.asanyarray(a, dtype=np.float64) if not util.is_shape(a, (-1, 3)): raise ValueError("points must be (n,3)!") if initial is None: initial = np.eye(4) is_mesh = util.is_instance_named(b, "Trimesh") if not is_mesh: b = np.asanyarray(b, dtype=np.float64) if not util.is_shape(b, (-1, 3)): raise ValueError("points must be (n,3)!") btree = cKDTree(b) # transform a under initial_transformation a = transform_points(a, initial) total_matrix = initial # start with infinite cost old_cost = np.inf # avoid looping forever by capping iterations for _ in range(max_iterations): # Closest point in b to each point in a if is_mesh: closest, _distance, _faces = b.nearest.on_surface(a) else: _distances, ix = btree.query(a, 1) closest = b[ix] # align a with closest points matrix, transformed, cost = procrustes(a=a, b=closest, **kwargs) # update a with our new transformed points a = transformed total_matrix = np.dot(matrix, total_matrix) if old_cost - cost < threshold: break else: old_cost = cost return total_matrix, transformed, cost def _normalize_by_source(source_mesh, target_geometry, target_positions): # Utility function to put the source mesh in [-1, 1]^3 and transform # target geometry accordingly if not util.is_instance_named(target_geometry, "Trimesh") and not isinstance( target_geometry, PointCloud ): vertices = np.asanyarray(target_geometry) target_geometry = PointCloud(vertices) centroid, scale = source_mesh.centroid, source_mesh.scale source_mesh.vertices = (source_mesh.vertices - centroid[None, :]) / scale # Dont forget to also transform the target positions target_geometry.vertices = (target_geometry.vertices - centroid[None, :]) / scale if target_positions is not None: target_positions = (target_positions - centroid[None, :]) / scale return target_geometry, target_positions, centroid, scale def _denormalize_by_source( source_mesh, target_geometry, target_positions, result, centroid, scale ): # Utility function to transform source mesh from # [-1, 1]^3 to its original transform # and transform target geometry accordingly source_mesh.vertices = scale * source_mesh.vertices + centroid[None, :] target_geometry.vertices = scale * target_geometry.vertices + centroid[None, :] if target_positions is not None: target_positions = scale * target_positions + centroid[None, :] if isinstance(result, list): result = [scale * x + centroid[None, :] for x in result] else: result = scale * result + centroid[None, :] return result def nricp_amberg( source_mesh, target_geometry, source_landmarks=None, target_positions=None, steps=None, eps=0.0001, gamma=1, distance_threshold=0.1, return_records=False, use_faces=True, use_vertex_normals=True, neighbors_count=8, ): """ Non Rigid Iterative Closest Points Implementation of "Amberg et al. 2007: Optimal Step Nonrigid ICP Algorithms for Surface Registration." Allows to register non-rigidly a mesh on another or on a point cloud. The core algorithm is explained at the end of page 3 of the paper. Comparison between nricp_amberg and nricp_sumner: * nricp_amberg fits to the target mesh in less steps * nricp_amberg can generate sharp edges * only vertices and their neighbors are considered * nricp_sumner tend to preserve more the original shape * nricp_sumner parameters are easier to tune * nricp_sumner solves for triangle positions whereas nricp_amberg solves for vertex transforms * nricp_sumner is less optimized when wn > 0 Parameters ---------- source_mesh : Trimesh Source mesh containing both vertices and faces. target_geometry : Trimesh or PointCloud or (n, 3) float Target geometry. It can contain no faces or be a PointCloud. source_landmarks : (n,) int or ((n,) int, (n, 3) float) n landmarks on the the source mesh. Represented as vertex indices (n,) int. It can also be represented as a tuple of triangle indices and barycentric coordinates ((n,) int, (n, 3) float,). target_positions : (n, 3) float Target positions assigned to source landmarks steps : Core parameters of the algorithm Iterable of iterables (ws, wl, wn, max_iter,). ws is smoothness term, wl weights landmark importance, wn normal importance and max_iter is the maximum number of iterations per step. eps : float If the error decrease if inferior to this value, the current step ends. gamma : float Weight the translation part against the rotational/skew part. Recommended value : 1. distance_threshold : float Distance threshold to account for a vertex match or not. return_records : bool If True, also returns all the intermediate results. It can help debugging and tune the parameters to match a specific case. use_faces : bool If True and if target geometry has faces, use proximity.closest_point to find matching points. Else use scipy's cKDTree object. use_vertex_normals : bool If True and if target geometry has faces, interpolate the normals of the target geometry matching points. Else use face normals or estimated normals if target geometry has no faces. neighbors_count : int number of neighbors used for normal estimation. Only used if target geometry has no faces or if use_faces is False. Returns ---------- result : (n, 3) float or List[(n, 3) float] The vertices positions of source_mesh such that it is registered non-rigidly onto the target geometry. If return_records is True, it returns the list of the vertex positions at each iteration. """ def _solve_system(M_kron_G, D, vertices_weight, nearest, ws, nE, nV, Dl, Ul, wl): # Solve for Eq. 12 U = nearest * vertices_weight[:, None] use_landmarks = Dl is not None and Ul is not None A_stack = [ws * M_kron_G, D.multiply(vertices_weight[:, None])] B_shape = (4 * nE + nV, 3) if use_landmarks: A_stack.append(wl * Dl) B_shape = (4 * nE + nV + Ul.shape[0], 3) A = sparse.csr_matrix(sparse.vstack(A_stack)) B = sparse.lil_matrix(B_shape, dtype=np.float32) B[4 * nE : (4 * nE + nV), :] = U if use_landmarks: B[4 * nE + nV : (4 * nE + nV + Ul.shape[0]), :] = Ul * wl X = sparse.linalg.spsolve(A.T * A, A.T * B).toarray() return X def _node_arc_incidence(mesh, do_weight): # Computes node-arc incidence matrix of mesh (Eq.10) nV = mesh.edges.max() + 1 nE = len(mesh.edges) rows = np.repeat(np.arange(nE), 2) cols = mesh.edges.flatten() data = np.ones(2 * nE, np.float32) data[1::2] = -1 if do_weight: edge_lengths = np.linalg.norm( mesh.vertices[mesh.edges[:, 0]] - mesh.vertices[mesh.edges[:, 1]], axis=-1 ) data *= np.repeat(1 / edge_lengths, 2) return sparse.coo_matrix((data, (rows, cols)), shape=(nE, nV)) def _create_D(vertex_3d_data): # Create Data matrix (Eq. 8) nV = len(vertex_3d_data) rows = np.repeat(np.arange(nV), 4) cols = np.arange(4 * nV) data = np.concatenate((vertex_3d_data, np.ones((nV, 1))), axis=-1).flatten() return sparse.csr_matrix((data, (rows, cols)), shape=(nV, 4 * nV)) def _create_X(nV): # Create Unknowns Matrix (Eq. 1) X_ = np.concatenate((np.eye(3), np.array([[0, 0, 0]])), axis=0) return np.tile(X_, (nV, 1)) def _create_Dl_Ul(D, source_mesh, source_landmarks, target_positions): # Create landmark terms (Eq. 11) Dl, Ul = None, None if source_landmarks is None or target_positions is None: # If no landmarks are provided, return None for both return Dl, Ul if isinstance(source_landmarks, tuple): source_tids, source_barys = source_landmarks source_tri_vids = source_mesh.faces[source_tids] # u * x1, v * x2 and w * x3 combined Dl = D[source_tri_vids.flatten(), :] Dl.data *= source_barys.flatten().repeat(np.diff(Dl.indptr)) x0 = source_mesh.vertices[source_tri_vids[:, 0]] x1 = source_mesh.vertices[source_tri_vids[:, 1]] x2 = source_mesh.vertices[source_tri_vids[:, 2]] Ul0 = ( target_positions - x1 * source_barys[:, 1, None] - x2 * source_barys[:, 2, None] ) Ul1 = ( target_positions - x0 * source_barys[:, 0, None] - x2 * source_barys[:, 2, None] ) Ul2 = ( target_positions - x0 * source_barys[:, 0, None] - x1 * source_barys[:, 1, None] ) Ul = np.zeros((Ul0.shape[0] * 3, 3)) Ul[0::3] = Ul0 # y - v * x2 + w * x3 Ul[1::3] = Ul1 # y - u * x1 + w * x3 Ul[2::3] = Ul2 # y - u * x1 + v * x2 else: Dl = D[source_landmarks, :] Ul = target_positions return Dl, Ul target_geometry, target_positions, centroid, scale = _normalize_by_source( source_mesh, target_geometry, target_positions ) # Number of edges and vertices in source mesh nE = len(source_mesh.edges) nV = len(source_mesh.vertices) # Initialize transformed vertices transformed_vertices = source_mesh.vertices.copy() # Node-arc incidence (M in Eq. 10) M = _node_arc_incidence(source_mesh, True) # G (Eq. 10) G = np.diag([1, 1, 1, gamma]) # M kronecker G (Eq. 10) M_kron_G = sparse.kron(M, G) # D (Eq. 8) D = _create_D(source_mesh.vertices) # D but for normal computation from the transformations X DN = _create_D(source_mesh.vertex_normals) # Unknowns 4x3 transformations X (Eq. 1) X = _create_X(nV) # Landmark related terms (Eq. 11) Dl, Ul = _create_Dl_Ul(D, source_mesh, source_landmarks, target_positions) # Parameters of the algorithm (Eq. 6) # order : Alpha, Beta, normal weighting, and max iteration for step if steps is None: steps = [ [0.01, 10, 0.5, 10], [0.02, 5, 0.5, 10], [0.03, 2.5, 0.5, 10], [0.01, 0, 0.0, 10], ] if return_records: records = [transformed_vertices] # Main loop for ws, wl, wn, max_iter in steps: # If normals are estimated from points and if there are less # than 3 points per query, avoid normal estimation if not use_faces and neighbors_count < 3: wn = 0 last_error = np.finfo(np.float32).max error = np.finfo(np.float16).max cpt_iter = 0 # Current step iterations loop while last_error - error > eps and (max_iter is None or cpt_iter < max_iter): qres = _from_mesh( target_geometry, transformed_vertices, from_vertices_only=not use_faces, return_normals=wn > 0, return_interpolated_normals=wn > 0 and use_vertex_normals, neighbors_count=neighbors_count, ) # Data weighting vertices_weight = np.ones(nV) vertices_weight[qres["distances"] > distance_threshold] = 0 if wn > 0 and "normals" in qres: target_normals = qres["normals"] if use_vertex_normals and "interpolated_normals" in qres: target_normals = qres["interpolated_normals"] # Normal weighting = multiplying weights by cosines^wn source_normals = DN * X dot = util.diagonal_dot(source_normals, target_normals) # Normal orientation is only known for meshes as target dot = np.clip(dot, 0, 1) if use_faces else np.abs(dot) vertices_weight = vertices_weight * dot**wn # Actual system solve X = _solve_system( M_kron_G, D, vertices_weight, qres["nearest"], ws, nE, nV, Dl, Ul, wl ) transformed_vertices = D * X last_error = error error_vec = np.linalg.norm(qres["nearest"] - transformed_vertices, axis=-1) error = (error_vec * vertices_weight).mean() if return_records: records.append(transformed_vertices) cpt_iter += 1 if return_records: result = records else: result = transformed_vertices result = _denormalize_by_source( source_mesh, target_geometry, target_positions, result, centroid, scale ) return result def _from_mesh( mesh, input_points, from_vertices_only=False, return_barycentric_coordinates=False, return_normals=False, return_interpolated_normals=False, neighbors_count=10, **kwargs, ): """ Find the the closest points and associated attributes from a Trimesh. Parameters ----------- mesh : Trimesh Trimesh from which the query is performed input_points : (m, 3) float Input query points from_vertices_only : bool If True, consider only the vertices and not the faces return_barycentric_coordinates : bool If True, return the barycentric coordinates return_normals : bool If True, compute the normals at each closest point return_interpolated_normals : bool If True, return the interpolated normal at each closest point neighbors_count : int The number of closest neighbors to query kwargs : dict Dict to accept other key word arguments (not used) Returns ---------- qres : Dict Dictionary containing : - nearest points (m, 3) with key 'nearest' - distances to nearest point (m,) with key 'distances' - support triangle indices of the nearest points (m,) with key 'tids' - [optional] normals at nearest points (m,3) with key 'normals' - [optional] barycentric coordinates in support triangles (m,3) with key 'barycentric_coordinates' - [optional] interpolated normals (m,3) with key 'interpolated_normals' """ input_points = np.asanyarray(input_points) neighbors_count = min(neighbors_count, len(mesh.vertices)) if from_vertices_only or len(mesh.faces) == 0: # Consider only the vertices return _from_points( mesh.vertices, input_points, mesh.kdtree, return_normals=return_normals, neighbors_count=neighbors_count, ) # Else if we consider faces, use proximity.closest_point qres = {} from .proximity import closest_point from .triangles import points_to_barycentric qres["nearest"], qres["distances"], qres["tids"] = closest_point(mesh, input_points) if return_normals: qres["normals"] = mesh.face_normals[qres["tids"]] if return_barycentric_coordinates or return_interpolated_normals: qres["barycentric_coordinates"] = points_to_barycentric( mesh.vertices[mesh.faces[qres["tids"]]], qres["nearest"] ) if return_interpolated_normals: # Interpolation from barycentric coordinates qres["interpolated_normals"] = np.einsum( "ij,ijk->ik", qres["barycentric_coordinates"], mesh.vertex_normals[mesh.faces[qres["tids"]]], ) return qres def _from_points( target_points, input_points, kdtree=None, return_normals=False, neighbors_count=10, **kwargs, ): """ Find the the closest points and associated attributes from a set of 3D points. Parameters ----------- target_points : (n, 3) float Points from which the query is performed input_points : (m, 3) float Input query points kdtree : scipy.cKDTree KDTree used for query. Computed if not provided return_normals : bool If True, compute the normals at each nearest point neighbors_count : int The number of closest neighbors to query kwargs : dict Dict to accept other key word arguments (not used) Returns ---------- qres : Dict Dictionary containing : - nearest points (m, 3) with key 'nearest' - distances to nearest point (m,) with key 'distances' - vertex indices of the nearest points (m,) with key 'vertex_indices' - [optional] normals at nearest points (m,3) with key 'normals' """ # Empty result target_points = np.asanyarray(target_points) input_points = np.asanyarray(input_points) neighbors_count = min(neighbors_count, len(target_points)) qres = {} if kdtree is None: kdtree = cKDTree(target_points) if return_normals: assert neighbors_count >= 3 distances, indices = kdtree.query(input_points, k=neighbors_count) nearest = target_points[indices, :] qres["normals"] = plane_fit(nearest)[1] qres["nearest"] = nearest[:, 0] qres["distances"] = distances[:, 0] qres["vertex_indices"] = indices[:, 0] else: qres["distances"], qres["vertex_indices"] = kdtree.query(input_points) qres["nearest"] = target_points[qres["vertex_indices"], :] return qres def nricp_sumner( source_mesh, target_geometry, source_landmarks=None, target_positions=None, steps=None, distance_threshold=0.1, return_records=False, use_faces=True, use_vertex_normals=True, neighbors_count=8, face_pairs_type="vertex", ): """ Non Rigid Iterative Closest Points Implementation of the correspondence computation part of "Sumner and Popovic 2004: Deformation Transfer for Triangle Meshes" Allows to register non-rigidly a mesh on another geometry. Comparison between nricp_amberg and nricp_sumner: * nricp_amberg fits to the target mesh in less steps * nricp_amberg can generate sharp edges (only vertices and their neighbors are considered) * nricp_sumner tend to preserve more the original shape * nricp_sumner parameters are easier to tune * nricp_sumner solves for triangle positions whereas nricp_amberg solves for vertex transforms * nricp_sumner is less optimized when wn > 0 Parameters ---------- source_mesh : Trimesh Source mesh containing both vertices and faces. target_geometry : Trimesh or PointCloud or (n, 3) float Target geometry. It can contain no faces or be a PointCloud. source_landmarks : (n,) int or ((n,) int, (n, 3) float) n landmarks on the the source mesh. Represented as vertex indices (n,) int. It can also be represented as a tuple of triangle indices and barycentric coordinates ((n,) int, (n, 3) float,). target_positions : (n, 3) float Target positions assigned to source landmarks steps : Core parameters of the algorithm Iterable of iterables (wc, wi, ws, wl, wn). wc is the correspondence term (strength of fitting), wi is the identity term (recommended value : 0.001), ws is smoothness term, wl weights the landmark importance and wn the normal importance. distance_threshold : float Distance threshold to account for a vertex match or not. return_records : bool If True, also returns all the intermediate results. It can help debugging and tune the parameters to match a specific case. use_faces : bool If True and if target geometry has faces, use proximity.closest_point to find matching points. Else use scipy's cKDTree object. use_vertex_normals : bool If True and if target geometry has faces, interpolate the normals of the target geometry matching points. Else use face normals or estimated normals if target geometry has no faces. neighbors_count : int number of neighbors used for normal estimation. Only used if target geometry has no faces or if use_faces is False. face_pairs_type : str 'vertex' or 'edge' Method to determine face pairs used in the smoothness cost. 'vertex' yields smoother results. Returns ---------- result : (n, 3) float or List[(n, 3) float] The vertices positions of source_mesh such that it is registered non-rigidly onto the target geometry. If return_records is True, it returns the list of the vertex positions at each iteration. """ def _construct_transform_matrix(faces, Vinv, size): # Utility function for constructing the per-frame transforms _construct_transform_matrix._row = np.array([0, 1, 2] * 4) nV = len(Vinv) rows = np.tile(_construct_transform_matrix._row, nV) + 3 * np.repeat( np.arange(nV), 12 ) cols = np.repeat(faces.flat, 3) minus_inv_sum = -Vinv.sum(axis=1) Vinv_flat = Vinv.reshape(nV, 9) data = np.concatenate((minus_inv_sum, Vinv_flat), axis=-1).flatten() return sparse.coo_matrix((data, (rows, cols)), shape=(3 * nV, size), dtype=float) def _build_tetrahedrons(mesh): # UUtility function for constructing the frames v4_vec = mesh.face_normals v1 = mesh.triangles[:, 0] v2 = mesh.triangles[:, 1] v3 = mesh.triangles[:, 2] v4 = v1 + v4_vec vertices = np.concatenate((mesh.vertices, v4)) nV, nT = len(mesh.vertices), len(mesh.faces) v4_indices = np.arange(nV, nV + nT)[:, None] tetrahedrons = np.concatenate((mesh.faces, v4_indices), axis=-1) frames = np.concatenate( ((v2 - v1)[..., None], (v3 - v1)[..., None], v4_vec[..., None]), axis=-1 ) return vertices, tetrahedrons, frames def _construct_identity_cost(vtet, tet, Vinv): # Utility function for constructing the identity cost AEi = _construct_transform_matrix( tet, Vinv, len(vtet), ).tocsr() Bi = np.tile(np.identity(3, dtype=float), (len(tet), 1)) return AEi, Bi def _construct_smoothness_cost(vtet, tet, Vinv, face_pairs): # Utility function for constructing the smoothness (stiffness) cost AEs_r = _construct_transform_matrix( tet[face_pairs[:, 0]], Vinv[face_pairs[:, 0]], len(vtet) ).tocsr() AEs_l = _construct_transform_matrix( tet[face_pairs[:, 1]], Vinv[face_pairs[:, 1]], len(vtet) ).tocsr() AEs = (AEs_r - AEs_l).tocsc() AEs.eliminate_zeros() Bs = np.zeros((len(face_pairs) * 3, 3)) return AEs, Bs def _construct_landmark_cost(vtet, source_mesh, source_landmarks): # Utility function for constructing the landmark cost if source_landmarks is None: return None, np.ones(len(source_mesh.vertices), dtype=bool) if isinstance(source_landmarks, tuple): # If the input source landmarks are in barycentric form source_landmarks_tids, source_landmarks_barys = source_landmarks source_landmarks_vids = source_mesh.faces[source_landmarks_tids] nL, nVT = len(source_landmarks_tids), len(vtet) rows = np.repeat(np.arange(nL), 3) cols = source_landmarks_vids.flat data = source_landmarks_barys.flat AEl = sparse.coo_matrix((data, (rows, cols)), shape=(nL, nVT)) marker_vids = source_landmarks_vids[ source_landmarks_barys > np.finfo(np.float16).eps ] non_markers_mask = np.ones(len(source_mesh.vertices), dtype=bool) non_markers_mask[marker_vids] = False else: # Else if they are in vertex index form nL, nVT = len(source_landmarks), len(vtet) rows = np.arange(nL) cols = source_landmarks.flat data = np.ones(nL) AEl = sparse.coo_matrix((data, (rows, cols)), shape=(nL, nVT)) non_markers_mask = np.ones(len(source_mesh.vertices), dtype=bool) non_markers_mask[source_landmarks] = False return AEl, non_markers_mask def _construct_correspondence_cost(points, non_markers_mask, size): # Utility function for constructing the correspondence cost AEc = sparse.identity(size, dtype=float, format="csc")[: len(non_markers_mask)] AEc = AEc[non_markers_mask] Bc = points[non_markers_mask] return AEc, Bc def _compute_vertex_normals(vertices, faces): # Utility function for computing source vertex normals mesh_triangles = vertices[faces] mesh_triangles_cross = cross(mesh_triangles) mesh_face_normals = normals( triangles=mesh_triangles, crosses=mesh_triangles_cross )[0] mesh_face_angles = angles(mesh_triangles) mesh_normals = weighted_vertex_normals( vertex_count=nV, faces=faces, face_normals=mesh_face_normals, face_angles=mesh_face_angles, ) return mesh_normals # First, normalize the source and target to [-1, 1]^3 (target_geometry, target_positions, centroid, scale) = _normalize_by_source( source_mesh, target_geometry, target_positions ) nV = len(source_mesh.vertices) use_landmarks = source_landmarks is not None and target_positions is not None if steps is None: steps = [ # [wc, wi, ws, wl, wn], [1, 0.001, 1.0, 1000, 0], [1, 0.001, 1.0, 1000, 0], [10, 0.001, 1.0, 1000, 0], [100, 0.001, 1.0, 1000, 0], ] source_vtet, source_tet, V = _build_tetrahedrons(source_mesh) Vinv = np.linalg.inv(V) # List of (n, 2) faces index which share a vertex if face_pairs_type == "vertex": face_pairs = source_mesh.face_neighborhood else: face_pairs = source_mesh.face_adjacency # Construct the cost matrices # Identity cost (Eq. 12) AEi, Bi = _construct_identity_cost(source_vtet, source_tet, Vinv) # Smoothness cost (Eq. 11) AEs, Bs = _construct_smoothness_cost(source_vtet, source_tet, Vinv, face_pairs) # Landmark cost (Eq. 13) AEl, non_markers_mask = _construct_landmark_cost( source_vtet, source_mesh, source_landmarks ) transformed_vertices = source_vtet.copy() if return_records: records = [transformed_vertices[:nV]] # Main loop for i, (wc, wi, ws, wl, wn) in enumerate(steps): Astack = [AEi * wi, AEs * ws] Bstack = [Bi * wi, Bs * ws] if use_landmarks: Astack.append(AEl * wl) Bstack.append(target_positions * wl) if (i > 0 or not use_landmarks) and wc > 0: # Query the nearest points qres = _from_mesh( target_geometry, transformed_vertices[:nV], from_vertices_only=not use_faces, return_normals=wn > 0, return_interpolated_normals=(use_vertex_normals and wn > 0), neighbors_count=neighbors_count, ) # Correspondence cost (Eq. 13) AEc, Bc = _construct_correspondence_cost( qres["nearest"], non_markers_mask, len(source_vtet) ) vertices_weight = np.ones(nV) vertices_weight[qres["distances"] > distance_threshold] = 0 if wn > 0 or "normals" in qres: target_normals = qres["normals"] if use_vertex_normals and "interpolated_normals" in qres: target_normals = qres["interpolated_normals"] # Normal weighting : multiplying weights by cosines^wn source_normals = _compute_vertex_normals( transformed_vertices, source_mesh.faces ) dot = util.diagonal_dot(source_normals, target_normals) # Normal orientation is only known for meshes as target dot = np.clip(dot, 0, 1) if use_faces else np.abs(dot) vertices_weight = vertices_weight * dot**wn # Account for vertices' weight AEc.data *= vertices_weight[non_markers_mask][AEc.indices] Bc *= vertices_weight[non_markers_mask, None] Astack.append(AEc * wc) Bstack.append(Bc * wc) # Now solve Eq. 14 ... A = sparse.vstack(Astack, format="csc") A.eliminate_zeros() b = np.concatenate(Bstack) LU = sparse.linalg.splu((A.T * A).tocsc()) transformed_vertices = LU.solve(A.T * b) # done ! if return_records: records.append(transformed_vertices[:nV]) if return_records: result = records else: result = transformed_vertices[:nV] result = _denormalize_by_source( source_mesh, target_geometry, target_positions, result, centroid, scale ) return result trimesh-4.5.1/trimesh/remesh.py000066400000000000000000000351301470574263400165220ustar00rootroot00000000000000""" remesh.py ------------- Deal with re- triangulation of existing meshes. """ import numpy as np from . import graph, grouping, util from .constants import tol from .geometry import faces_to_edges def subdivide( vertices, faces, face_index=None, vertex_attributes=None, return_index=False ): """ Subdivide a mesh into smaller triangles. Note that if `face_index` is passed, only those faces will be subdivided and their neighbors won't be modified making the mesh no longer "watertight." Parameters ------------ vertices : (n, 3) float Vertices in space faces : (m, 3) int Indexes of vertices which make up triangular faces face_index : faces to subdivide. if None: all faces of mesh will be subdivided if (n,) int array of indices: only specified faces vertex_attributes : dict Contains (n, d) attribute data return_index : bool If True, return index of original face for new faces Returns ---------- new_vertices : (q, 3) float Vertices in space new_faces : (p, 3) int Remeshed faces index_dict : dict Only returned if `return_index`, {index of original face : index of new faces}. """ if face_index is None: face_mask = np.ones(len(faces), dtype=bool) else: face_mask = np.zeros(len(faces), dtype=bool) face_mask[face_index] = True # the (c, 3) int array of vertex indices faces_subset = faces[face_mask] # find the unique edges of our faces subset edges = np.sort(faces_to_edges(faces_subset), axis=1) unique, inverse = grouping.unique_rows(edges) # then only produce one midpoint per unique edge mid = vertices[edges[unique]].mean(axis=1) mid_idx = inverse.reshape((-1, 3)) + len(vertices) # the new faces_subset with correct winding f = np.column_stack( [ faces_subset[:, 0], mid_idx[:, 0], mid_idx[:, 2], mid_idx[:, 0], faces_subset[:, 1], mid_idx[:, 1], mid_idx[:, 2], mid_idx[:, 1], faces_subset[:, 2], mid_idx[:, 0], mid_idx[:, 1], mid_idx[:, 2], ] ).reshape((-1, 3)) # add the 3 new faces_subset per old face all on the end # by putting all the new faces after all the old faces # it makes it easier to understand the indexes new_faces = np.vstack((faces[~face_mask], f)) # stack the new midpoint vertices on the end new_vertices = np.vstack((vertices, mid)) if vertex_attributes is not None: new_attributes = {} for key, values in vertex_attributes.items(): attr_tris = values[faces_subset] attr_mid = np.vstack( [attr_tris[:, g, :].mean(axis=1) for g in [[0, 1], [1, 2], [2, 0]]] ) attr_mid = attr_mid[unique] new_attributes[key] = np.vstack((values, attr_mid)) return new_vertices, new_faces, new_attributes if return_index: # turn the mask back into integer indexes nonzero = np.nonzero(face_mask)[0] # new faces start past the original faces # but we've removed all the faces in face_mask start = len(faces) - len(nonzero) # indexes are just offset from start stack = np.arange(start, start + len(f) * 4).reshape((-1, 4)) # reformat into a slightly silly dict for some reason index_dict = dict(zip(nonzero, stack)) return new_vertices, new_faces, index_dict return new_vertices, new_faces def subdivide_to_size(vertices, faces, max_edge, max_iter=10, return_index=False): """ Subdivide a mesh until every edge is shorter than a specified length. Will return a triangle soup, not a nicely structured mesh. Parameters ------------ vertices : (n, 3) float Vertices in space faces : (m, 3) int Indices of vertices which make up triangles max_edge : float Maximum length of any edge in the result max_iter : int The maximum number of times to run subdivision return_index : bool If True, return index of original face for new faces Returns ------------ vertices : (j, 3) float Vertices in space faces : (q, 3) int Indices of vertices index : (q, 3) int Only returned if `return_index`, index of original face for each new face. """ # store completed done_face = [] done_vert = [] done_idx = [] # copy inputs and make sure dtype is correct current_faces = np.array(faces, dtype=np.int64, copy=True) current_vertices = np.array(vertices, dtype=np.float64, copy=True) # store a map to the original face index current_index = np.arange(len(faces)) # loop through iteration cap for i in range(max_iter + 1): # compute the length of every triangle edge edge_length = ( np.diff(current_vertices[current_faces[:, [0, 1, 2, 0]], :3], axis=1) ** 2 ).sum(axis=2) ** 0.5 # check edge length against maximum too_long = (edge_length > max_edge).any(axis=1) # faces that are OK face_ok = ~too_long # clean up the faces a little bit so we don't # store a ton of unused vertices unique, inverse = grouping.unique_bincount( current_faces[face_ok].flatten(), return_inverse=True ) # store vertices and faces meeting criteria done_vert.append(current_vertices[unique]) done_face.append(inverse.reshape((-1, 3))) if return_index: done_idx.append(current_index[face_ok]) current_index = np.tile(current_index[too_long], (4, 1)).T.ravel() # met our goals so exit if not too_long.any(): break # check max_iter before subdividing again if i >= max_iter: raise ValueError("max_iter exceeded!") # run subdivision again (current_vertices, current_faces) = subdivide( current_vertices, current_faces[too_long] ) # stack sequence into nice (n, 3) arrays final_vertices, final_faces = util.append_faces(done_vert, done_face) if return_index: final_index = np.concatenate(done_idx) assert len(final_index) == len(final_faces) return final_vertices, final_faces, final_index return final_vertices, final_faces def subdivide_loop(vertices, faces, iterations=None): """ Subdivide a mesh by dividing each triangle into four triangles and approximating their smoothed surface (loop subdivision). This function is an array-based implementation of loop subdivision, which avoids slow for loop and enables faster calculation. Overall process: 1. Calculate odd vertices. Assign a new odd vertex on each edge and calculate the value for the boundary case and the interior case. The value is calculated as follows. v2 / f0 \\ 0 v0--e--v1 / \\ \\f1 / v0--e--v1 v3 - interior case : 3:1 ratio of mean(v0,v1) and mean(v2,v3) - boundary case : mean(v0,v1) 2. Calculate even vertices. The new even vertices are calculated with the existing vertices and their adjacent vertices. 1---2 / \\/ \\ 0---1 0---v---3 / \\/ \\ \\ /\\/ b0---v---b1 k...4 - interior case : (1-kB):B ratio of v and k adjacencies - boundary case : 3:1 ratio of v and mean(b0,b1) 3. Compose new faces with new vertices. Parameters ------------ vertices : (n, 3) float Vertices in space faces : (m, 3) int Indices of vertices which make up triangles Returns ------------ vertices : (j, 3) float Vertices in space faces : (q, 3) int Indices of vertices iterations : int Number of iterations to run subdivision """ try: from itertools import zip_longest except BaseException: # python2 from itertools import izip_longest as zip_longest if iterations is None: iterations = 1 def _subdivide(vertices, faces): # find the unique edges of our faces edges, edges_face = faces_to_edges(faces, return_index=True) edges.sort(axis=1) unique, inverse = grouping.unique_rows(edges) # set interior edges if there are two edges and boundary if there is # one. edge_inter = np.sort(grouping.group_rows(edges, require_count=2), axis=1) edge_bound = grouping.group_rows(edges, require_count=1) # make sure that one edge is shared by only one or two faces. if not len(edge_inter) * 2 + len(edge_bound) == len(edges): # we have multiple bodies it's a party! # edges shared by 2 faces are "connected" # so this connected components operation is # essentially identical to `face_adjacency` faces_group = graph.connected_components(edges_face[edge_inter]) if len(faces_group) == 1: raise ValueError("Some edges are shared by more than 2 faces") # collect a subdivided copy of each body seq_verts = [] seq_faces = [] # keep track of vertex count as we go so # we can do a single vstack at the end count = 0 # loop through original face indexes for f in faces_group: # a lot of the complexity in this operation # is computing vertex neighbors so we only # want to pass forward the referenced vertices # for this particular group of connected faces unique, inverse = grouping.unique_bincount( faces[f].reshape(-1), return_inverse=True ) # subdivide this subset of faces cur_verts, cur_faces = _subdivide( vertices=vertices[unique], faces=inverse.reshape((-1, 3)) ) # increment the face references to match # the vertices when we stack them later cur_faces += count # increment the total vertex count count += len(cur_verts) # append to the sequence seq_verts.append(cur_verts) seq_faces.append(cur_faces) # return results as clean (n, 3) arrays return np.vstack(seq_verts), np.vstack(seq_faces) # set interior, boundary mask for unique edges edge_bound_mask = np.zeros(len(edges), dtype=bool) edge_bound_mask[edge_bound] = True edge_bound_mask = edge_bound_mask[unique] edge_inter_mask = ~edge_bound_mask # find the opposite face for each edge edge_pair = np.zeros(len(edges)).astype(int) edge_pair[edge_inter[:, 0]] = edge_inter[:, 1] edge_pair[edge_inter[:, 1]] = edge_inter[:, 0] opposite_face1 = edges_face[unique] opposite_face2 = edges_face[edge_pair[unique]] # set odd vertices to the middle of each edge (default as boundary # case). odd = vertices[edges[unique]].mean(axis=1) # modify the odd vertices for the interior case e = edges[unique[edge_inter_mask]] e_v0 = vertices[e][:, 0] e_v1 = vertices[e][:, 1] e_f0 = faces[opposite_face1[edge_inter_mask]] e_f1 = faces[opposite_face2[edge_inter_mask]] e_v2_idx = e_f0[~(e_f0[:, :, None] == e[:, None, :]).any(-1)] e_v3_idx = e_f1[~(e_f1[:, :, None] == e[:, None, :]).any(-1)] e_v2 = vertices[e_v2_idx] e_v3 = vertices[e_v3_idx] # simplified from: # # 3 / 8 * (e_v0 + e_v1) + 1 / 8 * (e_v2 + e_v3) odd[edge_inter_mask] = 0.375 * e_v0 + 0.375 * e_v1 + e_v2 / 8.0 + e_v3 / 8.0 # find vertex neighbors of each vertex neighbors = graph.neighbors(edges=edges[unique], max_index=len(vertices)) # convert list type of array into a fixed-shaped numpy array (set -1 to # empties) neighbors = np.array(list(zip_longest(*neighbors, fillvalue=-1))).T # if the neighbor has -1 index, its point is (0, 0, 0), so that # it is not included in the summation of neighbors when calculating the # even vertices_ = np.vstack([vertices, [0.0, 0.0, 0.0]]) # number of neighbors k = (neighbors + 1).astype(bool).sum(axis=1) # calculate even vertices for the interior case even = np.zeros_like(vertices) # beta = 1 / k * (5 / 8 - (3 / 8 + 1 / 4 * np.cos(2 * np.pi / k)) ** 2) # simplified with sympy.parse_expr('...').simplify() beta = (40.0 - (2.0 * np.cos(2 * np.pi / k) + 3) ** 2) / (64 * k) even = ( beta[:, None] * vertices_[neighbors].sum(1) + (1 - k[:, None] * beta[:, None]) * vertices ) # calculate even vertices for the boundary case if edge_bound_mask.any(): # boundary vertices from boundary edges vrt_bound_mask = np.zeros(len(vertices), dtype=bool) vrt_bound_mask[np.unique(edges[unique][~edge_inter_mask])] = True # one boundary vertex has two neighbor boundary vertices (set # others as -1) boundary_neighbors = neighbors[vrt_bound_mask] boundary_neighbors[~vrt_bound_mask[neighbors[vrt_bound_mask]]] = -1 even[vrt_bound_mask] = ( vertices_[boundary_neighbors].sum(axis=1) / 8.0 + (3.0 / 4.0) * vertices[vrt_bound_mask] ) # the new faces with odd vertices odd_idx = inverse.reshape((-1, 3)) + len(vertices) new_faces = np.column_stack( [ faces[:, 0], odd_idx[:, 0], odd_idx[:, 2], odd_idx[:, 0], faces[:, 1], odd_idx[:, 1], odd_idx[:, 2], odd_idx[:, 1], faces[:, 2], odd_idx[:, 0], odd_idx[:, 1], odd_idx[:, 2], ] ).reshape((-1, 3)) # stack the new even vertices and odd vertices new_vertices = np.vstack((even, odd)) return new_vertices, new_faces for _ in range(iterations): vertices, faces = _subdivide(vertices, faces) if tol.strict or True: assert np.isfinite(vertices).all() assert np.isfinite(faces).all() # should raise if faces are malformed assert np.isfinite(vertices[faces]).all() # none of the faces returned should be degenerate # i.e. every face should have 3 unique vertices assert (faces[:, 1:] != faces[:, :1]).all() return vertices, faces trimesh-4.5.1/trimesh/rendering.py000066400000000000000000000276421470574263400172250ustar00rootroot00000000000000""" rendering.py -------------- Functions to convert trimesh objects to pyglet/opengl objects. """ import numpy as np from . import util # avoid importing pyglet or pyglet.gl # as pyglet does things on import GL_POINTS, GL_LINES, GL_TRIANGLES = (0, 1, 4) def convert_to_vertexlist(geometry, **kwargs): """ Try to convert various geometry objects to the constructor args for a pyglet indexed vertex list. Parameters ------------ obj : Trimesh, Path2D, Path3D, (n,2) float, (n,3) float Object to render Returns ------------ args : tuple Args to be passed to pyglet indexed vertex list constructor. """ if util.is_instance_named(geometry, "Trimesh"): return mesh_to_vertexlist(geometry, **kwargs) elif util.is_instance_named(geometry, "Path"): # works for Path3D and Path2D # both of which inherit from Path return path_to_vertexlist(geometry, **kwargs) elif util.is_instance_named(geometry, "PointCloud"): # pointcloud objects contain colors return points_to_vertexlist(geometry.vertices, colors=geometry.colors, **kwargs) elif util.is_instance_named(geometry, "ndarray"): # (n,2) or (n,3) points return points_to_vertexlist(geometry, **kwargs) elif util.is_instance_named(geometry, "VoxelGrid"): # for voxels view them as a bunch of boxes return mesh_to_vertexlist(geometry.as_boxes(**kwargs), **kwargs) else: raise ValueError("Geometry passed is not a viewable type!") def mesh_to_vertexlist(mesh, group=None, smooth=True, smooth_threshold=60000): """ Convert a Trimesh object to arguments for an indexed vertex list constructor. Parameters ------------- mesh : trimesh.Trimesh Mesh to be rendered group : str Rendering group for the vertex list smooth : bool Should we try to smooth shade the mesh smooth_threshold : int Maximum number of faces to smooth shade Returns -------------- args : (7,) tuple Args for vertex list constructor """ if hasattr(mesh.visual, "uv"): # if the mesh has texture defined pass it to pyglet vertex_count = len(mesh.vertices) normals = mesh.vertex_normals.reshape(-1).tolist() faces = mesh.faces.reshape(-1).tolist() vertices = mesh.vertices.reshape(-1).tolist() # get the per-vertex UV coordinates uv = mesh.visual.uv # shortcut for the material material = mesh.visual.material if hasattr(material, "image"): # does the material actually have an image specified no_image = material.image is None elif hasattr(material, "baseColorTexture"): no_image = material.baseColorTexture is None else: no_image = True # didn't get valid texture so skip it if uv is None or no_image or len(uv) != vertex_count: # if no UV coordinates on material, just set face colors # to the diffuse color of the material color_gl = colors_to_gl(material.main_color, vertex_count) else: # if someone passed (n, 3) UVR cut it off here if uv.shape[1] > 2: uv = uv[:, :2] # texcoord as (2,) float color_gl = ("t2f/static", uv.astype(np.float64).reshape(-1).tolist()) elif smooth and len(mesh.faces) < smooth_threshold: # if we have a small number of faces and colors defined # smooth the mesh by merging vertices of faces below # the threshold angle mesh = mesh.smooth_shaded vertex_count = len(mesh.vertices) normals = mesh.vertex_normals.reshape(-1).tolist() faces = mesh.faces.reshape(-1).tolist() vertices = mesh.vertices.reshape(-1).tolist() color_gl = colors_to_gl(mesh.visual.vertex_colors, vertex_count) else: # we don't have textures or want to smooth so # send a polygon soup of disconnected triangles to opengl vertex_count = len(mesh.triangles) * 3 normals = np.tile(mesh.face_normals, (1, 3)).reshape(-1).tolist() vertices = mesh.triangles.reshape(-1).tolist() faces = np.arange(vertex_count).tolist() colors = np.tile(mesh.visual.face_colors, (1, 3)).reshape((-1, 4)) color_gl = colors_to_gl(colors, vertex_count) # create the ordered tuple for pyglet, use like: # `batch.add_indexed(*args)` args = ( vertex_count, # number of vertices GL_TRIANGLES, # mode group, # group faces, # indices ("v3f/static", vertices), ("n3f/static", normals), color_gl, ) return args def path_to_vertexlist(path, group=None, **kwargs): """ Convert a Path3D object to arguments for a pyglet indexed vertex list constructor. Parameters ------------- path : trimesh.path.Path3D object Mesh to be rendered group : str Rendering group for the vertex list Returns -------------- args : (7,) tuple Args for vertex list constructor """ # avoid cache check inside tight loop vertices = path.vertices # get (n, 2, (2|3)) lines stacked = [util.stack_lines(e.discrete(vertices)) for e in path.entities] lines = util.vstack_empty(stacked) count = len(lines) # stack zeros for 2D lines if util.is_shape(vertices, (-1, 2)): lines = lines.reshape((-1, 2)) lines = np.column_stack((lines, np.zeros(len(lines)))) # index for GL is one per point index = np.arange(count).tolist() # convert from entity color to the color of # each vertex in the line segments colors = path.colors if colors is not None: colors = np.vstack( [ (np.ones((len(s), 4)) * c).astype(np.uint8) for s, c in zip(stacked, path.colors) ] ) # convert to gl-friendly colors gl_colors = colors_to_gl(colors, count=count) # collect args for vertexlist constructor args = ( count, # number of lines GL_LINES, # mode group, # group index, # indices ("v3f/static", lines.reshape(-1)), gl_colors, ) return args def points_to_vertexlist(points, colors=None, group=None, **kwargs): """ Convert a numpy array of 3D points to args for a vertex list constructor. Parameters ------------- points : (n, 3) float Points to be rendered colors : (n, 3) or (n, 4) float Colors for each point group : str Rendering group for the vertex list Returns -------------- args : (7,) tuple Args for vertex list constructor """ points = np.asanyarray(points, dtype=np.float64) if util.is_shape(points, (-1, 2)): points = np.column_stack((points, np.zeros(len(points)))) elif not util.is_shape(points, (-1, 3)): raise ValueError("Pointcloud must be (n,3)!") index = np.arange(len(points)).tolist() args = ( len(points), # number of vertices GL_POINTS, # mode group, # group index, # indices ("v3f/static", points.reshape(-1)), colors_to_gl(colors, len(points)), ) return args def colors_to_gl(colors, count): """ Given a list of colors (or None) return a GL-acceptable list of colors. Parameters ------------ colors: (count, (3 or 4)) float Input colors as an array Returns --------- colors_type : str Color type colors_gl : (count,) list Colors to pass to pyglet """ colors = np.asanyarray(colors) count = int(count) # get the GL kind of color we have colors_dtypes = {"f": "f", "i": "B", "u": "B"} if colors.dtype.kind in colors_dtypes: dtype = colors_dtypes[colors.dtype.kind] else: dtype = None if dtype is not None and util.is_shape(colors, (count, (3, 4))): # save the shape and dtype for opengl color string colors_type = f"c{colors.shape[1]}{dtype}/static" # reshape the 2D array into a 1D one and then convert to a python list gl_colors = colors.reshape(-1).tolist() elif dtype is not None and colors.shape in [(3,), (4,)]: # we've been passed a single color so tile them gl_colors = ( (np.ones((count, colors.size), dtype=colors.dtype) * colors) .reshape(-1) .tolist() ) # we know we're tiling colors_type = f"c{colors.size}{dtype}/static" else: # case where colors are wrong shape # use black as the default color gl_colors = np.tile([0.0, 0.0, 0.0], (count, 1)).reshape(-1).tolist() # we're returning RGB float colors colors_type = "c3f/static" return colors_type, gl_colors def material_to_texture(material, upsize=True): """ Convert a trimesh.visual.texture.Material object into a pyglet-compatible texture object. Parameters -------------- material : trimesh.visual.texture.Material Material to be converted upsize: bool If True, will upscale textures to their nearest power of two resolution to avoid weirdness Returns --------------- texture : pyglet.image.Texture Texture loaded into pyglet form """ import pyglet # try to extract a PIL image from material if hasattr(material, "image"): img = material.image elif hasattr(material, "baseColorTexture"): img = material.baseColorTexture else: return None # if no images in texture return now if img is None: return None # if we're not powers of two upsize if upsize: from .visual.texture import power_resize img = power_resize(img) # use a PNG export to exchange into pyglet # probably a way to do this with a PIL converter with util.BytesIO() as f: # export PIL image as PNG img.save(f, format="png") f.seek(0) # filename used for format guess gl_image = pyglet.image.load(filename=".png", file=f) # turn image into pyglet texture texture = gl_image.get_texture() return texture def matrix_to_gl(matrix): """ Convert a numpy row-major homogeneous transformation matrix to a flat column-major GLfloat transformation. Parameters ------------- matrix : (4,4) float Row-major homogeneous transform Returns ------------- glmatrix : (16,) gl.GLfloat Transform in pyglet format """ from pyglet import gl # convert to GLfloat, switch to column major and flatten to (16,) return (gl.GLfloat * 16)(*np.array(matrix, dtype=np.float32).T.ravel()) def vector_to_gl(array, *args): """ Convert an array and an optional set of args into a flat vector of gl.GLfloat """ from pyglet import gl array = np.array(array) if len(args) > 0: array = np.append(array, args) vector = (gl.GLfloat * len(array))(*array) return vector def light_to_gl(light, transform, lightN): """ Convert trimesh.scene.lighting.Light objects into args for gl.glLightFv calls Parameters -------------- light : trimesh.scene.lighting.Light Light object to be converted to GL transform : (4, 4) float Transformation matrix of light lightN : int Result of gl.GL_LIGHT0, gl.GL_LIGHT1, etc Returns -------------- multiarg : [tuple] List of args to pass to gl.glLightFv eg: [gl.glLightfb(*a) for a in multiarg] """ from pyglet import gl # convert color to opengl gl_color = vector_to_gl(light.color.astype(np.float64) / 255.0) assert len(gl_color) == 4 # cartesian translation from matrix gl_position = vector_to_gl(transform[:3, 3]) # create the different position and color arguments args = [ (lightN, gl.GL_POSITION, gl_position), (lightN, gl.GL_SPECULAR, gl_color), (lightN, gl.GL_DIFFUSE, gl_color), (lightN, gl.GL_AMBIENT, gl_color), ] return args trimesh-4.5.1/trimesh/repair.py000066400000000000000000000353311470574263400165240ustar00rootroot00000000000000""" repair.py ------------- Fill holes and fix winding and normals of meshes. """ import numpy as np from . import graph, triangles from .constants import log from .geometry import faces_to_edges from .grouping import group_rows try: import networkx as nx except BaseException as E: # create a dummy module which will raise the ImportError # or other exception only when someone tries to use networkx from .exceptions import ExceptionWrapper nx = ExceptionWrapper(E) try: from .path.exchange.misc import faces_to_path except BaseException as E: from .exceptions import ExceptionWrapper faces_to_path = ExceptionWrapper(E) def fix_winding(mesh): """ Traverse and change mesh faces in-place to make sure winding is correct with edges on adjacent faces in opposite directions. Parameters ------------- mesh : Trimesh Source geometry to alter in-place. """ # anything we would fix is already done if mesh.is_winding_consistent: return graph_all = nx.from_edgelist(mesh.face_adjacency) flipped = 0 faces = mesh.faces.view(np.ndarray).copy() # we are going to traverse the graph using BFS # start a traversal for every connected component for components in nx.connected_components(graph_all): # get a subgraph for this component g = graph_all.subgraph(components) # get the first node in the graph in a way that works on nx's # new API and their old API start = next(iter(g.nodes())) # we traverse every pair of faces in the graph # we modify mesh.faces and mesh.face_normals in place for face_pair in nx.bfs_edges(g, start): # for each pair of faces, we convert them into edges, # find the edge that both faces share and then see if edges # are reversed in order as you would expect # (2, ) int face_pair = np.ravel(face_pair) # (2, 3) int pair = faces[face_pair] # (6, 2) int edges = faces_to_edges(pair) overlap = group_rows(np.sort(edges, axis=1), require_count=2) if len(overlap) == 0: # only happens on non-watertight meshes continue edge_pair = edges[overlap[0]] if edge_pair[0][0] == edge_pair[1][0]: # if the edges aren't reversed, invert the order of one face flipped += 1 faces[face_pair[1]] = faces[face_pair[1]][::-1] if flipped > 0: mesh.faces = faces log.debug("flipped %d/%d edges", flipped, len(mesh.faces) * 3) def fix_inversion(mesh, multibody=False): """ Check to see if a mesh has normals pointing "out." Parameters ------------- mesh : trimesh.Trimesh Mesh to fix in-place. multibody : bool If True will try to fix normals on every body """ if not mesh.is_watertight: # this will make things worse for non-watertight meshes return if multibody: groups = graph.connected_components(mesh.face_adjacency) # escape early for single body if len(groups) == 1: if mesh.volume < 0.0: mesh.invert() return # mask of faces to flip flip = np.zeros(len(mesh.faces), dtype=bool) # save these to avoid thrashing cache tri = mesh.triangles cross = mesh.triangles_cross # indexes of mesh.faces, not actual faces for faces in groups: # calculate the volume of the submesh faces volume = triangles.mass_properties( tri[faces], crosses=cross[faces], skip_inertia=True )["volume"] # if that volume is negative it is either # inverted or just total garbage if volume < 0.0: flip[faces] = True # one or more faces needs flipping if flip.any(): # flip normals of necessary faces if "face_normals" in mesh._cache: normals = mesh.face_normals.copy() normals[flip] *= -1.0 else: normals = None # flip faces mesh.faces[flip] = np.fliplr(mesh.faces[flip]) if normals is not None: mesh.face_normals = normals elif mesh.volume < 0.0: mesh.invert() def fix_normals(mesh, multibody=False): """ Fix the winding and direction of a mesh face and face normals in-place. Really only meaningful on watertight meshes but will orient all faces and winding in a uniform way for non-watertight face patches as well. Parameters ------------- mesh : trimesh.Trimesh Mesh to fix normals on multibody : bool if True try to correct normals direction on every body rather than just one Notes -------------- mesh.faces : will flip columns on inverted faces """ # traverse face adjacency to correct winding fix_winding(mesh) # check to see if a mesh is inverted fix_inversion(mesh, multibody=multibody) def broken_faces(mesh, color=None): """ Return the index of faces in the mesh which break the watertight status of the mesh. Parameters -------------- mesh : trimesh.Trimesh Mesh to check broken faces on color: (4,) uint8 or None Will set broken faces to this color if not None Returns --------------- broken : (n, ) int Indexes of mesh.faces """ adjacency = nx.from_edgelist(mesh.face_adjacency) broken = [k for k, v in dict(adjacency.degree()).items() if v != 3] broken = np.array(broken) if color is not None and broken.size != 0: # if someone passed a broken color color = np.array(color) if not (color.shape == (4,) or color.shape == (3,)): color = [255, 0, 0, 255] mesh.visual.face_colors[broken] = color return broken def fill_holes(mesh): """ Fill single- triangle holes on triangular meshes by adding new triangles to fill the holes. New triangles will have proper winding and normals, and if face colors exist the color of the last face will be assigned to the new triangles. Parameters ------------ mesh : trimesh.Trimesh Mesh will be repaired in- place """ def hole_to_faces(hole): """ Given a loop of vertex indices representing a hole turn it into triangular faces. If unable to do so, return None Parameters ----------- hole : (n,) int Ordered loop of vertex indices Returns --------- faces : (n, 3) int New faces vertices : (m, 3) float New vertices """ hole = np.asanyarray(hole) # the case where the hole is just a single missing triangle if len(hole) == 3: return [hole], [] # the hole is a quad, which we fill with two triangles if len(hole) == 4: face_A = hole[[0, 1, 2]] face_B = hole[[2, 3, 0]] return [face_A, face_B], [] return [], [] if len(mesh.faces) < 3: return False if mesh.is_watertight: return True # we know that in a watertight mesh every edge will be included twice # thus every edge which appears only once is part of a hole boundary boundary_groups = group_rows(mesh.edges_sorted, require_count=1) # mesh is not watertight and we have too few edges # edges to do a repair # since we haven't changed anything return False if len(boundary_groups) < 3: return False boundary_edges = mesh.edges[boundary_groups] index_as_dict = [{"index": i} for i in boundary_groups] # we create a graph of the boundary edges, and find cycles. g = nx.from_edgelist(np.column_stack((boundary_edges, index_as_dict))) new_faces = [] new_vertex = [] for hole in nx.cycle_basis(g): # convert the hole, which is a polygon of vertex indices # to triangles and new vertices faces, vertex = hole_to_faces(hole=hole) if len(faces) == 0: continue # remeshing returns new vertices as negative indices, so change those # to absolute indices which won't be screwed up by the later appends faces = np.array(faces) faces[faces < 0] += len(new_vertex) + len(mesh.vertices) + len(vertex) new_vertex.extend(vertex) new_faces.extend(faces) new_faces = np.array(new_faces) new_vertex = np.array(new_vertex) if len(new_faces) == 0: # no new faces have been added, so nothing further to do # the mesh is NOT watertight, as boundary groups exist # but we didn't add any new faces to fill them in return False for face_index, face in enumerate(new_faces): # we compare the edge from the new face with # the boundary edge from the source mesh edge_test = face[:2] edge_boundary = mesh.edges[g.get_edge_data(*edge_test)["index"]] # in a well constructed mesh, the winding is such that adjacent triangles # have reversed edges to each other. Here we check to make sure the # edges are reversed, and if they aren't we simply reverse the face reversed = edge_test[0] == edge_boundary[1] if not reversed: new_faces[face_index] = face[::-1] # stack vertices into clean (n, 3) float if len(new_vertex) != 0: new_vertices = np.vstack((mesh.vertices, new_vertex)) else: new_vertices = mesh.vertices # try to save face normals if we can if "face_normals" in mesh._cache.cache: cached_normals = mesh._cache.cache["face_normals"] else: cached_normals = None # also we can remove any zero are triangles by masking here new_normals, valid = triangles.normals(new_vertices[new_faces]) # all the added faces were broken if not valid.any(): return False # this is usually the case where two vertices of a triangle are just # over tol.merge apart, but the normal calculation is screwed up # these could be fixed by merging the vertices in question here: # if not valid.all(): if mesh.visual.defined and mesh.visual.kind == "face": color = mesh.visual.face_colors else: color = None # apply the new faces and vertices mesh.faces = np.vstack((mesh._data["faces"], new_faces[valid])) mesh.vertices = new_vertices # dump the cache and set id to the new hash mesh._cache.verify() # save us a normals recompute if we can if cached_normals is not None: mesh.face_normals = np.vstack((cached_normals, new_normals)) # this is usually the case where two vertices of a triangle are just # over tol.merge apart, but the normal calculation is screwed up # these could be fixed by merging the vertices in question here: # if not valid.all(): if color is not None: # if face colors exist, assign the last face color to the new faces # note that this is a little cheesey, but it is very inexpensive and # is the right thing to do if the mesh is a single color. color_shape = np.shape(color) if len(color_shape) == 2: new_colors = np.tile(color[-1], (np.sum(valid), 1)) new_colors = np.vstack((color, new_colors)) mesh.visual.face_colors = new_colors log.debug("Filled in mesh with %i triangles", np.sum(valid)) return mesh.is_watertight def stitch(mesh, faces=None, insert_vertices=False): """ Create a fan stitch over the boundary of the specified faces. If the boundary is non-convex a triangle fan is going to be extremely wonky. Parameters ----------- mesh : trimesh.Trimesh Mesh to create fan stitch on. faces : (n,) int Face indexes to stitch with triangle fans. insert_vertices : bool Allow stitching to insert new vertices? Returns ---------- fan : (m, 3) int New triangles referencing mesh.vertices. vertices : (p, 3) float Inserted vertices (only returned `if insert_vertices`) """ if faces is None: faces = np.arange(len(mesh.faces)) # get a sequence of vertex indices representing the # boundary of the specified faces # will be referencing the same indexes of `mesh.vertices` points = [ e.points for e in faces_to_path(mesh, faces)["entities"] if len(e.points) > 3 and e.points[0] == e.points[-1] ] # get properties to avoid querying in loop vertices = mesh.vertices normals = mesh.face_normals # find which faces are associated with an edge edges_face = mesh.edges_face tree_edge = mesh.edges_sorted_tree if insert_vertices: # create one new vertex per curve at the centroid centroids = np.array([vertices[p].mean(axis=0) for p in points]) # save the original length of the vertices count = len(vertices) # for the normal check stack our local vertices vertices = np.vstack((vertices, centroids)) # create a triangle between our new centroid vertex # and each one of the boundary curves fan = [ np.column_stack((np.ones(len(p) - 1, dtype=int) * (count + i), p[:-1], p[1:])) for i, p in enumerate(points) ] else: # since we're not allowed to insert new vertices # create a triangle fan for each boundary curve fan = [ np.column_stack((np.ones(len(p) - 3, dtype=int) * p[0], p[1:-2], p[2:-1])) for p in points ] # now we do a normal check against an adjacent face # to see if each region needs to be flipped for i, t in zip(range(len(fan)), fan): # get the edges from the original mesh # for the first `n` new triangles e = t[:10, 1:].copy() e.sort(axis=1) # find which indexes of `mesh.edges` these # new edges correspond with by finding edges # that exactly correspond with the tree query = tree_edge.query_ball_point(e, r=1e-10) if len(query) == 0: continue # stack all the indices that exist edge_index = np.concatenate(query) # get the normals from the original mesh original = normals[edges_face[edge_index]] # calculate the normals for a few new faces check, valid = triangles.normals(vertices[t[:3]]) if not valid.any(): continue # take the first valid normal from our new faces check = check[0] # if our new faces are reversed from the original # Adjacent face flip them along their axis sign = np.dot(original, check) if sign.mean() < 0: fan[i] = np.fliplr(t) fan = np.vstack(fan) if insert_vertices: return fan, centroids return fan trimesh-4.5.1/trimesh/resolvers.py000066400000000000000000000363241470574263400172710ustar00rootroot00000000000000""" resolvers.py --------------- Provides a common interface to load assets referenced by name like MTL files, texture images, etc. Assets can be from ZIP archives, web assets, or a local file path. """ import abc import itertools import os from . import caching, util from .typed import Optional, Union # URL parsing for remote resources via WebResolver try: # Python 3 from urllib.parse import urlparse except ImportError: # Python 2 from urlparse import urlparse class Resolver(util.ABC): """ The base class for resolvers. """ @abc.abstractmethod def __init__(self, *args, **kwargs): raise NotImplementedError("Use a resolver subclass!") @abc.abstractmethod def get(self, key): raise NotImplementedError() @abc.abstractmethod def write(self, name, data): raise NotImplementedError("`write` not implemented!") @abc.abstractmethod def namespaced(self, namespace): raise NotImplementedError("`namespaced` not implemented!") def __getitem__(self, key): return self.get(key) def __setitem__(self, key, value): return self.write(key, value) def __contains__(self, key): return key in self.keys() class FilePathResolver(Resolver): """ Resolve files from a source path on the file system. """ def __init__(self, source: str): """ Resolve files based on a source path. Parameters ------------ source : str File path where mesh was loaded from """ # remove everything other than absolute path clean = os.path.expanduser(os.path.abspath(str(source))) self.clean = clean if os.path.isdir(clean): # if we were passed a directory use it self.parent = clean else: # otherwise get the parent directory we've been passed split = os.path.split(clean) self.parent = split[0] # exit if directory doesn't exist if not os.path.isdir(self.parent): raise ValueError(f"path `{self.parent} `not a directory!") def keys(self): """ List all files available to be loaded. Yields ----------- name : str Name of a file which can be accessed. """ parent = self.parent for path, _, names in os.walk(self.parent): # strip any leading parent key if path.startswith(parent): path = path[len(parent) :] # yield each name for name in names: yield os.path.join(path, name) def namespaced(self, namespace: str) -> "FilePathResolver": """ Return a resolver which changes the root of the resolver by an added namespace. Parameters ------------- namespace : str Probably a subdirectory Returns -------------- resolver : FilePathResolver Resolver with root directory changed. """ return FilePathResolver(os.path.join(self.parent, namespace)) def get(self, name: str): """ Get an asset. Parameters ------------- name : str Name of the asset Returns ------------ data : bytes Loaded data from asset """ # load the file by path name path = os.path.join(self.parent, name.strip()) if not os.path.exists(path): path = os.path.join(self.parent, os.path.split(name)[-1]) with open(path, "rb") as f: data = f.read() return data def write(self, name: str, data: Union[str, bytes]): """ Write an asset to a file path. Parameters ----------- name : str Name of the file to write data : str or bytes Data to write to the file """ # write files to path name with open(os.path.join(self.parent, name.strip()), "wb") as f: # handle encodings correctly for str/bytes util.write_encoded(file_obj=f, stuff=data) class ZipResolver(Resolver): """ Resolve files inside a ZIP archive. """ def __init__(self, archive=None, namespace=None): """ Resolve files inside a ZIP archive as loaded by trimesh.util.decompress Parameters ------------- archive : dict Contains resources as file object namespace : None or str If passed will only show keys that start with this value and this substring must be removed for any get calls. """ self.archive = archive if isinstance(namespace, str): self.namespace = namespace.strip().rstrip("/") + "/" else: self.namespace = None def keys(self): """ Get the available keys in the current archive. Returns ----------- keys : iterable Keys in the current archive. """ if self.namespace is not None: namespace = self.namespace length = len(namespace) # only return keys that start with the namespace # and strip off the namespace from the returned # keys. return [ k[length:] for k in self.archive.keys() if k.startswith(namespace) and len(k) > length ] return self.archive.keys() def write(self, key: str, value): """ Store a value in the current archive. Parameters ----------- key : hashable Key to store data under. value : str, bytes, file-like Value to store. """ if self.archive is None: self.archive = {} self.archive[key] = value def get(self, name: str): """ Get an asset from the ZIP archive. Parameters ------------- name : str Name of the asset Returns ------------- data : bytes Loaded data from asset """ # not much we can do with None if name is None: return # make sure name is a string if hasattr(name, "decode"): name = name.decode("utf-8") # store reference to archive inside this function archive = self.archive # requested name not identical in # storage so attempt to recover if name not in archive: # loop through unique results for option in nearby_names(name, self.namespace): if option in archive: # cleaned option is in archive # so store value and exit name = option break # get the stored data obj = archive[name] # if the dict is storing data as bytes just return if isinstance(obj, (bytes, str)): return obj # otherwise get it as a file object # read file object from beginning obj.seek(0) # data is stored as a file object data = obj.read() obj.seek(0) return data def namespaced(self, namespace: str) -> "ZipResolver": """ Return a "sub-resolver" with a root namespace. Parameters ------------- namespace : str The root of the key to clip off, i.e. if this resolver has key `a/b/c` you can get 'a/b/c' with resolver.namespaced('a/b').get('c') Returns ----------- resolver : Resolver Namespaced resolver. """ return ZipResolver(archive=self.archive, namespace=namespace) def export(self) -> bytes: """ Export the contents of the current archive as a ZIP file. Returns ------------ compressed : bytes Compressed data in ZIP format. """ return util.compress(self.archive) class WebResolver(Resolver): """ Resolve assets from a remote URL. """ def __init__(self, url): """ Resolve assets from a base URL. Parameters -------------- url : str Location where a mesh was stored or directory where mesh was stored """ if hasattr(url, "decode"): url = url.decode("utf-8") # parse string into namedtuple parsed = urlparse(url) # we want a base url split = [i for i in parsed.path.split("/") if len(i) > 0] # if the last item in the url path is a filename # move up a "directory" for the base path if len(split) == 0: path = "" elif "." in split[-1]: # clip off last item path = "/".join(split[:-1]) else: # recombine into string ignoring any double slashes path = "/".join(split) self.base_url = ( "/".join( i for i in [parsed.scheme + ":/", parsed.netloc.strip("/"), path.strip("/")] if len(i) > 0 ) + "/" ) # our string handling should have never inserted double slashes assert "//" not in self.base_url[len(parsed.scheme) + 3 :] # we should always have ended with a single slash assert self.base_url.endswith("/") def get(self, name): """ Get a resource from the remote site. Parameters ------------- name : str Asset name, i.e. 'quadknot.obj.mtl' """ # do import here to keep soft dependency import httpx # remove leading and trailing whitespace name = name.strip() # fetch the data from the remote url # base url has been carefully formatted url = self.base_url + name response = httpx.get(url, follow_redirects=True) if response.status_code >= 300: # try to strip off filesystem crap if name.startswith("./"): name = name[2:] response = httpx.get(self.base_url + name, follow_redirects=True) # now raise if we don't have response.raise_for_status() # return the bytes of the response return response.content def namespaced(self, namespace): """ Return a namespaced version of current resolver. Parameters ------------- namespace : str URL fragment Returns ----------- resolver : WebResolver With sub-url: `https://example.com/{namespace}` """ # join the base url and the namespace return WebResolver(url=self.base_url + namespace) def write(self, key, value): raise NotImplementedError("can't write to remote") class GithubResolver(Resolver): def __init__( self, repo: str, branch: Optional[str] = None, commit: Optional[str] = None, save: Optional[str] = None, ): """ Get files from a remote Github repository by downloading a zip file with the entire branch or a specific commit. Parameters ------------- repo In the format of `owner/repo` branch The remote branch you want to get files from. commit The full commit hash: pass either this OR branch. save A path if you want to save results locally. """ if commit is not None: # just get the exact commit self.url = f"https://github.com/{repo}/archive/{commit}.zip" elif branch is not None: # gets the latest commit on the specified branch. self.url = f"https://github.com/{repo}/archive/refs/heads/{branch}.zip" else: raise ValueError("`commit` or `branch` must be passed!") if save is not None: self.cache = caching.DiskCache(save) else: self.cache = None def keys(self): """ List the available files in the repository. Returns ---------- keys : iterable Keys available to the resolved. """ return self.zipped.keys() def write(self, name, data): raise NotImplementedError("`write` not implemented!") @property def zipped(self) -> ZipResolver: """ - opened zip file - locally saved zip file - retrieve zip file and saved """ def fetch() -> bytes: """ Fetch the remote zip file. """ import httpx response = httpx.get(self.url, follow_redirects=True) response.raise_for_status() return response.content if hasattr(self, "_zip"): return self._zip # download the archive or get from disc raw = self.cache.get(self.url, fetch) # create a zip resolver for the archive self._zip = ZipResolver( util.decompress(util.wrap_as_stream(raw), file_type="zip") ) return self._zip def get(self, key): return self.zipped.get(key) def namespaced(self, namespace): """ Return a "sub-resolver" with a root namespace. Parameters ------------- namespace : str The root of the key to clip off, i.e. if this resolver has key `a/b/c` you can get 'a/b/c' with resolver.namespaced('a/b').get('c') Returns ----------- resolver : Resolver Namespaced resolver. """ return self.zipped.namespaced(namespace) def nearby_names(name, namespace=None): """ Try to find nearby variants of a specified name. Parameters ------------ name : str Initial name. Yields ----------- nearby : str Name that is a lightly permutated version of the initial name. """ # the various operations that *might* result in a correct key def trim(prefix, item): if item.startswith(prefix): return item[len(prefix) :] return item cleaners = [ lambda x: x, lambda x: x.strip(), lambda x: trim("./", x), lambda x: trim(".\\", x), lambda x: trim("\\", x), lambda x: os.path.split(x)[-1], lambda x: x.replace("%20", " "), ] if namespace is None: namespace = "" # make sure we don't return repeat values hit = set() for f in cleaners: # try just one cleaning function current = f(name) if current in hit: continue hit.add(current) yield namespace + current for a, b in itertools.combinations(cleaners, 2): # apply both clean functions current = a(b(name)) if current in hit: continue hit.add(current) yield namespace + current # try applying in reverse order current = b(a(name)) if current in hit: continue hit.add(current) yield namespace + current if ".." in name and namespace is not None: # if someone specified relative paths give it one attempt strip = namespace.strip("/").split("/")[: -name.count("..")] strip.extend(name.split("..")[-1].strip("/").split("/")) yield "/".join(strip) trimesh-4.5.1/trimesh/resources/000077500000000000000000000000001470574263400166755ustar00rootroot00000000000000trimesh-4.5.1/trimesh/resources/__init__.py000066400000000000000000000100171470574263400210050ustar00rootroot00000000000000import json import os import warnings from ..typed import Dict, Stream from ..util import decode_text, wrap_as_stream # find the current absolute path to this directory _pwd = os.path.expanduser(os.path.abspath(os.path.dirname(__file__))) # once resources are loaded cache them _cache = {} def get( name: str, decode: bool = True, decode_json: bool = False, as_stream: bool = False ): """ DERECATED JANUARY 2025 REPLACE WITH TYPED `get_json`, `get_string`, etc. """ warnings.warn( "`trimesh.resources.get` is deprecated " + "and will be removed in January 2025: " + "replace with typed `trimesh.resources.get_*type*`", category=DeprecationWarning, stacklevel=2, ) return _get(name=name, decode=decode, decode_json=decode_json, as_stream=as_stream) def _get(name: str, decode: bool, decode_json: bool, as_stream: bool): """ Get a resource from the `trimesh/resources` folder. Parameters ------------- name : str File path relative to `trimesh/resources` decode : bool Whether or not to decode result as UTF-8 decode_json : bool Run `json.loads` on resource if True. as_stream : bool Return as a file-like object Returns ------------- resource : str, bytes, or decoded JSON File data """ # key by name and decode cache_key = (name, bool(decode), bool(decode_json), bool(as_stream)) cached = _cache.get(cache_key) if hasattr(cached, "seek"): cached.seek(0) if cached is not None: return cached # get the resource using relative names with open(os.path.join(_pwd, name), "rb") as f: resource = f.read() # make sure we return it as a string if asked if decode: # will decode into text if possibly resource = decode_text(resource) if decode_json: resource = json.loads(resource) elif as_stream: resource = wrap_as_stream(resource) # store for later access _cache[cache_key] = resource return resource def get_schema(name: str) -> Dict: """ Load a schema and evaluate the referenced files. Parameters ------------ name : str Filename of schema. Returns ---------- schema Loaded and resolved schema. """ from ..resolvers import FilePathResolver from ..schemas import resolve # get a resolver for our base path resolver = FilePathResolver(os.path.join(_pwd, "schema", name)) # recursively load $ref keys return resolve(json.loads(decode_text(resolver.get(name))), resolver=resolver) def get_json(name: str) -> Dict: """ Get a resource from the `trimesh/resources` folder as a decoded string. Parameters ------------- name : str File path relative to `trimesh/resources` Returns ------------- resource File data decoded from JSON. """ return _get(name, decode=True, decode_json=True, as_stream=False) def get_string(name: str) -> str: """ Get a resource from the `trimesh/resources` folder as a decoded string. Parameters ------------- name : str File path relative to `trimesh/resources` Returns ------------- resource File data as a string. """ return _get(name, decode=True, decode_json=False, as_stream=False) def get_bytes(name: str) -> bytes: """ Get a resource from the `trimesh/resources` folder as binary data. Parameters ------------- name : str File path relative to `trimesh/resources` Returns ------------- resource File data as raw bytes. """ return _get(name, decode=False, decode_json=False, as_stream=False) def get_stream(name: str) -> Stream: """ Get a resource from the `trimesh/resources` folder as a binary stream. Parameters ------------- name : str File path relative to `trimesh/resources` Returns ------------- resource File data as a binary stream. """ return _get(name, decode=False, decode_json=False, as_stream=True) trimesh-4.5.1/trimesh/resources/creation.json000066400000000000000000000020741470574263400213770ustar00rootroot00000000000000{"box":{"vertices":[[0.0,0.0,0.0],[0.0,0.0,1.0],[0.0,1.0,0.0],[0.0,1.0,1.0],[1.0,0.0,0.0],[1.0,0.0,1.0],[1.0,1.0,0.0],[1.0,1.0,1.0]],"faces":[[1,3,0],[4,1,0],[0,3,2],[2,4,0],[1,7,3],[5,1,4],[5,7,1],[3,7,2],[6,4,2],[2,7,6],[6,5,4],[7,5,6]],"face_normals":[[-1,0,0],[0,-1,0],[-1,0,0],[0,0,-1],[0,0,1],[0,-1,0],[0,0,1],[0,1,0],[0,0,-1],[0,1,0],[1,0,0],[1,0,0]]},"icosahedron":{"vertices":[[-0.5257311121191336,0.85065080835204,0.0],[0.5257311121191336,0.85065080835204,0.0],[-0.5257311121191336,-0.85065080835204,0.0],[0.5257311121191336,-0.85065080835204,0.0],[0.0,-0.5257311121191336,0.85065080835204],[0.0,0.5257311121191336,0.85065080835204],[0.0,-0.5257311121191336,-0.85065080835204],[0.0,0.5257311121191336,-0.85065080835204],[0.85065080835204,0.0,-0.5257311121191336],[0.85065080835204,0.0,0.5257311121191336],[-0.85065080835204,0.0,-0.5257311121191336],[-0.85065080835204,0.0,0.5257311121191336]],"faces":[[0,11,5],[0,5,1],[0,1,7],[0,7,10],[0,10,11],[1,5,9],[5,11,4],[11,10,2],[10,7,6],[7,1,8],[3,9,4],[3,4,2],[3,2,6],[3,6,8],[3,8,9],[4,9,5],[2,4,11],[6,2,10],[8,6,7],[9,8,1]]}}trimesh-4.5.1/trimesh/resources/javascript/000077500000000000000000000000001470574263400210435ustar00rootroot00000000000000trimesh-4.5.1/trimesh/resources/javascript/README.md000066400000000000000000000007531470574263400223270ustar00rootroot00000000000000trimesh.resources.javascript ------------- The HTML/JS for the jupyter notebook viewer. If you edit `load_base64.js` and `viewer.html` to do what you want them to do, you can then run `python compile.py` and the template JSON blob will be created and minified. The test data in `viewer.html` will be replaced with a template string. First fetch the files: ``` bash update.bash ``` Then edit `viewer.html` to work. When you're done, run the artifact compile step: ``` python compile.py ```trimesh-4.5.1/trimesh/resources/javascript/compile.py000066400000000000000000000050041470574263400230440ustar00rootroot00000000000000""" compile.py -------------- Take an HTML file and embed local scripts into one blob. The idea is you develop on viewer.html, then call this file to generate the template used in the trimesh viewer. """ import os import jsmin import requests from lxml import html def minify(path): """ Load a javascript file and minify. Parameters ------------ path: str, path of resource """ if path.startswith("http"): data = requests.get(path).content.decode("ascii", errors="ignore") print("downloaded", path, len(data)) else: with open(path, "rb") as f: # some upstream JS uses unicode spaces -_- data = f.read().decode("ascii", errors="ignore") # don't re-minify if ".min." in path: return data try: return jsmin.jsmin(data) except BaseException: return data if __name__ == "__main__": # we're going to embed every non-CDN'd file h = html.parse("viewer.html") collection = [] # find all scripts in the document for s in h.findall("//script"): if "src" in s.attrib: if "http" in s.attrib["src"]: # pass # download CDN files and embed continue # leave any remote files alone # get a blob of file path = s.attrib["src"].strip() print("minifying:", path) mini = minify(path) # replace test data in our file if path == "load_base64.js": print('replacing test data with "$B64GLTF"') start = mini.find("base64_data") end = mini.find(";", start) # replace test data with a string we can replace # keep in quotes to avoid being minified mini = mini.replace(mini[start:end], 'base64_data="$B64GLTF";') collection.append(mini) # remove the script reference s.getparent().remove(s) # a new script element with everything blobbed together ns = html.Element("script") ns.text = "".join(collection) # append the new script element body = h.find("body") body.append(ns) result = html.tostring(h, pretty_print=False).decode("utf-8") # result = result.replace('', '').replace('', '') with open("../viewer.html.template", "w") as f: f.write(result) import subprocess subprocess.check_call( ["zip", "-9", "-j", "../viewer.template.zip", "../viewer.html.template"] ) os.remove("../viewer.html.template") trimesh-4.5.1/trimesh/resources/javascript/load_base64.js000066400000000000000000000133771470574263400234770ustar00rootroot00000000000000// load a scene saved as base64 encoded GLTF/GLB var camera, controls, scene, renderer, tracklight; /* Fit the camera to an object's bounding sphere * * */ function autoFit(obj, camera, controls) { // oriented bounding box const boundingBox = new THREE.Box3().setFromObject(obj); // get the bounding sphere of the OBB const boundingSphere = new THREE.Sphere(); boundingBox.getBoundingSphere((target = boundingSphere)); // object size / display size const scale = 1.0; // convert to radians and scale const angularSize = ((camera.fov * Math.PI) / 180) * scale; const distanceToCamera = boundingSphere.radius / Math.tan(angularSize); const len = Math.sqrt( Math.pow(distanceToCamera, 2) + Math.pow(distanceToCamera, 2) + Math.pow(distanceToCamera, 2) ); camera.position.set(len, len, len); controls.update(); camera.lookAt(boundingSphere.center); controls.target.set( boundingSphere.center.x, boundingSphere.center.y, boundingSphere.center.z ); camera.updateProjectionMatrix(); } /* Center the controls on the scene's bounding sphere * * */ function centerControls(obj, camera, controls) { // center control rotation on scene bounding box // oriented bounding box const boundingBox = new THREE.Box3().setFromObject(obj); // get the bounding sphere of the OBB const boundingSphere = new THREE.Sphere(); boundingBox.getBoundingSphere((target = boundingSphere)); // make sure we're orbiting around center of bounding sphere controls.update(); controls.target.set( boundingSphere.center.x, boundingSphere.center.y, boundingSphere.center.z ); } function init() { scene = new THREE.Scene(); // white background scene.background = new THREE.Color(0xffffff); // add a light that will track the camera tracklight = new THREE.DirectionalLight(0xffffff, 1.75); scene.add(tracklight); // base64 encoded GLTF (GLB) scene base64_data = "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"; // renderer renderer = new THREE.WebGLRenderer({ antialias: true }); renderer.setPixelRatio(window.devicePixelRatio); renderer.setSize(window.innerWidth, window.innerHeight); document.body.appendChild(renderer.domElement); // load GLTF data from base64 string loader = new THREE.GLTFLoader(); loader.load( "data:text/plain;base64," + base64_data, // function will be called asynchronously after data is loaded function (gltf) { // add GLTF data to scene scene.add(gltf.scene); camera = gltf.cameras[0]; // create trackball controls controls = new THREE.TrackballControls(camera, renderer.domElement); controls.rotateSpeed = 1.0; controls.zoomSpeed = 1.2; controls.panSpeed = 0.8; controls.noZoom = false; controls.noPan = false; controls.staticMoving = true; controls.dynamicDampingFactor = 0.3; controls.keys = [65, 83, 68]; controls.addEventListener("change", render); // after loading make sure we're orbiting centroid centerControls(scene, camera, controls); // call initial render render(); // add resize callbacks window.addEventListener("resize", onWindowResize, false); // enable controls animate(); onWindowResize(); } ); } function onWindowResize() { // Handle window resizing camera.aspect = window.innerWidth / window.innerHeight; camera.updateProjectionMatrix(); renderer.setSize(window.innerWidth, window.innerHeight); controls.handleResize(); render(); } function animate() { // Handle trackball controls requestAnimationFrame(animate); controls.update(); } function render() { // we always want things lit for our preview window tracklight.position.copy(camera.position); renderer.render(scene, camera); } init(); trimesh-4.5.1/trimesh/resources/javascript/update.bash000066400000000000000000000007571470574263400231750ustar00rootroot00000000000000# update local files to latest version from main github set -xe # version of three.js to pull files from VERSION=115 rm three.min.js | true wget https://raw.githubusercontent.com/mrdoob/three.js/r${VERSION}/build/three.min.js rm TrackballControls.js | true wget https://raw.githubusercontent.com/mrdoob/three.js/r${VERSION}/examples/js/controls/TrackballControls.js rm GLTFLoader.js | true wget https://raw.githubusercontent.com/mrdoob/three.js/r${VERSION}/examples/js/loaders/GLTFLoader.js trimesh-4.5.1/trimesh/resources/javascript/viewer.html000066400000000000000000000011041470574263400232260ustar00rootroot00000000000000 trimesh: threejs viewer

    trimesh-4.5.1/trimesh/resources/schema/000077500000000000000000000000001470574263400201355ustar00rootroot00000000000000trimesh-4.5.1/trimesh/resources/schema/README.md000066400000000000000000000006731470574263400214220ustar00rootroot00000000000000# trimesh/resources/schemas Contain schemas for formats when available. They are currently mostly [JSON schema](https://json-schema.org/) although if formats have an XSD, DTD, or other schema format we are happy to include it here. The `primitive` schema directory is a [JSON schema](https://json-schema.org/) for `trimesh` exports. The goal is if we implement a `to_dict` method to have a well-defined schema we can validate in unit tests. trimesh-4.5.1/trimesh/resources/schema/gltf2.schema.zip000066400000000000000000000603211470574263400231400ustar00rootroot00000000000000PK2nVڽuaccessor.schema.jsonUT hIdhIdux XYoF~ϯlɉ:O VRNȡTw3KREE#O&a"Z'Y;6'Lv=v;݃W\!_AƤ]\c+m|WmLn=|!@˱D/ a")dQ:_#a!HRR =PX.8f5o^d^DԾx;R ]ukn=G]xfvuA!@ճ%F_C$ڈf#0܁RwᲿ&!NvQ9f,A iM.EeaOD"2^NB61LDifu5\/7)S.bUE^XVg?ЃxI&l9ap';Ցթ{!OT ɉn"nEf+>Nϕ%$Y*7mNjK%Ƙp-m8(;[$=‚44<"W8-WZi,&YeԲQ@`3`Bb?M"HޥBem.k]:;!t5"ֈV!RDܬd^9 }˝`4 Z740p\g~N Jxmof UhFa10חpWKa?Of>)bϛ/"Ўv(,NU㏲*rs>eٮG1_Xab>X9 +̱oW6~4uxa8Z9 E Fu$`") e4 ĸ́eyI!NQnDB k%퐰90*A#&RȨq|߰(/̓ߕ,P]+@8} ,sNq\lԃ*F|LO~&*&*N Eq KUƶ2BT&p3c s +SJ&b'K:t]a$2erO #)@aھ, r|atx.*%ZR,MasYs$j˽}ߔ&̭YCosO jZe{ZVt6o[_|z/`:m%^R|/S*g MK=R.NpG+cxfOCgPK2nVmyaccessor.sparse.schema.jsonUT hIdhIdux 1o@ w Bd8R1[;B(I(^tRj%P>>ww\~ovTcr NY]s5Se3W7,ƐS"{J;L;JE.c;釶՜aۊA*KWXuAv(ޢjeaН[>:)'e]K,3 8S4nɫq]#g3Fq$`zK ۔opC+]!}@fÞ9ZMQ PK2nVq"accessor.sparse.values.schema.jsonUT hIdhIdux S@ V #JUo-{Vb8tƁEg6{' _56*YBR3~9xkpj]5+*y/aS*{R*1)ݡO@8Xc| xs١U6{h>w2 _0硵dLlAA֕%:! ܑ0 IiK@ @wt65Ӟj8W AXLFxNUag ӯ?֛2j PZ~Ob1ObUͨK3Ld | maO\Cؕ\<^K zFH߲rr2fGnmoD49zzB@]+tIvrlow4 OoyM]Ru: ;2/#EoSN .qa=< x&PK2nVZ}animation.channel.schema.jsonUT hIdhIdux RN@b&jWfefA4wXֶF9񄥧$'Ԭ= PK2nVT4 animation.sampler.schema.jsonUT hIdhIdux VN@}+FQ$GV\T$ڢ;K׻fwMً'DQ<;ggf}ޘt%BobmevkV.f w[;D8I^2˕VVu?❭Fr+i50 ڭƬ j|mTZwA1h%)``F"Tm-52A1 \Zԕ2d7q0!S^!ΎNPBXs^\R0 ~xT RV޹)Chr咖qeqkVbrMƭBW&}Lژ EmVMݕ(mhHQX| #\rҋ%|* 0VԊq{ > ktڡ.x=:±wrpKz\'L$*y:u #Y;A$2;K cSDْZsB'hƵ>L5A'T3-ķї'q!?VuMMZ(rL6|QpN^4.(!ou;YV{tvxZkZ!4sâ|1-ٽ\=ZZsûWSGocۦvM[ZyJTs T;1Y 1E#ZAmJ{;fLL2 6$2($h2Y&6S5J TW*pZ+,-H.W.Pq&+/…'.3- fQ4k|J#iӧ ajM'Uk>[˟H<,G?>؈W0]DbQ.:QC. k*Ҡ܁"C?iʦAB×m!w ͇_ql8X?dfz%b sYq]K>.^佪&R K=R!T#óPDZjlR0Ro,Tk;迻r l/@h_^HD82F:W7WEcv~PK2nVlFEasset.schema.jsonUT hIdhIdux SMo@WPNn oHRI/,0Q2say3oޛav7$`++H6̽ʲ"&U$jVrm*G 8+neܺ {bVhJR=+K;dQ  =0A6wZhڦ?κ!t$#x >yGRrGmä:L0U E ԚRo$Thc)M&^"CrO̵n`ʄI&x0XM0 -$j_r:?]u+nVuzz &=3\\<=p5evh<|~+|[!$G e0|j+t"?+; gPK2nV'buffer.schema.jsonUT hIdhIdux Rj@+Ckl+ѷ%`HI1#iծ:;*YYr#'-T'fޛ7ov?XdI\U>GxH5r~LYO7:RwM#-zRذk9mݡ~Ɛ_pԅ8E-+djgT$gbS"0'|,w{BFvpkǺ }uxCf LSlmuw{Y gy=ɢhe$tE&lJ?jeE4@~ 1FP! oQo0&m1Sr32ĬZZ=$mkkɩZ[t?<*,No_w8/qJxe2(JWozs#0& oHXB1{/WaPK2nVbufferView.schema.jsonUT hIdhIdux UQO0~W=lUhKa[^`R _lRU#iwbi3Q:Vjmn~a(tf{A[%\p qFS]* ;aVy]*|VV&"s!E1HPfY6F LCT 62Se&EL9kt[I6>_#V9j;i%ܖ9/xm^]S-%VF#$HHOMu+2xgn"뜪SO1!һ*8\i)& {kc6Vg(g7Zp| ~g ^CaOQE&0l|2!S!G|?f)":?RrTT者Dg9IjiSsF)3JDiEhA6Y͘ 8WvhU50L2 >/;}iG͛dN6mцL)uF~i-rvy]rLNLЈz/$UP\伸tjf,,)iãϟôM`4;>=Z[ ͅXZ_u gf;Urq$Mh 3\ZLF?AW*ݳDa PK2nVwQLJcamera.orthographic.schema.jsonUT hIdhIdux SKk0W {[,=Mi)DǶ,̓,, [X1G@_rBR;g,{oT*+,+]6g/,']GZWZ42x# '<,.'^#wj-8AdUrL(*0VN` Nȋ)4YIzLEIJ?`O!-w{ϺԱP4\U]BOyPJ-Z[%(g!.|-g y-ZX3!Ǐ/9<-VQ/MhV/ׇ3VaEkLqk?L?ە|hSGDKaLXbM7QշDNۿ)$@:.?4]Cfgc ?2ĐY8T-k>YˣL"\ݓmtPK2nVhcamera.perspective.schema.jsonUT hIdhIdux TMo0 WNAd96V`E5C(m%MAQH>{#޹$ǂEWw5=;qm6㖥~/Y邇ԄhYl:-A ^x~lMg t]b(NцD+τ*c5@^CbyK"H B(bwZLʻTÎڳޣL.?7^g6J!E2zXmk8D^ĤByhv)(y9qґdVQD|{r+L߯`g/) J0ܑz`B"1LٝW,auVUo-ՋBpvX=(Ă)w:Rjf@_Τ%nYtQi2WIdX"4m\^^|X&CbQSEm.KP M\Aހ%R X|~>5 RUML\U(͖8&rc9]1E|]*[__Tm -s4Dn:å,4S%Os}Sw:S#T ˸ࢀ}ΦT#d然l%MHDmv<"ds)Q6DhW{o##kxWho+<nQϮ6y!(^S ɚ OD̐3]Qn'HBT6p{AOLV#n: ]oYC(#Jrty,Ţ04&s,ȁuĔ[hZlHaZu_UK;/PK2nV=extras.schema.jsonUT hIdhIdux ]MO0 VũڱnxM{⿓C r<߯ ė݈c̪zY^0; ڲh/Eyҧ"+%\5 #+;63da5*Wy2 Y;Z؝k ϟVoy8) n߳@ԅ$ԀƐDG GR@1)9߼>*v Pjqg*U$ Ŋ;ֱ&ߓPK2nV y'b#glTFChildOfRootProperty.schema.jsonUT hIdhIdux Kk0я\[zM(Rie+(+STc<;ߌaI } Itîxܕ{rK6S-PLUyt@ \(&%(^Pſp{9zϜ=tF}wu3xZ;)]0"RN+TT{f HkzN[fT̒TxeX83$5=&[ 1PK2nVF,NglTFProperty.schema.jsonUT hIdhIdux };0D{NaK:E.F[ c(.f<iG!LCdRz=RV3"EwNxj@V驉 !$ݔ+{c<%nwaEX5hOSb.$(.:lÓȾPK2nVorglTF.schema.jsonUT hIdhIdux ՘MO0Ѫ'Dw#JU] Tdא8v;, QR3wƓ<FLBN`2'ɭ)g?<.|jI ˔M8yohʍ[LlM$ZVV5MN,- +5`7 A;v"3g GcCjthٍq| a. 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Ttrimesh-4.5.1/trimesh/resources/schema/primitive/000077500000000000000000000000001470574263400221455ustar00rootroot00000000000000trimesh-4.5.1/trimesh/resources/schema/primitive/box.schema.json000066400000000000000000000014561470574263400250750ustar00rootroot00000000000000{ "$id": "https://github.com/mikedh/trimesh/blob/main/trimesh/resources/schema/primitive/box.schema.json", "$schema": "https://json-schema.org/draft/2020-12/schema", "additionalProperties": false, "description": "A 3D box primitive.", "properties": { "extents": { "description": "The length of each side of the 3D box. The center of mass will be at the origin, and the minimum values will be at (-extents / 2) and the maximum values will be at (extents / 2).", "items": { "maxItems": 3, "minItems": 3, "type": "number" }, "type": "array" }, "kind": { "pattern": "(^box$)", "type": "string" }, "transform": { "$ref": "transform.schema.json" } }, "required": [ "extents", "kind" ], "type": "object" }trimesh-4.5.1/trimesh/resources/schema/primitive/capsule.schema.json000066400000000000000000000014061470574263400257340ustar00rootroot00000000000000{ "$id": "https://github.com/mikedh/trimesh/blob/main/trimesh/resources/schema/primitive/capsule.schema.json", "$schema": "https://json-schema.org/draft/2020-12/schema", "additionalProperties": false, "description": "A 3D capsule primitive: a cylinder capped by tangent hemispheres.", "properties": { "height": { "description": "The total height of the capsule including caps.", "type": "number" }, "kind": { "pattern": "(^capsule$)", "type": "string" }, "radius": { "description": "The radius of the cylinder and hemispherical caps.", "type": "number" }, "transform": { "$ref": "transform.schema.json" } }, "required": [ "radius", "height", "kind" ], "type": "object" }trimesh-4.5.1/trimesh/resources/schema/primitive/cylinder.schema.json000066400000000000000000000014211470574263400261060ustar00rootroot00000000000000{ "$id": "https://github.com/mikedh/trimesh/blob/main/trimesh/resources/schema/primitive/cylinder.schema.json", "$schema": "https://json-schema.org/draft/2020-12/schema", "additionalProperties": false, "description": "A 3D cylinder primitive.", "properties": { "height": { "description": "The height of the cylinder along Z. The maximum Z value will be at (height / 2) and the minimum will be at (-height / 2)", "type": "number" }, "kind": { "pattern": "(^cylinder$)", "type": "string" }, "radius": { "description": "The radius of the cylinder.", "type": "number" }, "transform": { "$ref": "transform.schema.json" } }, "required": [ "radius", "height", "kind" ], "type": "object" }trimesh-4.5.1/trimesh/resources/schema/primitive/extrusion.schema.json000066400000000000000000000012601470574263400263360ustar00rootroot00000000000000{ "$id": "https://github.com/mikedh/trimesh/blob/main/trimesh/resources/schema/primitive/extrusion.schema.json", "$schema": "https://json-schema.org/draft/2020-12/schema", "additionalProperties": false, "description": "A 2D polygon extruded from Z=0 along positive Z by `height` then transformed by the `transform` matrix.", "properties": { "height": { "type": "number" }, "kind": { "pattern": "(^extrusion$)", "type": "string" }, "polygon": { "$ref": "wkt.polygon.schema.json" }, "transform": { "$ref": "transform.schema.json" } }, "required": [ "kind", "polygon", "height" ], "type": "object" }trimesh-4.5.1/trimesh/resources/schema/primitive/primitive.schema.json000066400000000000000000000007371470574263400263160ustar00rootroot00000000000000{ "$id": "https://github.com/mikedh/trimesh/blob/main/trimesh/resources/schema/primitive/primitive.schema.json", "$schema": "https://json-schema.org/draft/2020-12/schema", "anyOf": [ { "$ref": "box.schema.json" }, { "$ref": "sphere.schema.json" }, { "$ref": "capsule.schema.json" }, { "$ref": "cylinder.schema.json" }, { "$ref": "extrusion.schema.json" } ], "description": "A geometric primitive." }trimesh-4.5.1/trimesh/resources/schema/primitive/scenegraph.schema.json000066400000000000000000000014271470574263400264220ustar00rootroot00000000000000{ "$id": "https://github.com/mikedh/trimesh/blob/main/trimesh/resources/schema/primitive/scenegraph.schema.json", "$schema": "https://json-schema.org/draft/2020-12/schema", "description": "A scene graph in the simplest possible JSON format.", "type": "array", "items": { "type": "array", "prefixItems": [ { "type": "string", "description": "Node name of frame from." }, { "type": "string", "description": "Node name of frame to." }, { "type": "object", "additionalProperties": false, "properties": { "geometry": { "type": "string", "description": "Name of the geometry transformed to this frame." }, "matrix": { "$ref": "transform.schema.json" } } } ] } } trimesh-4.5.1/trimesh/resources/schema/primitive/sphere.schema.json000066400000000000000000000010121470574263400255570ustar00rootroot00000000000000{ "$id": "https://github.com/mikedh/trimesh/blob/main/trimesh/resources/schema/primitive/sphere.schema.json", "$schema": "https://json-schema.org/draft/2020-12/schema", "additionalProperties": false, "description": "A 3D sphere primitive.", "properties": { "kind": { "pattern": "(^sphere$)", "type": "string" }, "radius": { "type": "number" }, "transform": { "$ref": "transform.schema.json" } }, "required": [ "radius", "kind" ], "type": "object" }trimesh-4.5.1/trimesh/resources/schema/primitive/transform.schema.json000066400000000000000000000007251470574263400263160ustar00rootroot00000000000000{ "$id": "https://github.com/mikedh/trimesh/blob/main/trimesh/resources/schema/primitive/transform.schema.json", "$schema": "https://json-schema.org/draft/2020-12/schema", "description": "A homogeneous transformation matrix. If not passed it is assumed to be an identity matrix ", "items": { "items": { "maxItems": 4, "minItems": 4, "type": "number" }, "maxItems": 4, "minItems": 4, "type": "array" }, "type": "array" }trimesh-4.5.1/trimesh/resources/schema/primitive/trimesh.schema.json000066400000000000000000000015331470574263400257540ustar00rootroot00000000000000{ "$id": "https://github.com/mikedh/trimesh/blob/main/trimesh/resources/schema/primitive/trimesh.schema.json", "$schema": "https://json-schema.org/draft/2020-12/schema", "additionalProperties": false, "description": "A 3D triangular mesh in the simplest possible JSON format.", "properties": { "faces": { "items": { "items": { "maxItems": 3, "minItems": 3, "type": "integer" }, "type": "array" }, "type": "array" }, "kind": { "pattern": "(^trimesh$)", "type": "string" }, "vertices": { "items": { "items": { "maxItems": 3, "minItems": 3, "type": "number" }, "type": "array" }, "type": "array" } }, "required": [ "vertices", "faces" ], "type": "object" }trimesh-4.5.1/trimesh/resources/schema/primitive/wkt.polygon.schema.json000066400000000000000000000005711470574263400265750ustar00rootroot00000000000000{ "$id": "https://github.com/mikedh/trimesh/blob/main/trimesh/resources/schema/primitive/wkt.polygon.schema.json", "$schema": "https://json-schema.org/draft/2020-12/schema", "description": "A single polygon in the Well Known Text format (WKT).", "pattern": " *POLYGON *\\( *\\( *([+-]?([0-9]*[.])?[0-9]+ *[+-]?([0-9]*[.])?[0-9]+ *,* *)*\\) *\\) *", "type": "string" }trimesh-4.5.1/trimesh/resources/schema/urdf.xsd000066400000000000000000000266711470574263400216310ustar00rootroot00000000000000 trimesh-4.5.1/trimesh/resources/templates/000077500000000000000000000000001470574263400206735ustar00rootroot00000000000000trimesh-4.5.1/trimesh/resources/templates/base.svg000066400000000000000000000002761470574263400223330ustar00rootroot00000000000000 {elements} trimesh-4.5.1/trimesh/resources/templates/blender_boolean.py.tmpl000066400000000000000000000037341470574263400253410ustar00rootroot00000000000000# flake8: noqa import bpy import os def delete_nonresult(bpy): objects = bpy.data.objects # use data.objects instead of context.scene.objects if len(objects) <= 1: return try: # earlier than blender <2.8 objects[0].select = False # keep the first object for other in objects[1:]: # remove all other objects other.select = True bpy.ops.object.delete() objects[0].select = True except AttributeError: # blender 2.8 changed this objects[0].select_set(False) for other in objects[1:]: other.select_set(True) bpy.ops.object.delete() objects[0].select_set(True) if __name__ == '__main__': # clear scene of default box bpy.ops.wm.read_homefile() try: bpy.ops.object.mode_set(mode='OBJECT') except BaseException: pass bpy.ops.object.select_all(action='SELECT') bpy.ops.object.delete(use_global=True) # get temporary files from templated locations mesh_pre = $MESH_PRE mesh_post = os.path.abspath(r'$MESH_POST') for filename in mesh_pre: # use data.objects instead of context.scene.objects bpy.ops.wm.stl_import(filepath=os.path.abspath(filename)) mesh = bpy.data.objects[0] # Make sure mesh is the active object try: # earlier than blender <2.8 bpy.context.scene.objects.active = mesh except AttributeError: # blender 2.8 changed this bpy.context.view_layer.objects.active = mesh for other in bpy.data.objects[1:]: # add boolean modifier mod = mesh.modifiers.new('boolean', 'BOOLEAN') mod.object = other mod.operation = '$OPERATION' mod.solver = '$SOLVER_OPTIONS' mod.use_self = $USE_SELF # used mod.name instead of hard-coded "boolean" bpy.ops.object.modifier_apply(modifier=mod.name) delete_nonresult(bpy) bpy.ops.wm.stl_export( filepath=mesh_post, apply_modifiers=True) trimesh-4.5.1/trimesh/resources/templates/blender_unwrap.py.template000066400000000000000000000021731470574263400260710ustar00rootroot00000000000000# flake8: noqa import bpy from bl_operators.uvcalc_smart_project import main as smart_proj import os if __name__ == '__main__': # clear scene of default box bpy.ops.wm.read_homefile() try: bpy.ops.object.mode_set(mode='OBJECT') except BaseException: pass bpy.ops.object.select_all(action='SELECT') bpy.ops.object.delete(use_global=True) # get temporary files from templated locations mesh_pre = $MESH_PRE mesh_post = os.path.abspath(r'$MESH_POST') # use data.objects instead of context.scene.objects bpy.ops.import_scene.obj(filepath=os.path.abspath(mesh_pre[0])) bpy.ops.object.select_all(action='SELECT') mesh = bpy.data.objects[0] # Make sure mesh is the active object try: # earlier than blender <2.8 bpy.context.scene.objects.active = mesh except AttributeError: # blender 2.8 changed this bpy.context.view_layer.objects.active = mesh smart_proj(bpy.context, $ISLAND_MARGIN, $ANGLE_LIMIT, 0, True, True) bpy.ops.export_scene.obj( filepath=mesh_post, use_mesh_modifiers=False, use_uvs=True) 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"entities": "0\nSECTION\n2\nENTITIES\n{ENTITIES}\n0\nENDSEC" }trimesh-4.5.1/trimesh/resources/templates/path.svg000066400000000000000000000000441470574263400223460ustar00rootroot00000000000000 trimesh-4.5.1/trimesh/resources/templates/ply.json000066400000000000000000000010571470574263400223750ustar00rootroot00000000000000{ "face": "element face $face_count\nproperty list uchar int vertex_indices\n", "vertex": "element vertex $vertex_count\nproperty float x\nproperty float y\nproperty float z\n", "vertex_normal": "property float nx\nproperty float ny\nproperty float nz\n", "color": "property uchar red\nproperty uchar green\nproperty uchar blue\nproperty uchar alpha\n", "edge": "element edge $edge_count\nproperty int vertex1\nproperty int vertex2\n", "intro": "ply\nformat $encoding 1.0\ncomment https://github.com/mikedh/trimesh\n", "outro": "end_header\n" } 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X #Wڤ[os՟}h+K1q;)w*/\`Qݨ$'S~ u<_a4cmIzǥk(yVζ'H/`wOF} I25st*n[ _T,E/u< +K@ &Ogo]a*¼]oǏz <̪cMD+Z 6<(8Ou2LJѷox륇ڨ=RIGn`ۍ,.viY,Ozӯ Ela˛=(=k0|;Y,e{wcgZ16`4s4jWRbAO']a" x^}DǸ8b%O+`_/nZi*_=镛aք8*  ^%}4 |c [5N.^Mx<.`:Ӟ(+`< ;9fD}:7C)+"B 2%x㯬kLR%$M*|-&RI–v&GF ٢"Fȡx$h4 <Z>W LR?C;1gt8:eV|ʹ4Y=[ l'ӧO[KֲL3 ،t|bShK>X;I?~B#^NazBigs{6n1Ff~/= ! y?eYM+&RKZjX%PCuZz֋,/6a\zٛ?PKmPNm viewer.html.templateUT*^ux PKZϏtrimesh-4.5.1/trimesh/resources/units_to_inches.json000066400000000000000000000023551470574263400227720ustar00rootroot00000000000000{ "microinches": 0.001, "mils": 0.001, "inches": 1.0, "feet": 12.0, "foot": 12.0, "yards": 36.0, "miles": 63360, "angstroms": 3.937007874015748e-9, "nanometers": 3.937007874015748e-8, "microns": 3.937007874015748e-5, "millimeters": 0.03937007874015748, "centimeters": 0.39370078740157477, "cm": 0.39370078740157477, "meters": 39.37007874015748, "kilometers": 39370.07874015748, "decimeters": 3.937007874015748, "decameters": 393.70078740157476, "hectometers": 3937.0078740157483, "gigameters": 39370078740.15748, "au": 5889679948818.897, "light years": 3.72461748e17, "parsecs": 1.21483369e18, "mm": 0.03937007874015748, "millimeter": 0.03937007874015748, "in": 1.0, "\"": 1.0, "inch": 1.0, "'": 12.0, "m": 39.37007874015748, "meter": 39.37007874015748, "microinch": 0.001, "mil": 0.001, "yard": 36.0, "mile": 63360, "angstrom": 3.937007874015748e-9, "nanometer": 3.937007874015748e-8, "micron": 3.937007874015748e-5, "centimeter": 0.39370078740157477, "kilometer": 39370.07874015748, "decimeter": 3.937007874015748, "decameter": 393.70078740157476, "hectometer": 3937.0078740157483, "gigameter": 39370078740.15748, "light year": 3.72461748e17, "parsec": 1.21483369e18 } trimesh-4.5.1/trimesh/sample.py000066400000000000000000000167431470574263400165310ustar00rootroot00000000000000""" sample.py ------------ Randomly sample surface and volume of meshes. """ import numpy as np from . import transformations, util from .typed import ArrayLike, Integer, NDArray, Number, Optional, float64 from .visual import uv_to_interpolated_color def sample_surface( mesh, count: Integer, face_weight: Optional[ArrayLike] = None, sample_color=False, seed=None, ): """ Sample the surface of a mesh, returning the specified number of points For individual triangle sampling uses this method: http://mathworld.wolfram.com/TrianglePointPicking.html Parameters ----------- mesh : trimesh.Trimesh Geometry to sample the surface of count : int Number of points to return face_weight : None or len(mesh.faces) float Weight faces by a factor other than face area. If None will be the same as face_weight=mesh.area sample_color : bool Option to calculate the color of the sampled points. Default is False. seed : None or int If passed as an integer will provide deterministic results otherwise pulls the seed from operating system entropy. Returns --------- samples : (count, 3) float Points in space on the surface of mesh face_index : (count,) int Indices of faces for each sampled point colors : (count, 4) float Colors of each sampled point Returns only when the sample_color is True """ if face_weight is None: # len(mesh.faces) float, array of the areas # of each face of the mesh face_weight = mesh.area_faces # cumulative sum of weights (len(mesh.faces)) weight_cum = np.cumsum(face_weight) # seed the random number generator as requested if seed is None: random = np.random.random else: random = np.random.default_rng(seed).random # last value of cumulative sum is total summed weight/area face_pick = random(count) * weight_cum[-1] # get the index of the selected faces face_index = np.searchsorted(weight_cum, face_pick) # pull triangles into the form of an origin + 2 vectors tri_origins = mesh.vertices[mesh.faces[:, 0]] tri_vectors = mesh.vertices[mesh.faces[:, 1:]].copy() tri_vectors -= np.tile(tri_origins, (1, 2)).reshape((-1, 2, 3)) # pull the vectors for the faces we are going to sample from tri_origins = tri_origins[face_index] tri_vectors = tri_vectors[face_index] if sample_color and hasattr(mesh.visual, "uv"): uv_origins = mesh.visual.uv[mesh.faces[:, 0]] uv_vectors = mesh.visual.uv[mesh.faces[:, 1:]].copy() uv_origins_tile = np.tile(uv_origins, (1, 2)).reshape((-1, 2, 2)) uv_vectors -= uv_origins_tile uv_origins = uv_origins[face_index] uv_vectors = uv_vectors[face_index] # randomly generate two 0-1 scalar components to multiply edge vectors b random_lengths = random((len(tri_vectors), 2, 1)) # points will be distributed on a quadrilateral if we use 2 0-1 samples # if the two scalar components sum less than 1.0 the point will be # inside the triangle, so we find vectors longer than 1.0 and # transform them to be inside the triangle random_test = random_lengths.sum(axis=1).reshape(-1) > 1.0 random_lengths[random_test] -= 1.0 random_lengths = np.abs(random_lengths) # multiply triangle edge vectors by the random lengths and sum sample_vector = (tri_vectors * random_lengths).sum(axis=1) # finally, offset by the origin to generate # (n,3) points in space on the triangle samples = sample_vector + tri_origins if sample_color: if hasattr(mesh.visual, "uv"): sample_uv_vector = (uv_vectors * random_lengths).sum(axis=1) uv_samples = sample_uv_vector + uv_origins texture = mesh.visual.material.image colors = uv_to_interpolated_color(uv_samples, texture) else: colors = mesh.visual.face_colors[face_index] return samples, face_index, colors return samples, face_index def volume_mesh(mesh, count: Integer) -> NDArray[float64]: """ Use rejection sampling to produce points randomly distributed in the volume of a mesh. Parameters ----------- mesh : trimesh.Trimesh Geometry to sample count : int Number of points to return Returns --------- samples : (n, 3) float Points in the volume of the mesh where n <= count """ points = (np.random.random((count, 3)) * mesh.extents) + mesh.bounds[0] contained = mesh.contains(points) samples = points[contained][:count] return samples def volume_rectangular( extents, count: Integer, transform: Optional[ArrayLike] = None ) -> NDArray[float64]: """ Return random samples inside a rectangular volume, useful for sampling inside oriented bounding boxes. Parameters ----------- extents : (3,) float Side lengths of rectangular solid count : int Number of points to return transform : (4, 4) float Homogeneous transformation matrix Returns --------- samples : (count, 3) float Points in requested volume """ samples = np.random.random((count, 3)) - 0.5 samples *= extents if transform is not None: samples = transformations.transform_points(samples, transform) return samples def sample_surface_even(mesh, count: Integer, radius: Optional[Number] = None, seed=None): """ Sample the surface of a mesh, returning samples which are VERY approximately evenly spaced. This is accomplished by sampling and then rejecting pairs that are too close together. Note that since it is using rejection sampling it may return fewer points than requested (i.e. n < count). If this is the case a log.warning will be emitted. Parameters ----------- mesh : trimesh.Trimesh Geometry to sample the surface of count : int Number of points to return radius : None or float Removes samples below this radius seed : None or int Provides deterministic values Returns --------- samples : (n, 3) float Points in space on the surface of mesh face_index : (n,) int Indices of faces for each sampled point """ from .points import remove_close # guess radius from area if radius is None: radius = np.sqrt(mesh.area / (3 * count)) # get points on the surface points, index = sample_surface(mesh, count * 3, seed=seed) # remove the points closer than radius points, mask = remove_close(points, radius) # we got all the samples we expect if len(points) >= count: return points[:count], index[mask][:count] # warn if we didn't get all the samples we expect util.log.warning(f"only got {len(points)}/{count} samples!") return points, index[mask] def sample_surface_sphere(count: int) -> NDArray[float64]: """ Correctly pick random points on the surface of a unit sphere Uses this method: http://mathworld.wolfram.com/SpherePointPicking.html Parameters ----------- count : int Number of points to return Returns ---------- points : (count, 3) float Random points on the surface of a unit sphere """ # get random values 0.0-1.0 u, v = np.random.random((2, count)) # convert to two angles theta = np.pi * 2 * u phi = np.arccos((2 * v) - 1) # convert spherical coordinates to cartesian points = util.spherical_to_vector(np.column_stack((theta, phi))) return points trimesh-4.5.1/trimesh/scene/000077500000000000000000000000001470574263400157605ustar00rootroot00000000000000trimesh-4.5.1/trimesh/scene/__init__.py000066400000000000000000000002151470574263400200670ustar00rootroot00000000000000from .cameras import Camera from .scene import Scene, split_scene # add to __all__ as per pep8 __all__ = ["Camera", "Scene", "split_scene"] trimesh-4.5.1/trimesh/scene/cameras.py000066400000000000000000000276061470574263400177600ustar00rootroot00000000000000import copy import numpy as np from .. import util class Camera: def __init__( self, name=None, resolution=None, focal=None, fov=None, z_near=0.01, z_far=1000.0 ): """ Create a new Camera object that stores camera intrinsic and extrinsic parameters. TODO: skew is not supported TODO: cx and cy that are not half of width and height Parameters ------------ name : str or None Name for camera to be used as node name resolution : (2,) int Pixel size in (height, width) focal : (2,) float Focal length in pixels. Either pass this OR FOV but not both. focal = (K[0][0], K[1][1]) fov : (2,) float Field of view (fovx, fovy) in degrees z_near : float What is the closest """ if name is None: # if name is not passed, make it something unique self.name = f"camera_{util.unique_id(6).upper()}" else: # otherwise assign it self.name = name if fov is None and focal is None: raise ValueError("either focal length or FOV required!") # store whether or not we computed the focal length self._focal_computed = False # set the passed (2,) float focal length self.focal = focal # set the passed (2,) float FOV in degrees self.fov = fov if resolution is None: # if unset make resolution 30 pixels per degree resolution = (self.fov * 30.0).round().astype(np.int64) self.resolution = resolution # what is the farthest from the camera it should render self.z_far = float(z_far) # what is the closest to the camera it should render self.z_near = float(z_near) def copy(self): """ Safely get a copy of the current camera. """ return Camera( name=copy.deepcopy(self.name), resolution=copy.deepcopy(self.resolution), focal=copy.deepcopy(self.focal), fov=copy.deepcopy(self.fov), ) @property def resolution(self): """ Get the camera resolution in pixels. Returns ------------ resolution (2,) float Camera resolution in pixels """ return self._resolution @resolution.setter def resolution(self, values): """ Set the camera resolution in pixels. Parameters ------------ resolution (2,) float Camera resolution in pixels """ values = np.asanyarray(values, dtype=np.int64) if values.shape != (2,): raise ValueError("resolution must be (2,) float") values.flags.writeable = False self._resolution = values # unset computed value that depends on the other plus resolution if self._focal_computed: self._focal = None else: # fov must be computed self._fov = None @property def focal(self): """ Get the focal length in pixels for the camera. Returns ------------ focal : (2,) float Focal length in pixels """ if self._focal is None: # calculate focal length from FOV focal = self._resolution / (2.0 * np.tan(np.radians(self._fov / 2.0))) focal.flags.writeable = False self._focal = focal return self._focal @focal.setter def focal(self, values): """ Set the focal length in pixels for the camera. Returns ------------ focal : (2,) float Focal length in pixels. """ if values is None: self._focal = None else: # flag this as not computed (hence fov must be) # this is necessary so changes to resolution can reset the # computed quantity without changing the explicitly set quantity self._focal_computed = False values = np.asanyarray(values, dtype=np.float64) if values.shape != (2,): raise ValueError("focal length must be (2,) float") values.flags.writeable = False # assign passed values to focal length self._focal = values # focal overrides FOV self._fov = None @property def K(self): """ Get the intrinsic matrix for the Camera object. Returns ----------- K : (3, 3) float Intrinsic matrix for camera """ K = np.eye(3, dtype=np.float64) K[0, 0] = self.focal[0] K[1, 1] = self.focal[1] K[:2, 2] = self.resolution / 2.0 return K @K.setter def K(self, values): if values is None: return values = np.asanyarray(values, dtype=np.float64) if values.shape != (3, 3): raise ValueError("matrix must be (3,3)!") if not np.allclose(values.flatten()[[1, 3, 6, 7, 8]], [0, 0, 0, 0, 1]): raise ValueError("matrix should only have focal length and resolution!") # set focal length from matrix self.focal = [values[0, 0], values[1, 1]] # set resolution from matrix self.resolution = values[:2, 2] * 2 @property def fov(self): """ Get the field of view in degrees. Returns ------------- fov : (2,) float XY field of view in degrees """ if self._fov is None: fov = 2.0 * np.degrees(np.arctan((self._resolution / 2.0) / self._focal)) fov.flags.writeable = False self._fov = fov return self._fov @fov.setter def fov(self, values): """ Set the field of view in degrees. Parameters ------------- values : (2,) float Size of FOV to set in degrees """ if values is None: self._fov = None else: # flag this as computed (hence fov must not be) # this is necessary so changes to resolution can reset the # computed quantity without changing the explicitly set quantity self._focal_computed = True values = np.asanyarray(values, dtype=np.float64) if values.shape != (2,): raise ValueError("fov length must be (2,) int") values.flags.writeable = False # assign passed values to FOV self._fov = values # fov overrides focal self._focal = None def to_rays(self): """ Calculate ray direction vectors. Will return one ray per pixel, as set in self.resolution. Returns -------------- vectors : (n, 3) float Ray direction vectors in camera frame with z == -1 """ return camera_to_rays(self) def angles(self): """ Get ray spherical coordinates in radians. Returns -------------- angles : (n, 2) float Ray spherical coordinate angles in radians. """ return np.arctan(-ray_pixel_coords(self)) def look_at(self, points, **kwargs): """ Generate transform for a camera to keep a list of points in the camera's field of view. Parameters ------------- points : (n, 3) float Points in space rotation : None, or (4, 4) float Rotation matrix for initial rotation distance : None or float Distance from camera to center center : None, or (3,) float Center of field of view. Returns -------------- transform : (4, 4) float Transformation matrix from world to camera """ return look_at(points, fov=self.fov, **kwargs) def __repr__(self): return f" FOV: {self.fov} Resolution: {self.resolution}" def look_at(points, fov, rotation=None, distance=None, center=None, pad=None): """ Generate transform for a camera to keep a list of points in the camera's field of view. Examples ------------ ```python points = np.array([0, 0, 0], [1, 1, 1]) scene.camera_transform = scene.camera.look_at(points) ``` Parameters ------------- points : (n, 3) float Points in space fov : (2,) float Field of view, in DEGREES rotation : None, or (4, 4) float Rotation matrix for initial rotation distance : None or float Distance from camera to center center : None, or (3,) float Center of field of view. Returns -------------- transform : (4, 4) float Transformation matrix from world to camera """ if rotation is None: rotation = np.eye(4) else: rotation = np.asanyarray(rotation, dtype=np.float64) points = np.asanyarray(points, dtype=np.float64) # Transform points to camera frame (just use the rotation part) rinv = rotation[:3, :3].T points_c = rinv.dot(points.T).T if center is None: # Find the center of the points' AABB in camera frame center_c = points_c.min(axis=0) + 0.5 * np.ptp(points_c, axis=0) else: # Transform center to camera frame center_c = rinv.dot(center) # Re-center the points around the camera-frame origin points_c -= center_c # Find the minimum distance for the camera from the origin # so that all points fit in the view frustum tfov = np.tan(np.radians(fov) / 2.0) if distance is None: distance = np.max(np.abs(points_c[:, :2]) / tfov + points_c[:, 2][:, np.newaxis]) if pad is not None: distance *= pad # set the pose translation center_w = rotation[:3, :3].dot(center_c) cam_pose = rotation.copy() cam_pose[:3, 3] = center_w + distance * cam_pose[:3, 2] return cam_pose def ray_pixel_coords(camera): """ Get the x-y coordinates of rays in camera coordinates at z == -1. One coordinate pair will be given for each pixel as defined in camera.resolution. If reshaped, the returned array corresponds to pixels of the rendered image. Examples ------------ ```python xy = ray_pixel_coords(camera).reshape( tuple(camera.coordinates) + (2,)) top_left == xy[0, 0] bottom_right == xy[-1, -1] ``` Parameters -------------- camera : trimesh.scene.Camera Camera object to generate rays from Returns -------------- xy : (n, 2) float x-y coordinates of intersection of each camera ray with the z == -1 frame """ # shorthand res = camera.resolution half_fov = np.radians(camera.fov) / 2.0 right_top = np.tan(half_fov) # move half a pixel width in right_top *= 1 - (1.0 / res) left_bottom = -right_top # we are looking down the negative z axis, so # right_top corresponds to maximum x/y values # bottom_left corresponds to minimum x/y values right, top = right_top left, bottom = left_bottom # create a grid of vectors xy = util.grid_linspace( bounds=[[left, top], [right, bottom]], count=camera.resolution ) # create a matching array of pixel indexes for the rays pixels = util.grid_linspace( bounds=[[0, res[1] - 1], [res[0] - 1, 0]], count=res ).astype(np.int64) assert xy.shape == pixels.shape return xy, pixels def camera_to_rays(camera: Camera): """ Calculate the trimesh.scene.Camera object to direction vectors. Will return one ray per pixel, as set in camera.resolution. Parameters -------------- camera : trimesh.scene.Camera Returns -------------- vectors : (n, 3) float Ray direction vectors in camera frame with z == -1 """ # get the on-plane coordinates xy, pixels = ray_pixel_coords(camera) # convert vectors to 3D unit vectors vectors = util.unitize(np.column_stack((xy, -np.ones_like(xy[:, :1])))) return vectors, pixels trimesh-4.5.1/trimesh/scene/lighting.py000066400000000000000000000204271470574263400201440ustar00rootroot00000000000000""" lighting.py -------------- Hold basic information about lights. Forked from the light model in `pyrender`: https://github.com/mmatl/pyrender """ import numpy as np from .. import transformations, util, visual # default light color _DEFAULT_RGBA = np.array([60, 60, 60, 255], dtype=np.uint8) class Light(util.ABC): """ Base class for all light objects. Attributes ---------- name : str, optional Name of the light. color : (4,) uint8 RGBA value for the light's color in linear space. intensity : float Brightness of light. The units that this is defined in depend on the type of light: point and spot lights use luminous intensity in candela (lm/sr) while directional lights use illuminance in lux (lm/m2). radius : float Cutoff distance at which light's intensity may be considered to have reached zero. Supported only for point and spot lights Must be > 0.0 If None, the radius is assumed to be infinite. """ def __init__(self, name=None, color=None, intensity=None, radius=None): if name is None: # if name is not passed, make it something unique self.name = f"light_{util.unique_id(6).upper()}" else: # otherwise assign it self.name = name self.color = color self.intensity = intensity self.radius = radius @property def color(self): return self._color @color.setter def color(self, value): if value is None: self._color = _DEFAULT_RGBA else: value = visual.to_rgba(value) if len(value.shape) == 2: value = value[0] if value.shape != (4,): raise ValueError("couldn't convert color to RGBA!") # uint8 RGB color self._color = value @property def intensity(self): return self._intensity @intensity.setter def intensity(self, value): if value is not None: self._intensity = float(value) else: self._intensity = 1.0 @property def radius(self): return self._radius @radius.setter def radius(self, value): if value is None or value < 0.0: self._radius = value else: self._radius = float(value) class DirectionalLight(Light): """ Directional lights are light sources that act as though they are infinitely far away and emit light in the direction of the local -z axis. This light type inherits the orientation of the node that it belongs to; position and scale are ignored except for their effect on the inherited node orientation. Because it is at an infinite distance, the light is not attenuated. Its intensity is defined in lumens per metre squared, or lux (lm/m2). Attributes ---------- name : str, optional Name of the light. color : (4,) unit8 RGBA value for the light's color in linear space. intensity : float Brightness of light. The units that this is defined in depend on the type of light. point and spot lights use luminous intensity in candela (lm/sr), while directional lights use illuminance in lux (lm/m2). radius : float Cutoff distance at which light's intensity may be considered to have reached zero. Supported only for point and spot lights, must be > 0. If None, the radius is assumed to be infinite. """ def __init__(self, name=None, color=None, intensity=None, radius=None): super().__init__(name=name, color=color, intensity=intensity, radius=radius) class PointLight(Light): """ Point lights emit light in all directions from their position in space; rotation and scale are ignored except for their effect on the inherited node position. The brightness of the light attenuates in a physically correct manner as distance increases from the light's position (i.e. brightness goes like the inverse square of the distance). Point light intensity is defined in candela, which is lumens per square radian (lm/sr). Attributes ---------- name : str, optional Name of the light. color : (4,) uint8 RGBA value for the light's color in linear space. intensity : float Brightness of light. The units that this is defined in depend on the type of light. point and spot lights use luminous intensity in candela (lm/sr), while directional lights use illuminance in lux (lm/m2). radius : float Cutoff distance at which light's intensity may be considered to have reached zero. Supported only for point and spot lights, must be > 0. If None, the radius is assumed to be infinite. """ def __init__(self, name=None, color=None, intensity=None, radius=None): super().__init__(name=name, color=color, intensity=intensity, radius=radius) class SpotLight(Light): """ Spot lights emit light in a cone in the direction of the local -z axis. The angle and falloff of the cone is defined using two numbers, the `innerConeAngle` and `outerConeAngle`. As with point lights, the brightness also attenuates in a physically correct manner as distance increases from the light's position (i.e. brightness goes like the inverse square of the distance). Spot light intensity refers to the brightness inside the `innerConeAngle` (and at the location of the light) and is defined in candela, which is lumens per square radian (lm/sr). A spot light's position and orientation are inherited from its node transform. Inherited scale does not affect cone shape, and is ignored except for its effect on position and orientation. Attributes ---------- name : str, optional Name of the light. color : (4,) uint8 RGBA value for the light's color in linear space. intensity : float Brightness of light. The units that this is defined in depend on the type of light. point and spot lights use luminous intensity in candela (lm/sr), while directional lights use illuminance in lux (lm/m2). radius : float Cutoff distance at which light's intensity may be considered to have reached zero. Supported only for point and spot lights, must be > 0. If None, the radius is assumed to be infinite. innerConeAngle : float Angle, in radians, from centre of spotlight where falloff begins. Must be greater than or equal to `0` and less than `outerConeAngle`. outerConeAngle : float Angle, in radians, from centre of spotlight where falloff ends. Must be greater than `innerConeAngle` and less than or equal to `PI / 2.0`. """ def __init__( self, name=None, color=None, intensity=None, radius=None, innerConeAngle=0.0, outerConeAngle=np.pi / 4.0, ): super().__init__(name=name, color=color, intensity=intensity, radius=radius) self.outerConeAngle = outerConeAngle self.innerConeAngle = innerConeAngle @property def innerConeAngle(self): return self._innerConeAngle @innerConeAngle.setter def innerConeAngle(self, value): if value < 0.0 or value > self.outerConeAngle: raise ValueError("Invalid value for inner cone angle") self._innerConeAngle = float(value) @property def outerConeAngle(self): return self._outerConeAngle @outerConeAngle.setter def outerConeAngle(self, value): if value < 0.0 or value > np.pi / 2.0 + 1e-9: raise ValueError("Invalid value for outer cone angle") self._outerConeAngle = float(value) def autolight(scene): """ Generate a list of lights for a scene that looks decent. Parameters -------------- scene : trimesh.Scene Scene with geometry Returns -------------- lights : [Light] List of light objects transforms : (len(lights), 4, 4) float Transformation matrices for light positions. """ # create two default point lights lights = [PointLight(), PointLight()] # create two translation matrices for bounds corners transforms = [transformations.translation_matrix(b) for b in scene.bounds] return lights, transforms trimesh-4.5.1/trimesh/scene/scene.py000066400000000000000000001524731470574263400174430ustar00rootroot00000000000000import collections import uuid import warnings import numpy as np from .. import caching, convex, grouping, inertia, transformations, units, util from ..constants import log from ..exchange import export from ..parent import Geometry, Geometry3D from ..registration import procrustes from ..typed import ( ArrayLike, Dict, Floating, Integer, Iterable, List, NDArray, Optional, Sequence, Tuple, Union, float64, int64, ) from ..util import unique_name from . import cameras, lighting from .transforms import SceneGraph # the types of objects we can create a scene from GeometryInput = Union[Geometry, Iterable[Geometry], Dict[str, Geometry]] class Scene(Geometry3D): """ A simple scene graph which can be rendered directly via pyglet/openGL or through other endpoints such as a raytracer. Meshes are added by name, which can then be moved by updating transform in the transform tree. """ def __init__( self, geometry: Optional[GeometryInput] = None, base_frame: str = "world", metadata: Optional[Dict] = None, graph: Optional[SceneGraph] = None, camera: Optional[cameras.Camera] = None, lights: Optional[Sequence[lighting.Light]] = None, camera_transform: Optional[NDArray] = None, ): """ Create a new Scene object. Parameters ------------- geometry : Trimesh, Path2D, Path3D PointCloud or list Geometry to initially add to the scene base_frame Name of base frame metadata Any metadata about the scene graph A passed transform graph to use camera : Camera or None A passed camera to use lights : [trimesh.scene.lighting.Light] or None A passed lights to use camera_transform Homogeneous (4, 4) camera transform in the base frame """ # mesh name : Trimesh object self.geometry = collections.OrderedDict() # create a new graph self.graph = SceneGraph(base_frame=base_frame) # create our cache self._cache = caching.Cache(id_function=self.__hash__) if geometry is not None: # add passed geometry to scene self.add_geometry(geometry) # hold metadata about the scene self.metadata = {} if isinstance(metadata, dict): self.metadata.update(metadata) if graph is not None: # if we've been passed a graph override the default self.graph = graph if lights is not None: self.lights = lights if camera is not None: self.camera = camera if camera_transform is not None: self.camera_transform = camera_transform def apply_transform(self, transform): """ Apply a transform to all children of the base frame without modifying any geometry. Parameters -------------- transform : (4, 4) Homogeneous transformation matrix. """ base = self.graph.base_frame for child in self.graph.transforms.children[base]: combined = np.dot(transform, self.graph[child][0]) self.graph.update(frame_from=base, frame_to=child, matrix=combined) return self def add_geometry( self, geometry: GeometryInput, node_name: Optional[str] = None, geom_name: Optional[str] = None, parent_node_name: Optional[str] = None, transform: Optional[NDArray] = None, metadata: Optional[Dict] = None, ): """ Add a geometry to the scene. If the mesh has multiple transforms defined in its metadata, they will all be copied into the TransformForest of the current scene automatically. Parameters ---------- geometry : Trimesh, Path2D, Path3D PointCloud or list Geometry to initially add to the scene node_name : None or str Name of the added node. geom_name : None or str Name of the added geometry. parent_node_name : None or str Name of the parent node in the graph. transform : None or (4, 4) float Transform that applies to the added node. metadata : None or dict Optional metadata for the node. Returns ---------- node_name : str Name of single node in self.graph (passed in) or None if node was not added (eg. geometry was null or a Scene). """ if geometry is None: return # PointCloud objects will look like a sequence elif util.is_sequence(geometry): # if passed a sequence add all elements return [ self.add_geometry( geometry=value, node_name=node_name, geom_name=geom_name, parent_node_name=parent_node_name, transform=transform, metadata=metadata, ) for value in geometry # type: ignore ] elif isinstance(geometry, dict): # if someone passed us a dict of geometry return { k: self.add_geometry(geometry=v, geom_name=k, metadata=metadata) for k, v in geometry.items() } elif isinstance(geometry, Scene): # concatenate current scene with passed scene concat = self + geometry # replace geometry in-place self.geometry.clear() self.geometry.update(concat.geometry) # replace graph data with concatenated graph self.graph.transforms = concat.graph.transforms return if not hasattr(geometry, "vertices"): util.log.debug(f"unknown type ({type(geometry).__name__}) added to scene!") return # get or create a name to reference the geometry by if geom_name is not None: # if name is passed use it name = geom_name elif "name" in geometry.metadata: # if name is in metadata use it name = geometry.metadata["name"] elif "file_name" in geometry.metadata: name = geometry.metadata["file_name"] else: # try to create a simple name name = "geometry_" + str(len(self.geometry)) # if its already taken use our unique name logic name = unique_name(start=name, contains=self.geometry.keys()) # save the geometry reference self.geometry[name] = geometry # create a unique node name if not passed if node_name is None: # if the name of the geometry is also a transform node # which graph nodes already exist existing = self.graph.transforms.node_data.keys() # find a name that isn't contained already starting # at the name we have node_name = unique_name(name, existing) assert node_name not in existing if transform is None: # create an identity transform from parent_node transform = np.eye(4) self.graph.update( frame_to=node_name, frame_from=parent_node_name, matrix=transform, geometry=name, geometry_flags={"visible": True}, metadata=metadata, ) return node_name def delete_geometry(self, names: Union[set, str, Sequence]) -> None: """ Delete one more multiple geometries from the scene and also remove any node in the transform graph which references it. Parameters -------------- name : hashable Name that references self.geometry """ # make sure we have a set we can check if isinstance(names, str): names = [names] names = set(names) # remove the geometry reference from relevant nodes self.graph.remove_geometries(names) # remove the geometries from our geometry store [self.geometry.pop(name, None) for name in names] def strip_visuals(self) -> None: """ Strip visuals from every Trimesh geometry and set them to an empty `ColorVisuals`. """ from ..visual.color import ColorVisuals for geometry in self.geometry.values(): if util.is_instance_named(geometry, "Trimesh"): geometry.visual = ColorVisuals(mesh=geometry) def simplify_quadric_decimation( self, percent: Optional[Floating] = None, face_count: Optional[Integer] = None, aggression: Optional[Integer] = None, ) -> None: """ Apply in-place `mesh.simplify_quadric_decimation` to any meshes in the scene. Parameters ----------- percent A number between 0.0 and 1.0 for how much face_count Target number of faces desired in the resulting mesh. agression An integer between `0` and `10`, the scale being roughly `0` is "slow and good" and `10` being "fast and bad." """ # save the updates for after the loop updates = {} for k, v in self.geometry.items(): if hasattr(v, "simplify_quadric_decimation"): updates[k] = v.simplify_quadric_decimation( percent=percent, face_count=face_count, aggression=aggression ) self.geometry.update(updates) def __hash__(self) -> int: """ Return information about scene which is hashable. Returns --------- hashed String hashing scene. """ # avoid accessing attribute in tight loop geometry = self.geometry # hash of geometry and transforms # start with the last modified time of the scene graph hashable = [hex(self.graph.transforms.__hash__())] # take the re-hex string of the hash hashable.extend(hex(geometry[k].__hash__()) for k in geometry.keys()) return caching.hash_fast("".join(hashable).encode("utf-8")) @property def is_empty(self) -> bool: """ Does the scene have anything in it. Returns ---------- is_empty True if nothing is in the scene """ return len(self.geometry) == 0 @property def is_valid(self) -> bool: """ Is every geometry connected to the root node. Returns ----------- is_valid : bool Does every geometry have a transform """ if len(self.geometry) == 0: return True try: referenced = {self.graph[i][1] for i in self.graph.nodes_geometry} except BaseException: # if connectivity to world frame is broken return false return False # every geometry is referenced return referenced == set(self.geometry.keys()) @caching.cache_decorator def bounds_corners(self) -> Dict[str, NDArray[float64]]: """ Get the post-transform AABB for each node which has geometry defined. Returns ----------- corners Bounds for each node with vertices: {node_name : (2, 3) float} """ # collect AABB for each geometry corners = {} # collect vertices for every mesh vertices = { k: m.vertices for k, m in self.geometry.items() if hasattr(m, "vertices") and len(m.vertices) > 0 } # handle 2D geometries vertices.update( { k: np.column_stack((v, np.zeros(len(v)))) for k, v in vertices.items() if v.shape[1] == 2 } ) # loop through every node with geometry for node_name in self.graph.nodes_geometry: # access the transform and geometry name from node transform, geometry_name = self.graph[node_name] # will be None if no vertices for this node points = vertices.get(geometry_name) # skip empty geometries if points is None: continue # apply just the rotation to skip N multiplies dot = np.dot(transform[:3, :3], points.T) # append the AABB with translation applied after corners[node_name] = np.array( [dot.min(axis=1) + transform[:3, 3], dot.max(axis=1) + transform[:3, 3]] ) return corners @caching.cache_decorator def bounds(self) -> Optional[NDArray[float64]]: """ Return the overall bounding box of the scene. Returns -------- bounds : (2, 3) float or None Position of [min, max] bounding box Returns None if no valid bounds exist """ bounds_corners = self.bounds_corners if len(bounds_corners) == 0: return None # combine each geometry node AABB into a larger list corners = np.vstack(list(self.bounds_corners.values())) return np.array([corners.min(axis=0), corners.max(axis=0)], dtype=np.float64) @caching.cache_decorator def extents(self) -> Optional[NDArray[float64]]: """ Return the axis aligned box size of the current scene or None if the scene is empty. Returns ---------- extents Bounding box sides length or None for empty scene. """ bounds = self.bounds if bounds is None: return None return np.diff(bounds, axis=0).reshape(-1) @caching.cache_decorator def scale(self) -> float: """ The approximate scale of the mesh Returns ----------- scale : float The mean of the bounding box edge lengths """ extents = self.extents if extents is None: return 1.0 return float((extents**2).sum() ** 0.5) @caching.cache_decorator def centroid(self) -> Optional[NDArray[float64]]: """ Return the center of the bounding box for the scene. Returns -------- centroid : (3) float Point for center of bounding box """ bounds = self.bounds if bounds is None: return None centroid = np.mean(self.bounds, axis=0) return centroid @caching.cache_decorator def center_mass(self) -> NDArray: """ Find the center of mass for every instance in the scene. Returns ------------ center_mass : (3,) float The center of mass of the scene """ # get the center of mass and volume for each geometry center_mass = { k: m.center_mass for k, m in self.geometry.items() if hasattr(m, "center_mass") } mass = {k: m.mass for k, m in self.geometry.items() if hasattr(m, "mass")} # get the geometry name and transform for each instance graph = self.graph instance = [graph[n] for n in graph.nodes_geometry] # get the transformed center of mass for each instance transformed = np.array( [ np.dot(mat, np.append(center_mass[g], 1))[:3] for mat, g in instance if g in center_mass ], dtype=np.float64, ) # weight the center of mass locations by volume weights = np.array([mass[g] for _, g in instance], dtype=np.float64) weights /= weights.sum() return (transformed * weights.reshape((-1, 1))).sum(axis=0) @caching.cache_decorator def moment_inertia(self): """ Return the moment of inertia of the current scene with respect to the center of mass of the current scene. Returns ------------ inertia : (3, 3) float Inertia with respect to cartesian axis at `scene.center_mass` """ return inertia.scene_inertia( scene=self, transform=transformations.translation_matrix(self.center_mass) ) def moment_inertia_frame(self, transform): """ Return the moment of inertia of the current scene relative to a transform from the base frame. Parameters transform : (4, 4) float Homogeneous transformation matrix. Returns ------------- inertia : (3, 3) float Inertia tensor at requested frame. """ return inertia.scene_inertia(scene=self, transform=transform) @caching.cache_decorator def area(self) -> float: """ What is the summed area of every geometry which has area. Returns ------------ area : float Summed area of every instanced geometry """ # get the area of every geometry that has an area property areas = {n: g.area for n, g in self.geometry.items() if hasattr(g, "area")} # sum the area including instancing return sum( (areas.get(self.graph[n][1], 0.0) for n in self.graph.nodes_geometry), 0.0 ) @caching.cache_decorator def volume(self) -> float64: """ What is the summed volume of every geometry which has volume Returns ------------ volume : float Summed area of every instanced geometry """ # get the area of every geometry that has a volume attribute volume = {n: g.volume for n, g in self.geometry.items() if hasattr(g, "area")} # sum the area including instancing return sum( (volume.get(self.graph[n][1], 0.0) for n in self.graph.nodes_geometry), 0.0 ) @caching.cache_decorator def triangles(self) -> NDArray[float64]: """ Return a correctly transformed polygon soup of the current scene. Returns ---------- triangles : (n, 3, 3) float Triangles in space """ triangles = [] triangles_node = [] for node_name in self.graph.nodes_geometry: # which geometry does this node refer to transform, geometry_name = self.graph[node_name] # get the actual potential mesh instance geometry = self.geometry[geometry_name] if not hasattr(geometry, "triangles"): continue # append the (n, 3, 3) triangles to a sequence triangles.append( transformations.transform_points( geometry.triangles.copy().reshape((-1, 3)), matrix=transform ) ) # save the node names for each triangle triangles_node.append(np.tile(node_name, len(geometry.triangles))) # save the resulting nodes to the cache self._cache["triangles_node"] = np.hstack(triangles_node) return np.vstack(triangles).reshape((-1, 3, 3)) @caching.cache_decorator def triangles_node(self): """ Which node of self.graph does each triangle come from. Returns --------- triangles_index : (len(self.triangles),) Node name for each triangle """ populate = self.triangles # NOQA return self._cache["triangles_node"] @caching.cache_decorator def geometry_identifiers(self) -> Dict[str, str]: """ Look up geometries by identifier hash. Returns --------- identifiers {Identifier hash: key in self.geometry} """ identifiers = {mesh.identifier_hash: name for name, mesh in self.geometry.items()} return identifiers @caching.cache_decorator def duplicate_nodes(self) -> List[List[str]]: """ Return a sequence of node keys of identical meshes. Will include meshes with different geometry but identical spatial hashes as well as meshes repeated by self.nodes. Returns ----------- duplicates Keys of self.graph that represent identical geometry """ # if there is no geometry we can have no duplicate nodes if len(self.geometry) == 0: return [] # geometry name : hash of mesh hashes = { k: int(m.identifier_hash, 16) for k, m in self.geometry.items() if hasattr(m, "identifier_hash") } # bring into local scope for loop graph = self.graph # get a hash for each node name # scene.graph node name : hashed geometry node_hash = {node: hashes.get(graph[node][1]) for node in graph.nodes_geometry} # collect node names for each hash key duplicates = collections.defaultdict(list) # use a slightly off-label list comprehension # for debatable function call overhead avoidance [ duplicates[hashed].append(node) for node, hashed in node_hash.items() if hashed is not None ] # we only care about the values keys are garbage return list(duplicates.values()) def deduplicated(self) -> "Scene": """ DEPRECATED: REMOVAL JANUARY 2025, this is one line and not that useful. Return a new scene where each unique geometry is only included once and transforms are discarded. Returns ------------- dedupe : Scene One copy of each unique geometry from scene """ warnings.warn( "DEPRECATED: REMOVAL JANUARY 2025, this is one line and not that useful.", category=DeprecationWarning, stacklevel=2, ) # keying by `identifier_hash` will mean every geometry is unique return Scene( list({g.identifier_hash: g for g in self.geometry.values()}.values()) ) def reconstruct_instances(self, cost_threshold: Floating = 1e-5) -> "Scene": """ If a scene has been "baked" with meshes it means that the duplicate nodes have *corresponding vertices* but are rigidly transformed to different places. This means the problem of finding ab instance transform can use the `procrustes` analysis which is *very* fast relative to more complicated registration problems that require ICP and nearest-point-on-surface calculations. TODO : construct a parent non-geometry node for containing every group. Parameters ---------- scene The scene to handle. cost_threshold The maximum value for `procrustes` cost which is "squared mean vertex distance between pair". If the fit is above this value the instance will be left even if it is a duplicate. Returns --------- dedupe A copy of the scene de-duplicated as much as possible. """ return reconstruct_instances(self, cost_threshold=cost_threshold) def set_camera( self, angles=None, distance=None, center=None, resolution=None, fov=None ) -> cameras.Camera: """ Create a camera object for self.camera, and add a transform to self.graph for it. If arguments are not passed sane defaults will be figured out which show the mesh roughly centered. Parameters ----------- angles : (3,) float Initial euler angles in radians distance : float Distance from centroid center : (3,) float Point camera should be center on camera : Camera object Object that stores camera parameters """ if fov is None: fov = np.array([60, 45]) # if no geometry nothing to set camera to if len(self.geometry) == 0: self._camera = cameras.Camera(fov=fov) self.graph[self._camera.name] = np.eye(4) return self._camera # set with no rotation by default if angles is None: angles = np.zeros(3) rotation = transformations.euler_matrix(*angles) transform = cameras.look_at( self.bounds, fov=fov, rotation=rotation, distance=distance, center=center ) if hasattr(self, "_camera") and self._camera is not None: self._camera.fov = fov if resolution is not None: self._camera.resolution = resolution else: # create a new camera object self._camera = cameras.Camera(fov=fov, resolution=resolution) self.graph[self._camera.name] = transform return self._camera @property def camera_transform(self): """ Get camera transform in the base frame. Returns ------- camera_transform : (4, 4) float Camera transform in the base frame """ return self.graph[self.camera.name][0] @camera_transform.setter def camera_transform(self, matrix: ArrayLike): """ Set the camera transform in the base frame Parameters ---------- camera_transform : (4, 4) float Camera transform in the base frame """ self.graph[self.camera.name] = matrix def camera_rays(self) -> Tuple[NDArray[float64], NDArray[float64], NDArray[int64]]: """ Calculate the trimesh.scene.Camera origin and ray direction vectors. Returns one ray per pixel as set in camera.resolution Returns -------------- origin: (n, 3) float Ray origins in space vectors: (n, 3) float Ray direction unit vectors in world coordinates pixels : (n, 2) int Which pixel does each ray correspond to in an image """ # get the unit vectors of the camera vectors, pixels = self.camera.to_rays() # find our scene's transform for the camera transform = self.camera_transform # apply the rotation to the unit ray direction vectors vectors = transformations.transform_points(vectors, transform, translate=False) # camera origin is single point so extract from origins = np.ones_like(vectors) * transformations.translation_from_matrix( transform ) return origins, vectors, pixels @property def camera(self) -> cameras.Camera: """ Get the single camera for the scene. If not manually set one will abe automatically generated. Returns ---------- camera : trimesh.scene.Camera Camera object defined for the scene """ # no camera set for the scene yet if not self.has_camera: # will create a camera with everything in view return self.set_camera() assert self._camera is not None return self._camera @camera.setter def camera(self, camera: Optional[cameras.Camera]): """ Set a camera object for the Scene. Parameters ----------- camera : trimesh.scene.Camera Camera object for the scene """ if camera is None: return self._camera = camera @property def has_camera(self) -> bool: return hasattr(self, "_camera") and self._camera is not None @property def lights(self) -> List[lighting.Light]: """ Get a list of the lights in the scene. If nothing is set it will generate some automatically. Returns ------------- lights : [trimesh.scene.lighting.Light] Lights in the scene. """ if not hasattr(self, "_lights") or self._lights is None: # do some automatic lighting lights, transforms = lighting.autolight(self) # assign the transforms to the scene graph for L, T in zip(lights, transforms): self.graph[L.name] = T # set the lights self._lights = lights return self._lights @lights.setter def lights(self, lights: Sequence[lighting.Light]): """ Assign a list of light objects to the scene Parameters -------------- lights : [trimesh.scene.lighting.Light] Lights in the scene. """ self._lights = lights def rezero(self) -> None: """ Move the current scene so that the AABB of the whole scene is centered at the origin. Does this by changing the base frame to a new, offset base frame. """ if self.is_empty or np.allclose(self.centroid, 0.0): # early exit since what we want already exists return # the transformation to move the overall scene to AABB centroid matrix = np.eye(4) matrix[:3, 3] = -self.centroid # we are going to change the base frame new_base = str(self.graph.base_frame) + "_I" self.graph.update( frame_from=new_base, frame_to=self.graph.base_frame, matrix=matrix ) self.graph.base_frame = new_base def dump(self, concatenate: bool = False) -> List[Geometry]: """ Get a list of every geometry moved to its instance position, i.e. freezing or "baking" transforms. Parameters ------------ concatenate KWARG IS DEPRECATED FOR REMOVAL APRIL 2025 Concatenate results into single geometry. This keyword argument will make the type hint incorrect and you should replace `Scene.dump(concatenate=True)` with: - `Scene.to_geometry()` for a Trimesh, Path2D or Path3D - `Scene.to_mesh()` for only `Trimesh` components. Returns ---------- dumped Copies of `Scene.geometry` transformed to their instance position. """ result = [] for node_name in self.graph.nodes_geometry: transform, geometry_name = self.graph[node_name] # get a copy of the geometry current = self.geometry[geometry_name].copy() # if the geometry is 2D see if we have to upgrade to 3D if hasattr(current, "to_3D"): # check to see if the scene is transforming the path out of plane check = util.isclose(transform, util._IDENTITY, atol=1e-8) check[:2, :3] = True if not check.all(): # transform moves in 3D so we put this on the Z=0 plane current = current.to_3D() else: # transform moves in 2D so clip off the last row and column transform = transform[:3, :3] # move the geometry vertices into the requested frame current.apply_transform(transform) current.metadata["name"] = geometry_name current.metadata["node"] = node_name # save to our list of meshes result.append(current) if concatenate: warnings.warn( "`Scene.dump(concatenate=True)` DEPRECATED FOR REMOVAL APRIL 2025: replace with `Scene.to_geometry()`", category=DeprecationWarning, stacklevel=2, ) # if scene has mixed geometry this may drop some of it return util.concatenate(result) # type: ignore return result def to_mesh(self) -> "trimesh.Trimesh": # noqa: F821 """ Concatenate every mesh instances in the scene into a single mesh, applying transforms and "baking" the result. Will drop any geometry in the scene that is not a `Trimesh` object. Returns ---------- mesh All meshes in the scene concatenated into one. """ from ..base import Trimesh # concatenate only meshes return util.concatenate([d for d in self.dump() if isinstance(d, Trimesh)]) def to_geometry(self) -> Geometry: """ Concatenate geometry in the scene into a single like-typed geometry, applying the transforms and "baking" the result. May drop geometry if the scene has mixed geometry. Returns --------- concat Either a Trimesh, Path2D, or Path3D depending on what is in the scene. """ # concatenate everything and return the most-occurring type. return util.concatenate(self.dump()) def subscene(self, node: str) -> "Scene": """ Get part of a scene that succeeds a specified node. Parameters ------------ node Hashable key in `scene.graph` Returns ----------- subscene Partial scene generated from current. """ # get every node that is a successor to specified node # this includes `node` graph = self.graph nodes = graph.transforms.successors(node) # get every edge that has an included node edges = [e for e in graph.to_edgelist() if e[0] in nodes] # create a scene graph when graph = SceneGraph(base_frame=node) graph.from_edgelist(edges) geometry_names = {e[2]["geometry"] for e in edges if "geometry" in e[2]} geometry = {k: self.geometry[k] for k in geometry_names} result = Scene(geometry=geometry, graph=graph) return result @caching.cache_decorator def convex_hull(self): """ The convex hull of the whole scene. Returns --------- hull : trimesh.Trimesh Trimesh object which is a convex hull of all meshes in scene """ points = util.vstack_empty([m.vertices for m in self.dump()]) # type: ignore return convex.convex_hull(points) def export(self, file_obj=None, file_type=None, **kwargs): """ Export a snapshot of the current scene. Parameters ---------- file_obj : str, file-like, or None File object to export to file_type : str or None What encoding to use for meshes IE: dict, dict64, stl Returns ---------- export : bytes Only returned if file_obj is None """ return export.export_scene( scene=self, file_obj=file_obj, file_type=file_type, **kwargs ) def save_image(self, resolution=None, **kwargs) -> bytes: """ Get a PNG image of a scene. Parameters ----------- resolution : (2,) int Resolution to render image **kwargs Passed to SceneViewer constructor Returns ----------- png : bytes Render of scene as a PNG """ from ..viewer.windowed import render_scene return render_scene(scene=self, resolution=resolution, **kwargs) @property def units(self) -> Optional[str]: """ Get the units for every model in the scene. If the scene has mixed units or no units this will return None. Returns ----------- units Units for every model in the scene or None if there are no units or mixed units """ # get a set of the units of every geometry existing = {i.units for i in self.geometry.values()} if len(existing) == 1: return existing.pop() elif len(existing) > 1: log.warning(f"Mixed units `{existing}` returning None") return None @units.setter def units(self, value: str): """ Set the units for every model in the scene without converting any units just setting the tag. Parameters ------------ value : str Value to set every geometry unit value to """ value = value.strip().lower() for m in self.geometry.values(): m.units = value def convert_units(self, desired: str, guess: bool = False) -> "Scene": """ If geometry has units defined convert them to new units. Returns a new scene with geometries and transforms scaled. Parameters ---------- desired : str Desired final unit system: 'inches', 'mm', etc. guess : bool Is the converter allowed to guess scale when models don't have it specified in their metadata. Returns ---------- scaled : trimesh.Scene Copy of scene with scaling applied and units set for every model """ # if there is no geometry do nothing if len(self.geometry) == 0: return self.copy() current = self.units if current is None: # will raise ValueError if not in metadata # and not allowed to guess current = units.units_from_metadata(self, guess=guess) # find the float conversion scale = units.unit_conversion(current=current, desired=desired) # apply scaling factor or exit early if scale ~= 1.0 result = self.scaled(scale=scale) # apply the units to every geometry of the scaled result result.units = desired return result def explode(self, vector=None, origin=None) -> None: """ Explode the current scene in-place around a point and vector. Parameters ----------- vector : (3,) float or float Explode radially around a direction vector or spherically origin : (3,) float Point to explode around """ if origin is None: origin = self.centroid if vector is None: vector = self.scale / 25.0 vector = np.asanyarray(vector, dtype=np.float64) origin = np.asanyarray(origin, dtype=np.float64) for node_name in self.graph.nodes_geometry: transform, geometry_name = self.graph[node_name] centroid = self.geometry[geometry_name].centroid # transform centroid into nodes location centroid = np.dot(transform, np.append(centroid, 1))[:3] if vector.shape == (): # case where our vector is a single number offset = (centroid - origin) * vector elif np.shape(vector) == (3,): projected = np.dot(vector, (centroid - origin)) offset = vector * projected else: raise ValueError("explode vector wrong shape!") # original transform is read-only T_new = transform.copy() T_new[:3, 3] += offset self.graph[node_name] = T_new def scaled(self, scale: Union[Floating, ArrayLike]) -> "Scene": """ Return a copy of the current scene, with meshes and scene transforms scaled to the requested factor. Parameters ----------- scale : float or (3,) float Factor to scale meshes and transforms Returns ----------- scaled : trimesh.Scene A copy of the current scene but scaled """ result = self.copy() # a scale of 1.0 is a no-op if np.allclose(scale, 1.0): return result # convert 2D geometries to 3D for 3D scaling factors scale_is_3D = isinstance(scale, (list, tuple, np.ndarray)) and len(scale) == 3 if scale_is_3D and np.all(np.asarray(scale) == scale[0]): # scale is uniform scale = float(scale[0]) scale_is_3D = False elif not scale_is_3D: scale = float(scale) # result is a copy if scale_is_3D: # Copy all geometries that appear multiple times in the scene, # such that no two nodes share the same geometry. # This is required since the non-uniform scaling will most likely # affect the same geometry in different poses differently. # Note, that this is not needed in the case of uniform scaling. for geom_name in result.graph.geometry_nodes: nodes_with_geom = result.graph.geometry_nodes[geom_name] if len(nodes_with_geom) > 1: geom = result.geometry[geom_name] for n in nodes_with_geom: p = result.graph.transforms.parents[n] result.add_geometry( geometry=geom.copy(), geom_name=geom_name, node_name=n, parent_node_name=p, transform=result.graph.transforms.edge_data[(p, n)].get( "matrix", None ), metadata=result.graph.transforms.edge_data[(p, n)].get( "metadata", None ), ) result.delete_geometry(geom_name) # Convert all 2D paths to 3D paths for geom_name in result.geometry: if result.geometry[geom_name].vertices.shape[1] == 2: result.geometry[geom_name] = result.geometry[geom_name].to_3D() for key in result.graph.nodes_geometry: T, geom_name = result.graph.get(key) # transform from graph should be read-only T = T.copy() T[:3, 3] = 0.0 # Get geometry transform w.r.t. base frame result.geometry[geom_name].apply_transform(T).apply_scale( scale ).apply_transform(np.linalg.inv(T)) # Scale all transformations in the scene graph edge_data = result.graph.transforms.edge_data for uv in edge_data: if "matrix" in edge_data[uv]: props = edge_data[uv] T = edge_data[uv]["matrix"].copy() T[:3, 3] *= scale props["matrix"] = T result.graph.update(frame_from=uv[0], frame_to=uv[1], **props) # Clear cache result.graph.transforms._cache = {} result.graph.transforms._modified = str(uuid.uuid4()) result.graph._cache.clear() else: # matrix for 2D scaling scale_2D = np.eye(3) * scale # matrix for 3D scaling scale_3D = np.eye(4) * scale # preallocate transforms and geometries nodes = np.array(self.graph.nodes_geometry) transforms = np.zeros((len(nodes), 4, 4)) geometries = [None] * len(nodes) # collect list of transforms for i, node in enumerate(nodes): transforms[i], geometries[i] = self.graph[node] # remove all existing transforms result.graph.clear() for group in grouping.group(geometries): # hashable reference to self.geometry geometry = geometries[group[0]] # original transform from world to geometry original = transforms[group[0]] # transform for geometry new_geom = np.dot(scale_3D, original) if result.geometry[geometry].vertices.shape[1] == 2: # if our scene is 2D only scale in 2D result.geometry[geometry].apply_transform(scale_2D) else: # otherwise apply the full transform result.geometry[geometry].apply_transform(new_geom) for node, T in zip(nodes[group], transforms[group]): # generate the new transforms transform = util.multi_dot([scale_3D, T, np.linalg.inv(new_geom)]) # apply scale to translation transform[:3, 3] *= scale # update scene with new transforms result.graph.update( frame_to=node, matrix=transform, geometry=geometry ) # remove camera from copied result._camera = None return result def copy(self) -> "Scene": """ Return a deep copy of the current scene Returns ---------- copied : trimesh.Scene Copy of the current scene """ # use the geometries copy method to # allow them to handle references to unpickle-able objects geometry = {n: g.copy() for n, g in self.geometry.items()} if not hasattr(self, "_camera") or self._camera is None: # if no camera set don't include it camera = None else: # otherwise get a copy of the camera camera = self.camera.copy() # create a new scene with copied geometry and graph copied = Scene( geometry=geometry, graph=self.graph.copy(), metadata=self.metadata.copy(), camera=camera, ) return copied def show(self, viewer=None, **kwargs): """ Display the current scene. Parameters ----------- viewer : Union[str, callable, None] What kind of viewer to use, such as 'gl' to open a pyglet window, 'notebook' for a jupyter notebook or None kwargs : dict Includes `smooth`, which will turn on or off automatic smooth shading """ if viewer is None: # check to see if we are in a notebook or not from ..viewer import in_notebook if in_notebook(): viewer = "notebook" else: viewer = "gl" if viewer == "gl": # this imports pyglet, and will raise an ImportError # if pyglet is not available from ..viewer import SceneViewer return SceneViewer(self, **kwargs) elif viewer == "notebook": from ..viewer import scene_to_notebook return scene_to_notebook(self, **kwargs) elif callable(viewer): # if a callable method like a custom class # constructor was passed run using that return viewer(self, **kwargs) else: raise ValueError('viewer must be "gl", "notebook", callable, or None') def __add__(self, other): """ Concatenate the current scene with another scene or mesh. Parameters ------------ other : trimesh.Scene, trimesh.Trimesh, trimesh.Path Other object to append into the result scene Returns ------------ appended : trimesh.Scene Scene with geometry from both scenes """ result = append_scenes([self, other], common=[self.graph.base_frame]) return result def split_scene(geometry, **kwargs): """ Given a geometry, list of geometries, or a Scene return them as a single Scene object. Parameters ---------- geometry : splittable Returns --------- scene: trimesh.Scene """ # already a scene, so return it if isinstance(geometry, Scene): return geometry # a list of things if util.is_sequence(geometry): metadata = {} [metadata.update(getattr(g, "metadata", {})) for g in geometry] return Scene(geometry, metadata=metadata) # a single geometry so we are going to split split = [] metadata = {} for g in util.make_sequence(geometry): split.extend(g.split(**kwargs)) metadata.update(g.metadata) # if there is only one geometry in the mesh # name it from the file name if len(split) == 1 and "file_name" in metadata: split = {metadata["file_name"]: split[0]} scene = Scene(split, metadata=metadata) return scene def append_scenes(iterable, common=None, base_frame="world"): """ Concatenate multiple scene objects into one scene. Parameters ------------- iterable : (n,) Trimesh or Scene Geometries that should be appended common : (n,) str Nodes that shouldn't be remapped base_frame : str Base frame of the resulting scene Returns ------------ result : trimesh.Scene Scene containing all geometry """ if isinstance(iterable, Scene): return iterable if common is None: common = [base_frame] # save geometry in dict geometry = {} # save transforms as edge tuples edges = [] # nodes which shouldn't be remapped common = set(common) # nodes which are consumed and need to be remapped consumed = set() def node_remap(node): """ Remap node to new name if necessary Parameters ------------- node : hashable Node name in original scene Returns ------------- name : hashable Node name in concatenated scene """ # if we've already remapped a node use it if node in map_node: return map_node[node] # if a node is consumed and isn't one of the nodes # we're going to hold common between scenes remap it if node not in common and node in consumed: # generate a name not in consumed name = node + util.unique_id() map_node[node] = name node = name # keep track of which nodes have been used # in the current scene current.add(node) return node # loop through every geometry for s in iterable: # allow Trimesh/Path2D geometry to be passed if hasattr(s, "scene"): s = s.scene() # if we don't have a scene raise an exception if not isinstance(s, Scene): raise ValueError(f"{type(s).__name__} is not a scene!") # remap geometries if they have been consumed map_geom = {} for k, v in s.geometry.items(): # if a geometry already exists add a UUID to the name name = unique_name(start=k, contains=geometry.keys()) # store name mapping map_geom[k] = name # store geometry with new name geometry[name] = v # remap nodes and edges so duplicates won't # stomp all over each other map_node = {} # the nodes used in this scene current = set() for a, b, attr in s.graph.to_edgelist(): # remap node names from local names a, b = node_remap(a), node_remap(b) # remap geometry keys # if key is not in map_geom it means one of the scenes # referred to geometry that doesn't exist # rather than crash here we ignore it as the user # possibly intended to add in geometries back later if "geometry" in attr and attr["geometry"] in map_geom: attr["geometry"] = map_geom[attr["geometry"]] # save the new edge edges.append((a, b, attr)) # mark nodes from current scene as consumed consumed.update(current) # add all data to a new scene result = Scene(base_frame=base_frame) result.graph.from_edgelist(edges) result.geometry.update(geometry) return result def reconstruct_instances(scene: Scene, cost_threshold: Floating = 1e-6) -> Scene: """ If a scene has been "baked" with meshes it means that the duplicate nodes have *corresponding vertices* but are rigidly transformed to different places. This means the problem of finding ab instance transform can use the `procrustes` analysis which is *very* fast relative to more complicated registration problems that require ICP and nearest-point-on-surface calculations. TODO : construct a parent non-geometry node for containing every group. Parameters ---------- scene The scene to handle. cost_threshold The maximum value for `procrustes` cost which is "squared mean vertex distance between pair". If the fit is above this value the instance will be left even if it is a duplicate. Returns --------- dedupe A copy of the scene de-duplicated as much as possible. """ # start with the original scene graph and modify in-loop graph = scene.graph.copy() for group in scene.duplicate_nodes: # not sure if this ever includes if len(group) < 2: continue # we are going to use one of the geometries and try to register the others to it node_base = group[0] # get the geometry name for this base node _, geom_base = scene.graph[node_base] # get the vertices of the base model base: NDArray = scene.geometry[geom_base].vertices.view(np.ndarray) for node in group[1:]: # the original pose of this node in the scene node_mat, node_geom = scene.graph[node] # procrustes matches corresponding point arrays very quickly # but we have to make sure that they actual correspond in shape node_vertices = scene.geometry[node_geom].vertices.view(np.ndarray) # procrustes only works on corresponding point clouds! if node_vertices.shape != base.shape: continue # solve for a pose moving this instance into position matrix, _p, cost = procrustes( base, node_vertices, translation=True, scale=False, reflection=False ) if cost < cost_threshold: # add the transform we found graph.update(node, matrix=np.dot(node_mat, matrix), geometry=geom_base) # get from the new graph which geometry ends up with a reference referenced = set(graph.geometry_nodes.keys()) # return a scene with the de-duplicated graph and a copy of any geometry return Scene( geometry={k: v.copy() for k, v in scene.geometry.items() if k in referenced}, graph=graph, ) trimesh-4.5.1/trimesh/scene/transforms.py000066400000000000000000000665021470574263400205410ustar00rootroot00000000000000import collections from copy import deepcopy import numpy as np from .. import caching, util from ..caching import hash_fast from ..transformations import fix_rigid, quaternion_matrix, rotation_matrix from ..typed import ArrayLike, Hashable, NDArray, Optional, Sequence, Tuple, Union # we compare to identity a lot _identity = np.eye(4) _identity.flags["WRITEABLE"] = False class SceneGraph: """ Hold data about positions and instances of geometry in a scene. This includes a forest (i.e. multi-root tree) of transforms and information on which node is the base frame, and which geometries are affiliated with which nodes. """ def __init__(self, base_frame="world", repair_rigid=1e-5): """ Create a scene graph, holding homogeneous transformation matrices and instance information about geometry. Parameters ----------- base_frame : any The root node transforms will be positioned from. repair_rigid : None or float If a float will attempt to repair rotation matrices where `M @ M.T` differs from an identity matrix by more than floating point zero but less than this value. This can happen in a deep tree with a lot of matrix multiplies. """ # a graph structure, subclass of networkx DiGraph self.transforms = EnforcedForest() # hashable, the base or root frame self.base_frame = base_frame # if passed as a float try to repair rigid transforms # that have accumulated floating point error self.repair_rigid = repair_rigid # cache transformation matrices keyed with tuples self._cache = caching.Cache(self.__hash__) def update(self, frame_to, frame_from=None, **kwargs): """ Update a transform in the tree. Parameters ------------ frame_from : hashable object Usually a string (eg 'world'). If left as None it will be set to self.base_frame frame_to : hashable object Usually a string (eg 'mesh_0') matrix : (4,4) float Homogeneous transformation matrix quaternion : (4,) float Quaternion ordered [w, x, y, z] axis : (3,) float Axis of rotation angle : float Angle of rotation, in radians translation : (3,) float Distance to translate geometry : hashable Geometry object name, e.g. 'mesh_0' metadata: dictionary Optional metadata attached to the new frame (exports to glTF node 'extras'). """ # if no frame specified, use base frame if frame_from is None: frame_from = self.base_frame # pass through attr = {k: v for k, v in kwargs.items() if k in {"geometry", "metadata"}} # convert various kwargs to a single matrix attr["matrix"] = kwargs_to_matrix(**kwargs) # add the edges for the transforms # wi ll return if it changed anything self.transforms.add_edge(frame_from, frame_to, **attr) # set the node attribute with the geometry information if "geometry" in kwargs: self.transforms.node_data[frame_to]["geometry"] = kwargs["geometry"] def get( self, frame_to: Hashable, frame_from: Optional[Hashable] = None ) -> Tuple[NDArray[np.float64], Optional[Hashable]]: """ Get the transform from one frame to another. Parameters ------------ frame_to : hashable Node name, usually a string (eg 'mesh_0') frame_from : hashable Node name, usually a string (eg 'world'). If None it will be set to self.base_frame Returns ---------- transform : (4, 4) float Homogeneous transformation matrix geometry The name of the geometry if it exists Raises ----------- ValueError If the frames aren't connected. """ # use base frame if not specified if frame_from is None: frame_from = self.base_frame # look up transform to see if we have it already key = (frame_from, frame_to) if key in self._cache: return self._cache[key] # get the geometry at the final node if any geometry = self.transforms.node_data[frame_to].get("geometry") # get a local reference to edge data data = self.transforms.edge_data if frame_from == frame_to: # if we're going from ourself return identity matrix = _identity elif key in data: # if the path is just an edge return early matrix = data[key]["matrix"] else: # we have a 3+ node path # get the path from the forest always going from # parent -> child -> child path = self.transforms.shortest_path(frame_from, frame_to) # the path should always start with `frame_from` assert path[0] == frame_from # and end with the `frame_to` node assert path[-1] == frame_to # loop through pairs of the path matrices = [] for u, v in zip(path[:-1], path[1:]): forward = data.get((u, v)) if forward is not None: if "matrix" in forward: # append the matrix from u to v matrices.append(forward["matrix"]) continue # since forwards didn't exist backward must # exist otherwise this is a disconnected path # and we should raise an error anyway backward = data[(v, u)] if "matrix" in backward: # append the inverted backwards matrix matrices.append(np.linalg.inv(backward["matrix"])) # filter out any identity matrices matrices = [m for m in matrices if np.abs(m - _identity).max() > 1e-8] if len(matrices) == 0: matrix = _identity elif len(matrices) == 1: matrix = matrices[0] else: # multiply matrices into single transform matrix = util.multi_dot(matrices) # if instructed to repair rigid transforms do it here if self.repair_rigid is not None: matrix = fix_rigid(matrix, max_deviance=self.repair_rigid) # matrix being edited in-place leads to subtle bugs matrix.flags["WRITEABLE"] = False # store the result self._cache[key] = (matrix, geometry) return matrix, geometry def __hash__(self): return self.transforms.__hash__() def copy(self): """ Return a copy of the current TransformForest. Returns ------------ copied : TransformForest Copy of current object. """ # create a copy without transferring cache copied = SceneGraph() copied.base_frame = deepcopy(self.base_frame) copied.transforms = deepcopy(self.transforms) return copied def to_flattened(self): """ Export the current transform graph with all transforms baked into world->instance. Returns --------- flat : dict Keyed {node : {transform, geometry} """ flat = {} base_frame = self.base_frame for node in self.nodes: if node == base_frame: continue # get the matrix and geometry name matrix, geometry = self.get(frame_to=node, frame_from=base_frame) # store matrix as list rather than numpy array flat[node] = {"transform": matrix.tolist(), "geometry": geometry} return flat def to_gltf(self, scene, mesh_index=None): """ Export a transforms as the 'nodes' section of the GLTF header dict. Parameters ------------ scene : trimesh.Scene Scene with geometry. mesh_index : dict or None Mapping { key in scene.geometry : int } Returns -------- gltf : dict With 'nodes' referencing a list of dicts """ if mesh_index is None: # geometry is an OrderedDict # map mesh name to index: {geometry key : index} mesh_index = {name: i for i, name in enumerate(scene.geometry.keys())} # get graph information into local scope before loop graph = self.transforms # get the stored node data node_data = graph.node_data edge_data = graph.edge_data base_frame = self.base_frame # list of dict, in gltf format # start with base frame as first node index result = [{"name": base_frame}] # {node name : node index in gltf} lookup = {base_frame: 0} # collect the nodes in order for node in node_data.keys(): if node == base_frame: continue # assign the index to the node-name lookup lookup[node] = len(result) # populate a result at the correct index result.append({"name": node}) # get generated properties outside of loop # does the scene have a defined camera to export has_camera = scene.has_camera children = graph.children extensions_used = set() # then iterate through to collect data for info in result: # name of the scene node node = info["name"] # get the original node names for children childs = children.get(node, []) if len(childs) > 0: info["children"] = [lookup[k] for k in childs] # if we have a mesh store by index if "geometry" in node_data[node]: mesh_key = node_data[node]["geometry"] if mesh_key in mesh_index: info["mesh"] = mesh_index[mesh_key] # check to see if we have camera node if has_camera and node == scene.camera.name: info["camera"] = 0 if node != base_frame: parent = graph.parents[node] node_edge = edge_data[(parent, node)] # get the matrix from this edge matrix = node_edge["matrix"] # only include if it's not an identify matrix if not util.allclose(matrix, _identity): info["matrix"] = matrix.T.reshape(-1).tolist() # if an extra was stored on this edge extras = node_edge.get("metadata") if extras: extras = extras.copy() # if extensionss were stored on this edge extensions = extras.pop("gltf_extensions", None) if isinstance(extensions, dict): info["extensions"] = extensions extensions_used = extensions_used.union(set(extensions.keys())) # convert any numpy arrays to lists extras.update( {k: v.tolist() for k, v in extras.items() if hasattr(v, "tolist")} ) info["extras"] = extras gltf = {"nodes": result} if len(extensions_used) > 0: gltf["extensionsUsed"] = list(extensions_used) return gltf def to_edgelist(self): """ Export the current transforms as a list of edge tuples, with each tuple having the format: (node_a, node_b, {metadata}) Returns --------- edgelist : (n,) list Of edge tuples """ # save local reference to node_data nodes = self.transforms.node_data # save cleaned edges export = [] # loop through (node, node, edge attributes) for edge, attr in self.transforms.edge_data.items(): # node indexes from edge a, b = edge # geometry is a node property but save it to the # edge so we don't need two dictionaries b_attr = nodes[b] # make sure we're not stomping on original attr_new = attr.copy() # apply node geometry to edge attributes if "geometry" in b_attr: attr_new["geometry"] = b_attr["geometry"] # convert any numpy arrays to regular lists attr_new.update( {k: v.tolist() for k, v in attr_new.items() if hasattr(v, "tolist")} ) export.append([a, b, attr_new]) return export def from_edgelist(self, edges, strict=True): """ Load transform data from an edge list into the current scene graph. Parameters ------------- edgelist : (n,) tuples Keyed (node_a, node_b, {key: value}) strict : bool If True raise a ValueError when a malformed edge is passed in a tuple. """ # loop through each edge for edge in edges: # edge contains attributes if len(edge) == 3: self.update(edge[1], edge[0], **edge[2]) # edge just contains nodes elif len(edge) == 2: self.update(edge[1], edge[0]) # edge is broken elif strict: raise ValueError("edge incorrect shape: %s", str(edge)) def to_networkx(self): """ Return a `networkx` copy of this graph. Returns ---------- graph : networkx.DiGraph Directed graph. """ import networkx return networkx.from_edgelist(self.to_edgelist(), create_using=networkx.DiGraph) def show(self, **kwargs): """ Plot the scene graph using `networkx.draw_networkx` which uses matplotlib to display the graph. Parameters ----------- kwargs : dict Passed to `networkx.draw_networkx` """ import matplotlib.pyplot as plt import networkx # default kwargs will only be set if not # passed explicitly to the show command defaults = {"with_labels": True} kwargs.update(**{k: v for k, v in defaults.items() if k not in kwargs}) networkx.draw_networkx(G=self.to_networkx(), **kwargs) plt.show() def load(self, edgelist): """ Load transform data from an edge list into the current scene graph. Parameters ------------- edgelist : (n,) tuples Structured (node_a, node_b, {key: value}) """ self.from_edgelist(edgelist, strict=True) @caching.cache_decorator def nodes(self): """ A list of every node in the graph. Returns ------------- nodes : (n,) array All node names. """ return self.transforms.nodes @caching.cache_decorator def nodes_geometry(self): """ The nodes in the scene graph with geometry attached. Returns ------------ nodes_geometry : (m,) array Node names which have geometry associated """ return [n for n, attr in self.transforms.node_data.items() if "geometry" in attr] @caching.cache_decorator def geometry_nodes(self): """ Which nodes have this geometry? Inverse of `nodes_geometry`. Returns ------------ geometry_nodes : dict Keyed {geometry_name : node name} """ res = collections.defaultdict(list) for node, attr in self.transforms.node_data.items(): if "geometry" in attr: res[attr["geometry"]].append(node) return res def remove_geometries(self, geometries: Union[str, set, Sequence]): """ Remove the reference for specified geometries from nodes without deleting the node. Parameters ------------ geometries : list or str Name of scene.geometry to dereference. """ # make sure we have a set of geometries to remove if isinstance(geometries, str): geometries = [geometries] geometries = set(geometries) # remove the geometry reference from the node without deleting nodes # this lets us keep our cached paths, and will not screw up children for attrib in self.transforms.node_data.values(): if "geometry" in attrib and attrib["geometry"] in geometries: attrib.pop("geometry") # it would be safer to just run _cache.clear # but the only property using the geometry should be # nodes_geometry: if this becomes not true change this to clear! self._cache.cache.pop("nodes_geometry", None) self.transforms._hash = None def __contains__(self, key: Hashable) -> bool: return key in self.transforms.node_data def __getitem__( self, key: Hashable ) -> Tuple[NDArray[np.float64], Optional[Hashable]]: return self.get(key) def __setitem__(self, key: Hashable, value: ArrayLike): value = np.asanyarray(value, dtype=np.float64) if value.shape != (4, 4): raise ValueError("Matrix must be specified!") return self.update(key, matrix=value) def clear(self): self.transforms = EnforcedForest() self._cache.clear() class EnforcedForest: """ A simple forest graph data structure: every node is allowed to have exactly one parent. This makes traversal and implementation much simpler than a full graph data type; by storing only one parent reference, it enforces the structure for "free." """ def __init__(self): # since every node can have only one parent # this data structure transparently enforces # the forest data structure without checks # a dict {child : parent} self.parents = {} # store data for a particular edge keyed by tuple # {(u, v) : data } self.edge_data = collections.defaultdict(dict) # {u: data} self.node_data = collections.defaultdict(dict) # if multiple calls are made for the same path # but the connectivity hasn't changed return cached self._cache = {} def add_edge(self, u, v, **kwargs): """ Add an edge to the forest cleanly. Parameters ----------- u : any Hashable node key. v : any Hashable node key. kwargs : dict Stored as (u, v) edge data. Returns -------- changed : bool Return if this operation changed anything. """ self._hash = None # topology has changed so clear cache if (u, v) not in self.edge_data: self._cache = {} else: # check to see if matrix and geometry are identical edge = self.edge_data[(u, v)] if util.allclose( kwargs.get("matrix", _identity), edge.get("matrix", _identity), 1e-8 ) and (edge.get("geometry") == kwargs.get("geometry")): return False # store a parent reference for traversal self.parents[v] = u # store kwargs for edge data keyed with tuple self.edge_data[(u, v)] = kwargs # set empty node data self.node_data[u].update({}) if "geometry" in kwargs: self.node_data[v].update({"geometry": kwargs["geometry"]}) else: self.node_data[v].update({}) return True def remove_node(self, u): """ Remove a node from the forest. Parameters ----------- u : any Hashable node key. Returns -------- changed : bool Return if this operation changed anything. """ # check if node is part of forest if u not in self.node_data: return False # topology will change so clear cache self._cache = {} self._hash = None # delete all children's references and parent reference children = [child for (child, parent) in self.parents.items() if parent == u] for c in children: del self.parents[c] if u in self.parents: del self.parents[u] # delete edge data edges = [(a, b) for (a, b) in self.edge_data if a == u or b == u] for e in edges: del self.edge_data[e] # delete node data del self.node_data[u] return True def shortest_path(self, u, v): """ Find the shortest path between `u` and `v`, returning a path where the first element is always `u` and the last element is always `v`, disregarding edge direction. Parameters ----------- u : any Hashable node key. v : any Hashable node key. Returns ----------- path : (n,) Path between `u` and `v` """ # see if we've already computed this path if u == v: # the path between itself is an edge case return [] elif (u, v) in self._cache: # return the same path for either direction return self._cache[(u, v)] elif (v, u) in self._cache: return self._cache[(v, u)][::-1] # local reference to parent dict for performance parents = self.parents # store both forward and backwards traversal forward = [u] backward = [v] # cap iteration to number of total nodes for _ in range(len(parents) + 1): # store the parent both forwards and backwards f = parents.get(forward[-1]) b = parents.get(backward[-1]) forward.append(f) backward.append(b) if f == v: self._cache[(u, v)] = forward return forward elif b == u: # return reversed path backward = backward[::-1] self._cache[(u, v)] = backward return backward elif (b in forward) or (f is None and b is None): # we have a either a common node between both # traversal directions or we have consumed the whole # tree in both directions so try to find the common node common = set(backward).intersection(forward).difference({None}) if len(common) == 0: raise ValueError(f"No path from {u}->{v}!") elif len(common) > 1: # get the first occurring common element in "forward" link = next(f for f in forward if f in common) assert link in common else: # take the only common element link = next(iter(common)) # combine the forward and backwards traversals a = forward[: forward.index(link) + 1] b = backward[: backward.index(link)] path = a + b[::-1] # verify we didn't screw up the order assert path[0] == u assert path[-1] == v self._cache[(u, v)] = path return path raise ValueError("Iteration limit exceeded!") @property def nodes(self): """ Get a set of every node. Returns ----------- nodes : set Every node currently stored. """ return self.node_data.keys() @property def children(self): """ Get the children of each node. Returns ---------- children : dict Keyed {node : [child, child, ...]} """ if "children" in self._cache: return self._cache["children"] child = collections.defaultdict(list) # append children to parent references # skip self-references to avoid a node loop [child[v].append(u) for u, v in self.parents.items() if u != v] # cache and return as a vanilla dict self._cache["children"] = dict(child) return self._cache["children"] def successors(self, node): """ Get all nodes that are successors to specified node, including the specified node. Parameters ------------- node : any Hashable key for a node. Returns ------------ successors : set Nodes that succeed specified node. """ # get mapping of {parent : child} children = self.children # if node doesn't exist return early if node not in children: return {node} # children we need to collect queue = [node] # start collecting values with children of source collected = set(queue) # cap maximum iterations for _ in range(len(self.node_data) + 1): if len(queue) == 0: # no more nodes to visit so we're done return collected # add the children of this node to be processed childs = children.get(queue.pop()) if childs is not None: queue.extend(childs) collected.update(childs) return collected def __hash__(self): """ Actually hash all of the data, but use a "dirty" mechanism in functions that modify the data, which MUST # all invalidate the hash by setting `self._hash = None` This was optimized a bit, and is evaluating on an older laptop on a scene with 77 nodes and 76 edges 10,000 times in 0.7s which seems fast enough. """ # see if there is an available hash value # if you are seeing cache bugs this is the thing # to try eliminating because it is very likely that # someone somewhere is modifying the data without # setting `self._hash = None` hashed = getattr(self, "_hash", None) if hashed is not None: return hashed hashed = hash_fast( ( "".join( str(hash(k)) + v.get("geometry", "") for k, v in self.edge_data.items() ) + "".join( str(k) + v.get("geometry", "") for k, v in self.node_data.items() ) ).encode("utf-8") + b"".join( v["matrix"].tobytes() for v in self.edge_data.values() if "matrix" in v ) ) self._hash = hashed return hashed def kwargs_to_matrix( matrix=None, quaternion=None, translation=None, axis=None, angle=None, **kwargs ): """ Take multiple keyword arguments and parse them into a homogeneous transformation matrix. Returns --------- matrix : (4, 4) float Homogeneous transformation matrix. """ if matrix is not None: # a matrix takes immediate precedence over other options return np.array(matrix, dtype=np.float64) elif quaternion is not None: matrix = quaternion_matrix(quaternion) elif axis is not None and angle is not None: matrix = rotation_matrix(angle, axis) else: matrix = np.eye(4) if translation is not None: # translation can be used in conjunction with any # of the methods specifying transforms matrix[:3, 3] += translation return matrix trimesh-4.5.1/trimesh/schemas.py000066400000000000000000000024071470574263400166630ustar00rootroot00000000000000""" schemas.py ------------- Tools for dealing with schemas, particularly JSONschema """ import json from .util import decode_text def resolve(item, resolver): """ Given a JSON Schema containing `$ref` keys recursively evaluate to find and replace referenced files with their actual values using trimesh.resolvers.Resolver objects. Parameters --------------- item : any JSON schema including `$ref` to other files resolver : trimesh.visual.resolver.Resolver Resolver to fetch referenced assets Returns ---------- result : any JSONSchema with references replaced """ if isinstance(item, list): # run the resolver on every list item return [resolve(i, resolver) for i in item] elif isinstance(item, dict): if "$ref" in item: # if we have a reference to a file pop the key # and update the dict with the reference in-place raw = decode_text(resolver.get(item.pop("$ref"))) item.update(json.loads(raw)) # run the resolver on the dict again resolve(item, resolver) else: # make sure all keys are evaluated for i in item.values(): resolve(i, resolver) return item trimesh-4.5.1/trimesh/smoothing.py000066400000000000000000000253121470574263400172470ustar00rootroot00000000000000import numpy as np try: from scipy.sparse import coo_matrix, eye from scipy.sparse.linalg import spsolve except ImportError: pass from . import triangles from .geometry import index_sparse from .triangles import mass_properties from .util import unitize def filter_laplacian( mesh, lamb=0.5, iterations=10, implicit_time_integration=False, volume_constraint=True, laplacian_operator=None, ): """ Smooth a mesh in-place using laplacian smoothing. Articles 1 - "Improved Laplacian Smoothing of Noisy Surface Meshes" J. Vollmer, R. Mencl, and H. Muller 2 - "Implicit Fairing of Irregular Meshes using Diffusion and Curvature Flow". M. Desbrun, M. Meyer, P. Schroder, A.H.B. Caltech Parameters ------------ mesh : trimesh.Trimesh Mesh to be smoothed in place lamb : float Diffusion speed constant If 0.0, no diffusion If > 0.0, diffusion occurs implicit_time_integration: boolean if False: explicit time integration -lamb <= 1.0 - Stability Limit (Article 1) if True: implicit time integration -lamb no limit (Article 2) iterations : int Number of passes to run filter laplacian_operator : None or scipy.sparse.coo.coo_matrix Sparse matrix laplacian operator Will be autogenerated if None """ # if the laplacian operator was not passed create it here if laplacian_operator is None: laplacian_operator = laplacian_calculation(mesh) # save initial volume if volume_constraint: vol_ini = mesh.volume # get mesh vertices and faces as vanilla numpy array vertices = mesh.vertices.copy().view(np.ndarray) faces = mesh.faces.copy().view(np.ndarray) # Set matrix for linear system of equations if implicit_time_integration: dlap = laplacian_operator.shape[0] AA = eye(dlap) + lamb * (eye(dlap) - laplacian_operator) # Number of passes for _index in range(iterations): # Classic Explicit Time Integration - Article 1 if not implicit_time_integration: dot = laplacian_operator.dot(vertices) - vertices vertices += lamb * dot # Implicit Time Integration - Article 2 else: vertices = spsolve(AA, vertices) # volume constraint if volume_constraint: # find the volume with new vertex positions vol_new = triangles.mass_properties(vertices[faces], skip_inertia=True)[ "volume" ] # scale by volume ratio vertices *= (vol_ini / vol_new) ** (1.0 / 3.0) # assign modified vertices back to mesh mesh.vertices = vertices return mesh def filter_humphrey(mesh, alpha=0.1, beta=0.5, iterations=10, laplacian_operator=None): """ Smooth a mesh in-place using laplacian smoothing and Humphrey filtering. Articles "Improved Laplacian Smoothing of Noisy Surface Meshes" J. Vollmer, R. Mencl, and H. Muller Parameters ------------ mesh : trimesh.Trimesh Mesh to be smoothed in place alpha : float Controls shrinkage, range is 0.0 - 1.0 If 0.0, not considered If 1.0, no smoothing beta : float Controls how aggressive smoothing is If 0.0, no smoothing If 1.0, full aggressiveness iterations : int Number of passes to run filter laplacian_operator : None or scipy.sparse.coo.coo_matrix Sparse matrix laplacian operator Will be autogenerated if None """ # if the laplacian operator was not passed create it here if laplacian_operator is None: laplacian_operator = laplacian_calculation(mesh) # get mesh vertices as vanilla numpy array vertices = mesh.vertices.copy().view(np.ndarray) # save original unmodified vertices original = vertices.copy() # run through iterations of filter for _index in range(iterations): vert_q = vertices.copy() vertices = laplacian_operator.dot(vertices) vert_b = vertices - (alpha * original + (1.0 - alpha) * vert_q) vertices -= beta * vert_b + (1.0 - beta) * laplacian_operator.dot(vert_b) # assign modified vertices back to mesh mesh.vertices = vertices return mesh def filter_taubin(mesh, lamb=0.5, nu=0.5, iterations=10, laplacian_operator=None): """ Smooth a mesh in-place using laplacian smoothing and taubin filtering. Articles "Improved Laplacian Smoothing of Noisy Surface Meshes" J. Vollmer, R. Mencl, and H. Muller Parameters ------------ mesh : trimesh.Trimesh Mesh to be smoothed in place. lamb : float Controls shrinkage, range is 0.0 - 1.0 nu : float Controls dilation, range is 0.0 - 1.0 Nu shall be between 0.0 < 1.0/lambda - 1.0/nu < 0.1 iterations : int Number of passes to run the filter laplacian_operator : None or scipy.sparse.coo.coo_matrix Sparse matrix laplacian operator Will be autogenerated if None """ # if the laplacian operator was not passed create it here if laplacian_operator is None: laplacian_operator = laplacian_calculation(mesh) # get mesh vertices as vanilla numpy array vertices = mesh.vertices.copy().view(np.ndarray) # run through multiple passes of the filter for index in range(iterations): # do a sparse dot product on the vertices dot = laplacian_operator.dot(vertices) - vertices # alternate shrinkage and dilation if index % 2 == 0: vertices += lamb * dot else: vertices -= nu * dot # assign updated vertices back to mesh mesh.vertices = vertices return mesh def filter_mut_dif_laplacian( mesh, lamb=0.5, iterations=10, volume_constraint=True, laplacian_operator=None ): """ Smooth a mesh in-place using laplacian smoothing using a mutable diffusion laplacian. Articles Barroqueiro, B., Andrade-Campos, A., Dias-de-Oliveira, J., and Valente, R. (January 21, 2021). "Bridging between topology optimization and additive manufacturing via Laplacian smoothing." ASME. J. Mech. Des. Parameters ------------ mesh : trimesh.Trimesh Mesh to be smoothed in place lamb : float Diffusion speed constant If 0.0, no diffusion If > 0.0, diffusion occurs iterations : int Number of passes to run filter laplacian_operator : None or scipy.sparse.coo.coo_matrix Sparse matrix laplacian operator Will be autogenerated if None """ # if the laplacian operator was not passed create it here if laplacian_operator is None: laplacian_operator = laplacian_calculation(mesh) # Set volume constraint if volume_constraint: v_ini = mesh.volume # get mesh vertices as vanilla numpy array vertices = mesh.vertices.copy().view(np.ndarray) faces = mesh.faces.copy().view(np.ndarray) eps = 0.01 * (np.max(mesh.area_faces) ** 0.5) # Number of passes for _index in range(iterations): # Mutable diffusion normals = get_vertices_normals(mesh) qi = laplacian_operator.dot(vertices) pi_qi = vertices - qi adil = np.abs((normals * pi_qi).dot(np.ones((3, 1)))) adil = 1.0 / np.maximum(1e-12, adil) lamber = np.maximum(0.2 * lamb, np.minimum(1.0, lamb * adil / np.mean(adil))) # Filter dot = laplacian_operator.dot(vertices) - vertices vertices += lamber * dot # Volume constraint if volume_constraint: vol = mass_properties(vertices[faces], skip_inertia=True)["volume"] if _index == 0: slope = dilate_slope(vertices, faces, normals, vol, eps) vertices += normals * slope * (v_ini - vol) # assign modified vertices back to mesh mesh.vertices = vertices return mesh def laplacian_calculation(mesh, equal_weight=True, pinned_vertices=None): """ Calculate a sparse matrix for laplacian operations. Parameters ------------- mesh : trimesh.Trimesh Input geometry equal_weight : bool If True, all neighbors will be considered equally If False, all neighbors will be weighted by inverse distance Returns ---------- laplacian : scipy.sparse.coo.coo_matrix Laplacian operator """ # get the vertex neighbors from the cache neighbors = mesh.vertex_neighbors # if a node is pinned, it will average his coordinates by himself # in practice it will not move if pinned_vertices is not None: for i in pinned_vertices: neighbors[i] = [i] # avoid hitting crc checks in loops vertices = mesh.vertices.view(np.ndarray) # stack neighbors to 1D arrays col = np.concatenate(neighbors) row = np.concatenate([[i] * len(n) for i, n in enumerate(neighbors)]) if equal_weight: # equal weights for each neighbor data = np.concatenate([[1.0 / len(n)] * len(n) for n in neighbors]) else: # umbrella weights, distance-weighted # use dot product of ones to replace array.sum(axis=1) ones = np.ones(3) # the distance from verticesex to neighbors norms = [ 1.0 / np.maximum(1e-6, np.sqrt(np.dot((vertices[i] - vertices[n]) ** 2, ones))) for i, n in enumerate(neighbors) ] # normalize group and stack into single array data = np.concatenate([i / i.sum() for i in norms]) # create the sparse matrix matrix = coo_matrix((data, (row, col)), shape=[len(vertices)] * 2) return matrix def get_vertices_normals(mesh): """ Compute Vertex normals using equal weighting of neighbors faces. Parameters ------------- mesh : trimesh.Trimesh Input geometry Returns ---------- vertices_normals: array Vertices normals """ # get mesh vertices and faces vertices = mesh.vertices faces = mesh.faces # get face normals face_normals = mesh.face_normals # Compute Vert normals vert_normals = index_sparse(len(vertices), faces).dot(face_normals) return unitize(vert_normals) def dilate_slope(vertices, faces, normals, v, eps): """ Get de derivate of dilation scalar by the volume variation by finite differences Thus, Vertices += vertex_normals*dilate_slope*(Initial_Volume - Srinked_Volume) Parameters ------------- mesh : trimesh.Trimesh Input geometry vertices: mesh.vertices faces: mesh.faces normals: array vertices normals Returns ---------- dilate_slope: float derivative """ # finite difference derivative vertices2 = vertices + normals * eps v2 = mass_properties(vertices2[faces], skip_inertia=True)["volume"] return (eps) / (v2 - v) trimesh-4.5.1/trimesh/transformations.py000066400000000000000000002210721470574263400204720ustar00rootroot00000000000000# transformations.py # Modified for inclusion in the `trimesh` library # https://github.com/mikedh/trimesh # ----------------------------------------------------------------------- # # Copyright (c) 2006-2017, Christoph Gohlke # Copyright (c) 2006-2017, The Regents of the University of California # Produced at the Laboratory for Fluorescence Dynamics # All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions are met: # # * Redistributions of source code must retain the above copyright # notice, this list of conditions and the following disclaimer. # * Redistributions in binary form must reproduce the above copyright # notice, this list of conditions and the following disclaimer in the # documentation and/or other materials provided with the distribution. # * Neither the name of the copyright holders nor the names of any # contributors may be used to endorse or promote products derived # from this software without specific prior written permission. # # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE # POSSIBILITY OF SUCH DAMAGE. """Homogeneous Transformation Matrices and Quaternions. A library for calculating 4x4 matrices for translating, rotating, reflecting, scaling, shearing, projecting, orthogonalizing, and superimposing arrays of 3D homogeneous coordinates as well as for converting between rotation matrices, Euler angles, and quaternions. Also includes an Arcball control object and functions to decompose transformation matrices. :Author: `Christoph Gohlke `_ :Organization: Laboratory for Fluorescence Dynamics, University of California, Irvine :Version: 2017.02.17 Requirements ------------ * `CPython 2.7 or 3.4 `_ * `numpy 1.9 `_ * `Transformations.c 2015.03.19 `_ (recommended for speedup of some functions) Notes ----- The API is not stable yet and is expected to change between revisions. This Python code is not optimized for speed. Refer to the transformations.c module for a faster implementation of some functions. Documentation in HTML format can be generated with epydoc. Matrices (M) can be inverted using np.linalg.inv(M), be concatenated using np.dot(M0, M1), or transform homogeneous coordinate arrays (v) using np.dot(M, v) for shape (4, *) column vectors, respectively np.dot(v, M.T) for shape (*, 4) row vectors ("array of points"). This module follows the "column vectors on the right" and "row major storage" (C contiguous) conventions. The translation components are in the right column of the transformation matrix, i.e. M[:3, 3]. The transpose of the transformation matrices may have to be used to interface with other graphics systems, e.g. with OpenGL's glMultMatrixd(). See also [16]. Calculations are carried out with np.float64 precision. Vector, point, quaternion, and matrix function arguments are expected to be "array like", i.e. tuple, list, or numpy arrays. Return types are numpy arrays unless specified otherwise. Angles are in radians unless specified otherwise. Quaternions w+ix+jy+kz are represented as [w, x, y, z]. A triple of Euler angles can be applied/interpreted in 24 ways, which can be specified using a 4 character string or encoded 4-tuple: *Axes 4-string*: e.g. 'sxyz' or 'ryxy' - first character : rotations are applied to 's'tatic or 'r'otating frame - remaining characters : successive rotation axis 'x', 'y', or 'z' *Axes 4-tuple*: e.g. (0, 0, 0, 0) or (1, 1, 1, 1) - inner axis: code of axis ('x':0, 'y':1, 'z':2) of rightmost matrix. - parity : even (0) if inner axis 'x' is followed by 'y', 'y' is followed by 'z', or 'z' is followed by 'x'. Otherwise odd (1). - repetition : first and last axis are same (1) or different (0). - frame : rotations are applied to static (0) or rotating (1) frame. Other Python packages and modules for 3D transformations and quaternions: * `Transforms3d `_ includes most code of this module. * `Blender.mathutils `_ * `numpy-dtypes `_ References ---------- (1) Matrices and transformations. Ronald Goldman. In "Graphics Gems I", pp 472-475. Morgan Kaufmann, 1990. (2) More matrices and transformations: shear and pseudo-perspective. Ronald Goldman. In "Graphics Gems II", pp 320-323. Morgan Kaufmann, 1991. (3) Decomposing a matrix into simple transformations. Spencer Thomas. In "Graphics Gems II", pp 320-323. Morgan Kaufmann, 1991. (4) Recovering the data from the transformation matrix. Ronald Goldman. In "Graphics Gems II", pp 324-331. Morgan Kaufmann, 1991. (5) Euler angle conversion. Ken Shoemake. In "Graphics Gems IV", pp 222-229. Morgan Kaufmann, 1994. (6) Arcball rotation control. Ken Shoemake. In "Graphics Gems IV", pp 175-192. Morgan Kaufmann, 1994. (7) Representing attitude: Euler angles, unit quaternions, and rotation vectors. James Diebel. 2006. (8) A discussion of the solution for the best rotation to relate two sets of vectors. W Kabsch. Acta Cryst. 1978. A34, 827-828. (9) Closed-form solution of absolute orientation using unit quaternions. BKP Horn. J Opt Soc Am A. 1987. 4(4):629-642. (10) Quaternions. Ken Shoemake. http://www.sfu.ca/~jwa3/cmpt461/files/quatut.pdf (11) From quaternion to matrix and back. JMP van Waveren. 2005. http://www.intel.com/cd/ids/developer/asmo-na/eng/293748.htm (12) Uniform random rotations. Ken Shoemake. In "Graphics Gems III", pp 124-132. Morgan Kaufmann, 1992. (13) Quaternion in molecular modeling. CFF Karney. J Mol Graph Mod, 25(5):595-604 (14) New method for extracting the quaternion from a rotation matrix. Itzhack Y Bar-Itzhack, J Guid Contr Dynam. 2000. 23(6): 1085-1087. (15) Multiple View Geometry in Computer Vision. Hartley and Zissermann. Cambridge University Press; 2nd Ed. 2004. Chapter 4, Algorithm 4.7, p 130. (16) Column Vectors vs. Row Vectors. http://steve.hollasch.net/cgindex/math/matrix/column-vec.html Examples -------- >>> alpha, beta, gamma = 0.123, -1.234, 2.345 >>> origin, xaxis, yaxis, zaxis = [0, 0, 0], [1, 0, 0], [0, 1, 0], [0, 0, 1] >>> I = identity_matrix() >>> Rx = rotation_matrix(alpha, xaxis) >>> Ry = rotation_matrix(beta, yaxis) >>> Rz = rotation_matrix(gamma, zaxis) >>> R = concatenate_matrices(Rx, Ry, Rz) >>> euler = euler_from_matrix(R, 'rxyz') >>> np.allclose([alpha, beta, gamma], euler) True >>> Re = euler_matrix(alpha, beta, gamma, 'rxyz') >>> is_same_transform(R, Re) True >>> al, be, ga = euler_from_matrix(Re, 'rxyz') >>> is_same_transform(Re, euler_matrix(al, be, ga, 'rxyz')) True >>> qx = quaternion_about_axis(alpha, xaxis) >>> qy = quaternion_about_axis(beta, yaxis) >>> qz = quaternion_about_axis(gamma, zaxis) >>> q = quaternion_multiply(qx, qy) >>> q = quaternion_multiply(q, qz) >>> Rq = quaternion_matrix(q) >>> is_same_transform(R, Rq) True >>> S = scale_matrix(1.23, origin) >>> T = translation_matrix([1, 2, 3]) >>> Z = shear_matrix(beta, xaxis, origin, zaxis) >>> R = random_rotation_matrix(np.random.rand(3)) >>> M = concatenate_matrices(T, R, Z, S) >>> scale, shear, angles, trans, persp = decompose_matrix(M) >>> np.allclose(scale, 1.23) True >>> np.allclose(trans, [1, 2, 3]) True >>> np.allclose(shear, [0, np.tan(beta), 0]) True >>> is_same_transform(R, euler_matrix(axes='sxyz', *angles)) True >>> M1 = compose_matrix(scale, shear, angles, trans, persp) >>> is_same_transform(M, M1) True >>> v0, v1 = random_vector(3), random_vector(3) >>> M = rotation_matrix(angle_between_vectors(v0, v1), vector_product(v0, v1)) >>> v2 = np.dot(v0, M[:3,:3].T) >>> np.allclose(unit_vector(v1), unit_vector(v2)) True """ import numpy as np from numpy.typing import ArrayLike, NDArray _IDENTITY = np.eye(4) _IDENTITY.flags["WRITEABLE"] = False def identity_matrix(): """Return 4x4 identity/unit matrix. >>> I = identity_matrix() >>> np.allclose(I, np.dot(I, I)) True >>> float(np.sum(I)), float(np.trace(I)) (4.0, 4.0) >>> np.allclose(I, np.identity(4)) True """ return np.identity(4) def translation_matrix(direction): """ Return matrix to translate by direction vector. >>> v = np.random.random(3) - 0.5 >>> np.allclose(v, translation_matrix(v)[:3, 3]) True """ # are we 2D or 3D dim = len(direction) # start with identity matrix if any("sympy" in str(type(v)) for v in direction): # if we have been passed input values as sympy.Symbol from sympy import eye M = eye(dim + 1) else: M = np.eye(dim + 1) # apply the offset M[:dim, dim] = direction[:dim] return M def translation_from_matrix(matrix): """Return translation vector from translation matrix. >>> v0 = np.random.random(3) - 0.5 >>> v1 = translation_from_matrix(translation_matrix(v0)) >>> np.allclose(v0, v1) True """ return np.asarray(matrix)[:3, 3].copy() def reflection_matrix(point, normal): """Return matrix to mirror at plane defined by point and normal vector. >>> v0 = np.random.random(4) - 0.5 >>> v0[3] = 1. >>> v1 = np.random.random(3) - 0.5 >>> R = reflection_matrix(v0, v1) >>> np.allclose(2, np.trace(R)) True >>> np.allclose(v0, np.dot(R, v0)) True >>> v2 = v0.copy() >>> v2[:3] += v1 >>> v3 = v0.copy() >>> v2[:3] -= v1 >>> np.allclose(v2, np.dot(R, v3)) True """ normal = unit_vector(normal[:3]) M = np.identity(4) M[:3, :3] -= 2.0 * np.outer(normal, normal) M[:3, 3] = (2.0 * np.dot(point[:3], normal)) * normal return M def reflection_from_matrix(matrix): """Return mirror plane point and normal vector from reflection matrix. >>> v0 = np.random.random(3) - 0.5 >>> v1 = np.random.random(3) - 0.5 >>> M0 = reflection_matrix(v0, v1) >>> point, normal = reflection_from_matrix(M0) >>> M1 = reflection_matrix(point, normal) >>> is_same_transform(M0, M1) True """ M = np.asarray(matrix, dtype=np.float64) # normal: unit eigenvector corresponding to eigenvalue -1 w, V = np.linalg.eig(M[:3, :3]) i = np.where(abs(np.real(w) + 1.0) < 1e-8)[0] if not len(i): raise ValueError("no unit eigenvector corresponding to eigenvalue -1") normal = np.real(V[:, i[0]]).squeeze() # point: any unit eigenvector corresponding to eigenvalue 1 w, V = np.linalg.eig(M) i = np.where(abs(np.real(w) - 1.0) < 1e-8)[0] if not len(i): raise ValueError("no unit eigenvector corresponding to eigenvalue 1") point = np.real(V[:, i[-1]]).squeeze() point /= point[3] return point, normal def rotation_matrix(angle, direction, point=None): """ Return matrix to rotate about axis defined by point and direction. Parameters ------------- angle : float, or sympy.Symbol Angle, in radians or symbolic angle direction : (3,) float Any vector along rotation axis point : (3, ) float, or None Origin point of rotation axis Returns ------------- matrix : (4, 4) float, or (4, 4) sympy.Matrix Homogeneous transformation matrix Examples ------------- >>> R = rotation_matrix(np.pi/2, [0, 0, 1], [1, 0, 0]) >>> np.allclose(np.dot(R, [0, 0, 0, 1]), [1, -1, 0, 1]) True >>> angle = (random.random() - 0.5) * (2*np.pi) >>> direc = np.random.random(3) - 0.5 >>> point = np.random.random(3) - 0.5 >>> R0 = rotation_matrix(angle, direc, point) >>> R1 = rotation_matrix(angle-2*np.pi, direc, point) >>> is_same_transform(R0, R1) True >>> R0 = rotation_matrix(angle, direc, point) >>> R1 = rotation_matrix(-angle, -direc, point) >>> is_same_transform(R0, R1) True >>> I = np.identity(4, np.float64) >>> np.allclose(I, rotation_matrix(np.pi*2, direc)) True >>> np.allclose(2, np.trace(rotation_matrix(np.pi/2,direc,point))) True """ if "sympy" in str(type(angle)): # special case sympy symbolic angles import sympy as sp symbolic = True sina = sp.sin(angle) cosa = sp.cos(angle) else: symbolic = False sina = np.sin(angle) cosa = np.cos(angle) direction = unit_vector(direction[:3]) # rotation matrix around unit vector M = np.diag([cosa, cosa, cosa, 1.0]) M[:3, :3] += np.outer(direction, direction) * (1.0 - cosa) direction = direction * sina M[:3, :3] += np.array( [ [0.0, -direction[2], direction[1]], [direction[2], 0.0, -direction[0]], [-direction[1], direction[0], 0.0], ] ) # if point is specified, rotation is not around origin if point is not None: point = np.asarray(point[:3], dtype=np.float64) M[:3, 3] = point - np.dot(M[:3, :3], point) # return symbolic angles as sympy Matrix objects if symbolic: return sp.Matrix(M) return M def rotation_from_matrix(matrix): """Return rotation angle and axis from rotation matrix. >>> angle = (random.random() - 0.5) * (2*np.pi) >>> direc = np.random.random(3) - 0.5 >>> point = np.random.random(3) - 0.5 >>> R0 = rotation_matrix(angle, direc, point) >>> angle, direc, point = rotation_from_matrix(R0) >>> R1 = rotation_matrix(angle, direc, point) >>> is_same_transform(R0, R1) True """ R = np.asarray(matrix, dtype=np.float64) R33 = R[:3, :3] # direction: unit eigenvector of R33 corresponding to eigenvalue of 1 w, W = np.linalg.eig(R33.T) i = np.where(abs(np.real(w) - 1.0) < 1e-8)[0] if not len(i): raise ValueError("no unit eigenvector corresponding to eigenvalue 1") direction = np.real(W[:, i[-1]]).squeeze() # point: unit eigenvector of R33 corresponding to eigenvalue of 1 w, Q = np.linalg.eig(R) i = np.where(abs(np.real(w) - 1.0) < 1e-8)[0] if not len(i): raise ValueError("no unit eigenvector corresponding to eigenvalue 1") point = np.real(Q[:, i[-1]]).squeeze() point /= point[3] # rotation angle depending on direction cosa = (np.trace(R33) - 1.0) / 2.0 if abs(direction[2]) > 1e-8: sina = (R[1, 0] + (cosa - 1.0) * direction[0] * direction[1]) / direction[2] elif abs(direction[1]) > 1e-8: sina = (R[0, 2] + (cosa - 1.0) * direction[0] * direction[2]) / direction[1] else: sina = (R[2, 1] + (cosa - 1.0) * direction[1] * direction[2]) / direction[0] angle = np.arctan2(sina, cosa) return angle, direction, point def scale_matrix(factor, origin=None, direction=None): """Return matrix to scale by factor around origin in direction. Use factor -1 for point symmetry. >>> v = (np.random.rand(4, 5) - 0.5) * 20 >>> v[3] = 1 >>> S = scale_matrix(-1.234) >>> np.allclose(np.dot(S, v)[:3], -1.234*v[:3]) True >>> factor = random.random() * 10 - 5 >>> origin = np.random.random(3) - 0.5 >>> direct = np.random.random(3) - 0.5 >>> S = scale_matrix(factor, origin) >>> S = scale_matrix(factor, origin, direct) """ if direction is None: # uniform scaling M = np.diag([factor, factor, factor, 1.0]) if origin is not None: M[:3, 3] = origin[:3] M[:3, 3] *= 1.0 - factor else: # nonuniform scaling direction = unit_vector(direction[:3]) factor = 1.0 - factor M = np.identity(4) M[:3, :3] -= factor * np.outer(direction, direction) if origin is not None: M[:3, 3] = (factor * np.dot(origin[:3], direction)) * direction return M def scale_from_matrix(matrix): """Return scaling factor, origin and direction from scaling matrix. >>> factor = random.random() * 10 - 5 >>> origin = np.random.random(3) - 0.5 >>> direct = np.random.random(3) - 0.5 >>> S0 = scale_matrix(factor, origin) >>> factor, origin, direction = scale_from_matrix(S0) >>> S1 = scale_matrix(factor, origin, direction) >>> is_same_transform(S0, S1) True >>> S0 = scale_matrix(factor, origin, direct) >>> factor, origin, direction = scale_from_matrix(S0) >>> S1 = scale_matrix(factor, origin, direction) >>> is_same_transform(S0, S1) True """ M = np.asarray(matrix, dtype=np.float64) M33 = M[:3, :3] factor = np.trace(M33) - 2.0 try: # direction: unit eigenvector corresponding to eigenvalue factor w, V = np.linalg.eig(M33) i = np.where(abs(np.real(w) - factor) < 1e-8)[0][0] direction = np.real(V[:, i]).squeeze() direction /= vector_norm(direction) except IndexError: # uniform scaling factor = (factor + 2.0) / 3.0 direction = None # origin: any eigenvector corresponding to eigenvalue 1 w, V = np.linalg.eig(M) i = np.where(abs(np.real(w) - 1.0) < 1e-8)[0] if not len(i): raise ValueError("no eigenvector corresponding to eigenvalue 1") origin = np.real(V[:, i[-1]]).squeeze() origin /= origin[3] return factor, origin, direction def projection_matrix(point, normal, direction=None, perspective=None, pseudo=False): """Return matrix to project onto plane defined by point and normal. Using either perspective point, projection direction, or none of both. If pseudo is True, perspective projections will preserve relative depth such that Perspective = dot(Orthogonal, PseudoPerspective). >>> P = projection_matrix([0, 0, 0], [1, 0, 0]) >>> np.allclose(P[1:, 1:], np.identity(4)[1:, 1:]) True >>> point = np.random.random(3) - 0.5 >>> normal = np.random.random(3) - 0.5 >>> direct = np.random.random(3) - 0.5 >>> persp = np.random.random(3) - 0.5 >>> P0 = projection_matrix(point, normal) >>> P1 = projection_matrix(point, normal, direction=direct) >>> P2 = projection_matrix(point, normal, perspective=persp) >>> P3 = projection_matrix(point, normal, perspective=persp, pseudo=True) >>> is_same_transform(P2, np.dot(P0, P3)) True >>> P = projection_matrix([3, 0, 0], [1, 1, 0], [1, 0, 0]) >>> v0 = (np.random.rand(4, 5) - 0.5) * 20 >>> v0[3] = 1 >>> v1 = np.dot(P, v0) >>> np.allclose(v1[1], v0[1]) True >>> np.allclose(v1[0], 3-v1[1]) True """ M = np.identity(4) point = np.asarray(point[:3], dtype=np.float64) normal = unit_vector(normal[:3]) if perspective is not None: # perspective projection perspective = np.asarray(perspective[:3], dtype=np.float64) M[0, 0] = M[1, 1] = M[2, 2] = np.dot(perspective - point, normal) M[:3, :3] -= np.outer(perspective, normal) if pseudo: # preserve relative depth M[:3, :3] -= np.outer(normal, normal) M[:3, 3] = np.dot(point, normal) * (perspective + normal) else: M[:3, 3] = np.dot(point, normal) * perspective M[3, :3] = -normal M[3, 3] = np.dot(perspective, normal) elif direction is not None: # parallel projection direction = np.asarray(direction[:3], dtype=np.float64) scale = np.dot(direction, normal) M[:3, :3] -= np.outer(direction, normal) / scale M[:3, 3] = direction * (np.dot(point, normal) / scale) else: # orthogonal projection M[:3, :3] -= np.outer(normal, normal) M[:3, 3] = np.dot(point, normal) * normal return M def projection_from_matrix(matrix, pseudo=False): """Return projection plane and perspective point from projection matrix. Return values are same as arguments for projection_matrix function: point, normal, direction, perspective, and pseudo. >>> point = np.random.random(3) - 0.5 >>> normal = np.random.random(3) - 0.5 >>> direct = np.random.random(3) - 0.5 >>> persp = np.random.random(3) - 0.5 >>> P0 = projection_matrix(point, normal) >>> result = projection_from_matrix(P0) >>> P1 = projection_matrix(*result) >>> is_same_transform(P0, P1) True >>> P0 = projection_matrix(point, normal, direct) >>> result = projection_from_matrix(P0) >>> P1 = projection_matrix(*result) >>> is_same_transform(P0, P1) True >>> P0 = projection_matrix(point, normal, perspective=persp, pseudo=False) >>> result = projection_from_matrix(P0, pseudo=False) >>> P1 = projection_matrix(*result) >>> is_same_transform(P0, P1) True >>> P0 = projection_matrix(point, normal, perspective=persp, pseudo=True) >>> result = projection_from_matrix(P0, pseudo=True) >>> P1 = projection_matrix(*result) >>> is_same_transform(P0, P1) True """ M = np.asarray(matrix, dtype=np.float64) M33 = M[:3, :3] w, V = np.linalg.eig(M) i = np.where(abs(np.real(w) - 1.0) < 1e-8)[0] if not pseudo and len(i): # point: any eigenvector corresponding to eigenvalue 1 point = np.real(V[:, i[-1]]).squeeze() point /= point[3] # direction: unit eigenvector corresponding to eigenvalue 0 w, V = np.linalg.eig(M33) i = np.where(abs(np.real(w)) < 1e-8)[0] if not len(i): raise ValueError("no eigenvector corresponding to eigenvalue 0") direction = np.real(V[:, i[0]]).squeeze() direction /= vector_norm(direction) # normal: unit eigenvector of M33.T corresponding to eigenvalue 0 w, V = np.linalg.eig(M33.T) i = np.where(abs(np.real(w)) < 1e-8)[0] if len(i): # parallel projection normal = np.real(V[:, i[0]]).squeeze() normal /= vector_norm(normal) return point, normal, direction, None, False else: # orthogonal projection, where normal equals direction vector return point, direction, None, None, False else: # perspective projection i = np.where(abs(np.real(w)) > 1e-8)[0] if not len(i): raise ValueError("no eigenvector not corresponding to eigenvalue 0") point = np.real(V[:, i[-1]]).squeeze() point /= point[3] normal = -M[3, :3] perspective = M[:3, 3] / np.dot(point[:3], normal) if pseudo: perspective -= normal return point, normal, None, perspective, pseudo def clip_matrix(left, right, bottom, top, near, far, perspective=False): """Return matrix to obtain normalized device coordinates from frustum. The frustum bounds are axis-aligned along x (left, right), y (bottom, top) and z (near, far). Normalized device coordinates are in range [-1, 1] if coordinates are inside the frustum. If perspective is True the frustum is a truncated pyramid with the perspective point at origin and direction along z axis, otherwise an orthographic canonical view volume (a box). Homogeneous coordinates transformed by the perspective clip matrix need to be dehomogenized (divided by w coordinate). >>> frustum = np.random.rand(6) >>> frustum[1] += frustum[0] >>> frustum[3] += frustum[2] >>> frustum[5] += frustum[4] >>> M = clip_matrix(perspective=False, *frustum) >>> a = np.dot(M, [frustum[0], frustum[2], frustum[4], 1]) >>> np.allclose(a, [-1., -1., -1., 1.]) True >>> b = np.dot(M, [frustum[1], frustum[3], frustum[5], 1]) >>> np.allclose(b, [ 1., 1., 1., 1.]) True >>> M = clip_matrix(perspective=True, *frustum) >>> v = np.dot(M, [frustum[0], frustum[2], frustum[4], 1]) >>> c = v / v[3] >>> np.allclose(c, [-1., -1., -1., 1.]) True >>> v = np.dot(M, [frustum[1], frustum[3], frustum[4], 1]) >>> d = v / v[3] >>> np.allclose(d, [ 1., 1., -1., 1.]) True """ if left >= right or bottom >= top or near >= far: raise ValueError("invalid frustum") if perspective: if near <= _EPS: raise ValueError("invalid frustum: near <= 0") t = 2.0 * near M = [ [t / (left - right), 0.0, (right + left) / (right - left), 0.0], [0.0, t / (bottom - top), (top + bottom) / (top - bottom), 0.0], [0.0, 0.0, (far + near) / (near - far), t * far / (far - near)], [0.0, 0.0, -1.0, 0.0], ] else: M = [ [2.0 / (right - left), 0.0, 0.0, (right + left) / (left - right)], [0.0, 2.0 / (top - bottom), 0.0, (top + bottom) / (bottom - top)], [0.0, 0.0, 2.0 / (far - near), (far + near) / (near - far)], [0.0, 0.0, 0.0, 1.0], ] return np.array(M) def shear_matrix(angle, direction, point, normal): """Return matrix to shear by angle along direction vector on shear plane. The shear plane is defined by a point and normal vector. The direction vector must be orthogonal to the plane's normal vector. A point P is transformed by the shear matrix into P" such that the vector P-P" is parallel to the direction vector and its extent is given by the angle of P-P'-P", where P' is the orthogonal projection of P onto the shear plane. >>> angle = (random.random() - 0.5) * 4*np.pi >>> direct = np.random.random(3) - 0.5 >>> point = np.random.random(3) - 0.5 >>> normal = np.cross(direct, np.random.random(3)) >>> S = shear_matrix(angle, direct, point, normal) >>> np.allclose(1, np.linalg.det(S)) True """ normal = unit_vector(normal[:3]) direction = unit_vector(direction[:3]) if abs(np.dot(normal, direction)) > 1e-6: raise ValueError("direction and normal vectors are not orthogonal") angle = np.tan(angle) M = np.identity(4) M[:3, :3] += angle * np.outer(direction, normal) M[:3, 3] = -angle * np.dot(point[:3], normal) * direction return M def shear_from_matrix(matrix): """Return shear angle, direction and plane from shear matrix. >>> angle = np.pi / 2.0 >>> direct = [0.0, 1.0, 0.0] >>> point = [0.0, 0.0, 0.0] >>> normal = np.cross(direct, np.roll(direct,1)) >>> S0 = shear_matrix(angle, direct, point, normal) >>> angle, direct, point, normal = shear_from_matrix(S0) >>> S1 = shear_matrix(angle, direct, point, normal) >>> is_same_transform(S0, S1) True """ M = np.asarray(matrix, dtype=np.float64) M33 = M[:3, :3] # normal: cross independent eigenvectors corresponding to the eigenvalue 1 w, V = np.linalg.eig(M33) i = np.where(abs(np.real(w) - 1.0) < 1e-4)[0] if len(i) < 2: raise ValueError(f"no two linear independent eigenvectors found {w}") V = np.real(V[:, i]).squeeze().T lenorm = -1.0 for i0, i1 in ((0, 1), (0, 2), (1, 2)): n = np.cross(V[i0], V[i1]) w = vector_norm(n) if w > lenorm: lenorm = w normal = n normal /= lenorm # direction and angle direction = np.dot(M33 - np.identity(3), normal) angle = vector_norm(direction) direction /= angle angle = np.arctan(angle) # point: eigenvector corresponding to eigenvalue 1 w, V = np.linalg.eig(M) i = np.where(abs(np.real(w) - 1.0) < 1e-8)[0] if not len(i): raise ValueError("no eigenvector corresponding to eigenvalue 1") point = np.real(V[:, i[-1]]).squeeze() point /= point[3] return angle, direction, point, normal def decompose_matrix(matrix): """Return sequence of transformations from transformation matrix. matrix : array_like Non-degenerative homogeneous transformation matrix Return tuple of: scale : vector of 3 scaling factors shear : list of shear factors for x-y, x-z, y-z axes angles : list of Euler angles about static x, y, z axes translate : translation vector along x, y, z axes perspective : perspective partition of matrix Raise ValueError if matrix is of wrong type or degenerative. >>> T0 = translation_matrix([1, 2, 3]) >>> scale, shear, angles, trans, persp = decompose_matrix(T0) >>> T1 = translation_matrix(trans) >>> np.allclose(T0, T1) True >>> S = scale_matrix(0.123) >>> scale, shear, angles, trans, persp = decompose_matrix(S) >>> bool(np.isclose(scale[0], 0.123)) True >>> R0 = euler_matrix(1, 2, 3) >>> scale, shear, angles, trans, persp = decompose_matrix(R0) >>> R1 = euler_matrix(*angles) >>> np.allclose(R0, R1) True """ M = np.array(matrix, dtype=np.float64).T if abs(M[3, 3]) < _EPS: raise ValueError("M[3, 3] is zero") M /= M[3, 3] P = M.copy() P[:, 3] = 0.0, 0.0, 0.0, 1.0 if not np.linalg.det(P): raise ValueError("matrix is singular") scale = np.zeros((3,)) shear = [0.0, 0.0, 0.0] angles = [0.0, 0.0, 0.0] if any(abs(M[:3, 3]) > _EPS): perspective = np.dot(M[:, 3], np.linalg.inv(P.T)) M[:, 3] = 0.0, 0.0, 0.0, 1.0 else: perspective = np.array([0.0, 0.0, 0.0, 1.0]) translate = M[3, :3].copy() M[3, :3] = 0.0 row = M[:3, :3].copy() scale[0] = vector_norm(row[0]) row[0] /= scale[0] shear[0] = np.dot(row[0], row[1]) row[1] -= row[0] * shear[0] scale[1] = vector_norm(row[1]) row[1] /= scale[1] shear[0] /= scale[1] shear[1] = np.dot(row[0], row[2]) row[2] -= row[0] * shear[1] shear[2] = np.dot(row[1], row[2]) row[2] -= row[1] * shear[2] scale[2] = vector_norm(row[2]) row[2] /= scale[2] shear[1:] /= scale[2] if np.dot(row[0], np.cross(row[1], row[2])) < 0: np.negative(scale, scale) np.negative(row, row) angles[1] = np.arcsin(-row[0, 2]) if np.cos(angles[1]): angles[0] = np.arctan2(row[1, 2], row[2, 2]) angles[2] = np.arctan2(row[0, 1], row[0, 0]) else: angles[0] = np.arctan2(-row[2, 1], row[1, 1]) angles[2] = 0.0 return scale, shear, angles, translate, perspective def compose_matrix(scale=None, shear=None, angles=None, translate=None, perspective=None): """Return transformation matrix from sequence of transformations. This is the inverse of the decompose_matrix function. Sequence of transformations: scale : vector of 3 scaling factors shear : list of shear factors for x-y, x-z, y-z axes angles : list of Euler angles about static x, y, z axes translate : translation vector along x, y, z axes perspective : perspective partition of matrix >>> scale = np.random.random(3) - 0.5 >>> shear = np.random.random(3) - 0.5 >>> angles = (np.random.random(3) - 0.5) * (2*np.pi) >>> trans = np.random.random(3) - 0.5 >>> persp = np.random.random(4) - 0.5 >>> M0 = compose_matrix(scale, shear, angles, trans, persp) >>> result = decompose_matrix(M0) >>> M1 = compose_matrix(*result) >>> is_same_transform(M0, M1) True """ M = np.identity(4) if perspective is not None: P = np.identity(4) P[3, :] = perspective[:4] M = np.dot(M, P) if translate is not None: T = np.identity(4) T[:3, 3] = translate[:3] M = np.dot(M, T) if angles is not None: R = euler_matrix(angles[0], angles[1], angles[2], "sxyz") M = np.dot(M, R) if shear is not None: Z = np.identity(4) Z[1, 2] = shear[2] Z[0, 2] = shear[1] Z[0, 1] = shear[0] M = np.dot(M, Z) if scale is not None: S = np.identity(4) S[0, 0] = scale[0] S[1, 1] = scale[1] S[2, 2] = scale[2] M = np.dot(M, S) M /= M[3, 3] return M def orthogonalization_matrix(lengths, angles): """Return orthogonalization matrix for crystallographic cell coordinates. Angles are expected in degrees. The de-orthogonalization matrix is the inverse. >>> O = orthogonalization_matrix([10, 10, 10], [90, 90, 90]) >>> np.allclose(O[:3, :3], np.identity(3, float) * 10) True >>> O = orthogonalization_matrix([9.8, 12.0, 15.5], [87.2, 80.7, 69.7]) >>> np.allclose(np.sum(O), 43.063229) True """ a, b, c = lengths angles = np.radians(angles) sina, sinb, _ = np.sin(angles) cosa, cosb, cosg = np.cos(angles) co = (cosa * cosb - cosg) / (sina * sinb) return np.array( [ [a * sinb * np.sqrt(1.0 - co * co), 0.0, 0.0, 0.0], [-a * sinb * co, b * sina, 0.0, 0.0], [a * cosb, b * cosa, c, 0.0], [0.0, 0.0, 0.0, 1.0], ] ) def affine_matrix_from_points(v0, v1, shear=True, scale=True, usesvd=True): """Return affine transform matrix to register two point sets. v0 and v1 are shape (ndims, *) arrays of at least ndims non-homogeneous coordinates, where ndims is the dimensionality of the coordinate space. If shear is False, a similarity transformation matrix is returned. If also scale is False, a rigid/Euclidean transformation matrix is returned. By default the algorithm by Hartley and Zissermann [15] is used. If usesvd is True, similarity and Euclidean transformation matrices are calculated by minimizing the weighted sum of squared deviations (RMSD) according to the algorithm by Kabsch [8]. Otherwise, and if ndims is 3, the quaternion based algorithm by Horn [9] is used, which is slower when using this Python implementation. The returned matrix performs rotation, translation and uniform scaling (if specified). >>> v0 = [[0, 1031, 1031, 0], [0, 0, 1600, 1600]] >>> v1 = [[675, 826, 826, 677], [55, 52, 281, 277]] >>> mat = affine_matrix_from_points(v0, v1) >>> T = translation_matrix(np.random.random(3)-0.5) >>> R = random_rotation_matrix(np.random.random(3)) >>> S = scale_matrix(random.random()) >>> M = concatenate_matrices(T, R, S) >>> v0 = (np.random.rand(4, 100) - 0.5) * 20 >>> v0[3] = 1 >>> v1 = np.dot(M, v0) >>> v0[:3] += np.random.normal(0, 1e-8, 300).reshape(3, -1) >>> M = affine_matrix_from_points(v0[:3], v1[:3]) >>> check = np.allclose(v1, np.dot(M, v0)) More examples in superimposition_matrix() """ v0 = np.array(v0, dtype=np.float64) v1 = np.array(v1, dtype=np.float64) ndims = v0.shape[0] if ndims < 2 or v0.shape[1] < ndims or v0.shape != v1.shape: raise ValueError("input arrays are of wrong shape or type") # move centroids to origin t0 = -np.mean(v0, axis=1) M0 = np.identity(ndims + 1) M0[:ndims, ndims] = t0 v0 += t0.reshape(ndims, 1) t1 = -np.mean(v1, axis=1) M1 = np.identity(ndims + 1) M1[:ndims, ndims] = t1 v1 += t1.reshape(ndims, 1) if shear: # Affine transformation A = np.concatenate((v0, v1), axis=0) u, s, vh = np.linalg.svd(A.T) vh = vh[:ndims].T B = vh[:ndims] C = vh[ndims : 2 * ndims] t = np.dot(C, np.linalg.pinv(B)) t = np.concatenate((t, np.zeros((ndims, 1))), axis=1) M = np.vstack((t, ((0.0,) * ndims) + (1.0,))) elif usesvd or ndims != 3: # Rigid transformation via SVD of covariance matrix u, s, vh = np.linalg.svd(np.dot(v1, v0.T)) # rotation matrix from SVD orthonormal bases R = np.dot(u, vh) if np.linalg.det(R) < 0.0: # R does not constitute right handed system R -= np.outer(u[:, ndims - 1], vh[ndims - 1, :] * 2.0) s[-1] *= -1.0 # homogeneous transformation matrix M = np.identity(ndims + 1) M[:ndims, :ndims] = R else: # Rigid transformation matrix via quaternion # compute symmetric matrix N xx, yy, zz = np.sum(v0 * v1, axis=1) xy, yz, zx = np.sum(v0 * np.roll(v1, -1, axis=0), axis=1) xz, yx, zy = np.sum(v0 * np.roll(v1, -2, axis=0), axis=1) N = [ [xx + yy + zz, 0.0, 0.0, 0.0], [yz - zy, xx - yy - zz, 0.0, 0.0], [zx - xz, xy + yx, yy - xx - zz, 0.0], [xy - yx, zx + xz, yz + zy, zz - xx - yy], ] # quaternion: eigenvector corresponding to most positive eigenvalue w, V = np.linalg.eigh(N) q = V[:, np.argmax(w)] q /= vector_norm(q) # unit quaternion # homogeneous transformation matrix M = quaternion_matrix(q) if scale and not shear: # Affine transformation; scale is ratio of RMS deviations from centroid v0 *= v0 v1 *= v1 M[:ndims, :ndims] *= np.sqrt(np.sum(v1) / np.sum(v0)) # move centroids back M = np.dot(np.linalg.inv(M1), np.dot(M, M0)) M /= M[ndims, ndims] return M def superimposition_matrix(v0, v1, scale=False, usesvd=True): """Return matrix to transform given 3D point set into second point set. v0 and v1 are shape (3, *) or (4, *) arrays of at least 3 points. The parameters scale and usesvd are explained in the more general affine_matrix_from_points function. The returned matrix is a similarity or Euclidean transformation matrix. This function has a fast C implementation in transformations.c. >>> v0 = np.random.rand(3, 10) >>> M = superimposition_matrix(v0, v0) >>> np.allclose(M, np.identity(4)) True >>> R = random_rotation_matrix(np.random.random(3)) >>> v0 = [[1,0,0], [0,1,0], [0,0,1], [1,1,1]] >>> v1 = np.dot(R, v0) >>> M = superimposition_matrix(v0, v1) >>> np.allclose(v1, np.dot(M, v0)) True >>> v0 = (np.random.rand(4, 100) - 0.5) * 20 >>> v0[3] = 1 >>> v1 = np.dot(R, v0) >>> M = superimposition_matrix(v0, v1) >>> np.allclose(v1, np.dot(M, v0)) True >>> S = scale_matrix(random.random()) >>> T = translation_matrix(np.random.random(3)-0.5) >>> M = concatenate_matrices(T, R, S) >>> v1 = np.dot(M, v0) >>> v0[:3] += np.random.normal(0, 1e-9, 300).reshape(3, -1) >>> M = superimposition_matrix(v0, v1, scale=True) >>> np.allclose(v1, np.dot(M, v0)) True >>> M = superimposition_matrix(v0, v1, scale=True, usesvd=False) >>> np.allclose(v1, np.dot(M, v0)) True >>> v = np.zeros((4, 100, 3)) >>> v[:, :, 0] = v0 >>> M = superimposition_matrix(v0, v1, scale=True, usesvd=False) >>> np.allclose(v1, np.dot(M, v[:, :, 0])) True """ v0 = np.asarray(v0, dtype=np.float64)[:3] v1 = np.asarray(v1, dtype=np.float64)[:3] return affine_matrix_from_points(v0, v1, shear=False, scale=scale, usesvd=usesvd) def euler_matrix(ai, aj, ak, axes="sxyz"): """Return homogeneous rotation matrix from Euler angles and axis sequence. ai, aj, ak : Euler's roll, pitch and yaw angles axes : One of 24 axis sequences as string or encoded tuple >>> R = euler_matrix(1, 2, 3, 'syxz') >>> np.allclose(np.sum(R[0]), -1.34786452) True >>> R = euler_matrix(1, 2, 3, (0, 1, 0, 1)) >>> np.allclose(np.sum(R[0]), -0.383436184) True >>> ai, aj, ak = (4*np.pi) * (np.random.random(3) - 0.5) >>> for axes in _AXES2TUPLE.keys(): ... R = euler_matrix(ai, aj, ak, axes) >>> for axes in _TUPLE2AXES.keys(): ... R = euler_matrix(ai, aj, ak, axes) """ try: firstaxis, parity, repetition, frame = _AXES2TUPLE[axes] except (AttributeError, KeyError): _TUPLE2AXES[axes] # validation firstaxis, parity, repetition, frame = axes i = firstaxis j = _NEXT_AXIS[i + parity] k = _NEXT_AXIS[i - parity + 1] if frame: ai, ak = ak, ai if parity: ai, aj, ak = -ai, -aj, -ak if "sympy" in str(type(ai)): # if we have been passed input values as sympy.Symbol # use symbolic cosine and identity matrix from sympy import cos, eye, sin M = eye(4) else: sin, cos = np.sin, np.cos M = np.eye(4) si, sj, sk = sin(ai), sin(aj), sin(ak) ci, cj, ck = cos(ai), cos(aj), cos(ak) cc, cs = ci * ck, ci * sk sc, ss = si * ck, si * sk if repetition: M[i, i] = cj M[i, j] = sj * si M[i, k] = sj * ci M[j, i] = sj * sk M[j, j] = -cj * ss + cc M[j, k] = -cj * cs - sc M[k, i] = -sj * ck M[k, j] = cj * sc + cs M[k, k] = cj * cc - ss else: M[i, i] = cj * ck M[i, j] = sj * sc - cs M[i, k] = sj * cc + ss M[j, i] = cj * sk M[j, j] = sj * ss + cc M[j, k] = sj * cs - sc M[k, i] = -sj M[k, j] = cj * si M[k, k] = cj * ci return M def euler_from_matrix(matrix, axes="sxyz"): """Return Euler angles from rotation matrix for specified axis sequence. axes : One of 24 axis sequences as string or encoded tuple Note that many Euler angle triplets can describe one matrix. >>> R0 = euler_matrix(1, 2, 3, 'syxz') >>> al, be, ga = euler_from_matrix(R0, 'syxz') >>> R1 = euler_matrix(al, be, ga, 'syxz') >>> np.allclose(R0, R1) True >>> angles = (4*np.pi) * (np.random.random(3) - 0.5) >>> for axes in _AXES2TUPLE.keys(): ... R0 = euler_matrix(axes=axes, *angles) ... R1 = euler_matrix(axes=axes, *euler_from_matrix(R0, axes)) ... if not np.allclose(R0, R1): print(axes, "failed") """ try: firstaxis, parity, repetition, frame = _AXES2TUPLE[axes.lower()] except (AttributeError, KeyError): _TUPLE2AXES[axes] # validation firstaxis, parity, repetition, frame = axes i = firstaxis j = _NEXT_AXIS[i + parity] k = _NEXT_AXIS[i - parity + 1] M = np.asarray(matrix, dtype=np.float64)[:3, :3] if repetition: sy = np.sqrt(M[i, j] * M[i, j] + M[i, k] * M[i, k]) if sy > _EPS: ax = np.arctan2(M[i, j], M[i, k]) ay = np.arctan2(sy, M[i, i]) az = np.arctan2(M[j, i], -M[k, i]) else: ax = np.arctan2(-M[j, k], M[j, j]) ay = np.arctan2(sy, M[i, i]) az = 0.0 else: cy = np.sqrt(M[i, i] * M[i, i] + M[j, i] * M[j, i]) if cy > _EPS: ax = np.arctan2(M[k, j], M[k, k]) ay = np.arctan2(-M[k, i], cy) az = np.arctan2(M[j, i], M[i, i]) else: ax = np.arctan2(-M[j, k], M[j, j]) ay = np.arctan2(-M[k, i], cy) az = 0.0 if parity: ax, ay, az = -ax, -ay, -az if frame: ax, az = az, ax return ax, ay, az def euler_from_quaternion(quaternion, axes="sxyz"): """Return Euler angles from quaternion for specified axis sequence. >>> angles = euler_from_quaternion([0.99810947, 0.06146124, 0, 0]) >>> np.allclose(angles, [0.123, 0, 0]) True """ return euler_from_matrix(quaternion_matrix(quaternion), axes) def quaternion_from_euler(ai, aj, ak, axes="sxyz"): """Return quaternion from Euler angles and axis sequence. ai, aj, ak : Euler's roll, pitch and yaw angles axes : One of 24 axis sequences as string or encoded tuple >>> q = quaternion_from_euler(1, 2, 3, 'ryxz') >>> np.allclose(q, [0.435953, 0.310622, -0.718287, 0.444435]) True """ try: firstaxis, parity, repetition, frame = _AXES2TUPLE[axes.lower()] except (AttributeError, KeyError): _TUPLE2AXES[axes] # validation firstaxis, parity, repetition, frame = axes i = firstaxis + 1 j = _NEXT_AXIS[i + parity - 1] + 1 k = _NEXT_AXIS[i - parity] + 1 if frame: ai, ak = ak, ai if parity: aj = -aj ai /= 2.0 aj /= 2.0 ak /= 2.0 ci = np.cos(ai) si = np.sin(ai) cj = np.cos(aj) sj = np.sin(aj) ck = np.cos(ak) sk = np.sin(ak) cc = ci * ck cs = ci * sk sc = si * ck ss = si * sk q = np.zeros((4,)) if repetition: q[0] = cj * (cc - ss) q[i] = cj * (cs + sc) q[j] = sj * (cc + ss) q[k] = sj * (cs - sc) else: q[0] = cj * cc + sj * ss q[i] = cj * sc - sj * cs q[j] = cj * ss + sj * cc q[k] = cj * cs - sj * sc if parity: q[j] *= -1.0 return q def quaternion_about_axis(angle, axis): """Return quaternion for rotation about axis. >>> q = quaternion_about_axis(0.123, [1, 0, 0]) >>> np.allclose(q, [0.99810947, 0.06146124, 0, 0]) True """ q = np.array([0.0, axis[0], axis[1], axis[2]]) qlen = vector_norm(q) if qlen > _EPS: q *= np.sin(angle / 2.0) / qlen q[0] = np.cos(angle / 2.0) return q def quaternion_matrix(quaternion): """ Return a homogeneous rotation matrix from quaternion. >>> M = quaternion_matrix([0.99810947, 0.06146124, 0, 0]) >>> np.allclose(M, rotation_matrix(0.123, [1, 0, 0])) True >>> M = quaternion_matrix([1, 0, 0, 0]) >>> np.allclose(M, np.identity(4)) True >>> M = quaternion_matrix([0, 1, 0, 0]) >>> np.allclose(M, np.diag([1, -1, -1, 1])) True >>> M = quaternion_matrix([[1, 0, 0, 0],[0, 1, 0, 0]]) >>> np.allclose(M, np.array([np.identity(4), np.diag([1, -1, -1, 1])])) True """ q = np.array(quaternion, dtype=np.float64).reshape((-1, 4)) n = np.einsum("ij,ij->i", q, q) # how many entries do we have num_qs = len(n) identities = n < _EPS q[~identities, :] *= np.sqrt(2.0 / n[~identities, None]) q = np.einsum("ij,ik->ikj", q, q) # store the result ret = np.zeros((num_qs, 4, 4)) # pack the values into the result ret[:, 0, 0] = 1.0 - q[:, 2, 2] - q[:, 3, 3] ret[:, 0, 1] = q[:, 1, 2] - q[:, 3, 0] ret[:, 0, 2] = q[:, 1, 3] + q[:, 2, 0] ret[:, 1, 0] = q[:, 1, 2] + q[:, 3, 0] ret[:, 1, 1] = 1.0 - q[:, 1, 1] - q[:, 3, 3] ret[:, 1, 2] = q[:, 2, 3] - q[:, 1, 0] ret[:, 2, 0] = q[:, 1, 3] - q[:, 2, 0] ret[:, 2, 1] = q[:, 2, 3] + q[:, 1, 0] ret[:, 2, 2] = 1.0 - q[:, 1, 1] - q[:, 2, 2] ret[:, 3, 3] = 1.0 # set any identities ret[identities] = np.eye(4)[None, ...] return ret.squeeze() def quaternion_from_matrix(matrix, isprecise=False): """Return quaternion from rotation matrix. If isprecise is True, the input matrix is assumed to be a precise rotation matrix and a faster algorithm is used. >>> q = quaternion_from_matrix(np.identity(4), True) >>> np.allclose(q, [1, 0, 0, 0]) True >>> q = quaternion_from_matrix(np.diag([1, -1, -1, 1])) >>> np.allclose(q, [0, 1, 0, 0]) or np.allclose(q, [0, -1, 0, 0]) True >>> R = rotation_matrix(0.123, (1, 2, 3)) >>> q = quaternion_from_matrix(R, True) >>> np.allclose(q, [0.9981095, 0.0164262, 0.0328524, 0.0492786]) True >>> R = [[-0.545, 0.797, 0.260, 0], [0.733, 0.603, -0.313, 0], ... [-0.407, 0.021, -0.913, 0], [0, 0, 0, 1]] >>> q = quaternion_from_matrix(R) >>> np.allclose(q, [0.19069, 0.43736, 0.87485, -0.083611]) True >>> R = [[0.395, 0.362, 0.843, 0], [-0.626, 0.796, -0.056, 0], ... [-0.677, -0.498, 0.529, 0], [0, 0, 0, 1]] >>> q = quaternion_from_matrix(R) >>> np.allclose(q, [0.82336615, -0.13610694, 0.46344705, -0.29792603]) True >>> R = random_rotation_matrix() >>> q = quaternion_from_matrix(R) >>> is_same_transform(R, quaternion_matrix(q)) True >>> is_same_quaternion(quaternion_from_matrix(R, isprecise=False), ... quaternion_from_matrix(R, isprecise=True)) True >>> R = euler_matrix(0.0, 0.0, np.pi/2.0) >>> is_same_quaternion(quaternion_from_matrix(R, isprecise=False), ... quaternion_from_matrix(R, isprecise=True)) True """ M = np.asarray(matrix, dtype=np.float64)[:4, :4] if isprecise: q = np.zeros((4,)) t = np.trace(M) if t > M[3, 3]: q[0] = t q[3] = M[1, 0] - M[0, 1] q[2] = M[0, 2] - M[2, 0] q[1] = M[2, 1] - M[1, 2] else: i, j, k = 0, 1, 2 if M[1, 1] > M[0, 0]: i, j, k = 1, 2, 0 if M[2, 2] > M[i, i]: i, j, k = 2, 0, 1 t = M[i, i] - (M[j, j] + M[k, k]) + M[3, 3] q[i] = t q[j] = M[i, j] + M[j, i] q[k] = M[k, i] + M[i, k] q[3] = M[k, j] - M[j, k] q = q[[3, 0, 1, 2]] q *= 0.5 / np.sqrt(t * M[3, 3]) else: m00 = M[0, 0] m01 = M[0, 1] m02 = M[0, 2] m10 = M[1, 0] m11 = M[1, 1] m12 = M[1, 2] m20 = M[2, 0] m21 = M[2, 1] m22 = M[2, 2] # symmetric matrix K K = np.array( [ [m00 - m11 - m22, 0.0, 0.0, 0.0], [m01 + m10, m11 - m00 - m22, 0.0, 0.0], [m02 + m20, m12 + m21, m22 - m00 - m11, 0.0], [m21 - m12, m02 - m20, m10 - m01, m00 + m11 + m22], ] ) K /= 3.0 # quaternion is eigenvector of K that corresponds to largest eigenvalue w, V = np.linalg.eigh(K) q = V[[3, 0, 1, 2], np.argmax(w)] if q[0] < 0.0: np.negative(q, q) return q def quaternion_multiply(quaternion1, quaternion0): """Return multiplication of two quaternions. >>> q = quaternion_multiply([4, 1, -2, 3], [8, -5, 6, 7]) >>> np.allclose(q, [28, -44, -14, 48]) True """ w0, x0, y0, z0 = quaternion0 w1, x1, y1, z1 = quaternion1 return np.array( [ -x1 * x0 - y1 * y0 - z1 * z0 + w1 * w0, x1 * w0 + y1 * z0 - z1 * y0 + w1 * x0, -x1 * z0 + y1 * w0 + z1 * x0 + w1 * y0, x1 * y0 - y1 * x0 + z1 * w0 + w1 * z0, ], dtype=np.float64, ) def quaternion_conjugate(quaternion): """Return conjugate of quaternion. >>> q0 = random_quaternion() >>> q1 = quaternion_conjugate(q0) >>> q1[0] == q0[0] and all(q1[1:] == -q0[1:]) True """ q = np.array(quaternion, dtype=np.float64) np.negative(q[1:], q[1:]) return q def quaternion_inverse(quaternion): """Return inverse of quaternion. >>> q0 = random_quaternion() >>> q1 = quaternion_inverse(q0) >>> np.allclose(quaternion_multiply(q0, q1), [1, 0, 0, 0]) True """ q = np.array(quaternion, dtype=np.float64) np.negative(q[1:], q[1:]) return q / np.dot(q, q) def quaternion_real(quaternion): """Return real part of quaternion. >>> quaternion_real([3, 0, 1, 2]) 3.0 """ return float(quaternion[0]) def quaternion_imag(quaternion): """Return imaginary part of quaternion. >>> quaternion_imag([3, 0, 1, 2]) array([0., 1., 2.]) """ return np.array(quaternion[1:4], dtype=np.float64) def quaternion_slerp(quat0, quat1, fraction, spin=0, shortestpath=True): """Return spherical linear interpolation between two quaternions. >>> q0 = random_quaternion() >>> q1 = random_quaternion() >>> q = quaternion_slerp(q0, q1, 0) >>> np.allclose(q, q0) True >>> q = quaternion_slerp(q0, q1, 1, 1) >>> np.allclose(q, q1) True >>> q = quaternion_slerp(q0, q1, 0.5) >>> angle = np.arccos(np.dot(q0, q)) >>> np.allclose(2, np.arccos(np.dot(q0, q1)) / angle) or \ np.allclose(2, np.arccos(-np.dot(q0, q1)) / angle) True """ q0 = unit_vector(quat0[:4]) q1 = unit_vector(quat1[:4]) if fraction == 0.0: return q0 elif fraction == 1.0: return q1 d = np.dot(q0, q1) if abs(abs(d) - 1.0) < _EPS: return q0 if shortestpath and d < 0.0: # invert rotation d = -d np.negative(q1, q1) angle = np.arccos(d) + spin * np.pi if abs(angle) < _EPS: return q0 isin = 1.0 / np.sin(angle) q0 *= np.sin((1.0 - fraction) * angle) * isin q1 *= np.sin(fraction * angle) * isin q0 += q1 return q0 def random_quaternion(rand=None, num=1): """Return uniform random unit quaternion. rand: array like or None Three independent random variables that are uniformly distributed between 0 and 1. >>> q = random_quaternion() >>> np.allclose(1, vector_norm(q)) True >>> q = random_quaternion(num=10) >>> np.allclose(1, vector_norm(q, axis=1)) True >>> q = random_quaternion(np.random.random(3)) >>> len(q.shape), q.shape[0]==4 (1, True) """ if rand is None: rand = np.random.rand(3 * num).reshape((3, -1)) else: assert rand.shape[0] == 3 r1 = np.sqrt(1.0 - rand[0]) r2 = np.sqrt(rand[0]) pi2 = np.pi * 2.0 t1 = pi2 * rand[1] t2 = pi2 * rand[2] return np.array( [np.cos(t2) * r2, np.sin(t1) * r1, np.cos(t1) * r1, np.sin(t2) * r2] ).T.squeeze() def random_rotation_matrix(rand=None, num=1, translate=False): """Return uniform random rotation matrix. rand: array like Three independent random variables that are uniformly distributed between 0 and 1 for each returned quaternion. >>> R = random_rotation_matrix() >>> np.allclose(np.dot(R.T, R), np.identity(4)) True >>> R = random_rotation_matrix(num=10) >>> np.allclose(np.einsum('...ji,...jk->...ik', R, R), np.identity(4)) True """ matrix = quaternion_matrix(random_quaternion(rand=rand, num=num)) if translate: scale = float(translate) matrix[:3, 3] = (np.random.random(3) - 0.5) * scale return matrix class Arcball: """Virtual Trackball Control. >>> ball = Arcball() >>> ball = Arcball(initial=np.identity(4)) >>> ball.place([320, 320], 320) >>> ball.down([500, 250]) >>> ball.drag([475, 275]) >>> R = ball.matrix() >>> np.allclose(np.sum(R), 3.90583455) True >>> ball = Arcball(initial=[1, 0, 0, 0]) >>> ball.place([320, 320], 320) >>> ball.setaxes([1, 1, 0], [-1, 1, 0]) >>> ball.constrain = True >>> ball.down([400, 200]) >>> ball.drag([200, 400]) >>> R = ball.matrix() >>> np.allclose(np.sum(R), 0.2055924) True >>> ball.next() """ def __init__(self, initial=None): """Initialize virtual trackball control. initial : quaternion or rotation matrix """ self._axis = None self._axes = None self._radius = 1.0 self._center = [0.0, 0.0] self._vdown = np.array([0.0, 0.0, 1.0]) self._constrain = False if initial is None: self._qdown = np.array([1.0, 0.0, 0.0, 0.0]) else: initial = np.array(initial, dtype=np.float64) if initial.shape == (4, 4): self._qdown = quaternion_from_matrix(initial) elif initial.shape == (4,): initial /= vector_norm(initial) self._qdown = initial else: raise ValueError("initial not a quaternion or matrix") self._qnow = self._qpre = self._qdown def place(self, center, radius): """Place Arcball, e.g. when window size changes. center : sequence[2] Window coordinates of trackball center. radius : float Radius of trackball in window coordinates. """ self._radius = float(radius) self._center[0] = center[0] self._center[1] = center[1] def setaxes(self, *axes): """Set axes to constrain rotations.""" if axes is None: self._axes = None else: self._axes = [unit_vector(axis) for axis in axes] @property def constrain(self): """Return state of constrain to axis mode.""" return self._constrain @constrain.setter def constrain(self, value): """Set state of constrain to axis mode.""" self._constrain = bool(value) def down(self, point): """Set initial cursor window coordinates and pick constrain-axis.""" self._vdown = arcball_map_to_sphere(point, self._center, self._radius) self._qdown = self._qpre = self._qnow if self._constrain and self._axes is not None: self._axis = arcball_nearest_axis(self._vdown, self._axes) self._vdown = arcball_constrain_to_axis(self._vdown, self._axis) else: self._axis = None def drag(self, point): """Update current cursor window coordinates.""" vnow = arcball_map_to_sphere(point, self._center, self._radius) if self._axis is not None: vnow = arcball_constrain_to_axis(vnow, self._axis) self._qpre = self._qnow t = np.cross(self._vdown, vnow) if np.dot(t, t) < _EPS: self._qnow = self._qdown else: q = [np.dot(self._vdown, vnow), t[0], t[1], t[2]] self._qnow = quaternion_multiply(q, self._qdown) def next(self, acceleration=0.0): """Continue rotation in direction of last drag.""" q = quaternion_slerp(self._qpre, self._qnow, 2.0 + acceleration, False) self._qpre, self._qnow = self._qnow, q def matrix(self): """Return homogeneous rotation matrix.""" return quaternion_matrix(self._qnow) def arcball_map_to_sphere(point, center, radius): """Return unit sphere coordinates from window coordinates.""" v0 = (point[0] - center[0]) / radius v1 = (center[1] - point[1]) / radius n = v0 * v0 + v1 * v1 if n > 1.0: # position outside of sphere n = np.sqrt(n) return np.array([v0 / n, v1 / n, 0.0]) else: return np.array([v0, v1, np.sqrt(1.0 - n)]) def arcball_constrain_to_axis(point, axis): """Return sphere point perpendicular to axis.""" v = np.array(point, dtype=np.float64) a = np.array(axis, dtype=np.float64) v -= a * np.dot(a, v) # on plane n = vector_norm(v) if n > _EPS: if v[2] < 0.0: np.negative(v, v) v /= n return v if a[2] == 1.0: return np.array([1.0, 0.0, 0.0]) return unit_vector([-a[1], a[0], 0.0]) def arcball_nearest_axis(point, axes): """Return axis, which arc is nearest to point.""" point = np.asarray(point, dtype=np.float64) nearest = None mx = -1.0 for axis in axes: t = np.dot(arcball_constrain_to_axis(point, axis), point) if t > mx: nearest = axis mx = t return nearest # epsilon for testing whether a number is close to zero _EPS = np.finfo(float).eps * 4.0 # axis sequences for Euler angles _NEXT_AXIS = [1, 2, 0, 1] # map axes strings to/from tuples of inner axis, parity, repetition, frame _AXES2TUPLE = { "sxyz": (0, 0, 0, 0), "sxyx": (0, 0, 1, 0), "sxzy": (0, 1, 0, 0), "sxzx": (0, 1, 1, 0), "syzx": (1, 0, 0, 0), "syzy": (1, 0, 1, 0), "syxz": (1, 1, 0, 0), "syxy": (1, 1, 1, 0), "szxy": (2, 0, 0, 0), "szxz": (2, 0, 1, 0), "szyx": (2, 1, 0, 0), "szyz": (2, 1, 1, 0), "rzyx": (0, 0, 0, 1), "rxyx": (0, 0, 1, 1), "ryzx": (0, 1, 0, 1), "rxzx": (0, 1, 1, 1), "rxzy": (1, 0, 0, 1), "ryzy": (1, 0, 1, 1), "rzxy": (1, 1, 0, 1), "ryxy": (1, 1, 1, 1), "ryxz": (2, 0, 0, 1), "rzxz": (2, 0, 1, 1), "rxyz": (2, 1, 0, 1), "rzyz": (2, 1, 1, 1), } _TUPLE2AXES = {v: k for k, v in _AXES2TUPLE.items()} def vector_norm(data, axis=None, out=None): """Return length, i.e. Euclidean norm, of ndarray along axis. >>> v = np.random.random(3) >>> n = vector_norm(v) >>> np.allclose(n, np.linalg.norm(v)) True >>> v = np.random.rand(6, 5, 3) >>> n = vector_norm(v, axis=-1) >>> np.allclose(n, np.sqrt(np.sum(v*v, axis=2))) True >>> n = vector_norm(v, axis=1) >>> np.allclose(n, np.sqrt(np.sum(v*v, axis=1))) True >>> v = np.random.rand(5, 4, 3) >>> n = np.zeros((5, 3)) >>> vector_norm(v, axis=1, out=n) >>> np.allclose(n, np.sqrt(np.sum(v*v, axis=1))) True >>> float(vector_norm([])) 0.0 >>> float(vector_norm([1])) 1.0 """ data = np.array(data, dtype=np.float64) if out is None: if data.ndim == 1: return np.sqrt(np.dot(data, data)) data *= data out = np.atleast_1d(np.sum(data, axis=axis)) np.sqrt(out, out) return out else: data *= data np.sum(data, axis=axis, out=out) np.sqrt(out, out) def unit_vector(data, axis=None, out=None): """Return ndarray normalized by length, i.e. Euclidean norm, along axis. >>> v0 = np.random.random(3) >>> v1 = unit_vector(v0) >>> np.allclose(v1, v0 / np.linalg.norm(v0)) True >>> v0 = np.random.rand(5, 4, 3) >>> v1 = unit_vector(v0, axis=-1) >>> v2 = v0 / np.expand_dims(np.sqrt(np.sum(v0*v0, axis=2)), 2) >>> np.allclose(v1, v2) True >>> v1 = unit_vector(v0, axis=1) >>> v2 = v0 / np.expand_dims(np.sqrt(np.sum(v0*v0, axis=1)), 1) >>> np.allclose(v1, v2) True >>> v1 = np.zeros((5, 4, 3)) >>> unit_vector(v0, axis=1, out=v1) >>> np.allclose(v1, v2) True >>> list(unit_vector([])) [] >>> [float(i) for i in unit_vector([1])] [1.0] """ if out is None: data = np.array(data, dtype=np.float64) if data.ndim == 1: data /= np.sqrt(np.dot(data, data)) return data else: if out is not data: out[:] = np.asarray(data) data = out length = np.atleast_1d(np.sum(data * data, axis)) np.sqrt(length, length) if axis is not None: length = np.expand_dims(length, axis) data /= length if out is None: return data def random_vector(size): """Return array of random doubles in the half-open interval [0.0, 1.0). >>> v = random_vector(10000) >>> bool(np.all(v >= 0) and np.all(v < 1)) True >>> v0 = random_vector(10) >>> v1 = random_vector(10) >>> bool(np.any(v0 == v1)) False """ return np.random.random(size) def vector_product(v0, v1, axis=0): """Return vector perpendicular to vectors. >>> v = vector_product([2, 0, 0], [0, 3, 0]) >>> np.allclose(v, [0, 0, 6]) True >>> v0 = [[2, 0, 0, 2], [0, 2, 0, 2], [0, 0, 2, 2]] >>> v1 = [[3], [0], [0]] >>> v = vector_product(v0, v1) >>> np.allclose(v, [[0, 0, 0, 0], [0, 0, 6, 6], [0, -6, 0, -6]]) True >>> v0 = [[2, 0, 0], [2, 0, 0], [0, 2, 0], [2, 0, 0]] >>> v1 = [[0, 3, 0], [0, 0, 3], [0, 0, 3], [3, 3, 3]] >>> v = vector_product(v0, v1, axis=1) >>> np.allclose(v, [[0, 0, 6], [0, -6, 0], [6, 0, 0], [0, -6, 6]]) True """ return np.cross(v0, v1, axis=axis) def angle_between_vectors(v0, v1, directed=True, axis=0): """Return angle between vectors. If directed is False, the input vectors are interpreted as undirected axes, i.e. the maximum angle is pi/2. >>> a = angle_between_vectors([1, -2, 3], [-1, 2, -3]) >>> np.allclose(a, np.pi) True >>> a = angle_between_vectors([1, -2, 3], [-1, 2, -3], directed=False) >>> np.allclose(a, 0) True >>> v0 = [[2, 0, 0, 2], [0, 2, 0, 2], [0, 0, 2, 2]] >>> v1 = [[3], [0], [0]] >>> a = angle_between_vectors(v0, v1) >>> np.allclose(a, [0, 1.5708, 1.5708, 0.95532]) True >>> v0 = [[2, 0, 0], [2, 0, 0], [0, 2, 0], [2, 0, 0]] >>> v1 = [[0, 3, 0], [0, 0, 3], [0, 0, 3], [3, 3, 3]] >>> a = angle_between_vectors(v0, v1, axis=1) >>> np.allclose(a, [1.5708, 1.5708, 1.5708, 0.95532]) True """ v0 = np.asarray(v0, dtype=np.float64) v1 = np.asarray(v1, dtype=np.float64) dot = np.sum(v0 * v1, axis=axis) dot /= vector_norm(v0, axis=axis) * vector_norm(v1, axis=axis) # clip off floating point error to avoid `nan` in the arccos` dot = np.clip(dot, -1.0, 1.0) return np.arccos(dot if directed else np.fabs(dot)) def inverse_matrix(matrix): """Return inverse of square transformation matrix. >>> M0 = random_rotation_matrix() >>> M1 = inverse_matrix(M0.T) >>> np.allclose(M1, np.linalg.inv(M0.T)) True >>> for size in range(1, 7): ... M0 = np.random.rand(size, size) ... M1 = inverse_matrix(M0) ... if not np.allclose(M1, np.linalg.inv(M0)): print(size) """ return np.linalg.inv(matrix) def concatenate_matrices(*matrices): """Return concatenation of series of transformation matrices. >>> M = np.random.rand(16).reshape((4, 4)) - 0.5 >>> np.allclose(M, concatenate_matrices(M)) True >>> np.allclose(np.dot(M, M.T), concatenate_matrices(M, M.T)) True """ M = np.identity(4) for i in matrices: M = np.dot(M, i) return M def is_same_transform(matrix0, matrix1): """Return True if two matrices perform same transformation. >>> is_same_transform(np.identity(4), np.identity(4)) True >>> is_same_transform(np.identity(4), random_rotation_matrix()) False """ matrix0 = np.array(matrix0, dtype=np.float64) matrix0 /= matrix0[3, 3] matrix1 = np.array(matrix1, dtype=np.float64) matrix1 /= matrix1[3, 3] return np.allclose(matrix0, matrix1) def is_same_quaternion(q0, q1): """Return True if two quaternions are equal.""" q0 = np.array(q0) q1 = np.array(q1) return np.allclose(q0, q1) or np.allclose(q0, -q1) def transform_around(matrix, point): """ Given a transformation matrix, apply its rotation around a point in space. Parameters ---------- matrix: (4,4) or (3, 3) float, transformation matrix point: (3,) or (2,) float, point in space Returns --------- result: (4,4) transformation matrix """ point = np.asanyarray(point) matrix = np.asanyarray(matrix) dim = len(point) if matrix.shape != (dim + 1, dim + 1): raise ValueError("matrix must be (d+1, d+1)") translate = np.eye(dim + 1) translate[:dim, dim] = -point result = np.dot(matrix, translate) translate[:dim, dim] = point result = np.dot(translate, result) return result def planar_matrix(offset=None, theta=None, point=None, scale=None): """ 2D homogeonous transformation matrix. Parameters ---------- offset : (2,) float XY offset theta : float Rotation around Z in radians point : (2, ) float Point to rotate around scale : (2,) float or None Scale to apply Returns ---------- matrix : (3, 3) flat Homogeneous 2D transformation matrix """ if offset is None: offset = [0.0, 0.0] if theta is None: theta = 0.0 offset = np.asanyarray(offset, dtype=np.float64) theta = float(theta) if not np.isfinite(theta): raise ValueError("theta must be finite angle!") if offset.shape != (2,): raise ValueError("offset must be length 2!") T = np.eye(3, dtype=np.float64) s = np.sin(theta) c = np.cos(theta) T[0, :2] = [c, s] T[1, :2] = [-s, c] T[:2, 2] = offset if point is not None: T = transform_around(matrix=T, point=point) if scale is not None: S = np.eye(3) S[:2, :2] *= scale T = np.dot(S, T) return T def planar_matrix_to_3D(matrix_2D): """ Given a 2D homogeneous rotation matrix convert it to a 3D rotation matrix that is rotating around the Z axis Parameters ---------- matrix_2D: (3,3) float, homogeneous 2D rotation matrix Returns ---------- matrix_3D: (4,4) float, homogeneous 3D rotation matrix """ matrix_2D = np.asanyarray(matrix_2D, dtype=np.float64) if matrix_2D.shape != (3, 3): raise ValueError("Homogeneous 2D transformation matrix required!") matrix_3D = np.eye(4) # translation matrix_3D[:2, 3] = matrix_2D[:2, 2] # rotation from 2D to around Z matrix_3D[:2, :2] = matrix_2D[:2, :2] return matrix_3D def spherical_matrix(theta, phi, axes="sxyz"): """ Give a spherical coordinate vector, find the rotation that will transform a [0,0,1] vector to those coordinates Parameters ----------- theta: float, rotation angle in radians phi: float, rotation angle in radians Returns ---------- matrix: (4,4) rotation matrix where the following will be a cartesian vector in the direction of the input spherical coordinates: np.dot(matrix, [0,0,1,0]) """ result = euler_matrix(0.0, phi, theta, axes=axes) return result def transform_points( points: ArrayLike, matrix: ArrayLike, translate: bool = True ) -> NDArray[np.float64]: """ Returns points rotated by a homogeneous transformation matrix. If points are (n, 2) matrix must be (3, 3) If points are (n, 3) matrix must be (4, 4) Parameters ---------- points : (n, dim) float Points where `dim` is 2 or 3. matrix : (3, 3) or (4, 4) float Homogeneous rotation matrix. translate : bool Apply translation from matrix or not. Returns ---------- transformed : (n, dim) float Transformed points. """ points = np.asanyarray(points, dtype=np.float64) if len(points) == 0 or matrix is None: return points.copy() # check the matrix against the points matrix = np.asanyarray(matrix, dtype=np.float64) # shorthand the shape count, dim = points.shape # quickly check to see if we've been passed an identity matrix if np.abs(matrix - _IDENTITY[: dim + 1, : dim + 1]).max() < 1e-8: return np.ascontiguousarray(points.copy()) if translate: # apply translation and rotation stack = np.column_stack((points, np.ones(count))) return np.dot(matrix, stack.T).T[:, :dim] # only apply the rotation return np.dot(matrix[:dim, :dim], points.T).T def fix_rigid(matrix, max_deviance=1e-5): """ If a homogeneous transformation matrix is *almost* a rigid transform but many matrix-multiplies have accumulated some floating point error try to restore the matrix using SVD. Parameters ----------- matrix : (4, 4) or (3, 3) float Homogeneous transformation matrix. max_deviance : float Do not alter the matrix if it is not rigid by more than this amount. Returns ---------- repaired : (4, 4) or (3, 3) float Repaired homogeneous transformation matrix """ dim = matrix.shape[0] - 1 check = np.abs( np.dot(matrix[:dim, :dim], matrix[:dim, :dim].T) - _IDENTITY[:dim, :dim] ).max() # if the matrix differs by more than float-zero and less # than the threshold try to repair the matrix with SVD if check > 1e-13 and check < max_deviance: # reconstruct the rotation from the SVD U, _, V = np.linalg.svd(matrix[:dim, :dim]) repaired = np.eye(dim + 1) repaired[:dim, :dim] = np.dot(U, V) # copy in the translation repaired[:dim, dim] = matrix[:dim, dim] # should be within tolerance of the original matrix assert np.allclose(repaired, matrix, atol=max_deviance) return repaired return matrix def is_rigid(matrix, epsilon=1e-8): """ Check to make sure a homogeonous transformation matrix is a rigid transform. Parameters ----------- matrix : (4, 4) float A transformation matrix Returns ----------- check : bool True if matrix is a a transform with only translation, scale, and rotation """ matrix = np.asanyarray(matrix, dtype=np.float64) if matrix.shape != (4, 4): return False # make sure last row has no scaling if np.ptp(matrix[-1] - [0, 0, 0, 1]) > epsilon: return False # check dot product of rotation against transpose check = np.dot(matrix[:3, :3], matrix[:3, :3].T) - _IDENTITY[:3, :3] return np.ptp(check) < epsilon def scale_and_translate(scale=None, translate=None): """ Optimized version of `compose_matrix` for just scaling then translating. Scalar args are broadcast to arrays of shape (3,) Parameters -------------- scale : float or (3,) float Scale factor translate : float or (3,) float Translation """ M = np.eye(4) if np.any(scale != 1): M[:3, :3] *= scale if translate is not None: M[:3, 3] = translate return M def flips_winding(matrix): """ Check to see if a matrix will invert triangles. Parameters ------------- matrix : (4, 4) float Homogeneous transformation matrix Returns -------------- flip : bool True if matrix will flip winding of triangles. """ # get input as numpy array matrix = np.asanyarray(matrix, dtype=np.float64) # how many random triangles do we really want count = 3 # test rotation against some random triangles tri = np.random.random((count * 3, 3)) rot = np.dot(matrix[:3, :3], tri.T).T # stack them into one triangle soup triangles = np.vstack((tri, rot)).reshape((-1, 3, 3)) # find the normals of every triangle vectors = np.diff(triangles, axis=1) cross = np.cross(vectors[:, 0], vectors[:, 1]) # rotate the original normals to match cross[:count] = np.dot(matrix[:3, :3], cross[:count].T).T # unitize normals norm = np.sqrt(np.dot(cross * cross, [1, 1, 1])).reshape((-1, 1)) cross = cross / norm # find the projection of the two normals projection = np.dot(cross[:count] * cross[count:], [1.0] * 3) # if the winding was flipped but not the normal # the projection will be negative, and since we're # checking a few triangles check against the mean flip = projection.mean() < 0.0 return flip trimesh-4.5.1/trimesh/triangles.py000066400000000000000000000524541470574263400172370ustar00rootroot00000000000000""" triangles.py ------------- Functions for dealing with triangle soups in (n, 3, 3) float form. """ from dataclasses import dataclass import numpy as np from . import util from .constants import tol from .points import point_plane_distance from .typed import NDArray, Optional, float64 from .util import diagonal_dot, unitize def cross(triangles: NDArray) -> NDArray: """ Returns the cross product of two edges from input triangles Parameters -------------- triangles: (n, 3, 3) float Vertices of triangles Returns -------------- crosses : (n, 3) float Cross product of two edge vectors """ vectors = triangles[:, 1:, :] - triangles[:, :2, :] if triangles.shape[2] == 3: return np.cross(vectors[:, 0], vectors[:, 1]) elif triangles.shape[2] == 2: a = vectors[:, 0] b = vectors[:, 1] # numpy 2.0 deprecated 2D cross productes return a[:, 0] * b[:, 1] - a[:, 1] * b[:, 0] raise ValueError(triangles.shape) def area(triangles=None, crosses=None): """ Calculates the sum area of input triangles Parameters ---------- triangles : (n, 3, 3) float Vertices of triangles crosses : (n, 3) float or None As a speedup don't re- compute cross products sum : bool Return summed area or individual triangle area Returns ---------- area : (n,) float or float Individual or summed area depending on `sum` argument """ if crosses is None: crosses = cross(np.asanyarray(triangles, dtype=np.float64)) return np.sqrt((crosses**2).sum(axis=1)) / 2.0 def normals(triangles=None, crosses=None): """ Calculates the normals of input triangles Parameters ------------ triangles : (n, 3, 3) float Vertex positions crosses : (n, 3) float Cross products of edge vectors Returns ------------ normals : (m, 3) float Normal vectors valid : (n,) bool Was the face nonzero area or not """ if triangles is not None: triangles = np.asanyarray(triangles, dtype=np.float64) if triangles.shape[-1] == 2: return np.tile([0.0, 0.0, 1.0], (triangles.shape[0], 1)) if crosses is None: crosses = cross(triangles) # unitize the cross product vectors unit, valid = unitize(crosses, check_valid=True) return unit, valid def angles(triangles): """ Calculates the angles of input triangles. Parameters ------------ triangles : (n, 3, 3) float Vertex positions Returns ------------ angles : (n, 3) float Angles at vertex positions in radians Degenerate angles will be returned as zero """ # don't copy triangles triangles = np.asanyarray(triangles, dtype=np.float64) # get a unit vector for each edge of the triangle u = unitize(triangles[:, 1] - triangles[:, 0]) v = unitize(triangles[:, 2] - triangles[:, 0]) w = unitize(triangles[:, 2] - triangles[:, 1]) # run the cosine and per-row dot product result = np.zeros((len(triangles), 3), dtype=np.float64) # clip to make sure we don't float error past 1.0 result[:, 0] = np.arccos(np.clip(diagonal_dot(u, v), -1, 1)) result[:, 1] = np.arccos(np.clip(diagonal_dot(-u, w), -1, 1)) # the third angle is just the remaining result[:, 2] = np.pi - result[:, 0] - result[:, 1] # a triangle with any zero angles is degenerate # so set all of the angles to zero in that case result[(result < tol.merge).any(axis=1), :] = 0.0 return result def all_coplanar(triangles): """ Check to see if a list of triangles are all coplanar Parameters ---------------- triangles: (n, 3, 3) float Vertices of triangles Returns --------------- all_coplanar : bool True if all triangles are coplanar """ triangles = np.asanyarray(triangles, dtype=np.float64) if not util.is_shape(triangles, (-1, 3, 3)): raise ValueError("Triangles must be (n, 3, 3)!") test_normal = normals(triangles)[0] test_vertex = triangles[0][0] distances = point_plane_distance( points=triangles[1:].reshape((-1, 3)), plane_normal=test_normal, plane_origin=test_vertex, ) all_coplanar = np.all(np.abs(distances) < tol.zero) return all_coplanar def any_coplanar(triangles): """ For a list of triangles if the FIRST triangle is coplanar with ANY of the following triangles, return True. Otherwise, return False. """ triangles = np.asanyarray(triangles, dtype=np.float64) if not util.is_shape(triangles, (-1, 3, 3)): raise ValueError("Triangles must be (n, 3, 3)!") test_normal = normals(triangles)[0] test_vertex = triangles[0][0] distances = point_plane_distance( points=triangles[1:].reshape((-1, 3)), plane_normal=test_normal, plane_origin=test_vertex, ) any_coplanar = np.any(np.all(np.abs(distances.reshape((-1, 3)) < tol.zero), axis=1)) return any_coplanar @dataclass class MassProperties: # the density value these mass properties were calculated with # this alters `mass` and `inertia` density: float # the volume multiplied by the density mass: float # the volume produced volume: float # the (3,) center of mass center_mass: NDArray[float64] # the (3, 3) inertia tensor inertia: Optional[NDArray[float64]] = None def __getitem__(self, item): # add for backwards compatibility return getattr(self, item) def mass_properties( triangles, crosses=None, density=None, center_mass=None, skip_inertia=False ) -> MassProperties: """ Calculate the mass properties of a group of triangles. Implemented from: http://www.geometrictools.com/Documentation/PolyhedralMassProperties.pdf Parameters ---------- triangles : (n, 3, 3) float Triangle vertices in space crosses : (n,) float Optional cross products of triangles density : float Optional override for density center_mass : (3,) float Optional override for center mass skip_inertia : bool if True will not return moments matrix Returns --------- info : dict Mass properties """ triangles = np.asanyarray(triangles, dtype=np.float64) if not util.is_shape(triangles, (-1, 3, 3)): raise ValueError("Triangles must be (n, 3, 3)!") if crosses is None: crosses = cross(triangles) if density is None: density = 1.0 # these are the subexpressions of the integral # this is equvilant but 7x faster than triangles.sum(axis=1) f1 = triangles[:, 0, :] + triangles[:, 1, :] + triangles[:, 2, :] # for the the first vertex of every triangle: # triangles[:,0,:] will give rows like [[x0, y0, z0], ...] # for the x coordinates of every triangle # triangles[:,:,0] will give rows like [[x0, x1, x2], ...] f2 = ( triangles[:, 0, :] ** 2 + triangles[:, 1, :] ** 2 + triangles[:, 0, :] * triangles[:, 1, :] + triangles[:, 2, :] * f1 ) f3 = ( (triangles[:, 0, :] ** 3) + (triangles[:, 0, :] ** 2) * (triangles[:, 1, :]) + (triangles[:, 0, :]) * (triangles[:, 1, :] ** 2) + (triangles[:, 1, :] ** 3) + (triangles[:, 2, :] * f2) ) g0 = f2 + (triangles[:, 0, :] + f1) * triangles[:, 0, :] g1 = f2 + (triangles[:, 1, :] + f1) * triangles[:, 1, :] g2 = f2 + (triangles[:, 2, :] + f1) * triangles[:, 2, :] integral = np.zeros((10, len(f1))) integral[0] = crosses[:, 0] * f1[:, 0] integral[1:4] = (crosses * f2).T integral[4:7] = (crosses * f3).T for i in range(3): triangle_i = np.mod(i + 1, 3) integral[i + 7] = crosses[:, i] * ( (triangles[:, 0, triangle_i] * g0[:, i]) + (triangles[:, 1, triangle_i] * g1[:, i]) + (triangles[:, 2, triangle_i] * g2[:, i]) ) integrated = integral.sum(axis=1) / np.array( [6, 24, 24, 24, 60, 60, 60, 120, 120, 120], dtype=np.float64 ) volume = integrated[0] if center_mass is None: if np.abs(volume) < tol.zero: # if there is no volume set center of mass to the origin center_mass = np.zeros(3, dtype=np.float64) else: # otherwise get it from the integration center_mass = integrated[1:4] / volume result = MassProperties( density=density, mass=density * volume, volume=volume, center_mass=center_mass, ) if skip_inertia: return result inertia = np.zeros((3, 3)) inertia[0, 0] = ( integrated[5] + integrated[6] - (volume * (center_mass[[1, 2]] ** 2).sum()) ) inertia[1, 1] = ( integrated[4] + integrated[6] - (volume * (center_mass[[0, 2]] ** 2).sum()) ) inertia[2, 2] = ( integrated[4] + integrated[5] - (volume * (center_mass[[0, 1]] ** 2).sum()) ) inertia[0, 1] = -(integrated[7] - (volume * np.prod(center_mass[[0, 1]]))) inertia[1, 2] = -(integrated[8] - (volume * np.prod(center_mass[[1, 2]]))) inertia[0, 2] = -(integrated[9] - (volume * np.prod(center_mass[[0, 2]]))) inertia[2, 0] = inertia[0, 2] inertia[2, 1] = inertia[1, 2] inertia[1, 0] = inertia[0, 1] result.inertia = inertia * density return result def windings_aligned(triangles, normals_compare): """ Given a list of triangles and a list of normals determine if the two are aligned Parameters ---------- triangles : (n, 3, 3) float Vertex locations in space normals_compare : (n, 3) float List of normals to compare Returns ---------- aligned : (n,) bool Are normals aligned with triangles """ triangles = np.asanyarray(triangles, dtype=np.float64) if not util.is_shape(triangles, (-1, 3, 3), allow_zeros=True): raise ValueError(f"triangles must have shape (n, 3, 3), got {triangles.shape!s}") normals_compare = np.asanyarray(normals_compare, dtype=np.float64) calculated, valid = normals(triangles) if normals_compare.shape == (3,): # single comparison vector case difference = np.dot(calculated, normals_compare) else: # multiple comparison case difference = diagonal_dot(calculated, normals_compare[valid]) aligned = np.zeros(len(triangles), dtype=bool) aligned[valid] = difference > 0.0 return aligned def bounds_tree(triangles): """ Given a list of triangles, create an r-tree for broad- phase collision detection Parameters --------- triangles : (n, 3, 3) float Triangles in space Returns --------- tree : rtree.Rtree One node per triangle """ triangles = np.asanyarray(triangles, dtype=np.float64) if not util.is_shape(triangles, (-1, 3, 3)): raise ValueError("Triangles must be (n, 3, 3)!") # the (n,6) interleaved bounding box for every triangle triangle_bounds = np.column_stack((triangles.min(axis=1), triangles.max(axis=1))) tree = util.bounds_tree(triangle_bounds) return tree def nondegenerate(triangles, areas=None, height=None): """ Find all triangles which have an oriented bounding box where both of the two sides is larger than a specified height. Degenerate triangles can be when: 1) Two of the three vertices are colocated 2) All three vertices are unique but colinear Parameters ---------- triangles : (n, 3, 3) float Triangles in space height : float Minimum edge length of a triangle to keep Returns ---------- nondegenerate : (n,) bool True if a triangle meets required minimum height """ triangles = np.asanyarray(triangles, dtype=np.float64) if not util.is_shape(triangles, (-1, 3, 3)): raise ValueError("Triangles must be (n, 3, 3)!") if height is None: height = tol.merge # if both edges of the triangles OBB are longer than tol.merge # we declare them to be nondegenerate ok = (extents(triangles=triangles, areas=areas) > height).all(axis=1) return ok def extents(triangles, areas=None): """ Return the 2D bounding box size of each triangle. Parameters ---------- triangles : (n, 3, 3) float Triangles in space areas : (n,) float Optional area of input triangles Returns ---------- box : (n, 2) float The size of each triangle's 2D oriented bounding box """ triangles = np.asanyarray(triangles, dtype=np.float64) if not util.is_shape(triangles, (-1, 3, 3)): raise ValueError("Triangles must be (n, 3, 3)!") if areas is None: areas = area(triangles=triangles) # the edge vectors which define the triangle a = triangles[:, 1] - triangles[:, 0] b = triangles[:, 2] - triangles[:, 0] # length of the edge vectors length_a = (a**2).sum(axis=1) ** 0.5 length_b = (b**2).sum(axis=1) ** 0.5 # which edges are acceptable length nonzero_a = length_a > tol.merge nonzero_b = length_b > tol.merge # find the two heights of the triangle # essentially this is the side length of an # oriented bounding box, per triangle box = np.zeros((len(triangles), 2), dtype=np.float64) box[:, 0][nonzero_a] = (areas[nonzero_a] * 2) / length_a[nonzero_a] box[:, 1][nonzero_b] = (areas[nonzero_b] * 2) / length_b[nonzero_b] return box def barycentric_to_points(triangles, barycentric): """ Convert a list of barycentric coordinates on a list of triangles to cartesian points. Parameters ------------ triangles : (n, 3, 3) float Triangles in space barycentric : (n, 2) float Barycentric coordinates Returns ----------- points : (m, 3) float Points in space """ barycentric = np.array(barycentric, dtype=np.float64) triangles = np.asanyarray(triangles, dtype=np.float64) # normalize in-place barycentric /= barycentric.sum(axis=1).reshape((-1, 1)) points = (triangles * barycentric.reshape((-1, 3, 1))).sum(axis=1) return points def points_to_barycentric(triangles, points, method="cramer"): """ Find the barycentric coordinates of points relative to triangles. The Cramer's rule solution implements: http://blackpawn.com/texts/pointinpoly The cross product solution implements: https://www.cs.ubc.ca/~heidrich/Papers/JGT.05.pdf Parameters ----------- triangles : (n, 3, 2 | 3) float Triangles vertices in space points : (n, 2 | 3) float Point in space associated with a triangle method : str Which method to compute the barycentric coordinates with: - 'cross': uses a method using cross products, roughly 2x slower but different numerical robustness properties - anything else: uses a cramer's rule solution Returns ----------- barycentric : (n, 3) float Barycentric coordinates of each point """ def method_cross(): n = np.cross(edge_vectors[:, 0], edge_vectors[:, 1]) denominator = diagonal_dot(n, n) barycentric = np.zeros((len(triangles), 3), dtype=np.float64) barycentric[:, 2] = diagonal_dot(np.cross(edge_vectors[:, 0], w), n) / denominator barycentric[:, 1] = diagonal_dot(np.cross(w, edge_vectors[:, 1]), n) / denominator barycentric[:, 0] = 1 - barycentric[:, 1] - barycentric[:, 2] return barycentric def method_cramer(): dot00 = diagonal_dot(edge_vectors[:, 0], edge_vectors[:, 0]) dot01 = diagonal_dot(edge_vectors[:, 0], edge_vectors[:, 1]) dot02 = diagonal_dot(edge_vectors[:, 0], w) dot11 = diagonal_dot(edge_vectors[:, 1], edge_vectors[:, 1]) dot12 = diagonal_dot(edge_vectors[:, 1], w) inverse_denominator = 1.0 / (dot00 * dot11 - dot01 * dot01) barycentric = np.zeros((len(triangles), 3), dtype=np.float64) barycentric[:, 2] = (dot00 * dot12 - dot01 * dot02) * inverse_denominator barycentric[:, 1] = (dot11 * dot02 - dot01 * dot12) * inverse_denominator barycentric[:, 0] = 1 - barycentric[:, 1] - barycentric[:, 2] return barycentric # establish that input triangles and points are sane triangles = np.asanyarray(triangles, dtype=np.float64) points = np.asanyarray(points, dtype=np.float64) # triangles should be (n, 3, dimension) if len(triangles.shape) != 3: raise ValueError("triangles shape incorrect") # this should work for 2D and 3D triangles dim = triangles.shape[2] if ( len(points.shape) != 2 or points.shape[1] != dim or points.shape[0] != triangles.shape[0] ): raise ValueError("triangles and points must correspond") edge_vectors = triangles[:, 1:] - triangles[:, :1] w = points - triangles[:, 0].reshape((-1, dim)) if method == "cross": return method_cross() return method_cramer() def closest_point(triangles, points): """ Return the closest point on the surface of each triangle for a list of corresponding points. Implements the method from "Real Time Collision Detection" and use the same variable names as "ClosestPtPointTriangle" to avoid being any more confusing. Parameters ---------- triangles : (n, 3, 3) float Triangle vertices in space points : (n, 3) float Points in space Returns ---------- closest : (n, 3) float Point on each triangle closest to each point """ # check input triangles and points triangles = np.asanyarray(triangles, dtype=np.float64) points = np.asanyarray(points, dtype=np.float64) if not util.is_shape(triangles, (-1, 3, 3)): raise ValueError("triangles shape incorrect") if not util.is_shape(points, (len(triangles), 3)): raise ValueError("need same number of triangles and points!") # store the location of the closest point result = np.zeros_like(points) # which points still need to be handled remain = np.ones(len(points), dtype=bool) # if we dot product this against a (n, 3) # it is equivalent but faster than array.sum(axis=1) ones = [1.0, 1.0, 1.0] # get the three points of each triangle # use the same notation as RTCD to avoid confusion a = triangles[:, 0, :] b = triangles[:, 1, :] c = triangles[:, 2, :] # check if P is in vertex region outside A ab = b - a ac = c - a ap = points - a # this is a faster equivalent of: # diagonal_dot(ab, ap) d1 = np.dot(ab * ap, ones) d2 = np.dot(ac * ap, ones) # is the point at A is_a = np.logical_and(d1 < tol.zero, d2 < tol.zero) if any(is_a): result[is_a] = a[is_a] remain[is_a] = False # check if P in vertex region outside B bp = points - b d3 = np.dot(ab * bp, ones) d4 = np.dot(ac * bp, ones) # do the logic check is_b = (d3 > -tol.zero) & (d4 <= d3) & remain if any(is_b): result[is_b] = b[is_b] remain[is_b] = False # check if P in edge region of AB, if so return projection of P onto A vc = (d1 * d4) - (d3 * d2) is_ab = (vc < tol.zero) & (d1 > -tol.zero) & (d3 < tol.zero) & remain if any(is_ab): v = (d1[is_ab] / (d1[is_ab] - d3[is_ab])).reshape((-1, 1)) result[is_ab] = a[is_ab] + (v * ab[is_ab]) remain[is_ab] = False # check if P in vertex region outside C cp = points - c d5 = np.dot(ab * cp, ones) d6 = np.dot(ac * cp, ones) is_c = (d6 > -tol.zero) & (d5 <= d6) & remain if any(is_c): result[is_c] = c[is_c] remain[is_c] = False # check if P in edge region of AC, if so return projection of P onto AC vb = (d5 * d2) - (d1 * d6) is_ac = (vb < tol.zero) & (d2 > -tol.zero) & (d6 < tol.zero) & remain if any(is_ac): w = (d2[is_ac] / (d2[is_ac] - d6[is_ac])).reshape((-1, 1)) result[is_ac] = a[is_ac] + w * ac[is_ac] remain[is_ac] = False # check if P in edge region of BC, if so return projection of P onto BC va = (d3 * d6) - (d5 * d4) is_bc = (va < tol.zero) & ((d4 - d3) > -tol.zero) & ((d5 - d6) > -tol.zero) & remain if any(is_bc): d43 = d4[is_bc] - d3[is_bc] w = (d43 / (d43 + (d5[is_bc] - d6[is_bc]))).reshape((-1, 1)) result[is_bc] = b[is_bc] + w * (c[is_bc] - b[is_bc]) remain[is_bc] = False # any remaining points must be inside face region if any(remain): # point is inside face region denom = 1.0 / (va[remain] + vb[remain] + vc[remain]) v = (vb[remain] * denom).reshape((-1, 1)) w = (vc[remain] * denom).reshape((-1, 1)) # compute Q through its barycentric coordinates result[remain] = a[remain] + (ab[remain] * v) + (ac[remain] * w) return result def to_kwargs(triangles): """ Convert a list of triangles to the kwargs for the Trimesh constructor. Parameters --------- triangles : (n, 3, 3) float Triangles in space Returns --------- kwargs : dict Keyword arguments for the trimesh.Trimesh constructor Includes keys 'vertices' and 'faces' Examples --------- >>> mesh = trimesh.Trimesh(**trimesh.triangles.to_kwargs(triangles)) """ triangles = np.asanyarray(triangles, dtype=np.float64) if not util.is_shape(triangles, (-1, 3, 3)): raise ValueError("Triangles must be (n, 3, 3)!") vertices = triangles.reshape((-1, 3)) faces = np.arange(len(vertices)).reshape((-1, 3)) kwargs = {"vertices": vertices, "faces": faces} return kwargs trimesh-4.5.1/trimesh/typed.py000066400000000000000000000034341470574263400163660ustar00rootroot00000000000000from io import BytesIO, StringIO from pathlib import Path from sys import version_info from typing import ( IO, Any, BinaryIO, Optional, TextIO, Union, ) from numpy import float64, floating, int64, integer, unsignedinteger # requires numpy>=1.20 from numpy.typing import ArrayLike, NDArray if version_info >= (3, 9): # use PEP585 hints on newer python List = list Tuple = tuple Dict = dict from collections.abc import Callable, Hashable, Iterable, Mapping, Sequence else: from typing import Callable, Dict, Hashable, Iterable, List, Mapping, Sequence, Tuple # most loader routes take `file_obj` which can either be # a file-like object or a file path, or sometimes a dict Stream = Union[IO, BytesIO, StringIO, BinaryIO, TextIO] Loadable = Union[str, Path, Stream, Dict, None] # numpy integers do not inherit from python integers, i.e. # if you type a function argument as an `int` and then pass # a value from a numpy array like `np.ones(10, dtype=np.int64)[0]` # you may have a type error. # these wrappers union numpy integers and python integers Integer = Union[int, integer, unsignedinteger] # Numbers which can only be floats and will not accept integers # > isinstance(np.ones(1, dtype=np.float32)[0], floating) # True # > isinstance(np.ones(1, dtype=np.float32)[0], float) # False Floating = Union[float, floating] # Many arguments take "any valid number" and don't care if it # is an integer or a floating point input. Number = Union[Floating, Integer] __all__ = [ "IO", "Any", "ArrayLike", "BinaryIO", "Dict", "Integer", "Iterable", "List", "Loadable", "NDArray", "Number", "Optional", "Sequence", "Stream", "Tuple", "float64", "int64", "Mapping", "Callable", "Hashable", ] trimesh-4.5.1/trimesh/units.py000066400000000000000000000110741470574263400164020ustar00rootroot00000000000000""" units.py -------------- Deal with physical unit systems (i.e. inches, mm) Very basic conversions, and no requirement for sympy.physics.units or pint. """ from . import resources from .constants import log from .parent import Geometry # scaling factors from various unit systems to inches _lookup = resources.get_json("units_to_inches.json") def unit_conversion(current: str, desired: str) -> float: """ Calculate the conversion from one set of units to another. Parameters --------- current : str Unit system values are in now (eg 'millimeters') desired : str Unit system we'd like values in (eg 'inches') Returns --------- conversion : float Number to multiply by to put values into desired units """ # convert to common system then return ratio between current and desired return to_inch(current.strip().lower()) / to_inch(desired.strip().lower()) def keys() -> set: """ Return a set containing all currently valid units. Returns -------- keys All units with conversions i.e. {'in', 'm', ...} """ return set(_lookup.keys()) def to_inch(unit: str) -> float: """ Calculate the conversion to an arbitrary common unit. Parameters ------------ unit Either a key in `units_to_inches.json` or in the simple `{float} * {str}` form, i.e. "1.2 * meters". We don't support arbitrary `eval` of any math string Returns ---------- conversion Factor to multiply by to get to an `inch` system. """ # see if the units are just in our lookup table lookup = _lookup.get(unit.strip().lower(), None) if lookup is not None: return lookup try: # otherwise check to see if they are in the factor * unit form value, key = unit.split("*") return _lookup[key.strip()] * float(value) except BaseException as E: # add a helpful error message message = ( f'arbitrary units must be in the form "1.21 * meters", not "{unit}" ({E})' ) raise ValueError(message) def units_from_metadata(obj: Geometry, guess: bool = True) -> str: """ Try to extract hints from metadata and if that fails guess based on the object scale. Parameters ------------ obj A geometry object. guess If metadata doesn't have units make a "best guess" Returns ------------ units A guess of what the units might be """ # try to guess from metadata for key in ["file_name", "name"]: if key not in obj.metadata: continue # get the string which might contain unit hints hints = obj.metadata[key].lower() if "unit" in hints: # replace all delimiter options with white space for delim in "_-.": hints = hints.replace(delim, " ") # loop through each hint for hint in hints.strip().split(): # get rid of keyword and whitespace hint = hint.replace("units", "").replace("unit", "").strip() # if the hint is a valid unit return it if hint in _lookup: return hint if not guess: raise ValueError("no units and not allowed to guess") # we made it to the wild ass guess section # if the scale is larger than 100 mystery units # declare the model to be millimeters, otherwise inches log.debug("no units: guessing from scale") if float(obj.scale) > 100.0: return "millimeters" else: return "inches" def _convert_units(obj: Geometry, desired: str, guess=False) -> None: """ Given an object with scale and units try to scale to different units via the object's `apply_scale`. Parameters --------- obj : object With apply_scale method (i.e. Trimesh, Path2D, etc) desired : str Units desired (eg 'inches') guess: bool Whether we are allowed to guess the units if they are not specified. """ if obj.units is None: # try to extract units from metadata # if nothing specified in metadata and not allowed # to guess will raise a ValueError obj.units = units_from_metadata(obj, guess=guess) log.debug("converting units from %s to %s", obj.units, desired) # float, conversion factor conversion = unit_conversion(obj.units, desired) # apply scale uses transforms which preserve # cached properties rather than just multiplying vertices obj.apply_scale(conversion) # units are now desired units obj.units = desired trimesh-4.5.1/trimesh/util.py000066400000000000000000002041131470574263400162130ustar00rootroot00000000000000""" "Grab bag" of utility functions. """ import abc import base64 import collections import copy import json import logging import random import shutil import sys import time import uuid import warnings import zipfile # for type checking from collections.abc import Mapping from io import BytesIO, StringIO import numpy as np # use our wrapped types for wider version compatibility from .typed import Any, Iterable, List, Union # create a default logger log = logging.getLogger("trimesh") ABC = abc.ABC now = time.time which = shutil.which # include constants here so we don't have to import # a floating point threshold for 0.0 # we are setting it to 100x the resolution of a float64 # which works out to be 1e-13 TOL_ZERO = np.finfo(np.float64).resolution * 100 # how close to merge vertices TOL_MERGE = 1e-8 # enable additional potentially slow checks _STRICT = False _IDENTITY = np.eye(4, dtype=np.float64) _IDENTITY.flags["WRITEABLE"] = False def has_module(name: str) -> bool: """ 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 """ if sys.version_info >= (3, 10): # pkgutil was deprecated from importlib.util import find_spec else: # this should work on Python 2.7 and 3.4+ from pkgutil import find_loader as find_spec return find_spec(name) is not None def unitize(vectors, check_valid=False, threshold=None): """ 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` """ # make sure we have a numpy array vectors = np.asanyarray(vectors) # allow user to set zero threshold if threshold is None: threshold = TOL_ZERO if len(vectors.shape) == 2: # for (m, d) arrays take the per-row unit vector # using sqrt and avoiding exponents is slightly faster # also dot with ones is faser than .sum(axis=1) norm = np.sqrt(np.dot(vectors * vectors, [1.0] * vectors.shape[1])) # non-zero norms valid = norm > threshold # in-place reciprocal of nonzero norms norm[valid] **= -1 # multiply by reciprocal of norm unit = vectors * norm.reshape((-1, 1)) elif len(vectors.shape) == 1: # treat 1D arrays as a single vector norm = np.sqrt(np.dot(vectors, vectors)) valid = norm > threshold if valid: unit = vectors / norm else: unit = vectors.copy() else: raise ValueError("vectors must be (n, ) or (n, d)!") if check_valid: return unit[valid], valid return unit def euclidean(a, b) -> float: """ DEPRECATED: use `np.linalg.norm(a - b)` instead of this. """ warnings.warn( "`trimesh.util.euclidean` is deprecated " + "and will be removed in January 2025. " + "replace with `np.linalg.norm(a - b)`", category=DeprecationWarning, stacklevel=2, ) a = np.asanyarray(a, dtype=np.float64) b = np.asanyarray(b, dtype=np.float64) return np.sqrt(((a - b) ** 2).sum()) def is_file(obj): """ 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 """ return hasattr(obj, "read") or hasattr(obj, "write") def is_pathlib(obj): """ 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 """ # check class name rather than a pathlib import name = obj.__class__.__name__ return hasattr(obj, "absolute") and name.endswith("Path") def is_string(obj) -> bool: """ DEPRECATED : this is not necessary since we dropped Python 2. Replace with `isinstance(obj, str)` """ warnings.warn( "`trimesh.util.is_string` is deprecated " + "and will be removed in January 2025. " + "replace with `isinstance(obj, str)`", category=DeprecationWarning, stacklevel=2, ) return isinstance(obj, str) def is_sequence(obj) -> bool: """ 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 """ seq = (not hasattr(obj, "strip") and hasattr(obj, "__getitem__")) or hasattr( obj, "__iter__" ) # check to make sure it is not a set, string, or dictionary seq = seq and all(not isinstance(obj, i) for i in (dict, set, str)) # PointCloud objects can look like an array but are not seq = seq and type(obj).__name__ not in ["PointCloud"] # numpy sometimes returns objects that are single float64 values # but sure look like sequences, so we check the shape if hasattr(obj, "shape"): seq = seq and obj.shape != () return seq def is_shape(obj, shape, allow_zeros: bool = False) -> bool: """ 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 """ # if the obj.shape is different length than # the goal shape it means they have different number # of dimensions and thus the obj is not the query shape if not hasattr(obj, "shape") or len(obj.shape) != len(shape): return False # empty lists with any flexible dimensions match if len(obj) == 0 and -1 in shape: return True # loop through each integer of the two shapes # multiple values are sequences # wildcards are less than zero (i.e. -1) for i, target in zip(obj.shape, shape): # check if current field has multiple acceptable values if is_sequence(target): if i in target: # obj shape is in the accepted values continue else: return False # check if current field is a wildcard if target < 0: if i == 0 and not allow_zeros: # if a dimension is 0, we don't allow # that to match to a wildcard # it would have to be explicitly called out as 0 return False else: continue # since we have a single target and a single value, # if they are not equal we have an answer if target != i: return False # since none of the checks failed the obj.shape # matches the pattern return True def make_sequence(obj): """ 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 """ if is_sequence(obj): return list(obj) else: return [obj] def vector_hemisphere(vectors, return_sign=False): """ 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 """ # vectors as numpy array vectors = np.asanyarray(vectors, dtype=np.float64) if is_shape(vectors, (-1, 2)): # 2D vector case # check the Y value and reverse vector # direction if negative. negative = vectors < -TOL_ZERO zero = np.logical_not(np.logical_or(negative, vectors > TOL_ZERO)) signs = np.ones(len(vectors), dtype=np.float64) # negative Y values are reversed signs[negative[:, 1]] = -1.0 # zero Y and negative X are reversed signs[np.logical_and(zero[:, 1], negative[:, 0])] = -1.0 elif is_shape(vectors, (-1, 3)): # 3D vector case negative = vectors < -TOL_ZERO zero = np.logical_not(np.logical_or(negative, vectors > TOL_ZERO)) # move all negative Z to positive # then for zero Z vectors, move all negative Y to positive # then for zero Y vectors, move all negative X to positive signs = np.ones(len(vectors), dtype=np.float64) # all vectors with negative Z values signs[negative[:, 2]] = -1.0 # all on-plane vectors with negative Y values signs[np.logical_and(zero[:, 2], negative[:, 1])] = -1.0 # all on-plane vectors with zero Y values # and negative X values signs[ np.logical_and(np.logical_and(zero[:, 2], zero[:, 1]), negative[:, 0]) ] = -1.0 else: raise ValueError("vectors must be (n, 3)!") # apply the signs to the vectors oriented = vectors * signs.reshape((-1, 1)) if return_sign: return oriented, signs return oriented def vector_to_spherical(cartesian): """ 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 """ cartesian = np.asanyarray(cartesian, dtype=np.float64) if not is_shape(cartesian, (-1, 3)): raise ValueError("Cartesian points must be (n, 3)!") unit, valid = unitize(cartesian, check_valid=True) unit[np.abs(unit) < TOL_MERGE] = 0.0 x, y, z = unit.T spherical = np.zeros((len(cartesian), 2), dtype=np.float64) spherical[valid] = np.column_stack((np.arctan2(y, x), np.arccos(z))) return spherical def spherical_to_vector(spherical): """ 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 """ spherical = np.asanyarray(spherical, dtype=np.float64) if not is_shape(spherical, (-1, 2)): raise ValueError("spherical coordinates must be (n, 2)!") theta, phi = spherical.T st, ct = np.sin(theta), np.cos(theta) sp, cp = np.sin(phi), np.cos(phi) return np.column_stack((ct * sp, st * sp, cp)) def pairwise(iterable): """ 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)] """ # looping through a giant numpy array would be dumb # so special case ndarrays and use numpy operations if isinstance(iterable, np.ndarray): iterable = iterable.reshape(-1) stacked = np.column_stack((iterable, iterable)) pairs = stacked.reshape(-1)[1:-1].reshape((-1, 2)) return pairs # if we have a normal iterable use itertools import itertools a, b = itertools.tee(iterable) # pop the first element of the second item next(b) return zip(a, b) try: # prefer the faster numpy version of multi_dot # only included in recent-ish version of numpy multi_dot = np.linalg.multi_dot except AttributeError: log.debug("np.linalg.multi_dot not available, using fallback") def multi_dot(arrays): """ Compute the dot product of two or more arrays in a single function call. In most versions of numpy this is included, this slower function is provided for backwards compatibility with ancient versions of numpy. """ arrays = np.asanyarray(arrays) result = arrays[0].copy() for i in arrays[1:]: result = np.dot(result, i) return result def diagonal_dot(a, b): """ 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 """ # make sure `a` is numpy array # doing it for `a` will force the multiplication to # convert `b` if necessary and avoid function call otherwise a = np.asanyarray(a) # 3x faster than (a * b).sum(axis=1) # avoiding np.ones saves 5-10% sometimes return np.dot(a * b, [1.0] * a.shape[1]) def row_norm(data): """ 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 """ return np.sqrt(np.dot(data**2, [1] * data.shape[1])) def stack_3D(points, return_2D=False): """ 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) """ points = np.asanyarray(points, dtype=np.float64) shape = points.shape if shape == (0,): is_2D = False elif len(shape) != 2: raise ValueError("Points must be 2D array!") elif shape[1] == 2: points = np.column_stack((points, np.zeros(len(points)))) is_2D = True elif shape[1] == 3: is_2D = False else: raise ValueError("Points must be (n, 2) or (n, 3)!") if return_2D: return points, is_2D return points def grid_arange(bounds, step): """ 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 """ bounds = np.asanyarray(bounds, dtype=np.float64) if len(bounds) != 2: raise ValueError("bounds must be (2, dimension!") # allow single float or per-dimension spacing step = np.asanyarray(step, dtype=np.float64) if step.shape == (): step = np.tile(step, bounds.shape[1]) grid_elements = [np.arange(*b, step=s) for b, s in zip(bounds.T, step)] grid = ( np.vstack(np.meshgrid(*grid_elements, indexing="ij")) .reshape(bounds.shape[1], -1) .T ) return grid def grid_linspace(bounds, count): """ Return a grid spaced inside a bounding box with edges spaced using np.linspace. Parameters ------------ bounds: (2,dimension) list of [[min x, min y, etc], [max x, max y, etc]] count: int, or (dimension,) int, number of samples per side Returns --------- grid: (n, dimension) float, points in the specified bounds """ bounds = np.asanyarray(bounds, dtype=np.float64) if len(bounds) != 2: raise ValueError("bounds must be (2, dimension!") count = np.asanyarray(count, dtype=np.int64) if count.shape == (): count = np.tile(count, bounds.shape[1]) grid_elements = [np.linspace(*b, num=c) for b, c in zip(bounds.T, count)] grid = ( np.vstack(np.meshgrid(*grid_elements, indexing="ij")) .reshape(bounds.shape[1], -1) .T ) return grid def multi_dict(pairs): """ Given a set of key value pairs, create a dictionary. If a key occurs multiple times, stack the values into an array. Can be called like the regular dict(pairs) constructor Parameters ------------ pairs: (n, 2) array of key, value pairs Returns ---------- result: dict, with all values stored (rather than last with regular dict) """ result = collections.defaultdict(list) for k, v in pairs: result[k].append(v) return result def tolist(data): """ Ensure that any arrays or dicts passed containing numpy arrays are properly converted to lists Parameters ------------- data : any Usually a dict with some numpy arrays as values Returns ---------- result : any JSON-serializable version of data """ result = json.loads(jsonify(data)) return result def is_binary_file(file_obj): """ Returns True if file has non-ASCII characters (> 0x7F, or 127) Should work in both Python 2 and 3 """ start = file_obj.tell() fbytes = file_obj.read(1024) file_obj.seek(start) is_str = isinstance(fbytes, str) for fbyte in fbytes: if is_str: code = ord(fbyte) else: code = fbyte if code > 127: return True return False def distance_to_end(file_obj): """ 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 """ position_current = file_obj.tell() file_obj.seek(0, 2) position_end = file_obj.tell() file_obj.seek(position_current) distance = position_end - position_current return distance def decimal_to_digits(decimal, min_digits=None) -> int: """ 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 """ digits = abs(int(np.log10(decimal))) if min_digits is not None: digits = np.clip(digits, min_digits, 20) return int(digits) def attach_to_log( level=logging.DEBUG, handler=None, loggers=None, colors=True, capture_warnings=True, blacklist=None, ): """ 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 """ # default blacklist includes ipython debugging stuff if blacklist is None: blacklist = [ "TerminalIPythonApp", "PYREADLINE", "pyembree", "shapely", "matplotlib", "parso", ] # make sure we log warnings from the warnings module logging.captureWarnings(capture_warnings) # create a basic formatter formatter = logging.Formatter( "[%(asctime)s] %(levelname)-7s (%(filename)s:%(lineno)3s) %(message)s", "%Y-%m-%d %H:%M:%S", ) if colors: try: from colorlog import ColoredFormatter formatter = ColoredFormatter( ( "%(log_color)s%(levelname)-8s%(reset)s " + "%(filename)17s:%(lineno)-4s %(blue)4s%(message)s" ), datefmt=None, reset=True, log_colors={ "DEBUG": "cyan", "INFO": "green", "WARNING": "yellow", "ERROR": "red", "CRITICAL": "red", }, ) except ImportError: pass # if no handler was passed use a StreamHandler if handler is None: handler = logging.StreamHandler() # add the formatters and set the level handler.setFormatter(formatter) handler.setLevel(level) # if nothing passed use all available loggers if loggers is None: # de-duplicate loggers using a set loggers = set(logging.Logger.manager.loggerDict.values()) # add the warnings logging loggers.add(logging.getLogger("py.warnings")) # disable pyembree warnings logging.getLogger("pyembree").disabled = True # loop through all available loggers for logger in loggers: # skip loggers on the blacklist if logger.__class__.__name__ != "Logger" or any( logger.name.startswith(b) for b in blacklist ): continue logger.addHandler(handler) logger.setLevel(level) # set nicer numpy print options np.set_printoptions(precision=5, suppress=True) def stack_lines(indices): """ 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]]) """ indices = np.asanyarray(indices) if len(indices) == 0: return np.array([]) elif is_sequence(indices[0]): shape = (-1, len(indices[0])) else: shape = (-1, 2) return np.column_stack((indices[:-1], indices[1:])).reshape(shape) def append_faces(vertices_seq, faces_seq): """ 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 """ # the length of each vertex array vertices_len = np.array([len(i) for i in vertices_seq]) # how much each group of faces needs to be offset face_offset = np.append(0, np.cumsum(vertices_len)[:-1]) new_faces = [] for offset, faces in zip(face_offset, faces_seq): if len(faces) == 0: continue # apply the index offset new_faces.append(faces + offset) # stack to clean (n, 3) float vertices = vstack_empty(vertices_seq) # stack to clean (n, 3) int faces = vstack_empty(new_faces) return vertices, faces def array_to_string(array, col_delim=" ", row_delim="\n", digits=8, value_format="{}"): """ Convert a 1 or 2D array into a string with a specified number of digits and delimiter. The reason this exists is that the basic numpy array to string conversions are surprisingly bad. 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 """ # convert inputs to correct types array = np.asanyarray(array) digits = int(digits) row_delim = str(row_delim) col_delim = str(col_delim) value_format = str(value_format) # abort for non-flat arrays if len(array.shape) > 2: raise ValueError( "conversion only works on 1D/2D arrays not %s!", str(array.shape) ) # abort for structured arrays if array.dtype.names is not None: raise ValueError("array is structured, use structured_array_to_string instead") # allow a value to be repeated in a value format repeats = value_format.count("{") if array.dtype.kind in ["i", "u"]: # integer types don't need a specified precision format_str = value_format + col_delim elif array.dtype.kind == "f": # add the digits formatting to floats format_str = value_format.replace("{}", "{:." + str(digits) + "f}") + col_delim else: raise ValueError("dtype %s not convertible!", array.dtype.name) # length of extra delimiters at the end end_junk = len(col_delim) # if we have a 2D array add a row delimiter if len(array.shape) == 2: format_str *= array.shape[1] # cut off the last column delimiter and add a row delimiter format_str = format_str[: -len(col_delim)] + row_delim end_junk = len(row_delim) # expand format string to whole array format_str *= len(array) # if an array is repeated in the value format # do the shaping here so we don't need to specify indexes shaped = np.tile(array.reshape((-1, 1)), (1, repeats)).reshape(-1) # run the format operation and remove the extra delimiters formatted = format_str.format(*shaped)[:-end_junk] return formatted def structured_array_to_string( array, col_delim=" ", row_delim="\n", digits=8, value_format="{}" ): """ 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 conversionsare surprisingly bad. 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 """ # convert inputs to correct types array = np.asanyarray(array) digits = int(digits) row_delim = str(row_delim) col_delim = str(col_delim) value_format = str(value_format) # abort for non-flat arrays if len(array.shape) > 1: raise ValueError( "conversion only works on 1D/2D arrays not %s!", str(array.shape) ) # abort for unstructured arrays if array.dtype.names is None: raise ValueError("array is not structured, use array_to_string instead") # do not allow a value to be repeated in a value format if value_format.count("{") > 1: raise ValueError( "value_format %s is invalid, repeating unstructured array " + "values is unsupported", value_format, ) format_str = "" for name in array.dtype.names: kind = array[name].dtype.kind element_row_length = array[name].shape[1] if len(array[name].shape) == 2 else 1 if kind in ["i", "u"]: # integer types need a no-decimal formatting element_format_str = value_format.replace("{}", "{:0.0f}") + col_delim elif kind == "f": # add the digits formatting to floats element_format_str = ( value_format.replace("{}", "{:." + str(digits) + "f}") + col_delim ) else: raise ValueError("dtype %s not convertible!", array.dtype) format_str += element_row_length * element_format_str # length of extra delimiters at the end format_str = format_str[: -len(col_delim)] + row_delim # expand format string to whole array format_str *= len(array) # loop through flat fields and flatten to single array count = len(array) # will upgrade everything to a float flattened = np.hstack( [array[k].reshape((count, -1)) for k in array.dtype.names] ).reshape(-1) # run the format operation and remove the extra delimiters formatted = format_str.format(*flattened)[: -len(row_delim)] return formatted def array_to_encoded(array, dtype=None, encoding="base64"): """ 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 """ array = np.asanyarray(array) shape = array.shape # ravel also forces contiguous flat = np.ravel(array) if dtype is None: dtype = array.dtype encoded = {"dtype": np.dtype(dtype).str, "shape": shape} if encoding in ["base64", "dict64"]: packed = base64.b64encode(flat.astype(dtype).tobytes()) if hasattr(packed, "decode"): packed = packed.decode("utf-8") encoded["base64"] = packed elif encoding == "binary": encoded["binary"] = array.tobytes(order="C") else: raise ValueError(f"encoding {encoding} is not available!") return encoded def decode_keys(store, encoding="utf-8"): """ 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'} """ keys = store.keys() for key in keys: if hasattr(key, "decode"): decoded = key.decode(encoding) if key != decoded: store[key.decode(encoding)] = store[key] store.pop(key) return store def comment_strip(text, starts_with="#", new_line="\n"): """ Strip comments from a text block. Parameters ----------- text : str Text to remove comments from starts_with : str Character or substring that starts a comment new_line : str Character or substring that ends a comment Returns ----------- stripped : str Text with comments stripped """ # if not contained exit immediately if starts_with not in text: return text # start by splitting into chunks by the comment indicator split = (text + new_line).split(starts_with) # special case files that start with a comment if text.startswith(starts_with): lead = "" else: lead = split[0] # take each comment up until the newline removed = [i.split(new_line, 1) for i in split] # add the leading string back on result = ( lead + new_line + new_line.join(i[1] for i in removed if len(i) > 1 and len(i[1]) > 0) ) # strip leading and trailing whitespace result = result.strip() return result def encoded_to_array(encoded): """ Turn a dictionary with base64 encoded strings back into a numpy array. Parameters ------------ encoded : dict 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: numpy array """ if not isinstance(encoded, dict): if is_sequence(encoded): as_array = np.asanyarray(encoded) return as_array else: raise ValueError("Unable to extract numpy array from input") encoded = decode_keys(encoded) dtype = np.dtype(encoded["dtype"]) if "base64" in encoded: array = np.frombuffer(base64.b64decode(encoded["base64"]), dtype) elif "binary" in encoded: array = np.frombuffer(encoded["binary"], dtype=dtype) if "shape" in encoded: array = array.reshape(encoded["shape"]) return array def is_instance_named(obj, name): """ 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 """ try: if isinstance(name, list): return any(is_instance_named(obj, i) for i in name) else: type_named(obj, name) return True except ValueError: return False def type_bases(obj, depth=4): """ Return the bases of the object passed. """ bases = collections.deque([list(obj.__class__.__bases__)]) for i in range(depth): bases.append([i.__base__ for i in bases[-1] if i is not None]) try: bases = np.hstack(bases) except IndexError: bases = [] return [i for i in bases if hasattr(i, "__name__")] def type_named(obj, name): """ Similar to the type() builtin, but looks in class bases for named instance. Parameters ------------ obj : any Object to look for class of name : str Nnme of class Returns ---------- class : Optional[Callable] Camed class, or None """ # if obj is a member of the named class, return True name = str(name) if obj.__class__.__name__ == name: return obj.__class__ for base in type_bases(obj): if base.__name__ == name: return base raise ValueError("Unable to extract class of name " + name) def chain(*args: Union[Iterable[Any], Any, None]) -> List[Any]: """ A less principled version of `list(itertools.chain(*args))` that accepts non-iterable values, filters `None`, and returns a list rather than yielding values. If all passed values are iterables this will return identical results to `list(itertools.chain(*args))`. Examples ---------- In [1]: list(itertools.chain([1,2], [3])) Out[1]: [1, 2, 3] In [2]: trimesh.util.chain([1,2], [3]) Out[2]: [1, 2, 3] In [3]: trimesh.util.chain([1,2], [3], 4) Out[3]: [1, 2, 3, 4] In [4]: list(itertools.chain([1,2], [3], 4)) ----> 1 list(itertools.chain([1,2], [3], 4)) TypeError: 'int' object is not iterable In [5]: trimesh.util.chain([1,2], None, 3, None, [4], [], [], 5, []) Out[5]: [1, 2, 3, 4, 5] Parameters ----------- args Will be individually checked to see if they're iterable before either being appended or extended to a flat list. Returns ---------- chained The values in a flat list. """ # collect values to a flat list chained = [] # extend if it's a sequence, otherwise append [ chained.extend(a) if is_sequence(a) else chained.append(a) for a in args if a is not None ] return chained def concatenate( a, b=None ) -> Union["trimesh.Trimesh", "trimesh.path.Path2D", "trimesh.path.Path3D"]: # noqa: F821 """ 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 """ dump = [] for i in chain(a, b): if is_instance_named(i, "Scene"): # get every mesh in the final frame. dump.extend(i.dump()) else: # just append to our flat list dump.append(i) if len(dump) == 1: # if there is only one geometry just return the first return dump[0].copy() elif len(dump) == 0: # if there are no meshes return an empty mesh from .base import Trimesh return Trimesh() is_mesh = [f for f in dump if is_instance_named(f, "Trimesh")] is_path = [f for f in dump if is_instance_named(f, "Path")] # if we have more if len(is_path) > len(is_mesh): from .path.util import concatenate as concatenate_path return concatenate_path(is_path) if len(is_mesh) == 0: return [] # extract the trimesh type to avoid a circular import # and assert that all inputs are Trimesh objects trimesh_type = type_named(is_mesh[0], "Trimesh") # append faces and vertices of meshes vertices, faces = append_faces( [m.vertices.copy() for m in is_mesh], [m.faces.copy() for m in is_mesh] ) # save face normals if already calculated face_normals = None if any("face_normals" in m._cache for m in is_mesh): face_normals = vstack_empty([m.face_normals for m in is_mesh]) assert face_normals.shape == faces.shape # save vertex normals if any mesh has them vertex_normals = None if any("vertex_normals" in m._cache for m in is_mesh): vertex_normals = vstack_empty([m.vertex_normals for m in is_mesh]) assert vertex_normals.shape == vertices.shape try: # concatenate visuals visual = is_mesh[0].visual.concatenate([m.visual for m in is_mesh[1:]]) except BaseException as E: log.debug(f"failed to combine visuals {_STRICT}", exc_info=True) visual = None if _STRICT: raise E # create the mesh object return trimesh_type( vertices=vertices, faces=faces, face_normals=face_normals, vertex_normals=vertex_normals, visual=visual, process=False, ) def submesh( mesh, faces_sequence, repair=True, only_watertight=False, min_faces=None, append=False ): """ 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 : bool Try to make submeshes watertight only_watertight : bool Only return submeshes which are watertight append : bool Return a single mesh which has the faces appended, if this flag is set, only_watertight is ignored Returns --------- if append : Trimesh object else list of Trimesh objects """ # evaluate generators so we can escape early faces_sequence = list(faces_sequence) if len(faces_sequence) == 0: return [] # avoid nuking the cache on the original mesh original_faces = mesh.faces.view(np.ndarray) original_vertices = mesh.vertices.view(np.ndarray) faces = [] vertices = [] normals = [] visuals = [] # for reindexing faces mask = np.arange(len(original_vertices)) for index in faces_sequence: # sanitize indices in case they are coming in as a set or tuple index = np.asanyarray(index) if len(index) == 0: # regardless of type empty arrays are useless continue if index.dtype.kind == "b": # if passed a bool with no true continue if not index.any(): continue # if fewer faces than minimum if min_faces is not None and index.sum() < min_faces: continue elif min_faces is not None and len(index) < min_faces: continue current = original_faces[index] unique = np.unique(current.reshape(-1)) # redefine face indices from zero mask[unique] = np.arange(len(unique)) normals.append(mesh.face_normals[index]) faces.append(mask[current]) vertices.append(original_vertices[unique]) try: visuals.append(mesh.visual.face_subset(index)) except BaseException: visuals = None if len(vertices) == 0: return np.array([]) # we use type(mesh) rather than importing Trimesh from base # to avoid a circular import trimesh_type = type_named(mesh, "Trimesh") if append: visual = None try: visuals = np.array(visuals) visual = visuals[0].concatenate(visuals[1:]) except BaseException: pass # re-index faces and stack vertices, faces = append_faces(vertices, faces) appended = trimesh_type( vertices=vertices, faces=faces, face_normals=np.vstack(normals), visual=visual, process=False, ) return appended if visuals is None: visuals = [None] * len(vertices) # generate a list of Trimesh objects result = [ trimesh_type( vertices=v, faces=f, face_normals=n, visual=c, metadata=copy.deepcopy(mesh.metadata), process=False, ) for v, f, n, c in zip(vertices, faces, normals, visuals) ] if only_watertight or repair: # fill_holes will attempt a repair and returns the # watertight status at the end of the repair attempt watertight = [i.fill_holes() and len(i.faces) >= 4 for i in result] if only_watertight: # remove unrepairable meshes return [i for i, w in zip(result, watertight) if w] return result def zero_pad(data, count, right=True): """ Parameters ------------ data : (n,) 1D array count : int Minimum length of result array Returns --------- padded : (m,) 1D array where m >= count """ if len(data) == 0: return np.zeros(count) elif len(data) < count: padded = np.zeros(count) if right: padded[-len(data) :] = data else: padded[: len(data)] = data return padded else: return np.asanyarray(data) def jsonify(obj, **kwargs): """ 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 """ class EdgeEncoder(json.JSONEncoder): def default(self, obj): # will work for numpy.ndarrays # as well as their int64/etc objects if hasattr(obj, "tolist"): return obj.tolist() elif hasattr(obj, "timestamp"): return obj.timestamp() return json.JSONEncoder.default(self, obj) # run the dumps using our encoder return json.dumps(obj, cls=EdgeEncoder, **kwargs) def convert_like(item, like): """ 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 """ # if it's a numpy array if isinstance(like, np.ndarray): return np.asanyarray(item, dtype=like.dtype) # if it's already the desired type just return it if isinstance(item, like.__class__) or like is None: return item # if it's an array with one item return it if is_sequence(item) and len(item) == 1 and isinstance(item[0], like.__class__): return item[0] if ( isinstance(item, str) and like.__class__.__name__ == "Polygon" and item.startswith("POLYGON") ): # break our rule on imports but only a little bit # the import was a WKT serialized polygon from shapely import wkt return wkt.loads(item) # otherwise just run the conversion item = like.__class__(item) return item def bounds_tree(bounds): """ 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 """ import rtree # make sure we've copied bounds bounds = np.array(bounds, dtype=np.float64, copy=True) if len(bounds.shape) == 3: # should be min-max per bound if bounds.shape[1] != 2: raise ValueError("bounds not (n, 2, dimension)!") # reshape to one-row-per-hyperrectangle bounds = bounds.reshape((len(bounds), -1)) elif len(bounds.shape) != 2 or bounds.size == 0: raise ValueError("Bounds must be (n, dimension * 2)!") # check to make sure we have correct shape dimension = bounds.shape[1] if (dimension % 2) != 0: raise ValueError("Bounds must be (n,dimension*2)!") dimension = int(dimension / 2) properties = rtree.index.Property(dimension=dimension) # stream load was verified working on import above return rtree.index.Index( zip(np.arange(len(bounds)), bounds, [None] * len(bounds)), properties=properties ) def wrap_as_stream(item): """ 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 """ if isinstance(item, str): return StringIO(item) elif isinstance(item, bytes): return BytesIO(item) raise ValueError(f"{type(item).__name__} is not wrappable!") def sigfig_round(values, sigfig=1): """ 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 """ as_int, multiplier = sigfig_int(values, sigfig) rounded = as_int * (10**multiplier) return rounded def sigfig_int(values, sigfig): """ 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, int) Exponent, so as_int * 10 ** multiplier is the same order of magnitude as the input """ values = np.asanyarray(values).reshape(-1) sigfig = np.asanyarray(sigfig, dtype=np.int64).reshape(-1) if sigfig.shape != values.shape: raise ValueError("sigfig must match identifier") exponent = np.zeros(len(values)) nonzero = np.abs(values) > TOL_ZERO exponent[nonzero] = np.floor(np.log10(np.abs(values[nonzero]))) multiplier = exponent - sigfig + 1 as_int = (values / (10**multiplier)).round().astype(np.int64) return as_int, multiplier def decompress(file_obj, file_type): """ Given an open file object and a file type, return all components of the archive as open file objects in a dict. 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} """ file_type = str(file_type).lower() if isinstance(file_obj, bytes): file_obj = wrap_as_stream(file_obj) if file_type.endswith("zip"): archive = zipfile.ZipFile(file_obj) return {name: wrap_as_stream(archive.read(name)) for name in archive.namelist()} if file_type.endswith("bz2"): import bz2 return {file_obj.name[:-4]: wrap_as_stream(bz2.open(file_obj, mode="r").read())} if "tar" in file_type[-6:]: import tarfile archive = tarfile.open(fileobj=file_obj, mode="r") return {name: archive.extractfile(name) for name in archive.getnames()} raise ValueError("Unsupported type passed!") def compress(info, **kwargs): """ 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 """ file_obj = BytesIO() with zipfile.ZipFile( file_obj, mode="w", compression=zipfile.ZIP_DEFLATED, **kwargs ) as zipper: for name, data in info.items(): if hasattr(data, "read"): # if we were passed a file object, read it data = data.read() zipper.writestr(name, data) file_obj.seek(0) compressed = file_obj.read() return compressed def split_extension(file_name, special=None): """ 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' """ file_name = str(file_name) if special is None: special = ["tar.bz2", "tar.gz"] if file_name.endswith(tuple(special)): for end in special: if file_name.endswith(end): return end return file_name.split(".")[-1] def triangle_strips_to_faces(strips): """ 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 """ # save the length of each list in the list of lists lengths = np.array([len(i) for i in strips], dtype=np.int64) # looping through a list of lists is extremely slow # combine all the sequences into a blob we can manipulate blob = np.concatenate(strips, dtype=np.int64) # slice the blob into rough triangles tri = np.array([blob[:-2], blob[1:-1], blob[2:]], dtype=np.int64).T # if we only have one strip we can do a *lot* less work # as we keep every triangle and flip every other one if len(strips) == 1: # flip in-place every other triangle tri[1::2] = np.fliplr(tri[1::2]) return tri # remove the triangles which were implicit but not actually there # because we combined everything into one big array for speed length_index = np.cumsum(lengths)[:-1] keep = np.ones(len(tri), dtype=bool) keep[length_index - 2] = False keep[length_index - 1] = False tri = tri[keep] # flip every other triangle so they generate correct normals/winding length_index = np.append(0, np.cumsum(lengths - 2)) flip = np.zeros(length_index[-1], dtype=bool) for i in range(len(length_index) - 1): flip[length_index[i] + 1 : length_index[i + 1]][::2] = True tri[flip] = np.fliplr(tri[flip]) return tri def triangle_fans_to_faces(fans): """ 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 """ faces = [ np.transpose([fan[0] * np.ones(len(fan) - 2, dtype=int), fan[1:-1], fan[2:]]) for fan in fans ] return np.concatenate(faces, axis=1) def vstack_empty(tup): """ 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. """ # filter out empty arrays stackable = [i for i in tup if len(i) > 0] # if we only have one array just return it if len(stackable) == 1: return np.asanyarray(stackable[0]) # if we have nothing return an empty numpy array elif len(stackable) == 0: return np.array([]) # otherwise just use vstack as normal return np.vstack(stackable) def write_encoded(file_obj, stuff, encoding="utf-8"): """ 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 """ binary_file = "b" in getattr(file_obj, "mode", "b") string_stuff = isinstance(stuff, str) binary_stuff = isinstance(stuff, bytes) if binary_file and string_stuff: file_obj.write(stuff.encode(encoding)) elif not binary_file and binary_stuff: file_obj.write(stuff.decode(encoding)) else: file_obj.write(stuff) file_obj.flush() return stuff def unique_id(length=12): """ Generate a random alphaNumber unique identifier using UUID logic. Parameters ------------ length : int Length of desired identifier Returns ------------ unique : str Unique alphaNumber identifier """ return uuid.UUID(int=random.getrandbits(128), version=4).hex[:length] def generate_basis(z, epsilon=1e-12): """ 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. """ # get a copy of input vector z = np.array(z, dtype=np.float64, copy=True) # must be a 3D vector if z.shape != (3,): raise ValueError("z must be (3,) float!") z_norm = np.linalg.norm(z) if z_norm < epsilon: return np.eye(3) # normalize vector in-place z /= z_norm # X as arbitrary perpendicular vector x = np.array([-z[1], z[0], 0.0]) # avoid degenerate case x_norm = np.linalg.norm(x) if x_norm < epsilon: # this means that # so a perpendicular X is just X x = np.array([-z[2], z[1], 0.0]) x /= np.linalg.norm(x) else: # otherwise normalize X in-place x /= x_norm # get perpendicular Y with cross product y = np.cross(z, x) # append result values into (3, 3) vector result = np.array([x, y, z], dtype=np.float64) if _STRICT: # run checks to make sure axis are perpendicular assert np.abs(np.dot(x, z)) < 1e-8 assert np.abs(np.dot(y, z)) < 1e-8 assert np.abs(np.dot(x, y)) < 1e-8 # all vectors should be unit vector assert np.allclose(np.linalg.norm(result, axis=1), 1.0) return result def isclose(a, b, atol: float = 1e-8): """ 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 """ diff = a - b return np.logical_and(diff > -atol, diff < atol) def allclose(a, b, atol: float = 1e-8): """ 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`. """ # return float(np.ptp(a - b)) < atol class FunctionRegistry(Mapping): """ 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. """ def __init__(self, **kwargs): self._dict = {} for k, v in kwargs.items(): self[k] = v def __getitem__(self, key): return self._dict[key] def __setitem__(self, key, value): if not isinstance(key, str): raise ValueError(f"key must be a string, got {key!s}") if key in self: raise KeyError(f"Cannot set new value to existing key {key}") if not callable(value): raise ValueError("Cannot set value which is not callable.") self._dict[key] = value def __iter__(self): return iter(self._dict) def __len__(self): return len(self._dict) def __contains__(self, key): return key in self._dict def __call__(self, key, *args, **kwargs): return self[key](*args, **kwargs) def decode_text(text, initial="utf-8"): """ Try to decode byte input as a string. Tries initial guess (UTF-8) then if that fails it uses chardet 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 """ # if not bytes just return input if not hasattr(text, "decode"): return text try: # initially guess file is UTF-8 or specified encoding text = text.decode(initial) except UnicodeDecodeError: # detect different file encodings import chardet # try to detect the encoding of the file # only look at the first 1000 characters otherwise # for big files chardet looks at everything and is slow detect = chardet.detect(text[:1000]) # warn on files that aren't UTF-8 log.debug( "Data not {}! Trying {} (confidence {})".format( initial, detect["encoding"], detect["confidence"] ) ) # try to decode again, unwrap in try text = text.decode(detect["encoding"], errors="ignore") return text def to_ascii(text): """ 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 """ if hasattr(text, "encode"): # case for existing strings return text.encode("ascii", errors="ignore").decode("ascii") elif hasattr(text, "decode"): # case for bytes return text.decode("ascii", errors="ignore") # otherwise just wrap as a string return str(text) def is_ccw(points, return_all=False): """ 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. """ points = np.array(points, dtype=np.float64) if len(points.shape) != 2 or points.shape[1] != 2: raise ValueError("only defined for `(n, 2)` points") # the "shoelace formula" product = np.subtract(*(points[:-1, [1, 0]] * points[1:]).T) # the area of the polygon area = product.sum() / 2.0 # check the sign of the area ccw = area < 0.0 if not return_all: return ccw # the centroid of the polygon uses the same formula centroid = ((points[:-1] + points[1:]) * product.reshape((-1, 1))).sum(axis=0) / ( 6.0 * area ) return ccw, area, centroid def unique_name(start, contains, counts=None): """ 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` """ # exit early if name is not in bundle if start is not None and len(start) > 0 and start not in contains: return start # start checking with zero index unless found if counts is None: increment = 0 else: increment = counts.get(start, 0) if start is not None and len(start) > 0: formatter = start + "_{}" # split by our delimiter once split = start.rsplit("_", 1) if len(split) == 2 and increment == 0: try: # start incrementing from the existing # trailing value # if it is not an integer this will fail increment = int(split[1]) # include the first split value formatter = split[0] + "_{}" except BaseException: pass else: formatter = "geometry_{}" # if contains is empty we will only need to check once for i in range(increment + 1, 2 + increment + len(contains)): check = formatter.format(i) if check not in contains: if counts is not None: counts[start] = i return check # this should really never happen since we looped # through the full length of contains raise ValueError("Unable to establish unique name!") trimesh-4.5.1/trimesh/version.py000066400000000000000000000031221470574263400167200ustar00rootroot00000000000000""" # version.py Get the current version from package metadata or pyproject.toml if everything else fails. """ import json import os from typing import Optional def _get_version() -> Optional[str]: """ Try all our methods to get the version. """ try: # Get the version string using package metadata on Python >= 3.8 from importlib.metadata import version return version("trimesh") except BaseException: pass try: # Get the version string using package metadata on Python < 3.8 from pkg_resources import get_distribution return get_distribution("trimesh").version except BaseException: pass try: # Get the version string from the pyproject.toml file using # relative paths. This will be the only option if the library # has not been installed (i.e. in a CI or container environment) pyproject = os.path.abspath( os.path.join( os.path.dirname(os.path.abspath(os.path.expanduser(__file__))), "..", "pyproject.toml", ) ) with open(pyproject) as f: # json.loads cleans up the string and removes the quotes # this logic requires the first use of "version" be the actual version return next(json.loads(L.split("=")[1]) for L in f if "version" in L) except BaseException: pass return None # try all our tricks __version__ = _get_version() if __name__ == "__main__": # print version if run directly i.e. in a CI script print(__version__) trimesh-4.5.1/trimesh/viewer/000077500000000000000000000000001470574263400161645ustar00rootroot00000000000000trimesh-4.5.1/trimesh/viewer/__init__.py000066400000000000000000000016151470574263400203000ustar00rootroot00000000000000""" viewer ------------- View meshes and scenes via pyglet or inline HTML. """ from .. import exceptions from .notebook import in_notebook, scene_to_html, scene_to_notebook try: # try importing windowed which will fail # if we can't create an openGL context from .windowed import SceneViewer, render_scene except BaseException as E: # if windowed failed to import only raise # the exception if someone tries to use them SceneViewer = exceptions.ExceptionWrapper(E) render_scene = exceptions.ExceptionWrapper(E) try: from .widget import SceneWidget except BaseException as E: SceneWidget = exceptions.ExceptionWrapper(E) # this is only standard library imports # explicitly list imports in __all__ # as otherwise flake8 gets mad __all__ = [ "SceneViewer", "SceneWidget", "in_notebook", "render_scene", "scene_to_html", "scene_to_notebook", ] trimesh-4.5.1/trimesh/viewer/notebook.py000066400000000000000000000061541470574263400203640ustar00rootroot00000000000000""" notebook.py ------------- Render trimesh.Scene objects in HTML and jupyter notebooks using three.js """ import base64 import os # for our template from .. import resources, util def scene_to_html(scene): """ Return HTML that will render the scene using GLTF/GLB encoded to base64 loaded by three.js Parameters -------------- scene : trimesh.Scene Source geometry Returns -------------- html : str HTML containing embedded geometry """ # fetch HTML template from ZIP archive # it is bundling all of three.js so compression is nice base = ( util.decompress(resources.get_bytes("templates/viewer.zip"), file_type="zip")[ "viewer.html.template" ] .read() .decode("utf-8") ) # make sure scene has camera populated before export _ = scene.camera # get export as bytes data = scene.export(file_type="glb") # encode as base64 string encoded = base64.b64encode(data).decode("utf-8") # replace keyword with our scene data result = base.replace("$B64GLTF", encoded) return result def scene_to_notebook(scene, height=500, **kwargs): """ Convert a scene to HTML containing embedded geometry and a three.js viewer that will display nicely in an IPython/Jupyter notebook. Parameters ------------- scene : trimesh.Scene Source geometry Returns ------------- html : IPython.display.HTML Object containing rendered scene """ # keep as soft dependency from IPython import display # convert scene to a full HTML page as_html = scene_to_html(scene=scene) # escape the quotes in the HTML srcdoc = as_html.replace('"', """) # embed this puppy as the srcdoc attr of an IFframe # I tried this a dozen ways and this is the only one that works # display.IFrame/display.Javascript really, really don't work # div is to avoid IPython's pointless hardcoded warning embedded = display.HTML( " ".join( [ '

    ', ] ).format(srcdoc=srcdoc, height=height) ) return embedded def in_notebook(): """ Check to see if we are in an IPython or Jypyter notebook. Returns ----------- in_notebook : bool Returns True if we are in a notebook """ try: # function returns IPython context, but only in IPython ipy = get_ipython() # NOQA # we only want to render rich output in notebooks # in terminals we definitely do not want to output HTML name = str(ipy.__class__).lower() terminal = "terminal" in name # spyder uses ZMQshell, and can appear to be a notebook spyder = "_" in os.environ and "spyder" in os.environ["_"] # assume we are in a notebook if we are not in # a terminal and we haven't been run by spyder notebook = (not terminal) and (not spyder) return notebook except BaseException: return False trimesh-4.5.1/trimesh/viewer/trackball.py000066400000000000000000000200511470574263400204730ustar00rootroot00000000000000# Copied from # https://github.com/mmatl/pyrender/blob/master/pyrender/trackball.py # MIT License # # Copyright (c) 2019 Matthew Matl # # Permission is hereby granted, free of charge, to any person obtaining a copy # of this software and associated documentation files (the "Software"), to deal # in the Software without restriction, including without limitation the rights # to use, copy, modify, merge, publish, distribute, sublicense, and/or sell # copies of the Software, and to permit persons to whom the Software is # furnished to do so, subject to the following conditions: # # The above copyright notice and this permission notice shall be included in all # copies or substantial portions of the Software. # # THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR # IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, # FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE # AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER # LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE # SOFTWARE. """Trackball class for 3D manipulation of viewpoints.""" import numpy as np from .. import transformations class Trackball: """A trackball class for creating camera transforms from mouse movements.""" STATE_ROTATE = 0 STATE_PAN = 1 STATE_ROLL = 2 STATE_ZOOM = 3 def __init__(self, pose, size, scale, target=None): """Initialize a trackball with an initial camera-to-world pose and the given parameters. Parameters ---------- pose : [4,4] An initial camera-to-world pose for the trackball. size : (float, float) The width and height of the camera image in pixels. scale : float The diagonal of the scene's bounding box -- used for ensuring translation motions are sufficiently fast for differently-sized scenes. target : (3,) float The center of the scene in world coordinates. The trackball will revolve around this point. """ self._size = np.array(size) self._scale = float(scale) self._pose = pose self._n_pose = pose if target is None: self._target = np.array([0.0, 0.0, 0.0]) self._n_target = np.array([0.0, 0.0, 0.0]) else: self._target = target self._n_target = target self._state = Trackball.STATE_ROTATE @property def pose(self): """autolab_core.RigidTransform : The current camera-to-world pose.""" return self._n_pose def set_state(self, state): """Set the state of the trackball in order to change the effect of dragging motions. Parameters ---------- state : int One of Trackball.STATE_ROTATE, Trackball.STATE_PAN, Trackball.STATE_ROLL, and Trackball.STATE_ZOOM. """ self._state = state def resize(self, size): """Resize the window. Parameters ---------- size : (float, float) The new width and height of the camera image in pixels. """ self._size = np.array(size) def down(self, point): """Record an initial mouse press at a given point. Parameters ---------- point : (2,) int The x and y pixel coordinates of the mouse press. """ self._pdown = np.array(point, dtype=np.float32) self._pose = self._n_pose self._target = self._n_target def drag(self, point): """Update the tracball during a drag. Parameters ---------- point : (2,) int The current x and y pixel coordinates of the mouse during a drag. This will compute a movement for the trackball with the relative motion between this point and the one marked by down(). """ point = np.array(point, dtype=np.float32) # get the "down" point defaulting to current point making # this a no-op if the "down" event didn't trigger for some reason dx, dy = point - getattr(self, "_pdown", point) mindim = 0.3 * np.min(self._size) target = self._target x_axis = self._pose[:3, 0].flatten() y_axis = self._pose[:3, 1].flatten() z_axis = self._pose[:3, 2].flatten() eye = self._pose[:3, 3].flatten() # Interpret drag as a rotation if self._state == Trackball.STATE_ROTATE: x_angle = -dx / mindim x_rot_mat = transformations.rotation_matrix(x_angle, y_axis, target) y_angle = dy / mindim y_rot_mat = transformations.rotation_matrix(y_angle, x_axis, target) self._n_pose = y_rot_mat.dot(x_rot_mat.dot(self._pose)) # Interpret drag as a roll about the camera axis elif self._state == Trackball.STATE_ROLL: center = self._size / 2.0 v_init = self._pdown - center v_curr = point - center v_init = v_init / np.linalg.norm(v_init) v_curr = v_curr / np.linalg.norm(v_curr) theta = -np.arctan2(v_curr[1], v_curr[0]) + np.arctan2(v_init[1], v_init[0]) rot_mat = transformations.rotation_matrix(theta, z_axis, target) self._n_pose = rot_mat.dot(self._pose) # Interpret drag as a camera pan in view plane elif self._state == Trackball.STATE_PAN: dx = -dx / (5.0 * mindim) * self._scale dy = -dy / (5.0 * mindim) * self._scale translation = dx * x_axis + dy * y_axis self._n_target = self._target + translation t_tf = np.eye(4) t_tf[:3, 3] = translation self._n_pose = t_tf.dot(self._pose) # Interpret drag as a zoom motion elif self._state == Trackball.STATE_ZOOM: radius = np.linalg.norm(eye - target) ratio = 0.0 if dy > 0: ratio = np.exp(abs(dy) / (0.5 * self._size[1])) - 1.0 elif dy < 0: ratio = 1.0 - np.exp(dy / (0.5 * (self._size[1]))) translation = -np.sign(dy) * ratio * radius * z_axis t_tf = np.eye(4) t_tf[:3, 3] = translation self._n_pose = t_tf.dot(self._pose) def scroll(self, clicks): """Zoom using a mouse scroll wheel motion. Parameters ---------- clicks : int The number of clicks. Positive numbers indicate forward wheel movement. """ target = self._target ratio = 0.90 mult = 1.0 if clicks > 0: mult = ratio**clicks elif clicks < 0: mult = (1.0 / ratio) ** abs(clicks) z_axis = self._n_pose[:3, 2].flatten() eye = self._n_pose[:3, 3].flatten() radius = np.linalg.norm(eye - target) translation = (mult * radius - radius) * z_axis t_tf = np.eye(4) t_tf[:3, 3] = translation self._n_pose = t_tf.dot(self._n_pose) z_axis = self._pose[:3, 2].flatten() eye = self._pose[:3, 3].flatten() radius = np.linalg.norm(eye - target) translation = (mult * radius - radius) * z_axis t_tf = np.eye(4) t_tf[:3, 3] = translation self._pose = t_tf.dot(self._pose) def rotate(self, azimuth, axis=None): """Rotate the trackball about the "Up" axis by azimuth radians. Parameters ---------- azimuth : float The number of radians to rotate. """ target = self._target y_axis = self._n_pose[:3, 1].flatten() if axis is not None: y_axis = axis x_rot_mat = transformations.rotation_matrix(azimuth, y_axis, target) self._n_pose = x_rot_mat.dot(self._n_pose) y_axis = self._pose[:3, 1].flatten() if axis is not None: y_axis = axis x_rot_mat = transformations.rotation_matrix(azimuth, y_axis, target) self._pose = x_rot_mat.dot(self._pose) trimesh-4.5.1/trimesh/viewer/widget.py000066400000000000000000000217621470574263400200310ustar00rootroot00000000000000""" widget.py ------------- A widget which can visualize trimesh.Scene objects in a glooey window. Check out an example in `examples/widget.py` """ import glooey import numpy as np import pyglet from pyglet import gl from .. import rendering from .trackball import Trackball from .windowed import SceneViewer, geometry_hash class SceneGroup(pyglet.graphics.Group): def __init__( self, rect, scene, background=None, pixel_per_point=(1, 1), parent=None, ): super().__init__(parent) self.rect = rect self.scene = scene if background is None: background = [0.99, 0.99, 0.99, 1.0] self._background = background self._pixel_per_point = pixel_per_point def _set_view(self): left = int(self._pixel_per_point[0] * self.rect.left) bottom = int(self._pixel_per_point[1] * self.rect.bottom) width = int(self._pixel_per_point[0] * self.rect.width) height = int(self._pixel_per_point[1] * self.rect.height) gl.glPushAttrib(gl.GL_ENABLE_BIT) gl.glEnable(gl.GL_SCISSOR_TEST) gl.glScissor(left, bottom, width, height) self._mode = (gl.GLint)() gl.glGetIntegerv(gl.GL_MATRIX_MODE, self._mode) self._viewport = (gl.GLint * 4)() gl.glGetIntegerv(gl.GL_VIEWPORT, self._viewport) gl.glViewport(left, bottom, width, height) gl.glMatrixMode(gl.GL_PROJECTION) gl.glPushMatrix() gl.glLoadIdentity() near = 0.01 far = 1000.0 gl.gluPerspective(self.scene.camera.fov[1], width / height, near, far) gl.glMatrixMode(gl.GL_MODELVIEW) def _unset_view(self): gl.glMatrixMode(gl.GL_PROJECTION) gl.glPopMatrix() gl.glMatrixMode(self._mode.value) gl.glViewport( self._viewport[0], self._viewport[1], self._viewport[2], self._viewport[3], ) gl.glPopAttrib() def set_state(self): self._set_view() SceneViewer._gl_set_background(self._background) SceneViewer._gl_enable_depth(self.scene.camera) SceneViewer._gl_enable_color_material() SceneViewer._gl_enable_blending() SceneViewer._gl_enable_smooth_lines() SceneViewer._gl_enable_lighting(self.scene) gl.glClear(gl.GL_COLOR_BUFFER_BIT | gl.GL_DEPTH_BUFFER_BIT) gl.glPushMatrix() gl.glLoadIdentity() gl.glMultMatrixf( rendering.matrix_to_gl(np.linalg.inv(self.scene.camera_transform)) ) def unset_state(self): gl.glPopMatrix() SceneViewer._gl_unset_background() self._unset_view() class MeshGroup(pyglet.graphics.Group): def __init__(self, transform=None, texture=None, parent=None): super().__init__(parent) if transform is None: transform = np.eye(4) self.transform = transform self.texture = texture def set_state(self): gl.glPushMatrix() gl.glMultMatrixf(rendering.matrix_to_gl(self.transform)) if self.texture: gl.glEnable(self.texture.target) gl.glBindTexture(self.texture.target, self.texture.id) def unset_state(self): if self.texture: gl.glDisable(self.texture.target) gl.glPopMatrix() class SceneWidget(glooey.Widget): def __init__(self, scene, **kwargs): super().__init__() self.scene = scene self._scene_group = None # key is node_name self.mesh_group = {} # key is geometry_name self.vertex_list = {} self.vertex_list_hash = {} self.textures = {} self._initial_camera_transform = self.scene.camera_transform.copy() self.reset_view() self._background = kwargs.pop("background", None) self._smooth = kwargs.pop("smooth", True) if kwargs: raise TypeError(f"unexpected kwargs: {kwargs}") @property def scene_group(self): if self._scene_group is None: pixel_per_point = np.array(self.window.get_viewport_size()) / np.array( self.window.get_size() ) self._scene_group = SceneGroup( rect=self.rect, scene=self.scene, background=self._background, pixel_per_point=pixel_per_point, parent=self.group, ) return self._scene_group def clear(self): self._scene_group = None self.mesh_group = {} while self.vertex_list: _, vertex = self.vertex_list.popitem() vertex.delete() self.vertex_list_hash = {} self.textures = {} def reset_view(self): self.view = { "ball": Trackball( pose=self._initial_camera_transform, size=self.scene.camera.resolution, scale=self.scene.scale, target=self.scene.centroid, ) } self.scene.camera_transform = self.view["ball"].pose def do_claim(self): return 0, 0 def do_regroup(self): if not self.vertex_list: return node_names = self.scene.graph.nodes_geometry for node_name in node_names: transform, geometry_name = self.scene.graph[node_name] if geometry_name not in self.vertex_list: continue vertex_list = self.vertex_list[geometry_name] if node_name in self.mesh_group: mesh_group = self.mesh_group[node_name] else: mesh_group = MeshGroup( transform=transform, texture=self.textures.get(geometry_name), parent=self.scene_group, ) self.mesh_group[node_name] = mesh_group self.batch.migrate(vertex_list, gl.GL_TRIANGLES, mesh_group, self.batch) def do_draw(self): resolution = (self.rect.width, self.rect.height) if not (resolution == self.scene.camera.resolution).all(): self.scene.camera.resolution = resolution node_names = self.scene.graph.nodes_geometry for node_name in node_names: transform, geometry_name = self.scene.graph[node_name] geometry = self.scene.geometry[geometry_name] self._update_node(node_name, geometry_name, geometry, transform) def do_undraw(self): if not self.vertex_list: return for vertex_list in self.vertex_list.values(): vertex_list.delete() self._scene_group = None self.mesh_group = {} self.vertex_list = {} self.vertex_list_hash = {} self.textures = {} def on_mouse_press(self, x, y, buttons, modifiers): SceneViewer.on_mouse_press(self, x, y, buttons, modifiers) self._draw() def on_mouse_drag(self, x, y, dx, dy, buttons, modifiers): # detect a drag across widgets x_prev = x - dx y_prev = y - dy left, bottom = self.rect.left, self.rect.bottom width, height = self.rect.width, self.rect.height if not (left < x_prev <= left + width) or not ( bottom < y_prev <= bottom + height ): self.view["ball"].down(np.array([x, y])) SceneViewer.on_mouse_drag(self, x, y, dx, dy, buttons, modifiers) self._draw() def on_mouse_scroll(self, x, y, dx, dy): SceneViewer.on_mouse_scroll(self, x, y, dx, dy) self._draw() def _update_node(self, node_name, geometry_name, geometry, transform): geometry_hash_new = geometry_hash(geometry) if self.vertex_list_hash.get(geometry_name) != geometry_hash_new: # if geometry has texture defined convert it to opengl form if hasattr(geometry, "visual") and hasattr(geometry.visual, "material"): tex = rendering.material_to_texture(geometry.visual.material) if tex is not None: self.textures[geometry_name] = tex if node_name in self.mesh_group: mesh_group = self.mesh_group[node_name] mesh_group.transform = transform mesh_group.texture = self.textures.get(geometry_name) else: mesh_group = MeshGroup( transform=transform, texture=self.textures.get(geometry_name), parent=self.scene_group, ) self.mesh_group[node_name] = mesh_group if self.vertex_list_hash.get(geometry_name) != geometry_hash_new: if geometry_name in self.vertex_list: self.vertex_list[geometry_name].delete() # convert geometry to constructor args args = rendering.convert_to_vertexlist( geometry, group=mesh_group, smooth=self._smooth ) # create the indexed vertex list self.vertex_list[geometry_name] = self.batch.add_indexed(*args) # save the MD5 of the geometry self.vertex_list_hash[geometry_name] = geometry_hash_new trimesh-4.5.1/trimesh/viewer/windowed.py000066400000000000000000000744011470574263400203640ustar00rootroot00000000000000""" windowed.py --------------- Provides a pyglet- based windowed viewer to preview Trimesh, Scene, PointCloud, and Path objects. Works on all major platforms: Windows, Linux, and OSX. """ import collections import numpy as np import pyglet # pyglet 2.0 is close to a re-write moving from fixed-function # to shaders and we will likely support it by forking an entirely # new viewer `trimesh.viewer.shaders` and then basically keeping # `windowed` around for backwards-compatibility with no changes if int(pyglet.version.split(".")[0]) >= 2: raise ImportError('`trimesh.viewer.windowed` requires `pip install "pyglet<2"`') from .. import rendering, util from ..transformations import translation_matrix from ..visual import to_rgba from .trackball import Trackball pyglet.options["shadow_window"] = False import pyglet.gl as gl # NOQA # smooth only when fewer faces than this _SMOOTH_MAX_FACES = 100000 class SceneViewer(pyglet.window.Window): def __init__( self, scene, smooth=True, flags=None, visible=True, resolution=None, start_loop=True, callback=None, callback_period=None, caption=None, fixed=None, offset_lines=True, line_settings=None, background=None, window_conf=None, profile=False, record=False, **kwargs, ): """ Create a window that will display a trimesh.Scene object in an OpenGL context via pyglet. Parameters --------------- scene : trimesh.scene.Scene Scene with geometry and transforms smooth : bool If True try to smooth shade things flags : dict If passed apply keys to self.view: ['cull', 'wireframe', etc] visible : bool Display window or not resolution : (2,) int Initial resolution of window start_loop : bool Call pyglet.app.run() at the end of init callback : function A function which can be called periodically to update things in the scene callback_period : float How often to call the callback, in seconds fixed : None or iterable List of keys in scene.geometry to skip view transform on to keep fixed relative to camera offset_lines : bool If True, will offset lines slightly so if drawn coplanar with mesh geometry they will be visible background : None or (4,) uint8 Color for background window_conf : None, or gl.Config Passed to window init profile : bool If set will run a `pyinstrument` profile for every call to `on_draw` and print the output. record : bool If True, will save a list of `png` bytes to a list located in `scene.metadata['recording']` kwargs : dict Additional arguments to pass, including 'background' for to set background color """ self.scene = self._scene = scene self.callback = callback self.callback_period = callback_period self.scene._redraw = self._redraw self.offset_lines = bool(offset_lines) self.background = background # save initial camera transform self._initial_camera_transform = scene.camera_transform.copy() # a transform to offset lines slightly to avoid Z-fighting self._line_offset = translation_matrix( [0, 0, scene.scale / 1000 if self.offset_lines else 0] ) self.reset_view() self.batch = pyglet.graphics.Batch() self._smooth = smooth self._profile = bool(profile) if self._profile: from pyinstrument import Profiler self.Profiler = Profiler self._record = bool(record) if self._record: # will save bytes here self.scene.metadata["recording"] = [] # store kwargs self.kwargs = kwargs # store a vertexlist for an axis marker self._axis = None # store a vertexlist for a grid display self._grid = None # store scene geometry as vertex lists self.vertex_list = {} # store geometry hashes self.vertex_list_hash = {} # store geometry rendering mode self.vertex_list_mode = {} # store meshes that don't rotate relative to viewer self.fixed = fixed # store a hidden (don't not display) node. self._nodes_hidden = set() # name : texture self.textures = {} # if resolution isn't defined set a default value if resolution is None: resolution = scene.camera.resolution else: scene.camera.resolution = resolution # set the default line settings to a fraction # of our resolution so the points aren't tiny scale = max(resolution) self.line_settings = {"point_size": scale / 200, "line_width": scale / 400} # if we've been passed line settings override the default if line_settings is not None: self.line_settings.update(line_settings) # no window conf was passed so try to get the best looking one if window_conf is None: try: # try enabling antialiasing # if you have a graphics card this will probably work conf = gl.Config( sample_buffers=1, samples=4, depth_size=24, double_buffer=True ) super().__init__( config=conf, visible=visible, resizable=True, width=resolution[0], height=resolution[1], caption=caption, ) except pyglet.window.NoSuchConfigException: conf = gl.Config(double_buffer=True) super().__init__( config=conf, resizable=True, visible=visible, width=resolution[0], height=resolution[1], caption=caption, ) else: # window config was manually passed super().__init__( config=window_conf, resizable=True, visible=visible, width=resolution[0], height=resolution[1], caption=caption, ) # add scene geometry to viewer geometry self._update_vertex_list() # call after geometry is added self.init_gl() self.set_size(*resolution) if flags is not None: self.reset_view(flags=flags) self.update_flags() # someone has passed a callback to be called periodically if self.callback is not None: # if no callback period is specified set it to default if callback_period is None: # 30 times per second callback_period = 1.0 / 30.0 # set up a do-nothing periodic task which will # trigger `self.on_draw` every `callback_period` # seconds if someone has passed a callback pyglet.clock.schedule_interval(lambda x: x, callback_period) if start_loop: pyglet.app.run() def _redraw(self): self.on_draw() def _update_vertex_list(self): # update vertex_list if needed for name, geom in self.scene.geometry.items(): if geom.is_empty: continue if _geometry_hash(geom) == self.vertex_list_hash.get(name): continue self.add_geometry(name=name, geometry=geom, smooth=bool(self._smooth)) def _update_meshes(self): # call the callback if specified if self.callback is not None: self.callback(self.scene) self._update_vertex_list() self._update_perspective(self.width, self.height) def add_geometry(self, name, geometry, **kwargs): """ Add a geometry to the viewer. Parameters -------------- name : hashable Name that references geometry geometry : Trimesh, Path2D, Path3D, PointCloud Geometry to display in the viewer window kwargs ** Passed to rendering.convert_to_vertexlist """ try: # convert geometry to constructor args args = rendering.convert_to_vertexlist(geometry, **kwargs) except BaseException: util.log.warning(f"failed to add geometry `{name}`", exc_info=True) return # create the indexed vertex list self.vertex_list[name] = self.batch.add_indexed(*args) # save the hash of the geometry self.vertex_list_hash[name] = _geometry_hash(geometry) # save the rendering mode from the constructor args self.vertex_list_mode[name] = args[1] # get the visual if the element has it visual = getattr(geometry, "visual", None) if hasattr(visual, "uv") and hasattr(visual, "material"): try: tex = rendering.material_to_texture(visual.material) if tex is not None: self.textures[name] = tex except BaseException: util.log.warning("failed to load texture", exc_info=True) def cleanup_geometries(self): """ Remove any stored vertex lists that no longer exist in the scene. """ # shorthand to scene graph graph = self.scene.graph # which parts of the graph still have geometry geom_keep = {graph[node][1] for node in graph.nodes_geometry} # which geometries no longer need to be kept geom_delete = [geom for geom in self.vertex_list if geom not in geom_keep] for geom in geom_delete: # remove stored vertex references self.vertex_list.pop(geom, None) self.vertex_list_hash.pop(geom, None) self.vertex_list_mode.pop(geom, None) self.textures.pop(geom, None) def unhide_geometry(self, node): """ If a node is hidden remove the flag and show the geometry on the next draw. Parameters ------------- node : str Node to display """ self._nodes_hidden.discard(node) def hide_geometry(self, node): """ Don't display the geometry contained at a node on the next draw. Parameters ------------- node : str Node to not display """ self._nodes_hidden.add(node) def reset_view(self, flags=None): """ Set view to the default view. Parameters -------------- flags : None or dict If any view key passed override the default e.g. {'cull': False} """ self.view = { "cull": True, "axis": False, "grid": False, "fullscreen": False, "wireframe": False, "ball": Trackball( pose=self._initial_camera_transform, size=self.scene.camera.resolution, scale=self.scene.scale, target=self.scene.centroid, ), } try: # if any flags are passed override defaults if isinstance(flags, dict): for k, v in flags.items(): if k in self.view: self.view[k] = v self.update_flags() except BaseException: pass def init_gl(self): """ Perform the magic incantations to create an OpenGL scene using pyglet. """ # if user passed a background color use it if self.background is None: # default background color is white background = np.ones(4) else: # convert to (4,) uint8 RGBA background = to_rgba(self.background) # convert to 0.0-1.0 float background = background.astype(np.float64) / 255.0 self._gl_set_background(background) # use camera setting for depth self._gl_enable_depth(self.scene.camera) self._gl_enable_color_material() self._gl_enable_blending() self._gl_enable_smooth_lines(**self.line_settings) self._gl_enable_lighting(self.scene) @staticmethod def _gl_set_background(background): gl.glClearColor(*background) @staticmethod def _gl_unset_background(): gl.glClearColor(*[0, 0, 0, 0]) @staticmethod def _gl_enable_depth(camera): """ Enable depth test in OpenGL using distances from `scene.camera`. """ gl.glClearDepth(1.0) gl.glEnable(gl.GL_DEPTH_TEST) gl.glDepthFunc(gl.GL_LEQUAL) gl.glEnable(gl.GL_DEPTH_TEST) gl.glEnable(gl.GL_CULL_FACE) @staticmethod def _gl_enable_color_material(): # do some openGL things gl.glColorMaterial(gl.GL_FRONT_AND_BACK, gl.GL_AMBIENT_AND_DIFFUSE) gl.glEnable(gl.GL_COLOR_MATERIAL) gl.glShadeModel(gl.GL_SMOOTH) gl.glMaterialfv( gl.GL_FRONT, gl.GL_AMBIENT, rendering.vector_to_gl(0.192250, 0.192250, 0.192250), ) gl.glMaterialfv( gl.GL_FRONT, gl.GL_DIFFUSE, rendering.vector_to_gl(0.507540, 0.507540, 0.507540), ) gl.glMaterialfv( gl.GL_FRONT, gl.GL_SPECULAR, rendering.vector_to_gl(0.5082730, 0.5082730, 0.5082730), ) gl.glMaterialf(gl.GL_FRONT, gl.GL_SHININESS, 0.4 * 128.0) @staticmethod def _gl_enable_blending(): # enable blending for transparency gl.glEnable(gl.GL_BLEND) gl.glBlendFunc(gl.GL_SRC_ALPHA, gl.GL_ONE_MINUS_SRC_ALPHA) @staticmethod def _gl_enable_smooth_lines(line_width=4, point_size=4): # make the lines from Path3D objects less ugly gl.glEnable(gl.GL_LINE_SMOOTH) gl.glHint(gl.GL_LINE_SMOOTH_HINT, gl.GL_NICEST) # set the width of lines to 4 pixels gl.glLineWidth(line_width) # set PointCloud markers to 4 pixels in size gl.glPointSize(point_size) @staticmethod def _gl_enable_lighting(scene): """ Take the lights defined in scene.lights and apply them as openGL lights. """ gl.glEnable(gl.GL_LIGHTING) # opengl only supports 7 lights? for i, light in enumerate(scene.lights[:7]): # the index of which light we have lightN = eval(f"gl.GL_LIGHT{i}") # get the transform for the light by name matrix = scene.graph.get(light.name)[0] # convert light object to glLightfv calls multiargs = rendering.light_to_gl( light=light, transform=matrix, lightN=lightN ) # enable the light in question gl.glEnable(lightN) # run the glLightfv calls for args in multiargs: gl.glLightfv(*args) def toggle_culling(self): """ Toggle back face culling. It is on by default but if you are dealing with non- watertight meshes you probably want to be able to see the back sides. """ self.view["cull"] = not self.view["cull"] self.update_flags() def toggle_wireframe(self): """ Toggle wireframe mode Good for looking inside meshes, off by default. """ self.view["wireframe"] = not self.view["wireframe"] self.update_flags() def toggle_fullscreen(self): """ Toggle between fullscreen and windowed mode. """ self.view["fullscreen"] = not self.view["fullscreen"] self.update_flags() def toggle_axis(self): """ Toggle a rendered XYZ/RGB axis marker: off, world frame, every frame """ # cycle through three axis states states = [False, "world", "all", "without_world"] # the state after toggling index = (states.index(self.view["axis"]) + 1) % len(states) # update state to next index self.view["axis"] = states[index] # perform gl actions self.update_flags() def toggle_grid(self): """ Toggle a rendered grid. """ # update state to next index self.view["grid"] = not self.view["grid"] # perform gl actions self.update_flags() def update_flags(self): """ Check the view flags, and call required GL functions. """ # view mode, filled vs wirefrom if self.view["wireframe"]: gl.glPolygonMode(gl.GL_FRONT_AND_BACK, gl.GL_LINE) else: gl.glPolygonMode(gl.GL_FRONT_AND_BACK, gl.GL_FILL) # set fullscreen or windowed self.set_fullscreen(fullscreen=self.view["fullscreen"]) # backface culling on or off if self.view["cull"]: gl.glEnable(gl.GL_CULL_FACE) else: gl.glDisable(gl.GL_CULL_FACE) # case where we WANT an axis and NO vertexlist # is stored internally if self.view["axis"] and self._axis is None: from .. import creation # create an axis marker sized relative to the scene axis = creation.axis(origin_size=self.scene.scale / 100) # create ordered args for a vertex list args = rendering.mesh_to_vertexlist(axis) # store the axis as a reference self._axis = self.batch.add_indexed(*args) # case where we DON'T want an axis but a vertexlist # IS stored internally elif not self.view["axis"] and self._axis is not None: # remove the axis from the rendering batch self._axis.delete() # set the reference to None self._axis = None if self.view["grid"] and self._grid is None: try: # create a grid marker from ..path.creation import grid bounds = self.scene.bounds center = bounds.mean(axis=0) # set the grid to the lowest Z position # also offset by the scale to avoid interference center[2] = bounds[0][2] - (np.ptp(bounds[:, 2]) / 100) # choose the side length by maximum XY length side = np.ptp(bounds, axis=0)[:2].max() # create an axis marker sized relative to the scene grid_mesh = grid(side=side, count=4, transform=translation_matrix(center)) # convert the path to vertexlist args args = rendering.convert_to_vertexlist(grid_mesh) # create ordered args for a vertex list self._grid = self.batch.add_indexed(*args) except BaseException: util.log.warning("failed to create grid!", exc_info=True) elif not self.view["grid"] and self._grid is not None: self._grid.delete() self._grid = None def _update_perspective(self, width, height): try: # for high DPI screens viewport size # will be different then the passed size width, height = self.get_viewport_size() except BaseException: # older versions of pyglet may not have this pass # set the new viewport size gl.glViewport(0, 0, width, height) gl.glMatrixMode(gl.GL_PROJECTION) gl.glLoadIdentity() # get field of view and Z range from camera camera = self.scene.camera # set perspective from camera data gl.gluPerspective( camera.fov[1], width / float(height), camera.z_near, camera.z_far ) gl.glMatrixMode(gl.GL_MODELVIEW) return width, height def on_resize(self, width, height): """ Handle resized windows. """ width, height = self._update_perspective(width, height) self.scene.camera.resolution = (width, height) self.view["ball"].resize(self.scene.camera.resolution) self.scene.camera_transform = self.view["ball"].pose def on_mouse_press(self, x, y, buttons, modifiers): """ Set the start point of the drag. """ self.view["ball"].set_state(Trackball.STATE_ROTATE) if buttons == pyglet.window.mouse.LEFT: ctrl = modifiers & pyglet.window.key.MOD_CTRL shift = modifiers & pyglet.window.key.MOD_SHIFT if ctrl and shift: self.view["ball"].set_state(Trackball.STATE_ZOOM) elif shift: self.view["ball"].set_state(Trackball.STATE_ROLL) elif ctrl: self.view["ball"].set_state(Trackball.STATE_PAN) elif buttons == pyglet.window.mouse.MIDDLE: self.view["ball"].set_state(Trackball.STATE_PAN) elif buttons == pyglet.window.mouse.RIGHT: self.view["ball"].set_state(Trackball.STATE_ZOOM) self.view["ball"].down(np.array([x, y])) self.scene.camera_transform = self.view["ball"].pose def on_mouse_drag(self, x, y, dx, dy, buttons, modifiers): """ Pan or rotate the view. """ self.view["ball"].drag(np.array([x, y])) self.scene.camera_transform = self.view["ball"].pose def on_mouse_scroll(self, x, y, dx, dy): """ Zoom the view. """ self.view["ball"].scroll(dy) self.scene.camera_transform = self.view["ball"].pose def on_key_press(self, symbol, modifiers): """ Call appropriate functions given key presses. """ magnitude = 10 if symbol == pyglet.window.key.W: self.toggle_wireframe() elif symbol == pyglet.window.key.Z: self.reset_view() elif symbol == pyglet.window.key.C: self.toggle_culling() elif symbol == pyglet.window.key.A: self.toggle_axis() elif symbol == pyglet.window.key.G: self.toggle_grid() elif symbol == pyglet.window.key.Q: self.on_close() elif symbol == pyglet.window.key.M: self.maximize() elif symbol == pyglet.window.key.F: self.toggle_fullscreen() if symbol in [ pyglet.window.key.LEFT, pyglet.window.key.RIGHT, pyglet.window.key.DOWN, pyglet.window.key.UP, ]: self.view["ball"].down([0, 0]) if symbol == pyglet.window.key.LEFT: self.view["ball"].drag([-magnitude, 0]) elif symbol == pyglet.window.key.RIGHT: self.view["ball"].drag([magnitude, 0]) elif symbol == pyglet.window.key.DOWN: self.view["ball"].drag([0, -magnitude]) elif symbol == pyglet.window.key.UP: self.view["ball"].drag([0, magnitude]) self.scene.camera_transform = self.view["ball"].pose def on_draw(self): """ Run the actual draw calls. """ if self._profile: profiler = self.Profiler() profiler.start() self._update_meshes() gl.glClear(gl.GL_COLOR_BUFFER_BIT | gl.GL_DEPTH_BUFFER_BIT) gl.glLoadIdentity() # pull the new camera transform from the scene transform_camera = np.linalg.inv(self.scene.camera_transform) # apply the camera transform to the matrix stack gl.glMultMatrixf(rendering.matrix_to_gl(transform_camera)) # we want to render fully opaque objects first, # followed by objects which have transparency node_names = collections.deque(self.scene.graph.nodes_geometry) # how many nodes did we start with count_original = len(node_names) count = -1 # if we are rendering an axis marker at the world if self._axis and not self.view["axis"] == "without_world": # we stored it as a vertex list self._axis.draw(mode=gl.GL_TRIANGLES) if self._grid: self._grid.draw(mode=gl.GL_LINES) # save a reference outside of the loop geometry = self.scene.geometry graph = self.scene.graph while len(node_names) > 0: count += 1 current_node = node_names.popleft() if current_node in self._nodes_hidden: continue # get the transform from world to geometry and mesh name transform, geometry_name = graph.get(current_node) # if no geometry at this frame continue without rendering if geometry_name is None or geometry_name not in self.vertex_list_mode: continue # if a geometry is marked as fixed apply the inverse view transform if self.fixed is not None and geometry_name in self.fixed: # remove altered camera transform from fixed geometry transform_fix = np.linalg.inv( np.dot(self._initial_camera_transform, transform_camera) ) # apply the transform so the fixed geometry doesn't move transform = np.dot(transform, transform_fix) # get a reference to the mesh so we can check transparency mesh = geometry[geometry_name] if mesh.is_empty: continue # get the GL mode of the current geometry mode = self.vertex_list_mode[geometry_name] # if you draw a coplanar line with a triangle it will z-fight # the best way to do this is probably a shader but this works fine if mode == gl.GL_LINES: # apply the offset in camera space transform = util.multi_dot( [ transform, np.linalg.inv(transform_camera), self._line_offset, transform_camera, ] ) # add a new matrix to the model stack gl.glPushMatrix() # transform by the nodes transform gl.glMultMatrixf(rendering.matrix_to_gl(transform)) # draw an axis marker for each mesh frame if self.view["axis"] == "all": self._axis.draw(mode=gl.GL_TRIANGLES) elif self.view["axis"] == "without_world": if not util.allclose(transform, np.eye(4), atol=1e-5): self._axis.draw(mode=gl.GL_TRIANGLES) # transparent things must be drawn last if ( hasattr(mesh, "visual") and hasattr(mesh.visual, "transparency") and mesh.visual.transparency ): # put the current item onto the back of the queue if count < count_original: # add the node to be drawn last node_names.append(current_node) # pop the matrix stack for now gl.glPopMatrix() # come back to this mesh later continue # if we have texture enable the target texture texture = None if geometry_name in self.textures: texture = self.textures[geometry_name] gl.glEnable(texture.target) gl.glBindTexture(texture.target, texture.id) # draw the mesh with its transform applied self.vertex_list[geometry_name].draw(mode=mode) # pop the matrix stack as we drew what we needed to draw gl.glPopMatrix() # disable texture after using if texture is not None: gl.glDisable(texture.target) if self._profile: profiler.stop() util.log.debug(profiler.output_text(unicode=True, color=True)) def flip(self): super().flip() if self._record: # will save a PNG-encoded bytes img = self.save_image(util.BytesIO()) # seek start of file-like object img.seek(0) # save the bytes from the file object self.scene.metadata["recording"].append(img.read()) def save_image(self, file_obj): """ Save the current color buffer to a file object in PNG format. Parameters ------------- file_obj: file name, or file- like object """ manager = pyglet.image.get_buffer_manager() colorbuffer = manager.get_color_buffer() # if passed a string save by name if hasattr(file_obj, "write"): colorbuffer.save(file=file_obj) else: colorbuffer.save(filename=file_obj) return file_obj def _geometry_hash(geometry): """ Get a hash for a geometry object Parameters ------------ geometry : object Returns ------------ hash : str """ h = str(hash(geometry)) if hasattr(geometry, "visual"): # if visual properties are defined h += str(hash(geometry.visual)) return h def render_scene(scene, resolution=None, visible=True, **kwargs): """ Render a preview of a scene to a PNG. Note that whether this works or not highly variable based on platform and graphics driver. Parameters ------------ scene : trimesh.Scene Geometry to be rendered resolution : (2,) int or None Resolution in pixels or set from scene.camera visible : bool Show a window during rendering. Note that MANY platforms refuse to render with hidden windows and will likely return a blank image; this is a platform issue and cannot be fixed in Python. kwargs : ** Passed to SceneViewer Returns --------- render : bytes Image in PNG format """ window = SceneViewer( scene, start_loop=False, visible=visible, resolution=resolution, **kwargs ) from ..util import BytesIO # need to run loop twice to display anything for save in [False, False, True]: pyglet.clock.tick() window.switch_to() window.dispatch_events() window.dispatch_event("on_draw") window.flip() if save: # save the color buffer data to memory file_obj = BytesIO() window.save_image(file_obj) file_obj.seek(0) render = file_obj.read() window.close() return render trimesh-4.5.1/trimesh/visual/000077500000000000000000000000001470574263400161665ustar00rootroot00000000000000trimesh-4.5.1/trimesh/visual/__init__.py000066400000000000000000000014741470574263400203050ustar00rootroot00000000000000# flake8: NOQA """ visual ------------- Handle visual properties for meshes, including color and texture """ from .color import ( ColorVisuals, random_color, to_rgba, DEFAULT_COLOR, interpolate, uv_to_color, uv_to_interpolated_color, linear_color_map, ) from .texture import TextureVisuals from .objects import create_visual, concatenate from . import color from . import texture from . import objects from . import material from .. import resolvers # explicitly list imports in __all__ # as otherwise flake8 gets mad __all__ = [ "color", "texture", "resolvers", "TextureVisuals", "ColorVisuals", "random_color", "to_rgba", "create_visual", "DEFAULT_COLOR", "interpolate", "linear_color_map", "uv_to_color", "uv_to_interpolated_color", ] trimesh-4.5.1/trimesh/visual/base.py000066400000000000000000000017661470574263400174640ustar00rootroot00000000000000""" base.py ------------- The base class for `Visual` objects """ import abc from ..util import ABC class Visuals(ABC): """ Parent of Visual classes. """ @property @abc.abstractmethod def kind(self): pass @abc.abstractmethod def update_vertices(self, mask): pass @abc.abstractmethod def update_faces(self, mask): pass @abc.abstractmethod def concatenate(self, other): pass @abc.abstractmethod def __hash__(self): pass @abc.abstractmethod def copy(self): pass def __add__(self, other): """ Concatenate two ColorVisuals objects into a single object. Parameters ----------- other : Visuals Other visual to concatenate Returns ----------- result : Visuals Object containing information from current object and other in the order (self, other) """ return self.concatenate(other) trimesh-4.5.1/trimesh/visual/color.py000066400000000000000000000706421470574263400176670ustar00rootroot00000000000000""" color.py ------------- Hold and deal with visual information about meshes. There are lots of ways to encode visual information, and the goal of this architecture is to make it possible to define one, and then transparently get the others. The two general categories are: 1) colors, defined for a face, vertex, or material 2) textures, defined as an image and UV coordinates for each vertex This module only implements diffuse colors at the moment. Goals ---------- 1) If nothing is defined sane defaults should be returned 2) If a user alters or sets a value, that is considered user data and should be saved and treated as such. 3) Only one 'mode' of visual (vertex or face) is allowed at a time and setting or altering a value should automatically change the mode. """ import colorsys import copy import numpy as np from .. import caching, util from ..constants import tol from ..grouping import unique_rows from ..typed import ArrayLike, NDArray from .base import Visuals class ColorVisuals(Visuals): """ Store color information about a mesh. """ def __init__(self, mesh=None, face_colors=None, vertex_colors=None): """ Store color information about a mesh. Parameters ---------- mesh : Trimesh Object that these visual properties are associated with face_ colors : (n,3|4) or (3,) or (4,) uint8 Colors per-face vertex_colors : (n,3|4) or (3,) or (4,) uint8 Colors per-vertex """ self.mesh = mesh self._data = caching.DataStore() self._cache = caching.Cache(id_function=self._data.__hash__) self.defaults = { "material_diffuse": np.array([102, 102, 102, 255], dtype=np.uint8), "material_ambient": np.array([64, 64, 64, 255], dtype=np.uint8), "material_specular": np.array([197, 197, 197, 255], dtype=np.uint8), "material_shine": 77.0, } try: if face_colors is not None: self.face_colors = face_colors if vertex_colors is not None: self.vertex_colors = vertex_colors except ValueError: util.log.warning("unable to convert colors!") @caching.cache_decorator def transparency(self): """ Does the current object contain any transparency. Returns ---------- transparency: bool, does the current visual contain transparency """ if "vertex_colors" in self._data: a_min = self._data["vertex_colors"][:, 3].min() elif "face_colors" in self._data: a_min = self._data["face_colors"][:, 3].min() else: return False return bool(a_min < 255) @property def defined(self): """ Are any colors defined for the current mesh. Returns --------- defined : bool Are colors defined or not. """ return self.kind is not None @property def kind(self): """ What color mode has been set. Returns ---------- mode : str or None One of ('face', 'vertex', None) """ # if nothing is stored anywhere it's a safe bet mode is None if not (len(self._cache.cache) > 0 or len(self._data.data) > 0): return None # do bookkeeping self._verify_hash() # check modes in data if "vertex_colors" in self._data: return "vertex" elif "face_colors" in self._data: return "face" return None def __hash__(self): return self._data.__hash__() def copy(self): """ Return a copy of the current ColorVisuals object. Returns ---------- copied : ColorVisuals Contains the same information as self """ copied = ColorVisuals() # call the literally insane generators to validate self.face_colors # noqa self.vertex_colors # noqa # copy anything that's actually data copied._data.data = copy.deepcopy(self._data.data) return copied @property def face_colors(self): """ Colors defined for each face of a mesh. If no colors are defined, defaults are returned. Returns ---------- colors : (len(mesh.faces), 4) uint8 RGBA color for each face """ return self._get_colors(name="face") @face_colors.setter def face_colors(self, values): """ Set the colors for each face of a mesh. This will apply these colors and delete any previously specified color information. Parameters ------------ colors : (len(mesh.faces), 3), set each face to the specified color (len(mesh.faces), 4), set each face to the specified color (3,) int, set the whole mesh this color (4,) int, set the whole mesh this color """ if values is None: if "face_colors" in self._data: self._data.data.pop("face_colors") return colors = to_rgba(values) if self.mesh is not None and colors.shape == (4,): count = len(self.mesh.faces) colors = np.tile(colors, (count, 1)) # if we set any color information, clear the others self._data.clear() self._data["face_colors"] = colors self._cache.verify() @property def vertex_colors(self): """ Return the colors for each vertex of a mesh Returns ------------ colors: (len(mesh.vertices), 4) uint8, color for each vertex """ return self._get_colors(name="vertex") @vertex_colors.setter def vertex_colors(self, values): """ Set the colors for each vertex of a mesh This will apply these colors and delete any previously specified color information. Parameters ------------ colors : (len(mesh.vertices), 3), set each face to the color (len(mesh.vertices), 4), set each face to the color (3,) int, set the whole mesh this color (4,) int, set the whole mesh this color """ if values is None: if "vertex_colors" in self._data: self._data.data.pop("vertex_colors") return # make sure passed values are numpy array values = np.asanyarray(values) # Ensure the color shape is sane if self.mesh is not None and not ( values.shape == (len(self.mesh.vertices), 3) or values.shape == (len(self.mesh.vertices), 4) or values.shape == (3,) or values.shape == (4,) ): return colors = to_rgba(values) if self.mesh is not None and colors.shape == (4,): count = len(self.mesh.vertices) colors = np.tile(colors, (count, 1)) # if we set any color information, clear the others self._data.clear() self._data["vertex_colors"] = colors self._cache.verify() def _get_colors(self, name): """ A magical function which maintains the sanity of vertex and face colors. * If colors have been explicitly stored or changed, they are considered user data, stored in self._data (DataStore), and are returned immediately when requested. * If colors have never been set, a (count,4) tiled copy of the default diffuse color will be stored in the cache ** the hash on creation for these cached default colors will also be stored ** if the cached color array is altered (different hash than when it was created) we consider that now to be user data and the array is moved from the cache to the DataStore. Parameters ----------- name : str Values 'face' or 'vertex' Returns ----------- colors : (count, 4) uint8 RGBA colors """ count = None try: if name == "face": count = len(self.mesh.faces) elif name == "vertex": count = len(self.mesh.vertices) except BaseException: pass # the face or vertex colors key_colors = str(name) + "_colors" # the initial hash of the colors key_hash = key_colors + "_hash" if key_colors in self._data: # if a user has explicitly stored or changed the color it # will be in data return self._data[key_colors] elif key_colors in self._cache: # if the colors have been autogenerated already they # will be in the cache colors = self._cache[key_colors] # if the cached colors have been changed since creation we move # them to data if hash(colors) != self._cache[key_hash]: # call the setter on the property using exec # this avoids having to pass a setter to this function if name == "face": self.face_colors = colors elif name == "vertex": self.vertex_colors = colors else: raise ValueError("unsupported name!!!") self._cache.verify() # return the stored copy of the colors return self._data[key_colors] else: # colors have never been accessed if self.kind is None: # no colors are defined, so create a (count, 4) tiled # copy of the default color colors = np.tile(self.defaults["material_diffuse"], (count, 1)) elif self.kind == "vertex" and name == "face": colors = vertex_to_face_color( vertex_colors=self.vertex_colors, faces=self.mesh.faces ) elif self.kind == "face" and name == "vertex": colors = face_to_vertex_color( mesh=self.mesh, face_colors=self.face_colors ) else: raise ValueError("self.kind not accepted values!!") if count is not None and colors.shape != (count, 4): raise ValueError("face colors incorrect shape!") # subclass the array to track for changes using a hash colors = caching.tracked_array(colors) # put the generated colors and their initial checksum into cache self._cache[key_colors] = colors self._cache[key_hash] = hash(colors) return colors def _verify_hash(self): """ Verify the checksums of cached face and vertex color, to verify that a user hasn't altered them since they were generated from defaults. If the colors have been altered since creation, move them into the DataStore at self._data since the user action has made them user data. """ if not hasattr(self, "_cache") or len(self._cache) == 0: return for name in ["face", "vertex"]: # the face or vertex colors key_colors = str(name) + "_colors" # the initial hash of the colors key_hash = key_colors + "_hash" if key_colors not in self._cache: continue colors = self._cache[key_colors] # if the cached colors have been changed since creation # move them to data if hash(colors) != self._cache[key_hash]: if name == "face": self.face_colors = colors elif name == "vertex": self.vertex_colors = colors else: raise ValueError("unsupported name!!!") self._cache.verify() def update_vertices(self, mask): """ Apply a mask to remove or duplicate vertex properties. """ self._update_key(mask, "vertex_colors") def update_faces(self, mask): """ Apply a mask to remove or duplicate face properties """ self._update_key(mask, "face_colors") def face_subset(self, face_index): """ Given a mask of face indices, return a sliced version. Parameters ---------- face_index: (n,) int, mask for faces (n,) bool, mask for faces Returns ---------- visual: ColorVisuals object containing a subset of faces. """ kwargs = {} if self.defined: if self.face_colors is not None: kwargs.update(face_colors=self.face_colors[face_index]) if self.vertex_colors is not None: indices = np.unique(self.mesh.faces[face_index].flatten()) vertex_colors = self.vertex_colors[indices] kwargs.update(vertex_colors=vertex_colors) result = ColorVisuals(**kwargs) return result @property def main_color(self): """ What is the most commonly occurring color. Returns ------------ color: (4,) uint8, most common color """ if self.kind is None: return DEFAULT_COLOR elif self.kind == "face": colors = self.face_colors elif self.kind == "vertex": colors = self.vertex_colors else: raise ValueError("color kind incorrect!") # find the unique colors unique, inverse = unique_rows(colors) # the most commonly occurring color, or mode # this will be an index of inverse, not colors mode_index = np.bincount(inverse).argmax() color = colors[unique[mode_index]] return color def to_texture(self): """ Convert the current ColorVisuals object to a texture with a `SimpleMaterial` defined. Returns ------------ visual : trimesh.visual.TextureVisuals Copy of the current visuals as a texture. """ from .texture import TextureVisuals mat, uv = color_to_uv(vertex_colors=self.vertex_colors) return TextureVisuals(material=mat, uv=uv) def concatenate(self, other, *args): """ Concatenate two or more ColorVisuals objects into a single object. Parameters ----------- other : ColorVisuals Object to append *args: ColorVisuals objects Returns ----------- result : ColorVisuals Containing information from current object and others in the order it was passed. """ # avoid a circular import from . import objects result = objects.concatenate(self, other, *args) return result def _update_key(self, mask, key): """ Mask the value contained in the DataStore at a specified key. Parameters ----------- mask: (n,) int (n,) bool key: hashable object, in self._data """ mask = np.asanyarray(mask) if key in self._data: self._data[key] = self._data[key][mask] class VertexColor(Visuals): """ Create a simple visual object to hold just vertex colors for objects such as PointClouds. """ def __init__(self, colors=None, obj=None): """ Create a vertex color visual """ self.obj = obj self.vertex_colors = colors @property def kind(self): return "vertex" def update_vertices(self, mask): if self._colors is not None: self._colors = self._colors[mask] def update_faces(self, mask): pass @property def vertex_colors(self): return self._colors @vertex_colors.setter def vertex_colors(self, data): if data is None: self._colors = caching.tracked_array(None) else: # tile single color into color array data = np.asanyarray(data) if data.shape in [(3,), (4,)]: data = np.tile(data, (len(self.obj.vertices), 1)) # track changes in colors and convert to RGBA self._colors = caching.tracked_array(to_rgba(data)) def copy(self): """ Return a copy of the current visuals """ return copy.deepcopy(self) def concatenate(self, other): """ Concatenate this visual object with another VertexVisuals. Parameters ----------- other : VertexColors or ColorVisuals Other object to concatenate Returns ------------ concate : VertexColor Object with both colors """ return VertexColor(colors=np.vstack(self.vertex_colors, other.vertex_colors)) def __hash__(self): return self._colors.__hash__() def to_rgba(colors, dtype=np.uint8) -> NDArray: """ Convert a single or multiple RGB colors to RGBA colors. Parameters ---------- colors : (n, 3) or (n, 4) array RGB or RGBA colors or None Returns ---------- colors : (n, 4) list of RGBA colors (4,) single RGBA color """ if colors is None: return DEFAULT_COLOR # colors as numpy array colors = np.asanyarray(colors) # integer value for opaque alpha given our datatype opaque = np.iinfo(dtype).max if colors.dtype.kind == "f": # replace any `nan` or `inf` values with zero colors[~np.isfinite(colors)] = 0.0 # if we've been passed float colors they better be # 0.0-1.0 colors = np.clip((colors * opaque).round(), 0, opaque) if util.is_shape(colors, (-1, 3)): # add an opaque alpha for RGB colors colors = np.column_stack((colors, opaque * np.ones(len(colors)))) elif util.is_shape(colors, (3,)): # if passed a single RGB color add an alpha colors = np.append(colors, opaque) if not (util.is_shape(colors, (4,)) or util.is_shape(colors, (-1, 4))): raise ValueError("Colors not of appropriate shape!") return colors.astype(dtype) def to_float(colors: ArrayLike) -> NDArray[np.float64]: """ Convert integer colors to 0.0-1.0 floating point colors Parameters ------------- colors : (n, d) int Integer colors Returns ------------- as_float : (n, d) float Float colors 0.0 - 1.0 """ # colors as numpy array colors = np.asanyarray(colors) if colors.dtype.kind == "f": return colors.astype(np.float64) elif colors.dtype.kind in "iu": # integer value for opaque alpha given our datatype opaque = np.iinfo(colors.dtype).max return colors.astype(np.float64) / opaque else: raise ValueError("only works on int or float colors!") def hex_to_rgba(color): """ Turn a string hex color to a (4,) RGBA color. Parameters ----------- color: str, hex color Returns ----------- rgba: (4,) np.uint8, RGBA color """ value = str(color).lstrip("#").strip() if len(value) == 6: rgb = [int(value[i : i + 2], 16) for i in (0, 2, 4)] rgba = np.append(rgb, 255).astype(np.uint8) else: raise ValueError("Only RGB supported") return rgba def random_color(dtype=np.uint8): """ Return a random RGB color using datatype specified. Parameters ---------- dtype: numpy dtype of result Returns ---------- color: (4,) dtype, random color that looks OK """ hue = np.random.random() + 0.61803 hue %= 1.0 color = np.array(colorsys.hsv_to_rgb(hue, 0.99, 0.99)) if np.dtype(dtype).kind in "iu": max_value = (2 ** (np.dtype(dtype).itemsize * 8)) - 1 color *= max_value color = np.append(color, max_value).astype(dtype) return color def vertex_to_face_color(vertex_colors, faces): """ Convert a list of vertex colors to face colors. Parameters ---------- vertex_colors: (n,(3,4)), colors faces: (m,3) int, face indexes Returns ----------- face_colors: (m,4) colors """ vertex_colors = to_rgba(vertex_colors) face_colors = vertex_colors[faces].mean(axis=1) return face_colors.astype(np.uint8) def face_to_vertex_color(mesh, face_colors, dtype=np.uint8): """ Convert face colors into vertex colors. Parameters ----------- mesh : trimesh.Trimesh object face_colors: (n, (3,4)) int, face colors dtype: data type of output Returns ----------- vertex_colors: (m,4) dtype, colors for each vertex """ rgba = to_rgba(face_colors) vertex = mesh.faces_sparse.dot(rgba.astype(np.float64)) degree = mesh.vertex_degree # normalize color by the number of faces including # the vertex (i.e. the vertex degree) nonzero = degree > 0 vertex[nonzero] /= degree[nonzero].reshape((-1, 1)) assert vertex.shape == (len(mesh.vertices), 4) return vertex.astype(dtype) def colors_to_materials(colors, count=None): """ Convert a list of colors into a list of unique materials and material indexes. Parameters ----------- colors : (n, 3) or (n, 4) float RGB or RGBA colors count : int Number of entities to apply color to Returns ----------- diffuse : (m, 4) int Colors index : (count,) int Index of each color """ # convert RGB to RGBA rgba = to_rgba(colors) # if we were only passed a single color if util.is_shape(rgba, (4,)) and count is not None: diffuse = rgba.reshape((-1, 4)) index = np.zeros(count, dtype=np.int64) elif util.is_shape(rgba, (-1, 4)): # we were passed multiple colors # find the unique colors in the list to save as materials unique, index = unique_rows(rgba) diffuse = rgba[unique] else: raise ValueError("Colors not convertible!") return diffuse, index def linear_color_map(values, color_range=None): """ Linearly interpolate between two colors. If colors are not specified the function will interpolate between 0.0 values as red and 1.0 as green. Parameters -------------- values : (n, ) float Values to interpolate color_range : None, or (2, 4) uint8 What colors should extrema be set to Returns --------------- colors : (n, 4) uint8 RGBA colors for interpolated values """ if color_range is None: color_range = np.array([[255, 0, 0, 255], [0, 255, 0, 255]], dtype=np.uint8) else: color_range = np.asanyarray(color_range, dtype=np.uint8) if color_range.shape != (2, 4): raise ValueError("color_range must be RGBA (2, 4)") # float 1D array clamped to 0.0 - 1.0 values = np.clip(np.asanyarray(values, dtype=np.float64).ravel(), 0.0, 1.0).reshape( (-1, 1) ) # the stacked component colors color = [np.ones((len(values), 4)) * c for c in color_range.astype(np.float64)] # interpolated colors colors = (color[1] * values) + (color[0] * (1.0 - values)) # rounded and set to correct data type colors = np.round(colors).astype(np.uint8) return colors def interpolate(values, color_map=None, dtype=np.uint8): """ Given a 1D list of values, return interpolated colors for the range. Parameters --------------- values : (n, ) float Values to be interpolated over color_map : None, or str Key to a colormap contained in: matplotlib.pyplot.colormaps() e.g: 'viridis' Returns ------------- interpolated : (n, 4) dtype Interpolated RGBA colors """ # get a color interpolation function if color_map is None: cmap = linear_color_map else: from matplotlib.pyplot import get_cmap cmap = get_cmap(color_map) # make input always float values = np.asanyarray(values, dtype=np.float64).ravel() # scale values to 0.0 - 1.0 and get colors colors = cmap((values - values.min()) / np.ptp(values)) # convert to 0-255 RGBA rgba = to_rgba(colors, dtype=dtype) return rgba def uv_to_color(uv, image): """ Get the color in a texture image. Parameters ------------- uv : (n, 2) float UV coordinates on texture image image : PIL.Image Texture image Returns ---------- colors : (n, 4) uint4 RGBA color at each of the UV coordinates """ if image is None or uv is None: return None # UV coordinates should be (n, 2) float uv = np.asanyarray(uv, dtype=np.float64) # get texture image pixel positions of UV coordinates x = (uv[:, 0] * (image.width - 1)) % image.width y = ((1 - uv[:, 1]) * (image.height - 1)) % image.height # access colors from pixel locations # make sure image is RGBA before getting values colors = np.asanyarray(image.convert("RGBA"))[ y.round().astype(np.int64), x.round().astype(np.int64) ] # conversion to RGBA should have corrected shape assert colors.ndim == 2 and colors.shape[1] == 4 assert colors.dtype == np.uint8 return colors def uv_to_interpolated_color(uv, image): """ Get the color from texture image using bilinear sampling. Parameters ------------- uv : (n, 2) float UV coordinates on texture image image : PIL.Image Texture image Returns ---------- colors : (n, 4) uint8 RGBA color at each of the UV coordinates. """ if image is None or uv is None: return None # UV coordinates should be (n, 2) float uv = np.asanyarray(uv, dtype=np.float64) # get texture image pixel positions of UV coordinates x = uv[:, 0] * (image.width - 1) y = (1 - uv[:, 1]) * (image.height - 1) x_floor = np.floor(x).astype(np.int64) % image.width y_floor = np.floor(y).astype(np.int64) % image.height x_ceil = np.ceil(x).astype(np.int64) % image.width y_ceil = np.ceil(y).astype(np.int64) % image.height dx = x % image.width - x_floor dy = y % image.height - y_floor img = np.asanyarray(image.convert("RGBA")) colors00 = img[y_floor, x_floor] colors01 = img[y_floor, x_ceil] colors10 = img[y_ceil, x_floor] colors11 = img[y_ceil, x_ceil] a00 = (1 - dx) * (1 - dy) a01 = dx * (1 - dy) a10 = (1 - dx) * dy a11 = dx * dy a00 = np.repeat(a00[:, None], 4, axis=1) a01 = np.repeat(a01[:, None], 4, axis=1) a10 = np.repeat(a10[:, None], 4, axis=1) a11 = np.repeat(a11[:, None], 4, axis=1) # interpolated colors as floating point then convert back to uint8 colors = ( (a00 * colors00 + a01 * colors01 + a10 * colors10 + a11 * colors11) .round() .astype(np.uint8) ) # conversion to RGBA should have corrected shape assert colors.ndim == 2 and colors.shape[1] == 4 assert colors.dtype == np.uint8 return colors def color_to_uv(vertex_colors): """ Pack vertex colors into UV coordinates and a simple image material Parameters ------------ vertex_colors : (n, 4) float Array of vertex colors. Returns ------------ material : SimpleMaterial Material containing color information. uv : (n, 2) float Normalized UV coordinates """ from .material import SimpleMaterial, empty_material # deduplicate the vertex colors unique, inverse = unique_rows(vertex_colors) # if there is only one color return a if len(unique) == 1: # return a simple single-pixel material material = empty_material(color=vertex_colors[unique[0]]) uvs = np.zeros((len(vertex_colors), 2)) + 0.5 return material, uvs from PIL import Image # return a square image of (size, size) size = int(np.ceil(np.sqrt(len(unique)))) ctype = vertex_colors.shape[1] colors = np.zeros((size**2, ctype), dtype=vertex_colors.dtype) colors[: len(unique)] = vertex_colors[unique] # PIL has reversed x-y coordinates image = Image.fromarray(colors.reshape((size, size, ctype))[::-1]) pos = np.arange(len(unique)) # create tiled coordinates for the color pixels coords = np.column_stack((pos % size, np.floor(pos / size))) # normalize the index coords into 0.0 - 1.0 # and offset them to be centered on the pixel coords = (coords / size) + (1.0 / (size * 2.0)) uvs = coords[inverse] if tol.strict: # check the packed colors against the image check = uv_to_color(image=image, uv=uvs) assert np.all(check == vertex_colors) return SimpleMaterial(image=image), uvs # set an arbitrary grey as the default color DEFAULT_COLOR = np.array([102, 102, 102, 255], dtype=np.uint8) trimesh-4.5.1/trimesh/visual/gloss.py000066400000000000000000000356531470574263400177030ustar00rootroot00000000000000import numpy as np from ..constants import log from ..exceptions import ExceptionWrapper from ..typed import ArrayLike, Number, Optional try: from PIL.Image import Image, fromarray except BaseException as E: Image = ExceptionWrapper(E) fromarray = ExceptionWrapper(E) def specular_to_pbr( specularFactor: Optional[ArrayLike] = None, glossinessFactor: Optional[Number] = None, specularGlossinessTexture: Optional["Image"] = None, diffuseTexture: Optional["Image"] = None, diffuseFactor: Optional[ArrayLike] = None, **kwargs, ) -> dict: """ Convert the KHR_materials_pbrSpecularGlossiness to a metallicRoughness visual. Parameters ----------- specularFactor : list[float] Specular color values. Ignored if specularGlossinessTexture is present and defaults to [1.0, 1.0, 1.0]. glossinessFactor : float glossiness factor in range [0, 1], scaled specularGlossinessTexture if present. Defaults to 1.0. specularGlossinessTexture : PIL.Image Texture with 4 color channels. With [0,1,2] representing specular RGB and 3 glossiness. diffuseTexture : PIL.Image Texture with 4 color channels. With [0,1,2] representing diffuse RGB and 3 opacity. diffuseFactor: float Diffuse RGBA color. scales diffuseTexture if present. Defaults to [1.0, 1.0, 1.0, 1.0]. Returns ---------- kwargs : dict Constructor args for a PBRMaterial object. Containing: - either baseColorTexture or baseColorFactor - either metallicRoughnessTexture or metallicFactor and roughnessFactor """ # based on: # https://github.com/KhronosGroup/glTF/blob/89427b26fcac884385a2e6d5803d917ab5d1b04f/extensions/2.0/Archived/KHR_materials_pbrSpecularGlossiness/examples/convert-between-workflows-bjs/js/babylon.pbrUtilities.js#L33-L64 if isinstance(Image, ExceptionWrapper): log.debug("unable to convert specular-glossy material without pillow!") result = {} if isinstance(diffuseTexture, dict): result["baseColorTexture"] = diffuseTexture if diffuseFactor is not None: result["baseColorFactor"] = diffuseFactor return result dielectric_specular = np.array([0.04, 0.04, 0.04], dtype=np.float32) epsilon = 1e-6 def solve_metallic(diffuse, specular, one_minus_specular_strength): if isinstance(specular, float) and specular < dielectric_specular[0]: return 0.0 if len(diffuse.shape) == 2: diffuse = diffuse[..., None] if len(specular.shape) == 2: specular = specular[..., None] a = dielectric_specular[0] b = ( diffuse * one_minus_specular_strength / (1.0 - dielectric_specular[0]) + specular - 2.0 * dielectric_specular[0] ) c = dielectric_specular[0] - specular D = b * b - 4.0 * a * c D = np.clip(D, epsilon, None) metallic = np.clip((-b + np.sqrt(D)) / (2.0 * a), 0.0, 1.0) if isinstance(metallic, np.ndarray): metallic[specular < dielectric_specular[0]] = 0.0 return metallic def get_perceived_brightness(rgb): return np.sqrt(np.dot(rgb[..., :3] ** 2, [0.299, 0.587, 0.114])) def toPIL(img, mode=None): if isinstance(img, Image): return img if img.dtype == np.float32 or img.dtype == np.float64: img = (np.clip(img, 0.0, 1.0) * 255.0).astype(np.uint8) return fromarray(img, mode=mode) def get_float(val): if isinstance(val, float): return val if isinstance(val, np.ndarray) and len(val.shape) == 1: return val[0] return val.tolist() def get_diffuse(diffuseFactor, diffuseTexture): diffuseFactor = ( diffuseFactor if diffuseFactor is not None else [1.0, 1.0, 1.0, 1.0] ) diffuseFactor = np.array(diffuseFactor, dtype=np.float32) if diffuseTexture is not None: if diffuseTexture.mode == "BGR": diffuseTexture = diffuseTexture.convert("RGB") elif diffuseTexture.mode == "BGRA": diffuseTexture = diffuseTexture.convert("RGBA") diffuse = np.array(diffuseTexture) / 255.0 # diffuseFactor must be applied to linear scaled colors . # Sometimes, diffuse texture is only 2 channels, how do we know # if they are encoded sRGB or linear? diffuse = convert_texture_srgb2lin(diffuse) if len(diffuse.shape) == 2: diffuse = diffuse[..., None] if diffuse.shape[-1] == 1: diffuse = diffuse * diffuseFactor elif diffuse.shape[-1] == 2: alpha = diffuse[..., 1:2] diffuse = diffuse[..., :1] * diffuseFactor if diffuseFactor.shape[-1] == 3: # this should actually not happen, but it seems like many materials are not complying with the spec diffuse = np.concatenate([diffuse, alpha], axis=-1) else: diffuse[..., -1:] *= alpha elif diffuse.shape[-1] == diffuseFactor.shape[-1]: diffuse = diffuse * diffuseFactor elif diffuse.shape[-1] == 3 and diffuseFactor.shape[-1] == 4: diffuse = ( np.concatenate([diffuse, np.ones_like(diffuse[..., :1])], axis=-1) * diffuseFactor ) else: log.warning( "`diffuseFactor` and `diffuseTexture` have incompatible shapes: " + f"{diffuseFactor.shape} and {diffuse.shape}" ) else: diffuse = diffuseFactor if diffuseFactor is not None else [1, 1, 1, 1] diffuse = np.array(diffuse, dtype=np.float32) return diffuse def get_specular_glossiness( specularFactor, glossinessFactor, specularGlossinessTexture ): if specularFactor is None: specularFactor = [1.0, 1.0, 1.0] specularFactor = np.array(specularFactor, dtype=np.float32) if glossinessFactor is None: glossinessFactor = 1.0 glossinessFactor = np.array([glossinessFactor], dtype=np.float32) # specularGlossinessTexture should be a texture with 4 channels, # 3 sRGB channels for specular and 1 linear channel for glossiness. # in practice, it can also have just 1, 2, or 3 channels which are then to # be multiplied with the provided factors if specularGlossinessTexture is not None: if specularGlossinessTexture.mode == "BGR": specularGlossinessTexture = specularGlossinessTexture.convert("RGB") elif specularGlossinessTexture.mode == "BGRA": specularGlossinessTexture = specularGlossinessTexture.convert("RGBA") specularGlossinessTexture = np.array(specularGlossinessTexture) / 255.0 specularTexture, glossinessTexture = None, None if len(specularGlossinessTexture.shape) == 2: # use the one channel as a multiplier for specular and glossiness specularTexture = glossinessTexture = specularGlossinessTexture.reshape( specularGlossinessTexture.shape[0], specularGlossinessTexture.shape[1], 1, ) elif specularGlossinessTexture.shape[-1] == 1: # use the one channel as a multiplier for specular and glossiness specularTexture = glossinessTexture = specularGlossinessTexture[ ..., np.newaxis ] elif specularGlossinessTexture.shape[-1] == 3: # all channels are specular, glossiness is only a factor specularTexture = specularGlossinessTexture[..., :3] elif specularGlossinessTexture.shape[-1] == 2: # first channel is specular, last channel is glossiness specularTexture = specularGlossinessTexture[..., :1] glossinessTexture = specularGlossinessTexture[..., 1:2] elif specularGlossinessTexture.shape[-1] == 4: # first 3 channels are specular, last channel is glossiness specularTexture = specularGlossinessTexture[..., :3] glossinessTexture = specularGlossinessTexture[..., 3:] if specularTexture is not None: # specular texture channels are sRGB specularTexture = convert_texture_srgb2lin(specularTexture) specular = specularTexture * specularFactor else: specular = specularFactor if glossinessTexture is not None: # glossiness texture channel is linear glossiness = glossinessTexture * glossinessFactor else: glossiness = glossinessFactor one_minus_specular_strength = 1.0 - np.max(specular, axis=-1, keepdims=True) else: specular = specularFactor if specularFactor is not None else [1.0, 1.0, 1.0] specular = np.array(specular, dtype=np.float32) glossiness = glossinessFactor if glossinessFactor is not None else 1.0 glossiness = np.array(glossiness, dtype=np.float32) one_minus_specular_strength = 1.0 - max(specular[:3]) return specular, glossiness, one_minus_specular_strength if diffuseTexture is not None and specularGlossinessTexture is not None: # reshape to the size of the largest texture max_shape = tuple( max(diffuseTexture.size[i], specularGlossinessTexture.size[i]) for i in range(2) ) if ( diffuseTexture.size[0] != max_shape[0] or diffuseTexture.size[1] != max_shape[1] ): diffuseTexture = diffuseTexture.resize(max_shape) if ( specularGlossinessTexture.size[0] != max_shape[0] or specularGlossinessTexture.size[1] != max_shape[1] ): specularGlossinessTexture = specularGlossinessTexture.resize(max_shape) def srgb2lin(s): """ Converts sRGB color values to linear color values. See: https://entropymine.com/imageworsener/srgbformula/ """ mask = s <= 0.0404482362771082 lin = np.empty_like(s) lin[mask] = s[mask] / 12.92 lin[~mask] = np.power(((s[~mask] + 0.055) / 1.055), 2.4) return lin def convert_texture_srgb2lin(texture): """ Wrapper for srgb2lin that converts color values from sRGB to linear. If texture has 2 or 4 channels, the last channel (alpha) is left unchanged. """ result = texture.copy() color_channels = result.shape[-1] # only scale the color channels, not the alpha channel if color_channels == 4 or color_channels == 2: color_channels -= 1 result[..., :color_channels] = srgb2lin(result[..., :color_channels]) return result def lin2srgb(lin): """ Converts linear color values to sRGB color values. See: https://entropymine.com/imageworsener/srgbformula/ """ s = np.empty_like(lin) mask = lin > 0.00313066844250063 s[mask] = 1.055 * np.power(lin[mask], (1.0 / 2.4)) - 0.055 s[~mask] = 12.92 * lin[~mask] return s def convert_texture_lin2srgb(texture): """ Wrapper for lin2srgb that converts color values from linear to sRGB. If texture has 2 or 4 channels, the last channel (alpha) is left unchanged. """ result = texture.copy() color_channels = result.shape[-1] # only scale the color channels, not the alpha channel if color_channels == 4 or color_channels == 2: color_channels -= 1 result[..., :color_channels] = lin2srgb(result[..., :color_channels]) return result diffuse = get_diffuse(diffuseFactor, diffuseTexture) specular, glossiness, one_minus_specular_strength = get_specular_glossiness( specularFactor, glossinessFactor, specularGlossinessTexture ) metallic = solve_metallic( get_perceived_brightness(diffuse), get_perceived_brightness(specular), one_minus_specular_strength, ) if not isinstance(metallic, np.ndarray): metallic = np.array(metallic, dtype=np.float32) diffuse_rgb = diffuse[..., :3] base_color_from_diffuse = diffuse_rgb * ( one_minus_specular_strength / (1.0 - dielectric_specular[0]) / np.clip((1.0 - metallic), epsilon, None) ) base_color_from_specular = (specular - dielectric_specular * (1.0 - metallic)) * ( 1.0 / np.clip(metallic, epsilon, None) ) mm = metallic * metallic base_color = mm * base_color_from_specular + (1.0 - mm) * base_color_from_diffuse base_color = np.clip(base_color, 0.0, 1.0) # get opacity try: if diffuse.shape == (4,): # opacity is a single scalar value opacity = diffuse[-1] if base_color.shape == (3,): # simple case with one color and diffuse with opacity # add on the opacity from the diffuse color base_color = np.append(base_color, opacity) elif len(base_color.shape) == 3: # stack opacity to match the base color array dim = base_color.shape base_color = np.dstack( ( base_color, np.full(np.prod(dim[:2]), opacity).reshape((dim[0], dim[1], 1)), ) ) elif diffuse.shape[-1] == 4: opacity = diffuse[..., -1] base_color = np.concatenate([base_color, opacity[..., None]], axis=-1) except BaseException: log.error("unable to get opacity", exc_info=True) result = {} if len(base_color.shape) > 1: # convert back to sRGB result["baseColorTexture"] = toPIL( convert_texture_lin2srgb(base_color), mode=("RGB" if base_color.shape[-1] == 3 else "RGBA"), ) else: result["baseColorFactor"] = base_color.tolist() if len(metallic.shape) > 1 or len(glossiness.shape) > 1: if len(glossiness.shape) == 1: glossiness = np.tile(glossiness, (metallic.shape[0], metallic.shape[1], 1)) if len(metallic.shape) == 1: metallic = np.tile(metallic, (glossiness.shape[0], glossiness.shape[1], 1)) # we need to use RGB textures, because 2 channel textures can cause problems result["metallicRoughnessTexture"] = toPIL( np.concatenate( [np.zeros_like(metallic), 1.0 - glossiness, metallic], axis=-1 ), mode="RGB", ) result["metallicFactor"] = 1.0 result["roughnessFactor"] = 1.0 else: result["metallicFactor"] = get_float(metallic) result["roughnessFactor"] = get_float(1.0 - glossiness) return result trimesh-4.5.1/trimesh/visual/material.py000066400000000000000000001035751470574263400203510ustar00rootroot00000000000000""" material.py ------------- Store visual materials as objects. """ import abc import copy import numpy as np from .. import exceptions, util from ..constants import tol from ..typed import NDArray, Optional from . import color try: from PIL import Image except BaseException as E: Image = exceptions.ExceptionWrapper(E) # epsilon for comparing floating point _eps = 1e-5 class Material(util.ABC): def __init__(self, *args, **kwargs): raise NotImplementedError("must be subclassed!") @abc.abstractmethod def __hash__(self): raise NotImplementedError("must be subclassed!") @property @abc.abstractmethod def main_color(self): """ The "average" color of this material. Returns --------- color : (4,) uint8 Average color of this material. """ @property def name(self): if hasattr(self, "_name"): return self._name return "material_0" @name.setter def name(self, value): self._name = value def copy(self): return copy.deepcopy(self) class SimpleMaterial(Material): """ Hold a single image texture. """ def __init__( self, image=None, diffuse=None, ambient=None, specular=None, glossiness=None, **kwargs, ): # save image self.image = image # save material colors as RGBA self.ambient = color.to_rgba(ambient) self.diffuse = color.to_rgba(diffuse) self.specular = color.to_rgba(specular) # save Ns self.glossiness = glossiness # save other keyword arguments self.kwargs = kwargs def to_color(self, uv): return color.uv_to_color(uv, self.image) def to_obj(self, name=None): """ Convert the current material to an OBJ format material. Parameters ----------- name : str or None Name to apply to the material Returns ----------- tex_name : str Name of material mtl_name : str Name of mtl file in files files : dict Data as {file name : bytes} """ # material parameters as 0.0-1.0 RGB Ka = color.to_float(self.ambient)[:3] Kd = color.to_float(self.diffuse)[:3] Ks = color.to_float(self.specular)[:3] if name is None: name = self.name # create an MTL file mtl = [ f"newmtl {name}", "Ka {:0.8f} {:0.8f} {:0.8f}".format(*Ka), "Kd {:0.8f} {:0.8f} {:0.8f}".format(*Kd), "Ks {:0.8f} {:0.8f} {:0.8f}".format(*Ks), f"Ns {self.glossiness:0.8f}", ] # collect the OBJ data into files data = {} if self.image is not None: image_type = self.image.format # what is the name of the export image to save if image_type is None: image_type = "png" image_name = f"{name}.{image_type.lower()}" # save the reference to the image mtl.append(f"map_Kd {image_name}") # save the image texture as bytes in the original format f_obj = util.BytesIO() self.image.save(fp=f_obj, format=image_type) f_obj.seek(0) data[image_name] = f_obj.read() data[f"{name}.mtl"] = "\n".join(mtl).encode("utf-8") return data, name def __hash__(self): """ Provide a hash of the material so we can detect duplicates. Returns ------------ hash : int Hash of image and parameters """ if hasattr(self.image, "tobytes"): # start with hash of raw image bytes hashed = hash(self.image.tobytes()) else: # otherwise start with zero hashed = 0 # we will add additional parameters with # an in-place xor of the additional value # if stored as numpy arrays add parameters if hasattr(self.ambient, "tobytes"): hashed ^= hash(self.ambient.tobytes()) if hasattr(self.diffuse, "tobytes"): hashed ^= hash(self.diffuse.tobytes()) if hasattr(self.specular, "tobytes"): hashed ^= hash(self.specular.tobytes()) if isinstance(self.glossiness, float): hashed ^= hash(int(self.glossiness * 1000)) return hashed @property def main_color(self): """ Return the most prominent color. """ return self.diffuse @property def glossiness(self): if hasattr(self, "_glossiness"): return self._glossiness return 1.0 @glossiness.setter def glossiness(self, value): if value is None: return self._glossiness = float(value) def to_pbr(self): """ Convert the current simple material to a PBR material. Returns ------------ pbr : PBRMaterial Contains material information in PBR format. """ # convert specular exponent to roughness roughness = (2 / (self.glossiness + 2)) ** (1.0 / 4.0) return PBRMaterial( roughnessFactor=roughness, baseColorTexture=self.image, baseColorFactor=self.diffuse, ) class MultiMaterial(Material): def __init__(self, materials=None, **kwargs): """ Wrapper for a list of Materials. Parameters ---------- materials : Optional[List[Material]] List of materials with which the container to be initialized. """ if materials is None: self.materials = [] else: self.materials = materials def to_pbr(self): """ TODO : IMPLEMENT """ pbr = [m for m in self.materials if isinstance(m, PBRMaterial)] if len(pbr) == 0: return PBRMaterial() return pbr[0] def __hash__(self): """ Provide a hash of the multi material so we can detect duplicates. Returns ------------ hash : int Xor hash of the contained materials. """ hashed = int(np.bitwise_xor.reduce([hash(m) for m in self.materials])) return hashed def __iter__(self): return iter(self.materials) def __next__(self): return next(self.materials) def __len__(self): return len(self.materials) @property def main_color(self): """ The "average" color of this material. Returns --------- color : (4,) uint8 Average color of this material. """ def add(self, material): """ Adds new material to the container. Parameters ---------- material : Material The material to be added. """ self.materials.append(material) def get(self, idx): """ Get material by index. Parameters ---------- idx : int Index of the material to be retrieved. Returns ------- The material on the given index. """ return self.materials[idx] class PBRMaterial(Material): """ Create a material for physically based rendering as specified by GLTF 2.0: https://git.io/fhkPZ Parameters with `Texture` in them must be PIL.Image objects """ def __init__( self, name=None, emissiveFactor=None, emissiveTexture=None, baseColorFactor=None, metallicFactor=None, roughnessFactor=None, normalTexture=None, occlusionTexture=None, baseColorTexture=None, metallicRoughnessTexture=None, doubleSided=False, alphaMode=None, alphaCutoff=None, **kwargs, ): # store values in an internal dict self._data = {} # (3,) float self.emissiveFactor = emissiveFactor # (3,) or (4,) float with RGBA colors self.baseColorFactor = baseColorFactor # float self.metallicFactor = metallicFactor self.roughnessFactor = roughnessFactor self.alphaCutoff = alphaCutoff # PIL image self.normalTexture = normalTexture self.emissiveTexture = emissiveTexture self.occlusionTexture = occlusionTexture self.baseColorTexture = baseColorTexture self.metallicRoughnessTexture = metallicRoughnessTexture # bool self.doubleSided = doubleSided # str self.name = name self.alphaMode = alphaMode if len(kwargs) > 0: util.log.debug( "unsupported material keys: {}".format(", ".join(kwargs.keys())) ) @property def emissiveFactor(self): """ The factors for the emissive color of the material. This value defines linear multipliers for the sampled texels of the emissive texture. Returns ----------- emissiveFactor : (3,) float Ech element in the array MUST be greater than or equal to 0 and less than or equal to 1. """ return self._data.get("emissiveFactor") @emissiveFactor.setter def emissiveFactor(self, value): if value is None: # passing none effectively removes value self._data.pop("emissiveFactor", None) else: # non-None values must be a floating point emissive = np.array(value, dtype=np.float64).reshape(3) if emissive.min() < -_eps or emissive.max() > (1 + _eps): raise ValueError("all factors must be between 0.0-1.0") self._data["emissiveFactor"] = emissive @property def alphaMode(self): """ The material alpha rendering mode enumeration specifying the interpretation of the alpha value of the base color. Returns ----------- alphaMode : str One of 'OPAQUE', 'MASK', 'BLEND' """ return self._data.get("alphaMode") @alphaMode.setter def alphaMode(self, value): if value is None: # passing none effectively removes value self._data.pop("alphaMode", None) else: # non-None values must be one of three values value = str(value).upper().strip() if value not in ["OPAQUE", "MASK", "BLEND"]: raise ValueError("incorrect alphaMode: %s", value) self._data["alphaMode"] = value @property def alphaCutoff(self): """ Specifies the cutoff threshold when in MASK alpha mode. If the alpha value is greater than or equal to this value then it is rendered as fully opaque, otherwise, it is rendered as fully transparent. A value greater than 1.0 will render the entire material as fully transparent. This value MUST be ignored for other alpha modes. When alphaMode is not defined, this value MUST NOT be defined. Returns ----------- alphaCutoff : float Value of cutoff. """ return self._data.get("alphaCutoff") @alphaCutoff.setter def alphaCutoff(self, value): if value is None: # passing none effectively removes value self._data.pop("alphaCutoff", None) else: self._data["alphaCutoff"] = float(value) @property def doubleSided(self): """ Specifies whether the material is double sided. Returns ----------- doubleSided : bool Specifies whether the material is double sided. """ return self._data.get("doubleSided") @doubleSided.setter def doubleSided(self, value): if value is None: # passing none effectively removes value self._data.pop("doubleSided", None) else: self._data["doubleSided"] = bool(value) @property def metallicFactor(self): """ The factor for the metalness of the material. This value defines a linear multiplier for the sampled metalness values of the metallic-roughness texture. Returns ----------- metallicFactor : float How metally is the material """ return self._data.get("metallicFactor") @metallicFactor.setter def metallicFactor(self, value): if value is None: # passing none effectively removes value self._data.pop("metallicFactor", None) else: self._data["metallicFactor"] = float(value) @property def roughnessFactor(self): """ The factor for the roughness of the material. This value defines a linear multiplier for the sampled roughness values of the metallic-roughness texture. Returns ----------- roughnessFactor : float Roughness of material. """ return self._data.get("roughnessFactor") @roughnessFactor.setter def roughnessFactor(self, value): if value is None: # passing none effectively removes value self._data.pop("roughnessFactor", None) else: self._data["roughnessFactor"] = float(value) @property def baseColorFactor(self): """ The factors for the base color of the material. This value defines linear multipliers for the sampled texels of the base color texture. Returns --------- color : (4,) uint8 RGBA color """ return self._data.get("baseColorFactor") @baseColorFactor.setter def baseColorFactor(self, value): if value is None: # passing none effectively removes value self._data.pop("baseColorFactor", None) else: # non-None values must be RGBA color self._data["baseColorFactor"] = color.to_rgba(value) @property def normalTexture(self): """ The normal map texture. Returns ---------- image : PIL.Image Normal texture. """ return self._data.get("normalTexture") @normalTexture.setter def normalTexture(self, value): if value is None: # passing none effectively removes value self._data.pop("normalTexture", None) else: self._data["normalTexture"] = value @property def emissiveTexture(self): """ The emissive texture. Returns ---------- image : PIL.Image Emissive texture. """ return self._data.get("emissiveTexture") @emissiveTexture.setter def emissiveTexture(self, value): if value is None: # passing none effectively removes value self._data.pop("emissiveTexture", None) else: self._data["emissiveTexture"] = value @property def occlusionTexture(self): """ The occlusion texture. Returns ---------- image : PIL.Image Occlusion texture. """ return self._data.get("occlusionTexture") @occlusionTexture.setter def occlusionTexture(self, value): if value is None: # passing none effectively removes value self._data.pop("occlusionTexture", None) else: self._data["occlusionTexture"] = value @property def baseColorTexture(self): """ The base color texture image. Returns ---------- image : PIL.Image Color texture. """ return self._data.get("baseColorTexture") @baseColorTexture.setter def baseColorTexture(self, value): if value is None: # passing none effectively removes value self._data.pop("baseColorTexture", None) else: # non-None values must be RGBA color self._data["baseColorTexture"] = value @property def metallicRoughnessTexture(self): """ The metallic-roughness texture. Returns ---------- image : PIL.Image Metallic-roughness texture. """ return self._data.get("metallicRoughnessTexture") @metallicRoughnessTexture.setter def metallicRoughnessTexture(self, value): if value is None: # passing none effectively removes value self._data.pop("metallicRoughnessTexture", None) else: self._data["metallicRoughnessTexture"] = value @property def name(self): return self._data.get("name") @name.setter def name(self, value): if value is None: # passing none effectively removes value self._data.pop("name", None) else: self._data["name"] = value def copy(self): # doing a straight deepcopy fails due to PIL images kwargs = {} # collect stored values as kwargs for k, v in self._data.items(): if v is None: continue if hasattr(v, "copy"): # use an objects explicit copy if available kwargs[k] = v.copy() else: # otherwise just hope deepcopy does something kwargs[k] = copy.deepcopy(v) return PBRMaterial(**kwargs) def to_color(self, uv): """ Get the rough color at a list of specified UV coordinates. Parameters ------------- uv : (n, 2) float UV coordinates on the material Returns ------------- colors """ colors = color.uv_to_color(uv=uv, image=self.baseColorTexture) if colors is None and self.baseColorFactor is not None: colors = self.baseColorFactor.copy() return colors def to_simple(self): """ Get a copy of the current PBR material as a simple material. Returns ------------ simple : SimpleMaterial Contains material information in a simple manner """ return SimpleMaterial(image=self.baseColorTexture, diffuse=self.baseColorFactor) @property def main_color(self): # will return default color if None result = color.to_rgba(self.baseColorFactor) return result def __hash__(self): """ Provide a hash of the material so we can detect duplicate materials. Returns ------------ hash : int Hash of image and parameters """ return hash( b"".join( np.asanyarray(v).tobytes() for v in self._data.values() if v is not None ) ) def empty_material(color: Optional[NDArray[np.uint8]] = None) -> SimpleMaterial: """ Return an empty material set to a single color Parameters ----------- color : None or (3,) uint8 RGB color Returns ------------- material : SimpleMaterial Image is a a four pixel RGB """ # create a one pixel RGB image return SimpleMaterial(image=color_image(color=color)) def color_image(color: Optional[NDArray[np.uint8]] = None): """ Generate an image with one color. Parameters ---------- color Optional uint8 color Returns ---------- image A (2, 2) RGBA image with the specified color. """ # only raise an error further down the line if isinstance(Image, exceptions.ExceptionWrapper): return Image # start with a single default RGBA color single = np.array([100, 100, 100, 255], dtype=np.uint8) if np.shape(color) in ((3,), (4,)): single[: len(color)] = color # tile into a (2, 2) image and return return Image.fromarray(np.tile(single, 4).reshape((2, 2, 4)).astype(np.uint8)) def pack( materials, uvs, deduplicate=True, padding: int = 2, max_tex_size_individual=8192, max_tex_size_fused=8192, ): """ Pack multiple materials with texture into a single material. UV coordinates outside of the 0.0-1.0 range will be coerced into this range using a "wrap" behavior (i.e. modulus). Alpha blending and backface culling settings are not supported! Returns a material with alpha values set, but alpha blending disabled. Parameters ----------- materials : (n,) Material List of multiple materials uvs : (n, m, 2) float Original UV coordinates padding : int Number of pixels to pad each image with. max_tex_size_individual : int Maximum size of each individual texture. max_tex_size_fused : int | None Maximum size of the combined texture. Individual texture size will be reduced to fit. Set to None to allow infinite size. Returns ------------ material : SimpleMaterial Combined material. uv : (p, 2) float Combined UV coordinates in the 0.0-1.0 range. """ import collections from PIL import Image from ..path import packing def multiply_factor(img, factor, mode): """ Multiply an image by a factor. """ if factor is None: return img.convert(mode) img = ( (np.array(img.convert(mode), dtype=np.float64) * factor) .round() .astype(np.uint8) ) return Image.fromarray(img, mode=mode) def get_base_color_texture(mat): """ Logic for extracting a simple image from each material. """ # extract an image for each material img = None if isinstance(mat, PBRMaterial): if mat.baseColorTexture is not None: img = multiply_factor( mat.baseColorTexture, factor=mat.baseColorFactor, mode="RGBA" ) elif mat.baseColorFactor is not None: c = color.to_rgba(mat.baseColorFactor) assert c.shape == (4,) assert c.dtype == np.uint8 img = color_image(c) if img is not None and mat.alphaMode != "BLEND": # we can't handle alpha blending well, but we can bake alpha cutoff mode = img.mode img = np.array(img) if mat.alphaMode == "MASK": img[..., 3] = np.where(img[..., 3] > mat.alphaCutoff * 255, 255, 0) elif mat.alphaMode == "OPAQUE" or mat.alphaMode is None: if "A" in mode: img[..., 3] = 255 img = Image.fromarray(img, mode) elif getattr(mat, "image", None) is not None: img = mat.image elif np.shape(getattr(mat, "diffuse", [])) == (4,): # return a one pixel image img = color_image(mat.diffuse) if img is None: # return a one pixel image img = color_image() # make sure we're always returning in RGBA mode return img.convert("RGBA") def get_metallic_roughness_texture(mat): """ Logic for extracting a simple image from each material. """ # extract an image for each material img = None if isinstance(mat, PBRMaterial): if mat.metallicRoughnessTexture is not None: if mat.metallicRoughnessTexture.format == "BGR": img = np.array(mat.metallicRoughnessTexture.convert("RGB")) else: img = np.array(mat.metallicRoughnessTexture) if len(img.shape) == 2 or img.shape[-1] == 1: img = img.reshape(*img.shape[:2], 1) img = np.concatenate( [ img, np.ones_like(img[..., :1]) * 255, np.zeros_like(img[..., :1]), ], axis=-1, ) elif img.shape[-1] == 2: img = np.concatenate([img, np.zeros_like(img[..., :1])], axis=-1) if mat.metallicFactor is not None: img[..., 0] = np.round( img[..., 0].astype(np.float64) * mat.metallicFactor ).astype(np.uint8) if mat.roughnessFactor is not None: img[..., 1] = np.round( img[..., 1].astype(np.float64) * mat.roughnessFactor ).astype(np.uint8) img = Image.fromarray(img, mode="RGB") else: metallic = 0.0 if mat.metallicFactor is None else mat.metallicFactor roughness = 1.0 if mat.roughnessFactor is None else mat.roughnessFactor metallic_roughnesss = np.round( np.array([metallic, roughness, 0.0], dtype=np.float64) * 255 ) img = Image.fromarray( metallic_roughnesss[None, None].astype(np.uint8), mode="RGB" ) return img def get_emissive_texture(mat): """ Logic for extracting a simple image from each material. """ # extract an image for each material img = None if isinstance(mat, PBRMaterial): if mat.emissiveTexture is not None: img = multiply_factor(mat.emissiveTexture, mat.emissiveFactor, "RGB") elif mat.emissiveFactor is not None: c = color.to_rgba(mat.emissiveFactor) img = Image.fromarray(c.reshape((1, 1, -1))) else: img = Image.fromarray(np.reshape([0, 0, 0], (1, 1, 3)).astype(np.uint8)) # make sure we're always returning in RGBA mode return img.convert("RGB") def get_normal_texture(mat): # there is no default normal texture return getattr(mat, "normalTexture", None) def get_occlusion_texture(mat): occlusion_texture = getattr(mat, "occlusionTexture", None) if occlusion_texture is None: occlusion_texture = Image.fromarray(np.array([[255]], dtype=np.uint8)) else: occlusion_texture = occlusion_texture.convert("L") return occlusion_texture def resize_images(images, sizes): resized = [] for img, size in zip(images, sizes): if img is None: resized.append(None) else: img = img.resize(size) resized.append(img) return resized packed = {} def pack_images(images): # run image packing with our material-specific settings # which including deduplicating by hash, upsizing to the # nearest power of two, returning deterministically by seeding # and padding every side of the image by 1 pixel # see if we've already run this packing image key = hash(tuple(sorted([id(i) for i in images]))) assert key not in packed if key in packed: return packed[key] # otherwise run packing now result = packing.images( images, deduplicate=True, power_resize=True, seed=42, iterations=10, spacing=int(padding), ) packed[key] = result return result if deduplicate: # start by collecting a list of indexes for each material hash unique_idx = collections.defaultdict(list) [unique_idx[hash(m)].append(i) for i, m in enumerate(materials)] # now we only need the indexes and don't care about the hashes mat_idx = list(unique_idx.values()) else: # otherwise just use all the indexes mat_idx = np.arange(len(materials)).reshape((-1, 1)) if len(mat_idx) == 1: # if there is only one material we can just return it return materials[0], np.vstack(uvs) assert set(np.concatenate(mat_idx).ravel()) == set(range(len(uvs))) assert len(uvs) == len(materials) use_pbr = any(isinstance(m, PBRMaterial) for m in materials) # in some cases, the fused scene results in huge trimsheets # we can try to prevent this by downscaling the textures iteratively down_scale_iterations = 6 while down_scale_iterations > 0: # collect the images from the materials images = [get_base_color_texture(materials[g[0]]) for g in mat_idx] if use_pbr: # if we have PBR materials, collect all possible textures and # determine the largest size per material metallic_roughness = [ get_metallic_roughness_texture(materials[g[0]]) for g in mat_idx ] emissive = [get_emissive_texture(materials[g[0]]) for g in mat_idx] normals = [get_normal_texture(materials[g[0]]) for g in mat_idx] occlusion = [get_occlusion_texture(materials[g[0]]) for g in mat_idx] unpadded_sizes = [] for textures in zip(images, metallic_roughness, emissive, normals, occlusion): # remove None textures textures = [tex for tex in textures if tex is not None] tex_sizes = np.stack([np.array(tex.size) for tex in textures]) max_tex_size = tex_sizes.max(axis=0) if max_tex_size.max() > max_tex_size_individual: scale = max_tex_size.max() / max_tex_size_individual max_tex_size = np.round(max_tex_size / scale).astype(np.int64) unpadded_sizes.append(tuple(max_tex_size)) # use the same size for all of them to ensure # that texture atlassing is identical images = resize_images(images, unpadded_sizes) metallic_roughness = resize_images(metallic_roughness, unpadded_sizes) emissive = resize_images(emissive, unpadded_sizes) normals = resize_images(normals, unpadded_sizes) occlusion = resize_images(occlusion, unpadded_sizes) else: # for non-pbr materials, just use the original image size unpadded_sizes = [] for img in images: tex_size = np.array(img.size) if tex_size.max() > max_tex_size_individual: scale = tex_size.max() / max_tex_size_individual tex_size = np.round(tex_size / scale).astype(np.int64) unpadded_sizes.append(tex_size) # pack the multiple images into a single large image final, offsets = pack_images(images) # if the final image is too large, reduce the maximum texture size and repeat if ( max_tex_size_fused is not None and final.size[0] * final.size[1] > max_tex_size_fused**2 ): down_scale_iterations -= 1 max_tex_size_individual //= 2 else: break if use_pbr: # even if we only need the first two channels, store RGB, because # PIL 'LA' mode images are interpreted incorrectly in other 3D software final_metallic_roughness, _ = pack_images(metallic_roughness) if all(np.array(x).max() == 0 for x in emissive): # if all emissive textures are black, don't use emissive emissive = None final_emissive = None else: final_emissive, _ = pack_images(emissive) if all(n is not None for n in normals): # only use normal texture if all materials use them # how else would you handle missing normals? final_normals, _ = pack_images(normals) else: final_normals = None if any(np.array(o).min() < 255 for o in occlusion): # only use occlusion texture if any material actually has an occlusion value final_occlusion, _ = pack_images(occlusion) else: final_occlusion = None # the size of the final texture image final_size = np.array(final.size, dtype=np.float64) # collect scaled new UV coordinates by material index new_uv = {} for group, img, offset in zip(mat_idx, images, offsets): # how big was the original image uv_scale = (np.array(img.size) - 1) / final_size # the units of offset are *pixels of the final image* # thus to scale them to normalized UV coordinates we # what is the offset in fractions of final image uv_offset = offset / (final_size - 1) # scale and translate each of the new UV coordinates # also make sure they are in 0.0-1.0 using modulus (i.e. wrap) half = 0.5 / np.array(img.size) for g in group: # only wrap pixels that are outside of 0.0-1.0. # use a small leeway of half a pixel for floating point inaccuracies and # the case of uv==1.0 uvg = uvs[g].copy() # now wrap anything more than half a pixel outside uvg[np.logical_or(uvg < -half, uvg > (1.0 + half))] %= 1.0 # clamp to half a pixel uvg = np.clip(uvg, half, 1.0 - half) # apply the scale and offset moved = (uvg * uv_scale) + uv_offset if tol.strict: # the color from the original coordinates and image old = color.uv_to_interpolated_color(uvs[g], img) # the color from the packed image new = color.uv_to_interpolated_color(moved, final) assert np.allclose(old, new, atol=6) new_uv[g] = moved # stack the new UV coordinates in the original order stacked = np.vstack([new_uv[i] for i in range(len(uvs))]) if use_pbr: return ( PBRMaterial( baseColorTexture=final, metallicRoughnessTexture=final_metallic_roughness, emissiveTexture=final_emissive, emissiveFactor=[1.0, 1.0, 1.0] if final_emissive else None, alphaMode=None, # unfortunately, we can't handle alpha blending well doubleSided=False, # TODO how to handle this? normalTexture=final_normals, occlusionTexture=final_occlusion, ), stacked, ) else: return SimpleMaterial(image=final), stacked trimesh-4.5.1/trimesh/visual/objects.py000066400000000000000000000047721470574263400202030ustar00rootroot00000000000000""" objects.py -------------- Deal with objects which hold visual properties, like ColorVisuals and TextureVisuals. """ import numpy as np from .color import ColorVisuals, color_to_uv from .material import pack from .texture import TextureVisuals def create_visual(**kwargs): """ Create Visuals object from keyword arguments. Parameters ----------- face_colors : (n, 3|4) uint8 Face colors vertex_colors : (n, 3|4) uint8 Vertex colors mesh : trimesh.Trimesh Mesh object Returns ---------- visuals : ColorVisuals Visual object created from arguments """ return ColorVisuals(**kwargs) def concatenate(visuals, *args): """ Concatenate multiple visual objects. Parameters ---------- visuals : ColorVisuals or list Visuals to concatenate *args : ColorVisuals or list More visuals to concatenate Returns ---------- concat : Visuals If all are color """ # get a flat list of Visuals objects if len(args) > 0: visuals = np.append(visuals, args) else: visuals = np.array(visuals) # if there are any texture visuals convert all to texture if any(v.kind == "texture" for v in visuals): # first collect materials and UV coordinates mats = [] uvs = [] for v in visuals: if v.kind == "texture": mats.append(v.material) if v.uv is None: # otherwise use zeros uvs.append(np.zeros((len(v.mesh.vertices), 2)) + 0.5) else: # if uvs are of correct shape use them uvs.append(v.uv) else: # create a material and UV coordinates from vertex colors color_mat, color_uv = color_to_uv(vertex_colors=v.vertex_colors) mats.append(color_mat) uvs.append(color_uv) # pack the materials and UV coordinates into one new_mat, new_uv = pack(materials=mats, uvs=uvs) return TextureVisuals(material=new_mat, uv=new_uv) # convert all visuals to the first valid kind kind = next((v.kind for v in visuals if v.kind is not None), None) if kind == "face": colors = np.vstack([v.face_colors for v in visuals]) return ColorVisuals(face_colors=colors) elif kind == "vertex": colors = np.vstack([v.vertex_colors for v in visuals]) return ColorVisuals(vertex_colors=colors) return ColorVisuals() trimesh-4.5.1/trimesh/visual/texture.py000066400000000000000000000246651470574263400202550ustar00rootroot00000000000000import copy import numpy as np from .. import caching, grouping, util from . import color from .base import Visuals from .material import PBRMaterial, SimpleMaterial, empty_material # NOQA class TextureVisuals(Visuals): def __init__(self, uv=None, material=None, image=None, face_materials=None): """ Store a single material and per-vertex UV coordinates for a mesh. If passed UV coordinates and a single image it will create a SimpleMaterial for the image. Parameters -------------- uv : (n, 2) float UV coordinates for the mesh material : Material Store images and properties image : PIL.Image Can be passed to automatically create material """ # store values we care about enough to hash self.vertex_attributes = caching.DataStore() # cache calculated values self._cache = caching.Cache(self.vertex_attributes.__hash__) # should be (n, 2) float self.uv = uv if material is None: if image is None: self.material = empty_material() else: # if an image is passed create a SimpleMaterial self.material = SimpleMaterial(image=image) else: # if passed assign self.material = material self.face_materials = face_materials def _verify_hash(self): """ Dump the cache if anything in self.vertex_attributes has changed. """ self._cache.verify() @property def kind(self): """ Return the type of visual data stored Returns ---------- kind : str What type of visuals are defined """ return "texture" @property def defined(self): """ Check if any data is stored Returns ---------- defined : bool Are UV coordinates and images set? """ ok = self.material is not None return ok def __hash__(self): """ Get a CRC of the stored data. Returns -------------- crc : int Hash of items in self.vertex_attributes """ return self.vertex_attributes.__hash__() @property def uv(self): """ Get the stored UV coordinates. Returns ------------ uv : (n, 2) float or None Pixel position per-vertex. """ return self.vertex_attributes.get("uv", None) @uv.setter def uv(self, values): """ Set the UV coordinates. Parameters -------------- values : (n, 2) float or None Pixel locations on a texture per- vertex """ if values is None: self.vertex_attributes.pop("uv") else: self.vertex_attributes["uv"] = np.asanyarray(values, dtype=np.float64) def copy(self, uv=None): """ Return a copy of the current TextureVisuals object. Returns ---------- copied : TextureVisuals Contains the same information in a new object """ if uv is None: uv = self.uv if uv is not None: uv = uv.copy() copied = TextureVisuals( uv=uv, material=self.material.copy(), face_materials=copy.copy(self.face_materials), ) return copied def to_color(self): """ Convert textured visuals to a ColorVisuals with vertex color calculated from texture. Returns ----------- vis : trimesh.visuals.ColorVisuals Contains vertex color from texture """ # find the color at each UV coordinate colors = self.material.to_color(self.uv) # create ColorVisuals from result vis = color.ColorVisuals(vertex_colors=colors) return vis def face_subset(self, face_index): """ Get a copy of """ if self.uv is not None: indices = np.unique(self.mesh.faces[face_index].flatten()) return self.copy(self.uv[indices]) else: return self.copy() def update_vertices(self, mask): """ Apply a mask to remove or duplicate vertex properties. Parameters ------------ mask : (len(vertices),) bool or (n,) int Mask which can be used like: `vertex_attribute[mask]` """ # collect updated masked values updates = {} for key, value in self.vertex_attributes.items(): # DataStore will convert None to zero-length array if len(value) == 0: continue try: # store the update updates[key] = value[mask] except BaseException: # usual reason is an incorrect size or index util.log.warning(f"failed to update visual: `{key}`") # clear all values from the vertex attributes self.vertex_attributes.clear() # apply the updated values self.vertex_attributes.update(updates) def update_faces(self, mask): """ Apply a mask to remove or duplicate face properties, not applicable to texture visuals. """ def concatenate(self, others): """ Concatenate this TextureVisuals object with others and return the result without modifying this visual. Parameters ----------- others : (n,) Visuals Other visual objects to concatenate Returns ----------- concatenated : TextureVisuals Concatenated visual objects """ from .objects import concatenate return concatenate(self, others) def unmerge_faces(faces, *args, **kwargs): """ Textured meshes can come with faces referencing vertex indices (`v`) and an array the same shape which references vertex texture indices (`vt`) and sometimes even normal (`vn`). Vertex locations with different values of any of these can't be considered the "same" vertex, and for our simple data model we need to not combine these vertices. Parameters ------------- faces : (n, d) int References vertex indices *args : (n, d) int Various references of corresponding values This is usually UV coordinates or normal indexes maintain_faces : bool Do not alter original faces and return no-op masks. Returns ------------- new_faces : (m, d) int New faces for masked vertices mask_v : (p,) int A mask to apply to vertices mask_* : (p,) int A mask to apply to vt array to get matching UV coordinates Returns as many of these as args were passed """ # unfortunately Python2 doesn't let us put named kwargs # after an `*args` sequence so we have to do this ugly get maintain_faces = kwargs.get("maintain_faces", False) # don't alter faces if maintain_faces: # start with not altering faces at all result = [faces] # find the maximum index referenced by faces max_idx = faces.max() # add a vertex mask which is just ordered result.append(np.arange(max_idx + 1)) # now given the order is fixed do our best on the rest of the order for arg in args: # create a mask of the attribute-vertex mapping # note that these might conflict since we're not unmerging masks = np.full((3, max_idx + 1), -1, dtype=np.int64) # set the mask using the unmodified face indexes for i, f, a in zip(range(3), faces.T, arg.T): masks[i][f] = a # find the most commonly occurring attribute (i.e. UV coordinate) # and use that index note that this is doing a float conversion # and then median before converting back to int: could also do this as # a column diff and sort but this seemed easier and is fast enough # turn default attribute value of -1 to nan before median computation # and use nanmedian to compute the median ignoring the nan values masks_nan = np.where(masks != -1, masks, np.nan) result.append(np.nanmedian(masks_nan, axis=0).astype(np.int64)) return result # stack into pairs of (vertex index, texture index) stackable = [np.asanyarray(faces).reshape(-1)] # append multiple args to the correlated stack # this is usually UV coordinates (vt) and normals (vn) for arg in args: stackable.append(np.asanyarray(arg).reshape(-1)) # unify them into rows of a numpy array stack = np.column_stack(stackable) # find unique pairs: we're trying to avoid merging # vertices that have the same position but different # texture coordinates unique, inverse = grouping.unique_rows(stack) # only take the unique pairs pairs = stack[unique] # try to maintain original vertex order order = pairs[:, 0].argsort() # apply the order to the pairs pairs = pairs[order] # we re-ordered the vertices to try to maintain # the original vertex order as much as possible # so to reconstruct the faces we need to remap remap = np.zeros(len(order), dtype=np.int64) remap[order] = np.arange(len(order)) # the faces are just the inverse with the new order new_faces = remap[inverse].reshape((-1, faces.shape[1])) # the mask for vertices and masks for other args result = [new_faces] result.extend(pairs.T) return result def power_resize(image, resample=1, square=False): """ Resize a PIL image so every dimension is a power of two. Parameters ------------ image : PIL.Image Input image resample : int Passed to Image.resize square : bool If True, upsize to a square image Returns ------------- resized : PIL.Image Input image resized """ # what is the current resolution of the image in pixels size = np.array(image.size, dtype=np.int64) # what is the resolution of the image upsized to the nearest # power of two on each axis: allow rectangular textures new_size = (2 ** np.ceil(np.log2(size))).astype(np.int64) # make every dimension the largest if square: new_size = np.ones(2, dtype=np.int64) * new_size.max() # if we're not powers of two upsize if (size != new_size).any(): return image.resize(tuple(new_size), resample=resample) return image.copy() trimesh-4.5.1/trimesh/voxel/000077500000000000000000000000001470574263400160205ustar00rootroot00000000000000trimesh-4.5.1/trimesh/voxel/__init__.py000066400000000000000000000001301470574263400201230ustar00rootroot00000000000000from . import creation from .base import VoxelGrid __all__ = ["VoxelGrid", "creation"] trimesh-4.5.1/trimesh/voxel/base.py000066400000000000000000000303551470574263400173120ustar00rootroot00000000000000""" voxel.py ----------- Convert meshes to a simple voxel data structure and back again. """ import numpy as np from .. import bounds as bounds_module from .. import caching, util from .. import transformations as tr from ..constants import log from ..exchange.binvox import export_binvox from ..parent import Geometry from . import morphology, ops, transforms from .encoding import DenseEncoding, Encoding class VoxelGrid(Geometry): """ Store 3D voxels. """ def __init__(self, encoding, transform=None, metadata=None): if transform is None: transform = np.eye(4) if isinstance(encoding, np.ndarray): encoding = DenseEncoding(encoding.astype(bool)) if encoding.dtype != bool: raise ValueError("encoding must have dtype bool") self._data = caching.DataStore() self.encoding = encoding self._transform = transforms.Transform(transform, datastore=self._data) self._cache = caching.Cache(id_function=self._data.__hash__) self.metadata = {} # update the mesh metadata with passed metadata if isinstance(metadata, dict): self.metadata.update(metadata) elif metadata is not None: raise ValueError(f"metadata should be a dict or None, got {metadata!s}") def __hash__(self): """ Get the hash of the current transformation matrix. Returns ------------ hash : str Hash of transformation matrix """ return self._data.__hash__() @property def encoding(self): """ `Encoding` object providing the occupancy grid. See `trimesh.voxel.encoding` for implementations. """ return self._data["encoding"] @encoding.setter def encoding(self, encoding): if isinstance(encoding, np.ndarray): encoding = DenseEncoding(encoding) elif not isinstance(encoding, Encoding): raise ValueError(f"encoding must be an Encoding, got {encoding!s}") if len(encoding.shape) != 3: raise ValueError(f"encoding must be rank 3, got shape {encoding.shape!s}") if encoding.dtype != bool: raise ValueError(f"encoding must be binary, got {encoding.dtype}") self._data["encoding"] = encoding @property def transform(self): """4x4 homogeneous transformation matrix.""" return self._transform.matrix @transform.setter def transform(self, matrix): """4x4 homogeneous transformation matrix.""" self._transform.matrix = matrix @property def translation(self): """Location of voxel at [0, 0, 0].""" return self._transform.translation @property def scale(self): """ 3-element float representing per-axis scale. Raises a `RuntimeError` if `self.transform` has rotation or shear components. """ return self._transform.scale @property def pitch(self): """ Uniform scaling factor representing the side length of each voxel. Returns ----------- pitch : float Pitch of the voxels. Raises ------------ `RuntimeError` If `self.transformation` has rotation or shear components of has non-uniform scaling. """ return self._transform.pitch @property def element_volume(self): return self._transform.unit_volume def apply_transform(self, matrix): self._transform.apply_transform(matrix) return self def strip(self): """ Mutate self by stripping leading/trailing planes of zeros. Returns -------- self after mutation occurs in-place """ encoding, padding = self.encoding.stripped self.encoding = encoding self._transform.matrix[:3, 3] = self.indices_to_points(padding[:, 0]) return self @caching.cache_decorator def bounds(self): indices = self.sparse_indices # get all 8 corners of the AABB corners = bounds_module.corners( [indices.min(axis=0) - 0.5, indices.max(axis=0) + 0.5] ) # transform these corners to a new frame corners = self._transform.transform_points(corners) # get the AABB of corners in-frame bounds = np.array([corners.min(axis=0), corners.max(axis=0)]) bounds.flags.writeable = False return bounds @caching.cache_decorator def extents(self): bounds = self.bounds extents = bounds[1] - bounds[0] extents.flags.writeable = False return extents @caching.cache_decorator def is_empty(self): return self.encoding.is_empty @property def shape(self): """3-tuple of ints denoting shape of occupancy grid.""" return self.encoding.shape @caching.cache_decorator def filled_count(self): """int, number of occupied voxels in the grid.""" return self.encoding.sum.item() def is_filled(self, point): """ Query points to see if the voxel cells they lie in are filled or not. Parameters ---------- point : (n, 3) float Points in space Returns --------- is_filled : (n,) bool Is cell occupied or not for each point """ point = np.asanyarray(point) indices = self.points_to_indices(point) in_range = np.logical_and( np.all(indices < np.array(self.shape), axis=-1), np.all(indices >= 0, axis=-1) ) is_filled = np.zeros_like(in_range) is_filled[in_range] = self.encoding.gather_nd(indices[in_range]) return is_filled def fill(self, method="holes", **kwargs): """ Mutates self by filling in the encoding according to `morphology.fill`. Parameters ---------- method : hashable Implementation key, one of `trimesh.voxel.morphology.fill.fillers` keys **kwargs : dict Additional kwargs passed through to the keyed implementation. Returns ---------- self : VoxelGrid After replacing encoding with a filled version. """ self.encoding = morphology.fill(self.encoding, method=method, **kwargs) return self def hollow(self): """ Mutates self by removing internal voxels leaving only surface elements. Surviving elements are those in encoding that are adjacent to an empty voxel where adjacency is controlled by `structure`. Returns ---------- self : VoxelGrid After replacing encoding with a surface version. """ self.encoding = morphology.surface(self.encoding) return self @caching.cache_decorator def marching_cubes(self): """ A marching cubes Trimesh representation of the voxels. No effort was made to clean or smooth the result in any way; it is merely the result of applying the scikit-image measure.marching_cubes function to self.encoding.dense. Returns --------- meshed : trimesh.Trimesh Representing the current voxel object as returned by marching cubes algorithm. """ return ops.matrix_to_marching_cubes(matrix=self.matrix) @property def matrix(self): """ Return a DENSE matrix of the current voxel encoding. Returns ------------- dense : (a, b, c) bool Numpy array of dense matrix Shortcut to voxel.encoding.dense """ return self.encoding.dense @caching.cache_decorator def volume(self): """ What is the volume of the filled cells in the current voxel object. Returns --------- volume : float Volume of filled cells. """ return self.filled_count * self.element_volume @caching.cache_decorator def points(self): """ The center of each filled cell as a list of points. Returns ---------- points : (self.filled, 3) float Points in space. """ return self._transform.transform_points(self.sparse_indices.astype(float)) @property def sparse_indices(self): """(n, 3) int array of sparse indices of occupied voxels.""" return self.encoding.sparse_indices def as_boxes(self, colors=None, **kwargs): """ A rough Trimesh representation of the voxels with a box for each filled voxel. Parameters ---------- colors : None, (3,) or (4,) float or uint8 (X, Y, Z, 3) or (X, Y, Z, 4) float or uint8 Where matrix.shape == (X, Y, Z) Returns --------- mesh : trimesh.Trimesh Mesh with one box per filled cell. """ if colors is not None: colors = np.asanyarray(colors) if colors.ndim == 4: encoding = self.encoding if colors.shape[:3] == encoding.shape: # TODO jackd: more efficient implementation? # encoding.as_mask? colors = colors[encoding.dense] else: log.warning("colors incorrect shape!") colors = None elif colors.shape not in ((3,), (4,)): log.warning("colors incorrect shape!") colors = None mesh = ops.multibox(centers=self.sparse_indices.astype(float), colors=colors) mesh = mesh.apply_transform(self.transform) return mesh def points_to_indices(self, points): """ Convert points to indices in the matrix array. Parameters ---------- points: (n, 3) float, point in space Returns --------- indices: (n, 3) int array of indices into self.encoding """ points = self._transform.inverse_transform_points(points) return np.round(points).astype(int) def indices_to_points(self, indices): return self._transform.transform_points(indices.astype(float)) def show(self, *args, **kwargs): """ Convert the current set of voxels into a trimesh for visualization and show that via its built- in preview method. """ return self.as_boxes(kwargs.pop("colors", None)).show(*args, **kwargs) def copy(self): return VoxelGrid(self.encoding.copy(), self._transform.matrix.copy()) def export(self, file_obj=None, file_type=None, **kwargs): """ Export the current VoxelGrid. Parameters ------------ file_obj : file-like or str File or file-name to export to. file_type : None or str Only 'binvox' currently supported. Returns --------- export : bytes Value of export. """ if isinstance(file_obj, str) and file_type is None: file_type = util.split_extension(file_obj).lower() if file_type != "binvox": raise ValueError("only binvox exports supported!") exported = export_binvox(self, **kwargs) if hasattr(file_obj, "write"): file_obj.write(exported) elif isinstance(file_obj, str): with open(file_obj, "wb") as f: f.write(exported) return exported def revoxelized(self, shape): """ Create a new VoxelGrid without rotations, reflections or shearing. Parameters ---------- shape : (3, int) The shape of the returned VoxelGrid. Returns ---------- vox : VoxelGrid Of the given shape with possibly non-uniform scale and translation transformation matrix. """ shape = tuple(shape) bounds = self.bounds.copy() extents = self.extents points = util.grid_linspace(bounds, shape).reshape(shape + (3,)) dense = self.is_filled(points) scale = extents / np.asanyarray(shape) translate = bounds[0] return VoxelGrid(dense, transform=tr.scale_and_translate(scale, translate)) def __add__(self, other): raise NotImplementedError("TODO : implement voxel concatenation") trimesh-4.5.1/trimesh/voxel/creation.py000066400000000000000000000221361470574263400202020ustar00rootroot00000000000000import numpy as np from .. import grouping, remesh, util from .. import transformations as tr from ..constants import log_time from . import base from . import encoding as enc @log_time def voxelize_subdivide(mesh, pitch: float, max_iter: int = 10, edge_factor: float = 2.0): """ Voxelize a surface by subdividing a mesh until every edge is shorter than: (pitch / edge_factor) Parameters ----------- mesh : trimesh.Trimesh Source mesh pitch : float Side length of a single voxel cube max_iter : int Cap maximum subdivisions or None for no limit. edge_factor : float Proportion of pitch maximum edge length. Returns ----------- VoxelGrid instance representing the voxelized mesh. """ max_edge = pitch / edge_factor if max_iter is None: longest_edge = np.linalg.norm( mesh.vertices[mesh.edges[:, 0]] - mesh.vertices[mesh.edges[:, 1]], axis=1 ).max() max_iter = max(int(np.ceil(np.log2(longest_edge / max_edge))), 0) # get the same mesh sudivided so every edge is shorter # than a factor of our pitch v, _f, _idx = remesh.subdivide_to_size( mesh.vertices, mesh.faces, max_edge=max_edge, max_iter=max_iter, return_index=True ) # convert the vertices to their voxel grid position # Provided edge_factor > 1 and max_iter is large enough, this is # sufficient to preserve 6-connectivity at the level of voxels. hit = np.round(v / pitch).astype(int) # remove duplicates unique, _inverse = grouping.unique_rows(hit) # get the voxel centers in model space occupied_index = hit[unique] origin_index = occupied_index.min(axis=0) origin_position = origin_index * pitch return base.VoxelGrid( enc.SparseBinaryEncoding(occupied_index - origin_index), transform=tr.scale_and_translate(scale=pitch, translate=origin_position), ) def local_voxelize(mesh, point, pitch, radius, fill=True, **kwargs): """ 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 : float Side length of a single voxel cube radius : int 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 """ from scipy import ndimage # make sure point is correct type/shape point = np.asanyarray(point, dtype=np.float64).reshape(3) # this is a gotcha- radius sounds a lot like it should be in # float model space, not int voxel space so check if not isinstance(radius, int): raise ValueError("radius needs to be an integer number of cubes!") # Bounds of region bounds = np.concatenate( (point - (radius + 0.5) * pitch, point + (radius + 0.5) * pitch) ) # faces that intersect axis aligned bounding box faces = list(mesh.triangles_tree.intersection(bounds)) # didn't hit anything so exit if len(faces) == 0: return None local = mesh.submesh([[f] for f in faces], append=True) # Translate mesh so point is at 0,0,0 local.apply_translation(-point) # sparse, origin = voxelize_subdivide(local, pitch, **kwargs) vox = voxelize_subdivide(local, pitch, **kwargs) origin = vox.transform[:3, 3] matrix = vox.encoding.dense # Find voxel index for point center = np.round(-origin / pitch).astype(np.int64) # pad matrix if necessary prepad = np.maximum(radius - center, 0) postpad = np.maximum(center + radius + 1 - matrix.shape, 0) matrix = np.pad(matrix, np.stack((prepad, postpad), axis=-1), mode="constant") center += prepad # Extract voxels within the bounding box voxels = matrix[ center[0] - radius : center[0] + radius + 1, center[1] - radius : center[1] + radius + 1, center[2] - radius : center[2] + radius + 1, ] local_origin = point - radius * pitch # origin of local voxels # Fill internal regions if fill: regions, n = ndimage.label(~voxels) distance = ndimage.distance_transform_cdt(~voxels) representatives = [ np.unravel_index((distance * (regions == i)).argmax(), distance.shape) for i in range(1, n + 1) ] contains = mesh.contains(np.asarray(representatives) * pitch + local_origin) where = np.where(contains)[0] + 1 internal = np.isin(regions.flatten(), where).reshape(regions.shape) voxels = np.logical_or(voxels, internal) return base.VoxelGrid(voxels, tr.translation_matrix(local_origin)) @log_time def voxelize_ray(mesh, pitch, per_cell=None): """ Voxelize a mesh using ray queries. Parameters ------------- mesh : Trimesh object Mesh to be voxelized pitch : float Length of voxel cube per_cell : (2,) int How many ray queries to make per cell Returns ------------- VoxelGrid instance representing the voxelized mesh. """ if per_cell is None: # how many rays per cell per_cell = np.array([2, 2], dtype=np.int64) else: per_cell = np.array(per_cell, dtype=np.int64).reshape(2) # edge length of cube voxels pitch = float(pitch) # create the ray origins in a grid bounds = mesh.bounds[:, :2].copy() # offset start so we get the requested number per cell bounds[0] += pitch / (1.0 + per_cell) # offset end so arange doesn't short us bounds[1] += pitch # on X we are doing multiple rays per voxel step step = pitch / per_cell # 2D grid ray_ori = util.grid_arange(bounds, step=step) # a Z position below the mesh z = np.ones(len(ray_ori)) * (mesh.bounds[0][2] - pitch) ray_ori = np.column_stack((ray_ori, z)) # all rays are along positive Z ray_dir = np.ones_like(ray_ori) * [0, 0, 1] # if you have pyembree this should be decently fast hits = mesh.ray.intersects_location(ray_ori, ray_dir)[0] # just convert hit locations to integer positions voxels = np.round(hits / pitch).astype(np.int64) # offset voxels by min, so matrix isn't huge origin_index = voxels.min(axis=0) voxels -= origin_index encoding = enc.SparseBinaryEncoding(voxels) origin_position = origin_index * pitch return base.VoxelGrid( encoding, tr.scale_and_translate(scale=pitch, translate=origin_position) ) @log_time def voxelize_binvox(mesh, pitch=None, dimension=None, bounds=None, **binvoxer_kwargs): """ 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 -------------- `VoxelGrid` instance Raises -------------- `ValueError` if `bounds is not None and 'bounding_box' in binvoxer_kwargs`. """ from trimesh.exchange import binvox if dimension is None: # pitch must be provided if bounds is None: extents = mesh.extents else: mins, maxs = bounds extents = maxs - mins dimension = int(np.ceil(np.max(extents) / pitch)) if bounds is not None: if "bounding_box" in binvoxer_kwargs: raise ValueError("Cannot provide both bounds and bounding_box") binvoxer_kwargs["bounding_box"] = np.asanyarray(bounds).flatten() binvoxer = binvox.Binvoxer(dimension=dimension, **binvoxer_kwargs) return binvox.voxelize_mesh(mesh, binvoxer) voxelizers = util.FunctionRegistry( ray=voxelize_ray, subdivide=voxelize_subdivide, binvox=voxelize_binvox ) def voxelize(mesh, pitch, method="subdivide", **kwargs): """ 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: Trimesh object (left unchanged). pitch: float, side length of each voxel. method: implementation method. Must be in `fillers`. **kwargs: additional kwargs passed to the specified implementation. Returns -------------- A VoxelGrid instance. """ return voxelizers(method, mesh=mesh, pitch=pitch, **kwargs) trimesh-4.5.1/trimesh/voxel/encoding.py000066400000000000000000000660571470574263400201760ustar00rootroot00000000000000"""OO interfaces to encodings for ND arrays which caching.""" import abc import numpy as np from .. import caching from ..util import ABC from . import runlength try: from scipy import sparse as sp except BaseException as E: from ..exceptions import ExceptionWrapper sp = ExceptionWrapper(E) def _empty_stripped(shape): num_dims = len(shape) encoding = DenseEncoding(np.zeros(shape=(0,) * num_dims, dtype=bool)) padding = np.zeros(shape=(num_dims, 2), dtype=int) padding[:, 1] = shape return encoding, padding class Encoding(ABC): """ Base class for objects that implement a specific subset of of ndarray ops. This presents a unified interface for various different ways of encoding conceptually dense arrays and to interoperate between them. Example implementations are ND sparse arrays, run length encoded arrays and dense encodings (wrappers around np.ndarrays). """ def __init__(self, data): self._data = data self._cache = caching.Cache(id_function=self._data.__hash__) @property @abc.abstractmethod def dtype(self): pass @property @abc.abstractmethod def shape(self): pass @property @abc.abstractmethod def sum(self): pass @property @abc.abstractmethod def size(self): pass @property @abc.abstractmethod def sparse_indices(self): pass @property @abc.abstractmethod def sparse_values(self): pass @property @abc.abstractmethod def dense(self): pass @abc.abstractmethod def gather_nd(self, indices): pass @abc.abstractmethod def mask(self, mask): pass @abc.abstractmethod def get_value(self, index): pass @abc.abstractmethod def copy(self): pass @property def is_empty(self): return self.sparse_indices[self.sparse_values != 0].size == 0 @caching.cache_decorator def stripped(self): """ Get encoding with all zeros stripped from the start and end of each axis. Returns ------------ encoding: ? padding : (n, 2) int Padding at the start and end that was stripped """ if self.is_empty: return _empty_stripped(self.shape) dense = self.dense shape = dense.shape ndims = len(shape) padding = [] slices = [] for dim, size in enumerate(shape): axis = tuple(range(dim)) + tuple(range(dim + 1, ndims)) filled = np.any(dense, axis=axis) (indices,) = np.nonzero(filled) lower = indices.min() upper = indices.max() + 1 padding.append([lower, size - upper]) slices.append(slice(lower, upper)) return DenseEncoding(dense[tuple(slices)]), np.array(padding, int) def _flip(self, axes): return FlippedEncoding(self, axes) def __hash__(self): """ Get the hash of the current transformation matrix. Returns ------------ hash : str Hash of transformation matrix """ return self._data.__hash__() @property def ndims(self): return len(self.shape) def reshape(self, shape): return self.flat if len(shape) == 1 else ShapedEncoding(self, shape) @property def flat(self): return FlattenedEncoding(self) def flip(self, axis=0): return _flipped(self, axis) @property def sparse_components(self): return self.sparse_indices, self.sparse_values @property def data(self): return self._data def run_length_data(self, dtype=np.int64): if self.ndims != 1: raise ValueError("`run_length_data` only valid for flat encodings") return runlength.dense_to_rle(self.dense, dtype=dtype) def binary_run_length_data(self, dtype=np.int64): if self.ndims != 1: raise ValueError("`run_length_data` only valid for flat encodings") return runlength.dense_to_brle(self.dense, dtype=dtype) def transpose(self, perm): return _transposed(self, perm) def _transpose(self, perm): return TransposedEncoding(self, perm) @property def mutable(self): return self._data.mutable @mutable.setter def mutable(self, value): self._data.mutable = value class DenseEncoding(Encoding): """Simple `Encoding` implementation based on a numpy ndarray.""" def __init__(self, data): if not isinstance(data, caching.TrackedArray): if not isinstance(data, np.ndarray): raise ValueError("DenseEncoding data must be a numpy array") data = caching.tracked_array(data) super().__init__(data=data) @property def dtype(self): return self._data.dtype @property def shape(self): return self._data.shape @caching.cache_decorator def sum(self): return self._data.sum() @caching.cache_decorator def is_empty(self): return not np.any(self._data) @property def size(self): return self._data.size @property def sparse_components(self): indices = self.sparse_indices values = self.gather(indices) return indices, values @caching.cache_decorator def sparse_indices(self): return np.column_stack(np.where(self._data)) @caching.cache_decorator def sparse_values(self): return self.sparse_components[1] def _flip(self, axes): dense = self.dense for a in axes: dense = np.flip(dense, a) return DenseEncoding(dense) @property def dense(self): return self._data def gather(self, indices): return self._data[indices] def gather_nd(self, indices): return self._data[tuple(indices.T)] def mask(self, mask): return self._data[mask if isinstance(mask, np.ndarray) else mask.dense] def get_value(self, index): return self._data[tuple(index)] def reshape(self, shape): return DenseEncoding(self._data.reshape(shape)) def _transpose(self, perm): return DenseEncoding(self._data.transpose(perm)) @property def flat(self): return DenseEncoding(self._data.reshape((-1,))) def copy(self): return DenseEncoding(self._data.copy()) class SparseEncoding(Encoding): """ `Encoding` implementation based on an ND sparse implementation. Since the scipy.sparse implementations are for 2D arrays only, this implementation uses a single-column CSC matrix with index raveling/unraveling. """ def __init__(self, indices, values, shape=None): """ Parameters ------------ indices: (m, n)-sized int array of indices values: (m, n)-sized dtype array of values at the specified indices shape: (n,) iterable of integers. If None, the maximum value of indices + 1 is used. """ data = caching.DataStore() super().__init__(data) data["indices"] = indices data["values"] = values indices = data["indices"] if len(indices.shape) != 2: raise ValueError(f"indices must be 2D, got shaped {indices.shape!s}") if data["values"].shape != (indices.shape[0],): raise ValueError( "values and indices shapes inconsistent: {} and {}".format( data["values"], data["indices"] ) ) if shape is None: self._shape = tuple(data["indices"].max(axis=0) + 1) else: self._shape = tuple(shape) if not np.all(indices < self._shape): raise ValueError("all indices must be less than shape") if not np.all(indices >= 0): raise ValueError("all indices must be non-negative") @staticmethod def from_dense(dense_data): sparse_indices = np.where(dense_data) values = dense_data[sparse_indices] return SparseEncoding( np.stack(sparse_indices, axis=-1), values, shape=dense_data.shape ) def copy(self): return SparseEncoding( indices=self.sparse_indices.copy(), values=self.sparse_values.copy(), shape=self.shape, ) @property def sparse_indices(self): return self._data["indices"] @property def sparse_values(self): return self._data["values"] @property def dtype(self): return self.sparse_values.dtype @caching.cache_decorator def sum(self): return self.sparse_values.sum() @property def ndims(self): return self.sparse_indices.shape[-1] @property def shape(self): return self._shape @property def size(self): return np.prod(self.shape) @property def sparse_components(self): return self.sparse_indices, self.sparse_values @caching.cache_decorator def dense(self): sparse = self._csc # sparse.todense gives an `np.matrix` which cannot be reshaped dense = np.zeros(shape=sparse.shape, dtype=sparse.dtype) sparse.todense(out=dense) return np.reshape(dense, self.shape) @caching.cache_decorator def _csc(self): values = self.sparse_values indices = self._flat_indices(self.sparse_indices) indptr = [0, len(indices)] return sp.csc_matrix((values, indices, indptr), shape=(self.size, 1)) def _flat_indices(self, indices): assert indices.shape[1] == 3 and len(indices.shape) == 2 return np.ravel_multi_index(indices.T, self.shape) def _shaped_indices(self, flat_indices): return np.column_stack(np.unravel_index(flat_indices, self.shape)) def gather_nd(self, indices): mat = self._csc[self._flat_indices(indices)].todense() # mat is a np matrix, which stays rank 2 after squeeze # np.asarray changes this to a standard rank 2 array. return np.asarray(mat).squeeze(axis=-1) def mask(self, mask): i, _ = np.where(self._csc[mask.reshape((-1,))]) return self._shaped_indices(i) def get_value(self, index): return self._gather_nd(np.expand_dims(index, axis=0))[0] @caching.cache_decorator def stripped(self): """ Get encoding with all zeros stripped from the start/end of each axis. Returns: encoding: SparseEncoding with same values but indices shifted down by padding[:, 0] padding: (n, 2) array of ints denoting padding at the start/end that was stripped """ if self.is_empty: return _empty_stripped(self.shape) indices = self.sparse_indices pad_left = np.min(indices, axis=0) pad_right = np.max(indices, axis=0) pad_right *= -1 pad_right += self.shape padding = np.column_stack((pad_left, pad_right)) return SparseEncoding(indices - pad_left, self.sparse_values), padding def SparseBinaryEncoding(indices, shape=None): """ Convenient factory constructor for SparseEncodings with values all ones. Parameters ------------ indices: (m, n) sparse indices into conceptual rank-n array shape: length n iterable or None. If None, maximum of indices along first axis + 1 is used Returns ------------ rank n bool `SparseEncoding` with True values at each index. """ return SparseEncoding(indices, np.ones(shape=(indices.shape[0],), dtype=bool), shape) class RunLengthEncoding(Encoding): """1D run length encoding. See `trimesh.voxel.runlength` documentation for implementation details. """ def __init__(self, data, dtype=None): """ Parameters ------------ data: run length encoded data. dtype: dtype of encoded data. Each second value of data is cast will be cast to this dtype if provided. """ super().__init__(data=caching.tracked_array(data)) if dtype is None: dtype = self._data.dtype if len(self._data.shape) != 1: raise ValueError("data must be 1D numpy array") self._dtype = dtype @caching.cache_decorator def is_empty(self): return not np.any(np.logical_and(self._data[::2], self._data[1::2])) @property def ndims(self): return 1 @property def shape(self): return (self.size,) @property def dtype(self): return self._dtype def __hash__(self): """ Get the hash of the current transformation matrix. Returns ------------ hash : str Hash of transformation matrix """ return self._data.__hash__() @staticmethod def from_dense(dense_data, dtype=np.int64, encoding_dtype=np.int64): return RunLengthEncoding( runlength.dense_to_rle(dense_data, dtype=encoding_dtype), dtype=dtype ) @staticmethod def from_rle(rle_data, dtype=None): if dtype != rle_data.dtype: rle_data = runlength.rle_to_rle(rle_data, dtype=dtype) return RunLengthEncoding(rle_data) @staticmethod def from_brle(brle_data, dtype=None): return RunLengthEncoding(runlength.brle_to_rle(brle_data, dtype=dtype)) @caching.cache_decorator def stripped(self): if self.is_empty: return _empty_stripped(self.shape) data, padding = runlength.rle_strip(self._data) if padding == (0, 0): encoding = self else: encoding = RunLengthEncoding(data, dtype=self._dtype) padding = np.expand_dims(padding, axis=0) return encoding, padding @caching.cache_decorator def sum(self): return (self._data[::2] * self._data[1::2]).sum() @caching.cache_decorator def size(self): return runlength.rle_length(self._data) def _flip(self, axes): if axes != (0,): raise ValueError(f"encoding is 1D - cannot flip on axis {axes!s}") return RunLengthEncoding(runlength.rle_reverse(self._data)) @caching.cache_decorator def sparse_components(self): return runlength.rle_to_sparse(self._data) @caching.cache_decorator def sparse_indices(self): return self.sparse_components[0] @caching.cache_decorator def sparse_values(self): return self.sparse_components[1] @caching.cache_decorator def dense(self): return runlength.rle_to_dense(self._data, dtype=self._dtype) def gather(self, indices): return runlength.rle_gather_1d(self._data, indices, dtype=self._dtype) def gather_nd(self, indices): indices = np.squeeze(indices, axis=-1) return self.gather(indices) def sorted_gather(self, ordered_indices): return np.array( tuple(runlength.sorted_rle_gather_1d(self._data, ordered_indices)), dtype=self._dtype, ) def mask(self, mask): return np.array(tuple(runlength.rle_mask(self._data, mask)), dtype=self._dtype) def get_value(self, index): for value in self.sorted_gather((index,)): return np.asanyarray(value, dtype=self._dtype) def copy(self): return RunLengthEncoding(self._data.copy(), dtype=self.dtype) def run_length_data(self, dtype=np.int64): return runlength.rle_to_rle(self._data, dtype=dtype) def binary_run_length_data(self, dtype=np.int64): return runlength.rle_to_brle(self._data, dtype=dtype) class BinaryRunLengthEncoding(RunLengthEncoding): """1D binary run length encoding. See `trimesh.voxel.runlength` documentation for implementation details. """ def __init__(self, data): """ Parameters ------------ data: binary run length encoded data. """ super().__init__(data=data, dtype=bool) @caching.cache_decorator def is_empty(self): return not np.any(self._data[1::2]) @staticmethod def from_dense(dense_data, encoding_dtype=np.int64): return BinaryRunLengthEncoding( runlength.dense_to_brle(dense_data, dtype=encoding_dtype) ) @staticmethod def from_rle(rle_data, dtype=None): return BinaryRunLengthEncoding(runlength.rle_to_brle(rle_data, dtype=dtype)) @staticmethod def from_brle(brle_data, dtype=None): if dtype != brle_data.dtype: brle_data = runlength.brle_to_brle(brle_data, dtype=dtype) return BinaryRunLengthEncoding(brle_data) @caching.cache_decorator def stripped(self): if self.is_empty: return _empty_stripped(self.shape) data, padding = runlength.rle_strip(self._data) if padding == (0, 0): encoding = self else: encoding = BinaryRunLengthEncoding(data) padding = np.expand_dims(padding, axis=0) return encoding, padding @caching.cache_decorator def sum(self): return self._data[1::2].sum() @caching.cache_decorator def size(self): return runlength.brle_length(self._data) def _flip(self, axes): if axes != (0,): raise ValueError(f"encoding is 1D - cannot flip on axis {axes!s}") return BinaryRunLengthEncoding(runlength.brle_reverse(self._data)) @property def sparse_components(self): return self.sparse_indices, self.sparse_values @caching.cache_decorator def sparse_values(self): return np.ones(shape=(self.sum,), dtype=bool) @caching.cache_decorator def sparse_indices(self): return runlength.brle_to_sparse(self._data) @caching.cache_decorator def dense(self): return runlength.brle_to_dense(self._data) def gather(self, indices): return runlength.brle_gather_1d(self._data, indices) def gather_nd(self, indices): indices = np.squeeze(indices) return self.gather(indices) def sorted_gather(self, ordered_indices): gen = runlength.sorted_brle_gather_1d(self._data, ordered_indices) return np.array(tuple(gen), dtype=bool) def mask(self, mask): gen = runlength.brle_mask(self._data, mask) return np.array(tuple(gen), dtype=bool) def copy(self): return BinaryRunLengthEncoding(self._data.copy()) def run_length_data(self, dtype=np.int64): return runlength.brle_to_rle(self._data, dtype=dtype) def binary_run_length_data(self, dtype=np.int64): return runlength.brle_to_brle(self._data, dtype=dtype) class LazyIndexMap(Encoding): """ Abstract class for implementing lazy index mapping operations. Implementations include transpose, flatten/reshaping and flipping Derived classes must implement: * _to_base_indices(indices) * _from_base_indices(base_indices) * shape * dense * mask(mask) """ @abc.abstractmethod def _to_base_indices(self, indices): pass @abc.abstractmethod def _from_base_indices(self, base_indices): pass @property def is_empty(self): return self._data.is_empty @property def dtype(self): return self._data.dtype @property def sum(self): return self._data.sum @property def size(self): return self._data.size @property def sparse_indices(self): return self._from_base_indices(self._data.sparse_indices) @property def sparse_values(self): return self._data.sparse_values def gather_nd(self, indices): return self._data.gather_nd(self._to_base_indices(indices)) def get_value(self, index): return self._data[tuple(self._to_base_indices(index))] class FlattenedEncoding(LazyIndexMap): """ Lazily flattened encoding. Dense equivalent is np.reshape(data, (-1,)) (np.flatten creates a copy). """ def _to_base_indices(self, indices): return np.column_stack(np.unravel_index(indices, self._data.shape)) def _from_base_indices(self, base_indices): return np.expand_dims( np.ravel_multi_index(base_indices.T, self._data.shape), axis=-1 ) @property def shape(self): return (self.size,) @property def dense(self): return self._data.dense.reshape((-1,)) def mask(self, mask): return self._data.mask(mask.reshape(self._data.shape)) @property def flat(self): return self def copy(self): return FlattenedEncoding(self._data.copy()) class ShapedEncoding(LazyIndexMap): """ Lazily reshaped encoding. Numpy equivalent is `np.reshape` """ def __init__(self, encoding, shape): if isinstance(encoding, Encoding): if encoding.ndims != 1: encoding = encoding.flat else: raise ValueError("encoding must be an Encoding") super().__init__(data=encoding) self._shape = tuple(shape) nn = self._shape.count(-1) size = np.prod(self._shape) if nn == 1: size = np.abs(size) if self._data.size % size != 0: raise ValueError( "cannot reshape encoding of size %d into shape %s" % (self._data.size, str(self._shape)) ) rem = self._data.size // size self._shape = tuple(rem if s == -1 else s for s in self._shape) elif nn > 2: raise ValueError("shape cannot have more than one -1 value") elif np.prod(self._shape) != self._data.size: raise ValueError( "cannot reshape encoding of size %d into shape %s" % (self._data.size, str(self._shape)) ) def _from_base_indices(self, base_indices): return np.column_stack(np.unravel_index(base_indices, self.shape)) def _to_base_indices(self, indices): return np.expand_dims(np.ravel_multi_index(indices.T, self.shape), axis=-1) @property def flat(self): return self._data @property def shape(self): return self._shape @property def dense(self): return self._data.dense.reshape(self.shape) def mask(self, mask): return self._data.mask(mask.flat) def copy(self): return ShapedEncoding(encoding=self._data.copy(), shape=self.shape) class TransposedEncoding(LazyIndexMap): """ Lazily transposed encoding Dense equivalent is `np.transpose` """ def __init__(self, base_encoding, perm): if not isinstance(base_encoding, Encoding): raise ValueError(f"base_encoding must be an Encoding, got {base_encoding!s}") if len(base_encoding.shape) != len(perm): raise ValueError( "base_encoding has %d ndims - cannot transpose with perm %s" % (base_encoding.ndims, str(perm)) ) super().__init__(base_encoding) perm = np.array(perm, dtype=np.int64) if not all(i in perm for i in range(base_encoding.ndims)): raise ValueError(f"perm {perm!s} is not a valid permutation") inv_perm = np.empty_like(perm) inv_perm[perm] = np.arange(base_encoding.ndims) self._perm = perm self._inv_perm = inv_perm def transpose(self, perm): return _transposed(self._data, [self._perm[p] for p in perm]) def _transpose(self, perm): raise RuntimeError("Should not be here") @property def perm(self): return self._perm @property def shape(self): shape = self._data.shape return tuple(shape[p] for p in self._perm) def _to_base_indices(self, indices): return np.take(indices, self._perm, axis=-1) def _from_base_indices(self, base_indices): try: return np.take(base_indices, self._inv_perm, axis=-1) except TypeError: # windows sometimes tries to use wrong dtypes return np.take( base_indices.astype(np.int64), self._inv_perm.astype(np.int64), axis=-1 ) @property def dense(self): return self._data.dense.transpose(self._perm) def gather(self, indices): return self._data.gather(self._base_indices(indices)) def mask(self, mask): return self._data.mask(mask.transpose(self._inv_perm)).transpose(self._perm) def get_value(self, index): return self._data[tuple(self._base_indices(index))] @property def data(self): return self._data def copy(self): return TransposedEncoding(base_encoding=self._data.copy(), perm=self._perm) class FlippedEncoding(LazyIndexMap): """ Encoding with entries flipped along one or more axes. Dense equivalent is `np.flip` """ def __init__(self, encoding, axes): ndims = encoding.ndims if isinstance(axes, np.ndarray) and axes.size == 1: axes = (axes.item(),) elif isinstance(axes, int): axes = (axes,) axes = tuple(a + ndims if a < 0 else a for a in axes) self._axes = tuple(sorted(axes)) if len(set(self._axes)) != len(self._axes): raise ValueError(f"Axes cannot contain duplicates, got {self._axes!s}") super().__init__(encoding) if not all(0 <= a < self._data.ndims for a in axes): raise ValueError( "Invalid axes %s for %d-d encoding" % (str(axes), self._data.ndims) ) def _to_base_indices(self, indices): indices = indices.copy() shape = self.shape for a in self._axes: indices[:, a] *= -1 indices[:, a] += shape return indices def _from_base_indices(self, base_indices): return self._to_base_indices(base_indices) @property def shape(self): return self._data.shape @property def dense(self): dense = self._data.dense for a in self._axes: dense = np.flip(dense, a) return dense def mask(self, mask): if not isinstance(mask, Encoding): mask = DenseEncoding(mask) mask = mask.flip(self._axes) return self._data.mask(mask).flip(self._axes) def copy(self): return FlippedEncoding(self._data.copy(), self._axes) def flip(self, axis=0): if isinstance(axis, np.ndarray): if axis.size == 1: axis = (axis.item(),) else: axis = tuple(axis) elif isinstance(axis, int): axes = (axis,) else: axes = tuple(axis) return _flipped(self, self._axes + axes) def _flip(self, axes): raise RuntimeError("Should not be here") def _flipped(encoding, axes): if not hasattr(axes, "__iter__"): axes = (axes,) unique_ax = set() ndims = encoding.ndims axes = tuple(a + ndims if a < 0 else a for a in axes) for a in axes: if a in unique_ax: unique_ax.remove(a) else: unique_ax.add(a) if len(unique_ax) == 0: return encoding else: return encoding._flip(tuple(sorted(unique_ax))) def _transposed(encoding, perm): ndims = encoding.ndims perm = tuple(p + ndims if p < 0 else p for p in perm) if np.all(np.arange(ndims) == perm): return encoding else: return encoding._transpose(perm) trimesh-4.5.1/trimesh/voxel/morphology.py000066400000000000000000000125251470574263400205760ustar00rootroot00000000000000"""Basic morphology operations that create new encodings.""" import numpy as np from .. import util from ..constants import log_time from . import encoding as enc from . import ops try: from scipy import ndimage except BaseException as E: # scipy is a soft dependency from ..exceptions import ExceptionWrapper ndimage = ExceptionWrapper(E) def _dense(encoding, rank=None): if isinstance(encoding, np.ndarray): dense = encoding elif isinstance(encoding, enc.Encoding): dense = encoding.dense else: raise ValueError(f"encoding must be np.ndarray or Encoding, got {encoding!s}") if rank: _assert_rank(dense, rank) return dense def _sparse_indices(encoding, rank=None): if isinstance(encoding, np.ndarray): sparse_indices = encoding elif isinstance(encoding, enc.Encoding): sparse_indices = encoding.sparse_indices else: raise ValueError(f"encoding must be np.ndarray or Encoding, got {encoding!s}") _assert_sparse_rank(sparse_indices, 3) return sparse_indices def _assert_rank(value, rank): if len(value.shape) != rank: raise ValueError("Expected rank %d, got shape %s" % (rank, str(value.shape))) def _assert_sparse_rank(value, rank=None): if len(value.shape) != 2: raise ValueError(f"sparse_indices must be rank 2, got shape {value.shape!s}") if rank is not None: if value.shape[-1] != rank: raise ValueError( "sparse_indices.shape[1] must be %d, got %d" % (rank, value.shape[-1]) ) @log_time def fill_base(encoding): """ Given a sparse surface voxelization, fill in between columns. Parameters -------------- encoding: Encoding object or sparse array with shape (?, 3) Returns -------------- A new filled encoding object. """ return enc.SparseBinaryEncoding(ops.fill_base(_sparse_indices(encoding, rank=3))) @log_time def fill_orthographic(encoding): """ Fill the given encoding by orthographic projection method. Any voxel in the dense representation with no free ray along the x, y, z axes in each direction is assigned filled. This is likely faster than fill holes, and is more stable with regards to small holes. Parameters -------------- encoding: Encoding object or dense rank-3 array. Returns -------------- A new filled encoding object. """ return enc.DenseEncoding(ops.fill_orthographic(_dense(encoding, rank=3))) @log_time def fill_holes(encoding, **kwargs): """ Encoding wrapper around scipy.ndimage.morphology.binary_fill_holes. https://docs.scipy.org/doc/scipy-0.15.1/reference/generated/scipy.ndimage.morphology.binary_fill_holes.html#scipy.ndimage.morphology.binary_fill_holes Parameters -------------- encoding: Encoding object or dense rank-3 array. **kwargs: see scipy.ndimage.morphology.binary_fill_holes. Returns -------------- A new filled in encoding object. """ return enc.DenseEncoding( ndimage.binary_fill_holes(_dense(encoding, rank=3), **kwargs) ) fillers = util.FunctionRegistry( base=fill_base, orthographic=fill_orthographic, holes=fill_holes, ) def fill(encoding, method="base", **kwargs): """ Fill the given encoding using the specified implementation. See `fillers` for available implementations or to add your own, e.g. via `fillers['custom_key'] = custom_fn`. `custom_fn` should have signature `(encoding, **kwargs) -> filled_encoding` and should not modify encoding. Parameters -------------- encoding: Encoding object (left unchanged). method: method present in `fillers`. **kwargs: additional kwargs passed to the specified implementation. Returns -------------- A new filled Encoding object. """ return fillers(method, encoding=encoding, **kwargs) def binary_dilation(encoding, **kwargs): """ Encoding wrapper around scipy.ndimage.morphology.binary_dilation. https://docs.scipy.org/doc/scipy-0.15.1/reference/generated/scipy.ndimage.morphology.binary_dilation.html#scipy.ndimage.morphology.binary_dilation """ return enc.DenseEncoding(ndimage.binary_dilation(_dense(encoding, rank=3), **kwargs)) def binary_closing(encoding, **kwargs): """ Encoding wrapper around scipy.ndimage.morphology.binary_closing. https://docs.scipy.org/doc/scipy-0.15.1/reference/generated/scipy.ndimage.morphology.binary_closing.html#scipy.ndimage.morphology.binary_closing """ return enc.DenseEncoding(ndimage.binary_closing(_dense(encoding, rank=3), **kwargs)) def surface(encoding, structure=None): """ Get elements on the surface of encoding. A surface element is any one in encoding that is adjacent to an empty voxel. Parameters -------------- encoding: Encoding or dense rank-3 array structure: adjacency structure. If None, square connectivity is used. Returns -------------- new surface Encoding. """ dense = _dense(encoding, rank=3) # padding/unpadding resolves issues with occupied voxels on the boundary dense = np.pad(dense, np.ones((3, 2), dtype=int), mode="constant") empty = np.logical_not(dense) dilated = ndimage.binary_dilation(empty, structure=structure) surface = np.logical_and(dense, dilated)[1:-1, 1:-1, 1:-1] return enc.DenseEncoding(surface) trimesh-4.5.1/trimesh/voxel/ops.py000066400000000000000000000267651470574263400172130ustar00rootroot00000000000000import numpy as np from .. import util from ..constants import log def fill_orthographic(dense): shape = dense.shape indices = np.stack( np.meshgrid(*(np.arange(s) for s in shape), indexing="ij"), axis=-1 ) empty = np.logical_not(dense) def fill_axis(axis): base_local_indices = indices[..., axis] local_indices = base_local_indices.copy() local_indices[empty] = shape[axis] mins = np.min(local_indices, axis=axis, keepdims=True) local_indices = base_local_indices.copy() local_indices[empty] = -1 maxs = np.max(local_indices, axis=axis, keepdims=True) return np.logical_and( base_local_indices >= mins, base_local_indices <= maxs, ) filled = fill_axis(axis=0) for axis in range(1, len(shape)): filled = np.logical_and(filled, fill_axis(axis)) return filled def fill_base(sparse_indices): """ Given a sparse surface voxelization, fill in between columns. Parameters -------------- sparse_indices: (n, 3) int, location of filled cells Returns -------------- filled: (m, 3) int, location of filled cells """ # validate inputs sparse_indices = np.asanyarray(sparse_indices, dtype=np.int64) if not util.is_shape(sparse_indices, (-1, 3)): raise ValueError("incorrect shape") # create grid and mark inner voxels max_value = sparse_indices.max() + 3 grid = np.zeros((max_value, max_value, max_value), bool) voxels_sparse = np.add(sparse_indices, 1) grid[tuple(voxels_sparse.T)] = 1 for i in range(max_value): check_dir2 = False for j in range(0, max_value - 1): idx = [] # find transitions first # transition positions are from 0 to 1 and from 1 to 0 eq = np.equal(grid[i, j, :-1], grid[i, j, 1:]) idx = np.where(np.logical_not(eq))[0] + 1 c = len(idx) check_dir2 = (c % 4) > 0 and c > 4 if c < 4: continue for s in range(0, c - c % 4, 4): grid[i, j, idx[s] : idx[s + 3]] = 1 if not check_dir2: continue # check another direction for robustness for k in range(0, max_value - 1): idx = [] # find transitions first eq = np.equal(grid[i, :-1, k], grid[i, 1:, k]) idx = np.where(np.logical_not(eq))[0] + 1 c = len(idx) if c < 4: continue for s in range(0, c - c % 4, 4): grid[i, idx[s] : idx[s + 3], k] = 1 # generate new voxels filled = np.column_stack(np.where(grid)) filled -= 1 return filled fill_voxelization = fill_base def matrix_to_marching_cubes(matrix, pitch=1.0): """ Convert an (n, m, p) matrix into a mesh, using marching_cubes. Parameters ----------- matrix : (n, m, p) bool Occupancy array Returns ---------- mesh : trimesh.Trimesh Mesh generated by meshing voxels using the marching cubes algorithm in skimage """ from skimage import measure from ..base import Trimesh matrix = np.asanyarray(matrix, dtype=bool) rev_matrix = np.logical_not(matrix) # Takes set about 0. # Add in padding so marching cubes can function properly with # voxels on edge of AABB pad_width = 1 rev_matrix = np.pad( rev_matrix, pad_width=(pad_width), mode="constant", constant_values=(1) ) # pick between old and new API if hasattr(measure, "marching_cubes_lewiner"): func = measure.marching_cubes_lewiner else: func = measure.marching_cubes # Run marching cubes. pitch = np.asanyarray(pitch) if pitch.size == 1: pitch = (pitch,) * 3 meshed = func( volume=rev_matrix, level=0.5, spacing=pitch, # it is a boolean voxel grid ) # allow results from either marching cubes function in skimage # binaries available for python 3.3 and 3.4 appear to use the classic # method if len(meshed) == 2: log.warning("using old marching cubes, may not be watertight!") vertices, faces = meshed normals = None elif len(meshed) == 4: vertices, faces, normals, _vals = meshed # Return to the origin, add in the pad_width vertices = np.subtract(vertices, pad_width * pitch) # create the mesh mesh = Trimesh(vertices=vertices, faces=faces, vertex_normals=normals) return mesh def sparse_to_matrix(sparse): """ Take a sparse (n,3) list of integer indexes of filled cells, turn it into a dense (m,o,p) matrix. Parameters ----------- sparse : (n, 3) int Index of filled cells Returns ------------ dense : (m, o, p) bool Matrix of filled cells """ sparse = np.asanyarray(sparse, dtype=np.int64) if not util.is_shape(sparse, (-1, 3)): raise ValueError("sparse must be (n,3)!") shape = sparse.max(axis=0) + 1 matrix = np.zeros(np.prod(shape), dtype=bool) multiplier = np.array([np.prod(shape[1:]), shape[2], 1]) index = (sparse * multiplier).sum(axis=1) matrix[index] = True dense = matrix.reshape(shape) return dense def points_to_marching_cubes(points, pitch=1.0): """ Mesh points by assuming they fill a voxel box, and then running marching cubes on them Parameters ------------ points : (n, 3) float Points in 3D space Returns ------------- mesh : trimesh.Trimesh Points meshed using marching cubes """ # make sure inputs are as expected points = np.asanyarray(points, dtype=np.float64) pitch = np.asanyarray(pitch, dtype=float) # find the minimum value of points for origin origin = points.min(axis=0) # convert points to occupied voxel cells index = ((points - origin) / pitch).round().astype(np.int64) # convert voxel indices to a matrix matrix = sparse_to_matrix(index) # run marching cubes on the matrix to generate a mesh mesh = matrix_to_marching_cubes(matrix, pitch=pitch) mesh.vertices += origin return mesh def multibox(centers, pitch=1.0, colors=None): """ Return a Trimesh object with a box at every center. Doesn't do anything nice or fancy. Parameters ----------- centers : (n, 3) float Center of boxes that are occupied pitch : float The edge length of a voxel colors : (3,) or (4,) or (n,3) or (n, 4) float Color of boxes Returns --------- rough : Trimesh Mesh object representing inputs """ from .. import primitives from ..base import Trimesh # get centers as numpy array centers = np.asanyarray(centers, dtype=np.float64) # get a basic box b = primitives.Box() # apply the pitch b.apply_scale(float(pitch)) # tile into one box vertex per center v = np.tile(centers, (1, len(b.vertices))).reshape((-1, 3)) # offset to centers v += np.tile(b.vertices, (len(centers), 1)) f = np.tile(b.faces, (len(centers), 1)) f += np.tile(np.arange(len(centers)) * len(b.vertices), (len(b.faces), 1)).T.reshape( (-1, 1) ) face_colors = None if colors is not None: colors = np.asarray(colors) if colors.ndim == 1: colors = colors[None].repeat(len(centers), axis=0) if colors.ndim == 2 and len(colors) == len(centers): face_colors = colors.repeat(12, axis=0) mesh = Trimesh(vertices=v, faces=f, face_colors=face_colors) return mesh def boolean_sparse(a, b, operation=np.logical_and): """ Find common rows between two arrays very quickly using 3D boolean sparse matrices. Parameters ----------- a: (n, d) int, coordinates in space b: (m, d) int, coordinates in space operation: numpy operation function, ie: np.logical_and np.logical_or Returns ----------- coords: (q, d) int, coordinates in space """ # 3D sparse arrays, using wrapped scipy.sparse # pip install sparse import sparse # find the bounding box of both arrays extrema = np.array([a.min(axis=0), a.max(axis=0), b.min(axis=0), b.max(axis=0)]) origin = extrema.min(axis=0) - 1 size = tuple(np.ptp(extrema, axis=0) + 2) # put nearby voxel arrays into same shape sparse array sp_a = sparse.COO((a - origin).T, data=np.ones(len(a), dtype=bool), shape=size) sp_b = sparse.COO((b - origin).T, data=np.ones(len(b), dtype=bool), shape=size) # apply the logical operation # get a sparse matrix out applied = operation(sp_a, sp_b) # reconstruct the original coordinates coords = np.column_stack(applied.coords) + origin return coords def strip_array(data): shape = data.shape ndims = len(shape) padding = [] slices = [] for dim in range(len(shape)): axis = tuple(range(dim)) + tuple(range(dim + 1, ndims)) filled = np.any(data, axis=axis) (indices,) = np.nonzero(filled) pad_left = indices[0] pad_right = indices[-1] padding.append([pad_left, pad_right]) slices.append(slice(pad_left, pad_right)) return data[tuple(slices)], np.array(padding, int) def indices_to_points(indices, pitch=None, origin=None): """ Convert indices of an (n,m,p) matrix into a set of voxel center points. Parameters ---------- indices: (q, 3) int, index of voxel matrix (n,m,p) pitch: float, what pitch was the voxel matrix computed with origin: (3,) float, what is the origin of the voxel matrix Returns ---------- points: (q, 3) float, list of points """ indices = np.asanyarray(indices) if indices.shape[1:] != (3,): raise ValueError("shape of indices must be (q, 3)") points = np.array(indices, dtype=np.float64) if pitch is not None: points *= float(pitch) if origin is not None: origin = np.asanyarray(origin) if origin.shape != (3,): raise ValueError("shape of origin must be (3,)") points += origin return points def matrix_to_points(matrix, pitch=None, origin=None): """ Convert an (n,m,p) matrix into a set of points for each voxel center. Parameters ----------- matrix: (n,m,p) bool, voxel matrix pitch: float, what pitch was the voxel matrix computed with origin: (3,) float, what is the origin of the voxel matrix Returns ---------- points: (q, 3) list of points """ indices = np.column_stack(np.nonzero(matrix)) points = indices_to_points(indices=indices, pitch=pitch, origin=origin) return points def points_to_indices(points, pitch=None, origin=None): """ Convert center points of an (n,m,p) matrix into its indices. Parameters ---------- points : (q, 3) float Center points of voxel matrix (n,m,p) pitch : float What pitch was the voxel matrix computed with origin : (3,) float What is the origin of the voxel matrix Returns ---------- indices : (q, 3) int List of indices """ points = np.array(points, dtype=np.float64) if points.shape != (points.shape[0], 3): raise ValueError("shape of points must be (q, 3)") if origin is not None: origin = np.asanyarray(origin) if origin.shape != (3,): raise ValueError("shape of origin must be (3,)") points -= origin if pitch is not None: points /= pitch origin = np.asanyarray(origin, dtype=np.float64) pitch = float(pitch) indices = np.round(points).astype(int) return indices trimesh-4.5.1/trimesh/voxel/runlength.py000066400000000000000000000475151470574263400204140ustar00rootroot00000000000000""" Numpy encode/decode/utility implementations for run length encodings. # Run Length Encoded Features Encoding/decoding functions for run length encoded data. We include code for two variations: * run length encoding (RLE) * binary run length encdoing (BRLE) RLE stores sequences of repeated values as the value followed by its count, e.g. ```python dense_to_rle([5, 5, 3, 2, 2, 2, 2, 6]) == [5, 2, 3, 1, 2, 4, 6, 1] ``` i.e. the value `5` is repeated `2` times, then `3` is repeated `1` time, `2` is repeated `4` times and `6` is repeated `1` time. BRLE is an optimized form for when the stored values can only be `0` or `1`. This means we only need to save the counts, and assume the values alternate (starting at `0`). ```python dense_to_brle([1, 1, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 0, 0]) == \ [0, 2, 4, 7, 2] ``` i.e. the value zero occurs `0` times, followed by `2` ones, `4` zeros, `7` ones and `2` zeros. Sequences with counts exceeding the data type's maximum value have to be handled carefully. For example, the `uint8` encoding of 300 zeros (`uint8` has a max value of 255) is: * RLE: `[0, 255, 0, 45]` (`0` repeated `255` times + `0` repeated `45` times) * BRLE: `[255, 0, 45, 0]` (`255` zeros + `0` ones + `45` zeros + `0` ones) This module contains implementations of various RLE/BRLE operations. """ import functools import numpy as np def brle_length(brle): """Optimized implementation of `len(brle_to_dense(brle))`""" return np.sum(brle) def rle_length(rle): """Optimized implementation of `len(rle_to_dense(rle_to_brle(rle)))`""" return np.sum(rle[1::2]) def rle_to_brle(rle, dtype=None): """ Convert run length encoded (RLE) value/counts to BRLE. RLE data is stored in a rank 1 array with each pair giving: (value, count) e.g. the RLE encoding of [4, 4, 4, 1, 1, 6] is [4, 3, 1, 2, 6, 1]. Parameters ---------- rle : (n,) int Run length encoded data Returns ---------- equivalent binary run length encoding. a list if dtype is None, otherwise brle_to_brle is called on that list before returning. Raises ---------- ValueError If any of the even counts of `rle` are not zero or 1. """ curr_val = 0 out = [0] acc = 0 for value, count in np.reshape(rle, (-1, 2)): acc += count if value not in (0, 1): raise ValueError("Invalid run length encoding for conversion to BRLE") if value == curr_val: out[-1] += count else: out.append(int(count)) curr_val = value if len(out) % 2: out.append(0) if dtype is not None: out = brle_to_brle(out, dtype=dtype) return out def brle_logical_not(brle): """ Get the BRLE encoding of the `logical_not`ed dense form of `brle`. Equivalent to `dense_to_brle(np.logical_not(brle_to_dense(brle)))` but highly optimized - just pads brle with a 0 on each end (or strips is existing endpoints are both zero). Parameters ---------- brle: rank 1 int array of binary run length encoded data Returns ---------- rank 1 int array of binary run length encoded data corresponding to element-wise not of the input. """ if brle[0] or brle[-1]: return np.pad(brle, [1, 1], mode="constant") else: return brle[1:-1] def merge_brle_lengths(lengths): """Inverse of split_long_brle_lengths.""" if len(lengths) == 0: return [] out = [int(lengths[0])] accumulating = False for length in lengths[1:]: if accumulating: out[-1] += length accumulating = False else: if length == 0: accumulating = True else: out.append(int(length)) return out def split_long_brle_lengths(lengths, dtype=np.int64): """ Split lengths that exceed max dtype value. Lengths `l` are converted into [max_val, 0] * l // max_val + [l % max_val] e.g. for dtype=np.uint8 (max_value == 255) ``` split_long_brle_lengths([600, 300, 2, 6], np.uint8) == \ [255, 0, 255, 0, 90, 255, 0, 45, 2, 6] ``` """ lengths = np.asarray(lengths) max_val = np.iinfo(dtype).max bad_length_mask = lengths > max_val if np.any(bad_length_mask): # there are some bad lengths nl = len(lengths) repeats = np.asarray(lengths) // max_val remainders = (lengths % max_val).astype(dtype) lengths = np.concatenate( [ np.array([max_val, 0] * repeat + [remainder], dtype=dtype) for repeat, remainder in zip(repeats, remainders) ] ) lengths = lengths.reshape((np.sum(repeats) * 2 + nl,)).astype(dtype) return lengths elif lengths.dtype != dtype: return lengths.astype(dtype) else: return lengths def dense_to_brle(dense_data, dtype=np.int64): """ Get the binary run length encoding of `dense_data`. Parameters ---------- dense_data: rank 1 bool array of data to encode. dtype: numpy int type. Returns ---------- Binary run length encoded rank 1 array of dtype `dtype`. Raises ---------- ValuError if dense_data is not a rank 1 bool array. """ if dense_data.dtype != bool: raise ValueError("`dense_data` must be bool") if len(dense_data.shape) != 1: raise ValueError("`dense_data` must be rank 1.") n = len(dense_data) starts = np.r_[0, np.flatnonzero(dense_data[1:] != dense_data[:-1]) + 1] lengths = np.diff(np.r_[starts, n]) lengths = split_long_brle_lengths(lengths, dtype=dtype) if dense_data[0]: lengths = np.pad(lengths, [1, 0], mode="constant") return lengths _ft = np.array([False, True], dtype=bool) def brle_to_dense(brle_data, vals=None): """Decode binary run length encoded data to dense. Parameters ---------- brle_data: BRLE counts of False/True values vals: if not `None`, a length 2 array/list/tuple with False/True substitute values, e.g. brle_to_dense([2, 3, 1, 0], [7, 9]) == [7, 7, 9, 9, 9, 7] Returns ---------- rank 1 dense data of dtype `bool if vals is None else vals.dtype` Raises ---------- ValueError if vals it not None and shape is not (2,) """ if vals is None: vals = _ft else: vals = np.asarray(vals) if vals.shape != (2,): raise ValueError(f"vals.shape must be (2,), got {vals.shape}") ft = np.repeat(_ft[np.newaxis, :], (len(brle_data) + 1) // 2, axis=0).flatten() return np.repeat(ft[: len(brle_data)], brle_data).flatten() def rle_to_dense(rle_data, dtype=np.int64): """Get the dense decoding of the associated run length encoded data.""" values, counts = np.split(np.reshape(rle_data, (-1, 2)), 2, axis=-1) if dtype is not None: values = np.asanyarray(values, dtype=dtype) try: result = np.repeat(np.squeeze(values, axis=-1), np.squeeze(counts, axis=-1)) except TypeError: # on windows it sometimes fails to cast data type result = np.repeat( np.squeeze(values.astype(np.int64), axis=-1), np.squeeze(counts.astype(np.int64), axis=-1), ) return result def dense_to_rle(dense_data, dtype=np.int64): """Get run length encoding of the provided dense data.""" n = len(dense_data) starts = np.r_[0, np.flatnonzero(dense_data[1:] != dense_data[:-1]) + 1] lengths = np.diff(np.r_[starts, n]) values = dense_data[starts] values, lengths = split_long_rle_lengths(values, lengths, dtype=dtype) out = np.stack((values, lengths), axis=1) return out.flatten() def split_long_rle_lengths(values, lengths, dtype=np.int64): """ Split long lengths in the associated run length encoding. e.g. ```python split_long_rle_lengths([5, 300, 2, 12], np.uint8) == [5, 255, 5, 45, 2, 12] ``` Parameters ---------- values: values column of run length encoding, or `rle[::2]` lengths: counts in run length encoding, or `rle[1::2]` dtype: numpy data type indicating the maximum value. Returns ---------- values, lengths associated with the appropriate splits. `lengths` will be of type `dtype`, while `values` will be the same as the value passed in. """ max_length = np.iinfo(dtype).max lengths = np.asarray(lengths) repeats = lengths // max_length if np.any(repeats): repeats += 1 remainder = lengths % max_length values = np.repeat(values, repeats) lengths = np.zeros(len(repeats), dtype=dtype) lengths.fill(max_length) lengths = np.repeat(lengths, repeats) lengths[np.cumsum(repeats) - 1] = remainder elif lengths.dtype != dtype: lengths = lengths.astype(dtype) return values, lengths def merge_rle_lengths(values, lengths): """Inverse of split_long_rle_lengths except returns normal python lists.""" ret_values = [] ret_lengths = [] curr = None for value, length in zip(values, lengths): if length == 0: continue if value == curr: ret_lengths[-1] += length else: curr = value ret_lengths.append(int(length)) ret_values.append(value) return ret_values, ret_lengths def brle_to_rle(brle, dtype=np.int64): if len(brle) % 2 == 1: brle = np.concatenate([brle, [0]]) lengths = brle values = np.tile(_ft, len(brle) // 2) return rle_to_rle(np.stack((values, lengths), axis=1).flatten(), dtype=dtype) def brle_to_brle(brle, dtype=np.int64): """ Almost the identity function. Checks for possible merges and required splits. """ return split_long_brle_lengths(merge_brle_lengths(brle), dtype=dtype) def rle_to_rle(rle, dtype=np.int64): """ Almost the identity function. Checks for possible merges and required splits. """ values, lengths = np.reshape(rle, (-1, 2)).T values, lengths = merge_rle_lengths(values, lengths) values, lengths = split_long_rle_lengths(values, lengths, dtype=dtype) return np.stack((values, lengths), axis=1).flatten() def _unsorted_gatherer(indices, sorted_gather_fn): if not isinstance(indices, np.ndarray): indices = np.array(indices, copy=False) order = np.argsort(indices) ordered_indices = indices[order] def f(data, dtype=None): result = np.zeros(len(order), dtype=dtype or getattr(data, "dtype", None)) result[order] = tuple(sorted_gather_fn(data, ordered_indices)) return result return f def sorted_rle_gather_1d(rle_data, ordered_indices): """ Gather brle_data at ordered_indices. This is equivalent to `rle_to_dense(brle_data)[ordered_indices]` but avoids the decoding. Parameters ---------- brle_data: iterable of run-length-encoded data. ordered_indices: iterable of ints in ascending order. Returns ---------- `brle_data` iterable of values at the dense indices, same length as ordered indices. """ data_iter = iter(rle_data) index_iter = iter(ordered_indices) try: index = next(index_iter) except StopIteration: return start = 0 while True: while start <= index: try: value = next(data_iter) start += next(data_iter) except StopIteration: raise IndexError( "Index %d out of range of raw_values length %d" % (index, start) ) try: while index < start: yield value index = next(index_iter) except StopIteration: break def rle_mask(rle_data, mask): """ Perform masking of the input run-length data. Parameters ---------- rle_data: iterable of run length encoded data mask: iterable of bools corresponding to the dense mask. Returns ---------- iterable of dense values of rle_data wherever mask is True. """ data_iter = iter(rle_data) mask_iter = iter(mask) while True: try: value = next(data_iter) count = next(data_iter) except StopIteration: break for _ in range(count): m = next(mask_iter) if m: yield value def brle_mask(rle_data, mask): """ Perform masking of the input binary run-length data. Parameters ---------- brle_data: iterable of binary run length encoded data mask: iterable of bools corresponding to the dense mask. Returns ---------- iterable dense values of brle_data wherever mask is True. """ data_iter = iter(rle_data) mask_iter = iter(mask) value = True while True: try: value = not value count = next(data_iter) except StopIteration: break for _ in range(count): m = next(mask_iter) if m: yield value def rle_gatherer_1d(indices): """ Get a gather function at the given indices. Because gathering on RLE data requires sorting, for instances where gathering at the same indices on different RLE data this can save the sorting process. If only gathering on a single RLE iterable, use `rle_gather_1d`. Parameters ---------- indices: iterable of integers Returns ---------- gather function, mapping `(rle_data, dtype=None) -> values`. `values` will have the same length as `indices` and dtype provided, or rle_data.dtype if no dtype is provided. """ return _unsorted_gatherer(indices, sorted_rle_gather_1d) def rle_gather_1d(rle_data, indices, dtype=None): """ Gather RLE data values at the provided dense indices. This is equivalent to `rle_to_dense(rle_data)[indices]` but the implementation does not require the construction of the dense array. If indices is known to be in order, use `sorted_gather_1d`. Parameters ---------- rle_data: run length encoded data indices: dense indices dtype: numpy dtype. If not provided, uses rle_data.dtype Returns ---------- numpy array, dense data at indices, same length as indices and dtype as rle_data """ return rle_gatherer_1d(indices)(rle_data, dtype=dtype) def sorted_brle_gather_1d(brle_data, ordered_indices): """ Gather brle_data at ordered_indices. This is equivalent to `brle_to_dense(brle_data)[ordered_indices]` but avoids the decoding. Parameters ---------- raw_data: iterable of run-length-encoded data. ordered_indices: iterable of ints in ascending order. Returns ---------- `raw_data` iterable of values at the dense indices, same length as ordered indices. """ data_iter = iter(brle_data) index_iter = iter(ordered_indices) try: index = next(index_iter) except StopIteration: return start = 0 value = True while True: while start <= index: try: value = not value start += next(data_iter) except StopIteration: raise IndexError( "Index %d out of range of raw_values length %d" % (index, start) ) try: while index < start: yield value index = next(index_iter) except StopIteration: break def brle_gatherer_1d(indices): """ Get a gather function at the given indices. Because gathering on BRLE data requires sorting, for instances where gathering at the same indices on different RLE data this can save the sorting process. If only gathering on a single RLE iterable, use `brle_gather_1d`. Parameters ---------- indices: iterable of integers Returns ---------- gather function, mapping `(rle_data, dtype=None) -> values`. `values` will have the same length as `indices` and dtype provided, or rle_data.dtype if no dtype is provided. """ return functools.partial( _unsorted_gatherer(indices, sorted_brle_gather_1d), dtype=bool ) def brle_gather_1d(brle_data, indices): """ Gather BRLE data values at the provided dense indices. This is equivalent to `rle_to_dense(rle_data)[indices]` but the implementation does not require the construction of the dense array. If indices is known to be in order, use `sorted_brle_gather_1d`. Parameters ---------- rle_data: run length encoded data indices: dense indices Returns ---------- numpy array, dense data at indices, same length as indices and dtype as rle_data """ return brle_gatherer_1d(indices)(brle_data) def brle_reverse(brle_data): """Equivalent to dense_to_brle(brle_to_dense(brle_data)[-1::-1]).""" if len(brle_data) % 2 == 0: brle_data = np.concatenate([brle_data, [0]], axis=0) end = -1 if brle_data[-1] == 0 else None return brle_data[-1:end:-1] def rle_reverse(rle_data): """Get the rle encoding of the reversed dense array.""" if not isinstance(rle_data, np.ndarray): rle_data = np.array(rle_data, copy=False) rle_data = np.reshape(rle_data, (-1, 2)) rle_data = rle_data[-1::-1] return np.reshape(rle_data, (-1,)) def rle_to_sparse(rle_data): """Get dense indices associated with non-zeros.""" indices = [] values = [] it = iter(rle_data) index = 0 try: while True: value = next(it) counts = int(next(it)) end = index + counts if value: indices.append(np.arange(index, end, dtype=np.int64)) values.append(np.repeat(value, counts)) index = end except StopIteration: pass if len(indices) == 0: assert len(values) == 0 return indices, values indices = np.concatenate(indices) values = np.concatenate(values, dtype=rle_data.dtype) return indices, values def brle_to_sparse(brle_data, dtype=np.int64): ends = np.cumsum(brle_data) indices = [np.arange(s, e, dtype=dtype) for s, e in zip(ends[::2], ends[1::2])] return np.concatenate(indices) def rle_strip(rle_data): """ Remove leading and trailing zeros. Parameters ---------- rle_data: run length encoded data Returns ---------- (stripped_rle_data, padding) stripped_rle_data: rle data without any leading or trailing zeros padding: 2-element dense padding """ rle_data = np.reshape(rle_data, (-1, 2)) start = 0 final_i = len(rle_data) for i, (val, count) in enumerate(rle_data): if val and count > 0: final_i = i break else: start += count end = 0 final_j = len(rle_data) for j, (val, count) in enumerate(rle_data[::-1]): if val and count > 0: final_j = j break else: end += count rle_data = rle_data[final_i : None if final_j == 0 else -final_j].reshape((-1,)) return rle_data, (start, end) def brle_strip(brle_data): """ Remove leading and trailing zeros. Parameters ---------- brle_data: binary run length encoded data. Returns ---------- (stripped_brle_data, padding) stripped_brle_data: rle data without any leading or trailing zeros padding: 2-element dense padding """ start = 0 val = True final_i = len(brle_data) for i, count in enumerate(brle_data): val = not val if val and count > 0: final_i = i break else: start += count end = 0 final_j = len(brle_data) val = bool(len(brle_data) % 2) for j, count in enumerate(brle_data[::-1]): val = not val if val and count > 0: final_j = j break else: end += count brle_data = brle_data[final_i : None if final_j == 0 else -final_j] brle_data = np.concatenate([[0], brle_data]) return brle_data, (start, end) trimesh-4.5.1/trimesh/voxel/transforms.py000066400000000000000000000122531470574263400205730ustar00rootroot00000000000000import numpy as np from .. import caching, util from .. import transformations as tr from ..typed import Optional class Transform: """ Class for caching metadata associated with 4x4 transformations. The transformation matrix is used to define relevant properties for the voxels, including pitch and origin. """ def __init__(self, matrix, datastore: Optional[caching.DataStore] = None): """ 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. """ matrix = np.asanyarray(matrix, dtype=np.float64) if matrix.shape != (4, 4) or not np.allclose(matrix[3, :], [0, 0, 0, 1]): raise ValueError("matrix is invalid!") # store matrix as data if datastore is None: self._data = caching.DataStore() elif isinstance(datastore, caching.DataStore): self._data = datastore else: raise ValueError(f"{type(datastore)} != caching.DataStore") self._data["transform_matrix"] = matrix # dump cache when matrix changes self._cache = caching.Cache(id_function=self._data.__hash__) def __hash__(self): """ Get the hash of the current transformation matrix. Returns ------------ hash : str Hash of transformation matrix """ return self._data.__hash__() @property def translation(self): """ Get the translation component of the matrix Returns ------------ translation : (3,) float Cartesian translation """ return self._data["transform_matrix"][:3, 3] @property def matrix(self): """ Get the homogeneous transformation matrix. Returns ------------- matrix : (4, 4) float Transformation matrix """ return self._data["transform_matrix"] @matrix.setter def matrix(self, values): """ Set the homogeneous transformation matrix. Parameters ------------- matrix : (4, 4) float Transformation matrix """ values = np.asanyarray(values, dtype=np.float64) if values.shape != (4, 4): raise ValueError("matrix must be (4, 4)!") self._data["transform_matrix"] = values @caching.cache_decorator def scale(self): """ Get the scale factor of the current transformation. Returns ------------- scale : (3,) float Scale factor from the matrix """ # get the current transformation matrix = self.matrix # get the (3,) diagonal of the rotation component scale = np.diag(matrix[:3, :3]) if not np.allclose(matrix[:3, :3], scale * np.eye(3), scale * 1e-6 + 1e-8): raise RuntimeError("transform features a shear or rotation") return scale @caching.cache_decorator def pitch(self): scale = self.scale if not util.allclose(scale[0], scale[1:], np.max(np.abs(scale)) * 1e-6 + 1e-8): raise RuntimeError("transform features non-uniform scaling") return scale @caching.cache_decorator def unit_volume(self): """Volume of a transformed unit cube.""" return np.linalg.det(self._data["transform_matrix"][:3, :3]) def apply_transform(self, matrix): """Mutate the transform in-place and return self.""" self.matrix = np.matmul(matrix, self.matrix) return self def apply_translation(self, translation): """Mutate the transform in-place and return self.""" self.matrix[:3, 3] += translation return self def apply_scale(self, scale): """Mutate the transform in-place and return self.""" self.matrix[:3] *= scale return self def transform_points(self, points): """ 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 """ if self.is_identity: return points.copy() return tr.transform_points(points.reshape(-1, 3), self.matrix).reshape( points.shape ) def inverse_transform_points(self, points): """Apply the inverse transformation to points (not in-place).""" if self.is_identity: return points return tr.transform_points(points.reshape(-1, 3), self.inverse_matrix).reshape( points.shape ) @caching.cache_decorator def inverse_matrix(self): inv = np.linalg.inv(self.matrix) inv.flags.writeable = False return inv def copy(self): return Transform(matrix=self.matrix) @caching.cache_decorator def is_identity(self): """ Flags this transformation being sufficiently close to eye(4). """ return util.allclose(self.matrix, np.eye(4), 1e-8)

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