Mi* SrSSKrSSKJrJrJrJrJrJ r SSK J r SS\S\S\S \\S \\ 4 S jjr S\S\S \\ 4S jr SS \S\S\\4S\S \\ 4SjjrS\4SjrSS \S\S\S\\4SjjrSrSS \\S \\ 4Sjjrg)z inertia.py ------------- Functions for dealing with inertia tensors. Results validated against known geometries and checked for internal consistency. N) ArrayLikeNDArrayNumberOptionalUnionfloat64) multi_dotmassradiusheight transformreturncUS-US-pT[R"X-S- X-S- -X-S- X-S- -X-S- /5nU[R"S5-nUb [X75nU$)a Return the inertia tensor of a cylinder. Parameters ------------ mass : float Mass of cylinder radius : float Radius of cylinder height : float Height of cylinder transform : (4, 4) float Transformation of cylinder Returns ------------ inertia : (3, 3) float Inertia tensor  )nparrayeyetransform_inertia)r r r rh2r2diagonalinertias i/var/www/eduai.edurigo.com/storigo/production/storigo_env/lib/python3.13/site-packages/trimesh/inertia.pycylinder_inertiars,QY xxi2 49/ 2i2 49/ 2 Y!O H"G#I7 NcFSUS--U-[R"S5-$)z 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 g?rr)rr)r r s rsphere_inertiar!7s% &!) $t +bffQi 77rpointsweightsat_center_massc  UcC[R"[U5S[[U55- [RS9nO[ U[[R [45(a7[R"[U5[U5[RS9nOQ[R"U5n[U5[U5:wa#[S[U5S[U535e[R"U[RS9n[UR5S:wdURSS:wa[SUR35eU(a[R"XS S 9nX- nOUnURupVnUS-Rupn [R"X-U*U-U*U-U*U-X-U*U-U*U-U*U-X-/ [RS9n X-RSS 9RS 5n U $) am Calculate an inertia tensor for an array of point masses at the center of mass. Parameters ---------- points : (n, 3) Points in space. weights : (n,) or number Per-point weight to use. at_center_mass Calculate at the center of mass of the points, or if False at the original origin. Returns ----------- tensor : (3, 3) Inertia tensor for point masses. g?dtypez#Weights must correspond to points! z != rrrzPoints must be `(n, 3)` not r)r#axisr(rr)rfulllenfloatr isinstanceintegerintr ValueError asanyarrayshapeaverageTsumreshape) r"r#r$ center_mass points_comxyzx2y2z2tensorstensors rpoints_inertiarBJs0 ''#f+sU3v;-?'?rzzR GeRZZ5 6 6''#f+uW~RZZH((7# w<3v; &5c'l^4F }U  ]]6 4F 6<<AaA!57 ~FGGjjqA )  llGA!a-""JBBhh 1"q&1"q&1"q&"'A26A26A2627SjjG  $ $! $ , 4 4V ??]]>DNv%9:: ??f $"**-A"1"a% A HH1QqTQY&1! qteadlCA$1qtqy1Q4194qteadlCA$1!uqt|QqTQY1-BC  )!83(**o@AA h ; <r~s+GGTX# # #*0#=Ei=P# W#L888GG4D8*/3D D 4F* +DD W DNIJ ! L=L=L=L= 6  L=^FR HY$7 77CS r