Mi9SSKrSSKJr SSKJr SSKJr SSKr SrSSjrSS jrS r\R$S 4S \S \4SjjrSrSSjrSSjrSSjrg!\ a"r SSKJ r \ R"\ 5r Sr C N^Sr C ff=f)N)util)log)NDArray) exceptionsc[U/SQ5nUb7[R"U[R"US55SS*USS2S4'U$)ae 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 )rrrNr) align_vectorsnpdotappend)originnormal transforms j/var/www/eduai.edurigo.com/storigo/production/storigo_env/lib/python3.13/site-packages/trimesh/geometry.pyplane_transformrsN"fi0I FF9bii.BCBQGG "1"a% c[R"U[RS9n[R"U[RS9nURS:wdURS:wa [ S5e[R R URS55Sn[R R URS55Sn[R RU5S:aUSS2S4==S-ss'[R RU5S:aUSS2S4==S-ss'[R"S 5nURUR5USS 2SS 24'U(ae[R"USUS5n[R"[R"USS 55nUS :aU[R- nXW4$U$) a| 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` dtype)r zvectors must be (3,)!rrNrr ?gh㈵)r arrayfloat64shape ValueErrorlinalgsvdreshapedeteyer Tarccosclippi)ab return_angleaubumatrixr angles rr r 'sf, "**%A "**%Aww$!''T/011 qyy) *1 -B qyy) *1 -B yy}}R1 1b5 T  yy}}R1 1b5 T VVAYFVVBDD\F2A2rr6NffRUBqE" "''#tS12 ; RUUNE} Mrc2[R"U[R5nUSS2/SQ4RS5nU(aP[R"[R "[ U55S5RRS5nX#4$U$)z Given a list of faces (n,3), return a list of edges (n*3,2) Parameters ----------- faces : (n, 3) int Vertex indices representing faces Returns ----------- edges : (n*3, 2) int Vertex indices representing edges N)rrrr1r)rr1)r rr)r asanyarrayint64r"tilearangelenr%)faces return_indexedges face_indexs rfaces_to_edgesr;\st MM% *E !'' ( 0 0 9EWWRYYs5z2F;==EEbI   Lrc[R"U[RS9n[U5S:Xa[R"/5$[ R "US5(aURS5nO'[ R "US5(d [S5e[ R"USS2S4USS2S45n[R"US S 5n[R"[R"U55nU$) z 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 rrr1r )rr1r )rr1r=zpairs must be (n,2,(2|3))!Nrrr) r r2rr6rris_shaper"r diagonal_dotr'absr&)pairsdotsangless r vector_anglerDvs MM%rzz 2E 5zQxx| uf % % j) ]]5/ 2 2566   U1a4[%1+ 6D 774s #D VVBIIdO $F MrTuse_fanreturnc[U5S:Xa[R"SUS9$[R"XS9n[UR5S:Xa$URSS:XaUR U5$[UR5S:XaLURSS:Xa9[R "USS2/SQ4USS2/S Q445R U5$[R"UVs/sHn[U5PM sn[RS9n[R"[R"US:H5SVs/sHo0UPM sn[RS9n[R"[R"US:H5SVs/sHo0UPM sn[RS9nU(a/[R"US:5SVs/sHo0UPM nnO/n[U5S:Xa [U5S:XaUR U5$[U5S:a[R"U5n[U5S:a*[R "USS2/SQ4USS2/S Q445n[R"XVU/5R U5$![a GNf=fs snfs snfs snfs snf) a Given an array of quad faces return them as triangle faces, also handles pure triangles and mixed triangles and quads. Parameters ----------- quads: (n, 4) int Vertex indices of quad faces. dtype Data type requested for the return use_fan Triangulate holes larger than quads with fans, which may be wrong if the holes are non-convex Returns ----------- faces : (m, 3) int Vertex indices of triangular faces. rrr1rr rN)rrr1)r1r r) r6r zerosrrastypevstackrr3nonzerortriangle_fans_to_faces vstack_empty)quadsrrEilengthstriquadpolys rtriangulate_quadsrTs?* 5zQxx'' , u{{ q U[[^q%8<<& & u{{ q U[[^q%899eAyL15I3FGHOOPUV Vhh.1A.bhh?G ((bjjA&>q&AB&A!H&AB"(( SC 88rzz'Q,'?'BC'B!1X'BC288 TD"$**Wq["9!"<="s1AJ%7A$J%0J6J;KK% J32J3cH[R"UR5US9n[U5U:XdeUR5U:de[R"S[R"U5SS5n[R"UR55USS2S4-nXTU-SS2S4:R[R5*n[RR![U5["S 9nUR%U5R'5SnXUS:H'U$![a@ [R "S5 [R "UR5SS9SnGNOf=f![(a [R "S SS 9 [R*"UR,[RS 9n UR5n [/U5H3n [R0"X:H5SS -SSS2XU XKX;-&M5 XUS:H'U$f=f) a Find vertex face indices from the faces array of vertices Parameters ----------- vertex_count : int The number of vertices faces refer to faces : (n, 3) int List of vertex indices faces_sparse : scipy.sparse.COO Sparse matrix Returns ----------- vertex_faces : (vertex_count, ) int Face indices for every vertex Array padded with -1 in each row for all vertices with fewer face indices than the max number of face indices. ) minlengthzcasting failed, falling back!T) return_countsrrNrrzJvertex_faces falling back to slow loop! mesh probably has degenerate facesexc_infor )r bincountflatten TypeErrorrwarninguniquer6maxr cumsumr5rIr3scipysparseidentityintr rK BaseExceptionrHsizerangewhere) vertex_countr7 faces_sparsecountsstartspackpaddedrc sorted_facessortflatvs rvertex_face_indicesrss,CU]]_ E v;, && & 99; %% %YYq"))F+CR0 1F 99VZZ\ "VAtG_ 4DD1199"((C CF#<<((U3(?#''199;A> +v{ MK C 345==?$?B C0  #  3 xx "((3}}|$A79xx 7J17MQR7RTXVXTX6YDVY2 3%#v{ M #s&#D+AE8+AE54E58B%H! H!c ^^^^UUUU4SjnUUU4SjnU"5n[R"U5nU$![a [R"SSS9 U"5nN@f=f)a 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. cN>Tc [TT5nOTnURT5nU$N) index_sparser )r.summed face_normalsr7rbris r summed_sparse*mean_vertex_normals..summed_sparse/s. >!,6FFL) rcz>[R"TS45n[TT5HupX==U- ss'M U$Nr )r rHzip)rxfacerryr7ris r summed_loop(mean_vertex_normals..summed_loop:s<<+,|4LD LF "L5 r*unable to use sparse matrix, falling back!TrX)rerr]runitize) rir7ryrbkwargsrzrrxvertex_normalss ```` rmean_vertex_normalsrs[*   \\&)N   @4Ps6&AAc<^^^^UUUU4SjnUUUU4SjnTS-RSS9S:nTUmTUmTUmU(d[R"U"55$[R"U"55$![a [R "SSS 9 N[TTTR5S9nURT5$)N)data)rwravelr )r. face_anglesryr7ris rrz.weighted_vertex_normals..summed_sparsems+ lE 8I8I8KLzz,''rc*>[R"TS4[R5n[R"T5HPn[R"TU:H5up#TX#4n[R "XDR 5- TU5X'MR U$r})r rHrr5rhr sum) rx vertex_idx face_idxs inface_idxssurrounding_anglesrryr7ris rr,weighted_vertex_normals..summed_loopus<+RZZ8))L1J&(XXez.A%B "I!,Y-C!D !#"%;%;%==|I?V"F  2 rr1r)axisg?rTrX)rrrrerr])rir7ryruse_looprzrface_oks```` rweighted_vertex_normalsrNs>((  Q###+c1G 'NE(Lg&K  U<< 0 0 << && U KKDt T UsA99BBcR[R"U5n[U5nURS5n[R"[R "[ U55RS5SURS45RS5nU[ U54nUc#[R"[ U5[S9nO#[ U5[ U5:wa [S5eUbURU5n[RRX$U44XbRS9$)a3 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) 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]) rrrrzdata incorrect length)rr)r r2rdr"r4r5r6ronesboolrrIrarb coo_matrixr)columnsindicesrrrowcolrs rrwrwsdmmG$G'lG //" C '' #g,''01gmmA6F2G  gbkc'l #E |wws3xt, Tc#h 011 {{5! << " "D*#5U** " UUr)Frv)NN)numpyr r constantsrtypedr scipy.sparserareErExceptionWrapperrr r;rDr3rrTrsrrrwrrrs+.2j4@$&88TA>dA>gA>H=@1j>CB'JEVU +  ' ' *E +sAA?A::A?