Mi^SrSSKrSSKrSSKJrJrJrJrJ r SSKJ r SSK J r SSKJr SSKJrJr SS KJrJrJrJr \R0"S 5rS \R4l"S S \ 5r"SS5r"SS\5r"SS\5r"SS\5r "SS\5r!"SS\5r"g)z 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. N)creationinertiasample trianglesutil)transformations)Trimesh)cache_decorator)logtol) ArrayLikeIntegerNumberOptionalFc&^\rSrSrSrSrSrU4SjrSr\ S5r \ RS5r \ S5r \ RS 5r \ S 5r \ RS 5r \ S 5r\R S 5rSSjrSrSrSrSrU=r$) Primitivezv Geometric Primitives which are a subclass of Trimesh. Mesh is generated lazily when vertices or faces are requested. Nc>[TU]5 URR5 SUlSUR lg)NFT)super__init___dataclear _validate_cacheforce_immutable)self __class__s l/var/www/eduai.edurigo.com/storigo/production/storigo_env/lib/python3.13/site-packages/trimesh/primitives.pyrPrimitive.__init__%s5  '+ #c4S[U5RS3$)Nz)type__name__rs r __repr__Primitive.__repr__1s%d4j&9&9%:!<Nr.gUUUUUU??heightradiusextentsz!Couldn't produce rigid transform!)rA asanyarrayfloat64shaper7rallclose _IDENTITYrKrLrXlinalgdetBoxCylinderCapsuleSphere isinstanceabshasattrrmrnro multi_dottf scale_matrixdotis_rigid)rmatrixprimcurrentscalekindsupdateds r apply_transformPrimitive.apply_transforms~vS C <<6 !78 8 ==D 1 1K~~..%%' fRaR!Vn-)<h0 d " "s53;'7$'>tX&& u$ tX&& u$ tY'' % BQBENe #NnnfboocEk.JG%TUGffV-G{{7##@A A$+  r"c[S5e)Nz'Primitive doesn't define mesh creation!r6r's r r1Primitive._create_meshsBCCr")rT)r& __module__ __qualname____firstlineno____doc____copy__ __deepcopy__rr(propertyr+setterr;r?rLabcabstractmethodrPrXrerr1__static_attributes__ __classcell__rs@r rrs HL +=$$ \\LL''__OO,AA ( ( $$ :.4lDDr"rcX^\rSrSrSrS Sjr\S5rU4SjrU4SjrSr Sr U=r $) PrimitiveAttributesz2 Hold the mutable data which defines a primitive. clURUlX lXlURRU5 X@lUR 5H?upVUR US5nUcM[R"Xv5URU'MA UR(dSURl gg)z Hold the attributes for a Primitive. Parameters ------------ parent : Primitive Parent object reference. defaults : dict The default values for this primitive type. kwargs : dict User-passed values, i.e. {'radius': 10.0} NF) r _defaults_parentrU_mutabler[getr convert_likemutable)rparentdefaultsr]rkeydefaultvalues r rPrimitiveAttributes.__init__s\\ !  (# %NN,LCJJsD)E "&"3"3E"C 3 - }}!&DJJ r"cSSKnSRURRRUR UR SS9SSS9nU$)Nra'Store the attributes of a {name} object. When these values are changed, the mesh geometry will automatically be updated to reflect the new values. Available properties and their default values are: {defaults} Example --------------- p = trimesh.primitives.{name}() p.primitive.radius = 10 r-)widthr)namer)pprintformatrrr&pformatr)rrdocs r rPrimitiveAttributes.__doc__sW   &''00^^DNN"^=aC    r"c$>URS5(a[TU] U5$US:XaURSSS2S4$XR;a1[ R "URUURU5$[SUS35e)N_centerrLr.z#primitive object has no attribute 'z' ) startswithr __getattr__rrrrAttributeError)rrrs r rPrimitiveAttributes.__getattr__)s >>#  7&s+ + H_::k*2A2q51 1 NN "$$TZZ_dnnS6IJ JB3%rJKKr"c>URS5(a[TU] X5$US:XaP[R"U[R S9n[R "S5nX#SS2S4'X0RS'gXR;aMUR(a1[R"X RU5URU'g[S5e[URR55n[SUS 35e) Nrrrjrr.rLz;Primitive is configured as immutable! Cannot set attribute!zOnly default attributes z can be set!)rr __setattr__rAarrayrqeyerrrrrr7listkeys)rrrrLrrs r rPrimitiveAttributes.__setattr__3s >>#  7&s2 2 H_HHU"**5Eq I$bqb!e &/JJ{ #  NN "}}"&"3"3E>>#;N"O 3 Q++-.D7v\JK Kr"c[[[U55[URR 55-5nU$N)sorteddirr%rrr)rrds r __dir__PrimitiveAttributes.__dir__Gs0DJ$t~~/B/B/D*EEF r")rrrrr) r&rrrrrrrrrrrrs@r rrs8 'D*LL(r"rc^\rSrSrS U4Sjjr\S5r\S\4Sj5r\S5r \S5r \ S5r S r S rS rS rU=r$)rxiLc >[TU]5 SS[R"S5SS.n[ UUUUUUS.US9Ulg)aD 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. $@rlr rmrnrLsectionsrr]rNrrrArrrKrrnrmrLrrrrs r rCylinder.__init__MsO" "cq WYZ,   &$    r"c[RURRS--URR-$)zk The analytic volume of the cylinder primitive. Returns --------- volume : float Volume of the cylinder )rApirKrnrmr's r volumeCylinder.volumems1--q00DNN4I4IIIr"returncURRURRp![RS-U-U-S[R-US---$)z/ The analytical area of the cylinder primitive rrKrnrmrArrrnrms r area Cylinder.areaysM ..0E0E F"V+BEE FAI0EFFr"c[R"URURRURR URR S9nU$)zu The analytic inertia tensor of the cylinder primitive. Returns ---------- tensor: (3, 3) float 3D inertia tensor )massrnrmrL)rcylinder_inertiarrKrnrmrL)rtensors r moment_inertiaCylinder.moment_inertiasI))>>((>>((nn..    r"cf[R"URR/SQ5SSnU$)zj The direction of the cylinder's axis. Returns -------- axis: (3,) float, vector along the cylinder axis rrrrNr.rArrKrLraxiss r directionCylinder.directions*vvdnn.. =bqA r"c URRS- n[R"URR[R "SSU*S/SSUS//55R SS2SS24nU$)z 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 @rrNr.)rKrmrArrL transposeT)rhalfpointss r segmentCylinder.segmentsr~~$$s* NN $ $bllQD5!4Dq!TSTo3V&W !ArrE r"cSURRR5[URR5[URR 5S.$)z 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. cylinder)rSrLrnrm)rKrLtolistfloatrnrmr's r rPCylinder.to_dictsK1188:DNN112DNN112   r"c[U5n[URRUS--URRU-URR R 5S9nU$)a7 Return a cylinder primitive which covers the source cylinder by distance: radius is inflated by distance height by twice the distance. Parameters ------------ distance : float Distance to inflate cylinder radius and height Returns ------------- buffered : Cylinder Cylinder primitive inflated by distance r)rmrnrL)rrxrKrmrnrLrX)rdistancebuffereds r bufferCylinder.buffers\ ?>>((8a<7>>((83nn..335  r"c[R"S5 [R"URR URR URRURRS9nURURS'URURS'URURS'g)Nz$creating mesh for Cylinder primitive)rnrmrrLr;r+r?) r debugrrrKrnrmrrLr;rr+r?rmeshs r r1Cylinder._create_meshs 89  >>((>>((^^,,nn..  #'-- J#zz G&*&7&7 N#r"rK)rlrlNrT)r&rrrrr rrrrrrrrPrr1rrrs@r rxrxLs @ J JGeGG$  $ $0 8 8r"rxc^\rSrSrS U4Sjjr\S5r\S\4Sj5r \S\4Sj5r Sr \S5r S r S rU=r$) ryic >[TU]5 SS[R"S5SS.n[ UUUUUUS.US9Ulg)a3 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. rlrrrrNrrs r rCapsule.__init__sO& !SrvvayVXY,   &$    r"c.URR$rrJr's r rLCapsule.transform~~'''r"rcURRURRp![RUS--SU-U--$)zi The analytic volume of the capsule primitive. Returns --------- volume : float Volume of the capsule rgUUUUUU?rrs r rCapsule.volumesA..0E0E !yF&:V&CDDr"cURRURRp!S[R-U-U-S[R-US---$)zc The analytic area of the capsule primitive. Returns --------- area : float Area of the capsule rrrrs r r Capsule.area sM..0E0EBEE F"V+BEE FAI0EFFr"cSURRR5[URR5[URR 5S.$)z 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. capsule)rSrLrmrn)rKrLrrrmrnr's r rPCapsule.to_dict-sK1188:DNN112DNN112   r"cf[R"URR/SQ5SSnU$)zk The direction of the capsule's axis. Returns -------- axis : (3,) float Vector along the cylinder axis rNr.rrs r rCapsule.direction?s*vvdnn.. =bqA r"c[R"S5 [R"URR URR S9nURURR5 URURS'URURS'URURS'g)Nz%creating mesh for `Capsule` primitive)rnrmr;r+r?) r rrr rKrnrmrrLr;rr+r?rs r r1Capsule._create_meshLs 9:>>((1F1F  T^^556"&-- J#zz G&*&7&7 N#r"r)rlrNrT)r&rrrrrrLr rrrrPrr1rrrs@r ryrysLP  D(( E E E Ge G G $   8 8r"ryc ^\rSrSrSS\S\\S\\S\S\4 U4Sjjjr \ S5r \ RS 5r S r \ S 5r\ S 5r\S 5r\S5r\S5rSrSrU=r$)rziYrnrrL subdivisionsrc>[TU]5 [U5[U5S.nUb1Ub [ S5e[ R "S5nX'SS2S4'XvS'OUbX6S'[US[ R "S5SS.UUS 9Ulg) aa 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. )rnrNz3only one of `center` and `transform` may be passed!rr.rLrl)rnrLrr) rrrintr7rArrrK) rrnrrLrr constructor translaters r rSphere.__init__Zs2 !&vL@QR   $ !VWWq I%bqb!e '0 $  "'0 $-  #"&&)QO  r"c.URR$rrKrr's r r Sphere.centers~~$$$r"c$XRlgrr)rrs r rrs %r"cSURRR5[URR5S.$)z 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. sphere)rSrLrn)rKrLrrrnr's r rPSphere.to_dicts91188:DNN112  r"c[R"URRURR- URRURR-/5nU$r)rArrKrrn)rboundss r r" Sphere.boundssV %%(=(==%%(=(==    r"cUR$r) bounding_boxr's r bounding_box_orientedSphere.bounding_box_orienteds    r"c`S[R-URRS--nU$)zs Surface area of the current sphere primitive. Returns -------- area: float, surface area of the sphere Primitive @rrArrKrnrrs r r Sphere.areas*RUU{dnn33Q67 r"cfS[R-URRS--S- nU$)zi Volume of the current sphere primitive. Returns -------- volume: float, volume of the sphere Primitive r)r.g@r*rrs r r Sphere.volumes/+!6!6!9:cA r"ch[R"URURRS9$)zt The analytic inertia tensor of the sphere primitive. Returns ---------- tensor: (3, 3) float 3D inertia tensor. )rrn)rsphere_inertiarrKrnr's r rSphere.moment_inertias%%%4;;t~~?T?TUUr"cn[R"S5 [R"URR URR S9nURURR-URS'URURS'URURS'g)Nz"creating mesh for Sphere primitive)rrnr;r+r?) r rr icosphererKrrnr;rrr+r?)rrDs r r1Sphere._create_meshs 67!!44T^^=R=R  #'--$..2G2G"G J#zz G&*&7&7 N#r"r)rlNNr.T)r&rrrrrrrboolrrrrrPr"r&r rrrr1rrrs@r rzrzYs&*)- ! - - #- I& -  -  - - ^%% ]]&& "  !!     V V 8 8r"rzc~^\rSrSrS U4SjjrSr\S5rSrS Sjr \S5r \ S5r S r S rS rU=r$)rwic>[TU]5 [R"S5[R"S5S.nUbUcUb [ S5e[R "U[RS9nURS:wa [ S5e[R"US S 9n[R"S5nUS US - -USS2S4'[UUXS .US 9Ul g)a Create a Box Primitive as a subclass of Trimesh Parameters ---------- extents : Optional[ndarray] (3,) float Length of each side of the 3D box. transform : Optional[ndarray] (4, 4) float Homogeneous transformation matrix for box center. bounds : Optional[ndarray] (2, 3) float Axis aligned bounding box, if passed extents and transform will be derived from this. mutable : bool Are extents and transform mutable after creation. rr.)rLroNz>#;#;AaC1H#ErvvayQQ Qr"cl[[R"URR55nU$)zP Volume of the box Primitive. Returns -------- volume : float Volume of box. )rrAprodrKror.s r r Box.volumejs&rwwt~~5567 r"c[R"S5 [R"URR URR S9nURRRURR5 URURS'URURS'URURS'g)Nzcreating mesh for Box primitiver:r;r+r?) r rrr?rKrorLrcacherUr;r+r?)rr?s r r1Box._create_meshws 34llNN**dnn6N6N    !1!12"%,, J"yy G&)&6&6 N#r"clSSKJn U"URRURRS9$)z Return a Path3D containing the outline of the box. Returns ----------- outline : trimesh.path.Path3D Outline of box primitive r) box_outliner:) path.creationr\rKrorL)rr\s r as_outlineBox.as_outlines/ /NN**dnn6N6N  r"r)NNNT)NN)r&rrrrrPrrLrGrPrSr rr1r^rrrs@r rwrwsd' R "((*!F   7  r"rwc ^\rSrSrSS\\S\S\S\4U4Sjjjr\ S5r \ S5r \ S 5r \ S 5r\ S 5r\ S 5rS rSSjrSrSrSrU=r$) ExtrusionirLrmr mid_planec >SSKJn [TU] 5 U"SS/5R S5[ R "S5SSS.n[UUUUUUS.US9Ulg ) a> 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. r)PointrlrF)polygonrLrmrb)rLrermrbrN) shapely.geometryrdrrrrArrrK) rrerLrmrrbrdrrs r rExtrusion.__init__so0 + aV}++C0  - &" &    r"c[URRURRR-5nXRRR S-- nU$)z The surface area of the primitive extrusion. Calculated from polygon and height to avoid mesh creation. Returns ---------- area: float Surface area of 3D extrusion r)r|rKrmrelengthrr+s r rExtrusion.areasO4>>((4>>+A+A+H+HHI &&++a// r"c[URRRURR-5nU$)z The volume of the Extrusion primitive. Calculated from polygon and height to avoid mesh creation. Returns ---------- volume : float Volume of 3D extrusion )r|rKrerrmr.s r rExtrusion.volumes2T^^++004>>3H3HHI r"c[R"URRSS2SS24SS[R"URR 5/5nU$)z Based on the extrudes transform what is the vector along which the polygon will be extruded. Returns --------- direction : (3,) float Unit direction vector Nr.)rArrKrLsignrm)rrs r rExtrusion.directionsTFF NN $ $RaR!V ,sCAVAV9W.X r"c<URRSS2S4$)z Based on the extrude transform what is the origin of the plane it is extruded from. Returns ----------- origin : (3,) float Origin of extrusion plane Nr.rJr's r originExtrusion.origins!~~''A..r"c.URR$rrJr's r rLExtrusion.transformrr"cSSKJn URURRR R 5up#[R"U[URR55n[RR[R"U55nURRS- US'[R"URR U5n[#XdSS9$)Nr)r"rr9F)rLror)r"oriented_bounds_2DrKreexteriorcoordsrAappendr|rmruinvrplanar_matrix_to_3DrrLrw)rr" to_originr?ro rotation_Zto_3Ds r r&Extrusion.bounding_box_orienteds  224>>3I3I3R3R3Y3YZ ))CT^^%:%:!;<YY]]2#9#9)#DE >>0036 4t~~//<UUCCr"c[U5n[R"S5nXS'[R"URR R 5UR 55nX0Rlg)z 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 rr9N)rrArrrKrLrX)rr translation new_transforms r slideExtrusion.slidesX?ffQi $Dt~~77<<> @P@P@RS #0 r"c [U5nUcUnURRnU[R"U5S-U-- n[ U5"SURR R5URRRU5US.UD6nUR[R"U5*U-5 U$)az 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 r)rLrermrT) rrKrmrAror%rLrXrerr)rrdistance_heightr]rmrs r rExtrusion.buffer)s&?  "&O&&"''&/C'/99: nn..335NN**11(;    '/9:r"cSURRRURRR 5[ URR 5S.$)z Get a copy of the current Extrusion primitive as a JSON-serializable dict that matches the schema in `trimesh/resources/schema/extrusion.schema.json` Returns ---------- as_dict : dict Serializable data for this primitive. extrusion)rSrerLrm)rKrewktrLrrrmr's r rPExtrusion.to_dictTsL ~~--111188:DNN112   r"c[R"S5 [R"URR URR URRURRS9n[R(aURS:a [S5eURURS'URURS'g)Nz%creating mesh for Extrusion primitive)rermrLrbrnzmatrix inverted mesh!r;r+)r rrextrude_polygonrKrermrLrbr strictrr7r;rr+rs r r1Extrusion._create_meshfs 9:''NN**>>((nn..nn..   ::$+++45 5#'-- J#zz Gr"r)NNrlTFr)r&rrrrrrr6rr rrrrrrrLr&rrrPr1rrrs@r raras)- . I&.  .  .  . . `"    / /((DD 1 )V $**r"ra)#rrnumpyrArwrrrrrr rbaser cachingr constantsr r typedrrrrrrtflags writeablerrrxryrzrwrarTr"r rs 88#$77 FF1I ! NDNDb]]@]8y]8@j8ij8ZM8YM8`h )h Vb* b*r"