Mi\SSKrSSKrSSKr"SS5r"SS5r"SS5rSrS r S r g!\a SrN2f=f) NcT\rSrSrSrSr\S5r\S5r\S5r Sr Sr g ) ContactData zC Data structure for holding information about a collision contact. c[U5UlUSURUSUR0UlUR UlURUlURUl g)z Initialize a ContactData. Parameters ---------- names : list of str The names of the two objects in order. contact : fcl.Contact The contact in question. rN) setnamesb1b2_indsnormal_normalpos_pointpenetration_depth_depth)selfr contacts k/var/www/eduai.edurigo.com/storigo/production/storigo_env/lib/python3.13/site-packages/trimesh/collision.py__init__ContactData.__init__sRZ Ah E!HgjjA ~~ kk // cUR$)zn The 3D intersection normal for this contact. Returns ------- normal : (3,) float The intersection normal. )rrs rr ContactData.normal"s||rcUR$)zn The 3D point of intersection for this contact. Returns ------- point : (3,) float The intersection point. )rrs rpointContactData.point.{{rcUR$)z The penetration depth of the 3D point of intersection for this contact. Returns ------- depth : float The penetration depth. )rrs rdepthContactData.depth:rrc URU$)z 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 r rnames rindexContactData.indexFzz$r)rr rrr N) __name__ __module__ __qualname____firstlineno____doc__rpropertyr rr!r'__static_attributes__rrrr sM0"       rrc:\rSrSrSrSr\S5rSrSr Sr g) DistanceDataXz@ Data structure for holding information about a distance query. c[U5UlUSURUSUR0UlUSUR SUSUR S0UlURUlg)z Initialize a DistanceData. Parameters ---------- names : list of str The names of the two objects in order. contact : fcl.DistanceResult The distance query result. rrN) rr r r r nearest_points_points min_distance _distance)rr results rrDistanceData.__init__]soZ Ah 58VYY? !Hf++A. !Hf++A.   ,,rcUR$)z Returns the distance between the two objects. Returns ------- distance : float The euclidean distance between the objects. )r9rs rdistanceDistanceData.distanceps~~rc URU$)z Returns the index of the closest face for the mesh with the given name. Parameters ---------- name : str The name of the target object. Returns ------- index : int The index of the face in collisoin. r$r%s rr'DistanceData.index|r)rc URU$)z The 3D point of closest distance on the mesh with the given name. Parameters ---------- name : str The name of the target object. Returns ------- point : (3,) float The closest point. )r7r%s rrDistanceData.points||D!!r)r9r r7r N) r*r+r,r-r.rr/r=r'rr0r1rrr3r3Xs*-&   ""rr3c\rSrSrSrSrSSjrSrSrSSjr SS jr SS jr SS jr SS jr SS jrSrSrSrg)CollisionManagerz A mesh-mesh collision manager. c[c [S5e0Ul[R"S5Ul[R "5UlURR5 g)z+ Initialize a mesh-mesh collision manager. Nz7No FCL Available! Please install the python-fcl librarycgNr1r1rr+CollisionManager.__init__..sdr) fcl ValueError_objs collections defaultdict_namesDynamicAABBTreeCollisionManager_managersetuprs rrCollisionManager.__init__sP ;VW W "--l; ;;=  rNcxUc[R"S5n[R"U[RS9nURS:wa [ S5eUR U5n[R"USS2SS24USS2S45n[R"XE5nXR;a(URRURU5 XdS.URU'XR[U5'URRU5 URR!5 U$)a6 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 Ndtype)rVrVztransform must be (4,4)!)objgeom)npeye asanyarrayfloat32shaperL _get_fcl_objrK TransformCollisionObjectrMrRunregisterObjectrPidregisterObjectupdate)rr&mesh transformr[tos r add_objectCollisionManager.add_objects$  q IMM)2::> ??f $78 8  & MM)BQBF+Yrr1u-= >    ( ::  MM * *4::d+; <#$3 4 $ BtH $$Q' rcnXR;aURRURUS5 URRURUS5 [ URR U5S5nUR R U5 g[US35e)zp Delete an object from the collision manager. Parameters ---------- name : str The identifier for the object rZr[ not in collision manager!N)rMrRrdrgrepoprPrL)rr&geom_ids r remove_objectCollisionManager.remove_objects ::  MM * *4::d+;E+B C MM D!1%!8 9-f56G KKOOG $v%?@A ArcXR;a`URUSnURUSS2SS245 URUSS2S45 URR U5 g[ US35e)z 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 rZNrYro)rM setRotationsetTranslationrRrgrL)rr&rirks r set_transformCollisionManager.set_transforms~ ::  4 'A MM)BQBF+ ,  Yrr1u- . MM  #v%?@A ArcUc[R"S5nURU5n[R"USS2SS24USS2S45n[R "XV5n[R "5nU(dU(a'[R "[R"SSS9S9nURRXx[R5 URRn [5n /n U(dU(aURRHn U Rn X:Xa U R n UR#U 5nUS4nXR :Xa[%['U55nU(aU R)U5 U(dMyU R+[-X55 M U(a U(aXU 4$U(aX4$U(aX4$U $) a 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 NrVrY順Tnum_max_contactsenable_contactrequest __external)r\r]rarKrbrc CollisionDataCollisionRequestrRcollidedefaultCollisionCallbackr: is_collisionrcontactso1o2 _extract_nametuplereversedaddappendr)rrhri return_names return_datar[rjrkcdatar:objs_in_collision contact_datarcgr&r s rin_collision_single$CollisionManager.in_collision_singles:  q I  & MM)BQBF+Yrr1u-= >    (!!# ;%%,,fUYZE a(D(DE** E ; <<00ZZ: B))"-|,#!(5/2E%))$/; '' E(CD1 Kl: : , , ' 'Mrc[R"5nU(dU(a'[R"[R"SSS9S9nURR U[R 5 UR Rn[5n/nU(dU(aUR RHnURUR5URUR54nU(a#UR[[U555 U(dMlUR![#X55 M U(a U(aXEU4$U(aXE4$U(aXF4$U$)aq 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 rzTr{r~)rKrrrRrrr:rrrrrrrrsortedrr) rrrrr:rrrr s rin_collision_internal&CollisionManager.in_collision_internalPs0!!# ;%%,,fUYZE eS%A%AB**E ; <<00++GJJ79K9KGJJ9WX%))%u *>?; '' E(CD 1 Kl: : , , ' 'Mrc[R"5nU(dU(a'[R"[R"SSS9S9nURR URU[R 5 UR Rn[5n/nU(dU(aUR RHnSn URUR5URUR54n U Sc8URUR5URUR54n Sn U(aURU 5 U(dMU (a[[U 55n UR![#X55 M U(a U(aXVU4$U(aXV4$U(aXW4$U$)a 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 rzTr{r~Fr)rKrrrRrrr:rrrrrrrrrrr) r other_managerrrrr:rrrreverser s rin_collision_other#CollisionManager.in_collision_othersh8!!# ;%%,,fUYZE m44eS=Y=YZ**E ; <<00&&wzz2!// ;8#**7::6%33GJJ?E#G%))%0; %huo 6 '' E(CD%1( Kl: : , , ' 'MrcUc[R"S5nURU5n[R"USS2SS24USS2S45n[R "XV5n[R "[R"SS95nU(a=[R "[R"SSS9[R"55nURRXx[R5 URRn SupU(dU(aURRn X:XaURRn UR!U 5n U S4n XRR:Xa[#[%U 55n [ XR5n U(a U(aXU 4$U(aX4$U(aX4$U $) aY 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 NrVrYTenable_signed_distanceenable_nearest_pointsrNNr)r\r]rarKrbrcr3DistanceRequestDistanceResultrRr=defaultDistanceCallbackr:r8rrrrr)rrhri return_namerr[rjrkddatar=r&datarr s rmin_distance_single$CollisionManager.min_distance_singles6  q I  & MM)BQBF+Yrr1u-= >    (  !4!4D!QR $$##*.t""$ E q)D)DE<<,,  +Bz\\__%%b)D<(E\\__$huo.||4D ;4' ' > ! > !OrcD[R"[R"SS95nU(a=[R"[R"SSS9[R"55nUbXR;a[ US35eURUSnUR RU5 UR RU5 UR RXT[R5 UR RU5 UR R5 O*UR RU[R5 URRnSupxU(dU(asURURR5URURR 54n[XtR5n[#[%U55nU(a U(aXgU4$U(aXg4$U(aXh4$U$)a4 Get the minimum distance between objects in the manager. If name is provided, computes the minimum distance between the specified object and any other object in the manager. If name is None, computes the minimum distance between any pair of objects in the manager. Parameters ------------- name : str or None If provided, the identifier for the object already in the manager to compute distances from. If None, computes distances between all pairs of objects. 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 objects names : (2,) str The names of the closest objects data : DistanceData Extra data about the distance query TrrrorZr)rKr3rrrMrLrRrdrgr=rrfr:r8rrrrr) rr&rrrrZr=r rs rmin_distance_internal&CollisionManager.min_distance_internals<  !4!4D!QR $$##*.+/""$ E  ::% D6)C!DEE**T"5)C MM * *3 / MM  % MM " "3s/J/J K MM ( ( - MM " MM " "5#*E*E F<<,,  ;""5< !Orc[R"[R"SS95nU(a=[R"[R"SSS9[R"55nURR URU[R 5 URRnSupgU(dU(aSnURURR5URURR54nUScLSnURURR5URURR54n[U5n U(a[[U 55n [XR5nU(a U(aXVU4$U(aXV4$U(aXW4$U$)a Get the minimum distance between any pair of objects, one in each manager. Parameters ---------- other_manager : CollisionManager Another collision manager object return_names : bool If true, a 2-tuple is returned containing the names of the closest objects. return_data : bool If true, a DistanceData object is returned as well Returns ----------- distance : float The min distance between a pair of objects, one from each manager. names : 2-tup of str A 2-tuple containing two names (first from this manager, second from the other_manager) indicating the two closest objects. data : DistanceData Extra data about the distance query TrrrFr)rKr3rrrRr=rr:r8rrrrr) rrrrrr=r rrdnamess rmin_distance_other#CollisionManager.min_distance_otherdse6  !4!4D!QR $$##*.+/""$ E }55uc>Y>YZ<<,,  ;G""5< !OrcXUR(a [U5nU$[U5nU$)z 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 ) is_convexmesh_to_convex mesh_to_BVH)rrhrZs rraCollisionManager._get_fcl_objs- >> &C d#C rc2UR[U5$)z 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 )rPre)rr[s rrCollisionManager._extract_names{{2d8$$r)rRrPrMrH)NFF)FF)r*r+r,r-r.rrlrrrwrrrrrrrarr0r1rrrDrDs_ (TB&B*EJKZ4lBJDIHTN`CJ*%rrDc[R"5nUR[UR5[UR 5S9 UR UR URS9 UR5 U$)z Create a BVHModel object from a Trimesh object Parameters ----------- mesh : Trimesh Input geometry Returns ------------ bvh : fcl.BVHModel BVH of input geometry ) num_tris_ num_vertices_)verts triangles)rKBVHModel beginModellenfacesvertices addSubModelendModel)rhbvhs rrrsV ,,.CNNS_C LLN Jrc([R"S[R"[UR5S4[R S9-UR4SS9n[ R"UR[U5UR55$)z Create a Convex object from a Trimesh object Parameters ----------- mesh : Trimesh Input geometry Returns ------------ convex : fcl.Convex Convex of input geometry rYrrW)axis) r\ concatenateonesrrint64rKConvexrflatten)rhfss rrrsd  RWWc$**oq) : :DJJGa B ::dmmSWbjjl ;;rc[5n0nURRH3nURUupEURX0RUUS9X#'M5 X4$)a4 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 )r&rhri)rDgraphnodes_geometryrlgeometry)scenemanagerobjectsnodeTrs rscene_to_collisionrse  GG **kk$' **NN84+  +  r) rNnumpyr\rK BaseExceptionrr3rDrrrr1rrrs` I I XC"C"Lo%o%d*<(c Cs6AA