Mi/ZSSKrSSKJr SSKJr SSKJrJ r S Sjr S Sjr S\S \ 4S jr g) N)res_path)tol_path)IntegerListc F[R"U[RS9nUc[RR [R "USS9SS9R 5n[R"U[RU-- 5n[[R"U[R[U5-[R[U5-55n[U5n[R"SSU5nSU- n[U5S- n[![#U5[R$"[U55U5nUVV V s/sH'upoU -XVU - --R'S5U -U-PM) n n nn [R "U SS9n [(R*(a^[R "U SS/USS/- S -SS9n U [(R,:R/5(de[U 5S :deUSS/U SS/'U $s sn n nf) a3 Parameters ---------- points : (order, dimension) float Control points of the bezier curve For a 2D cubic bezier, order=3, dimension=2 count : int, or None Number of segments scale : float Scale of curve Returns ---------- discrete: (n, dimension) float Points forming a a polyline representation dtyperaxisg?)r rr)np asanyarrayfloat64linalgnormdiffsumceilresseg_fracintclip min_sectionslen max_sectionslinspacezipbinomialarangereshapetolstrictmergeall)pointscountscalertt_dniterablecipstackedresulttests l/var/www/eduai.edurigo.com/storigo/production/storigo_env/lib/python3.13/site-packages/trimesh/path/curve.pydiscretize_bezierr6s"]]6 4F }yy~~bggf15A~>BBD u 456 GGE3++c&k93;K;KcRXk;Y Z  JE Ce$A 'C F aA8A; #f+ 6?HMULTqQ$3q5> "++G4q81QGsyy %%''''6{aaWoFAr7O Ms.Hc tSSKJn [R"U[RS9n[ U5[ U5- S- nUc[R R[R"USS9SS9R5n[[R"U[RU-- [R[ U5-[R[ U5-55n[R "USUSU5nU"XqUR"U/5n[R$"U5nU$)a Given a B-Splines control points and knot vector, return a sampled version of the curve. Parameters ---------- control : (o, d) float Control points of the b- spline knots : (j,) float B-spline knots count : int Number of line segments to discretize the spline If not specified will be calculated as something reasonable Returns ---------- discrete : (count, dimension) float Points on a polyline version of the B-spline r)splevr r r r)scipy.interpolater8rrrrrrrrrrrrrrrT column_stack) controlknotsr)r*r8degreeripldiscretes r5discretize_bsplinerA?s,(mmG2::6G Z#g, & *F }yy~~bgggA6Q~?CCE GG u,-  3w</  3w</   ++eAhb 5 1CS'))V45Hx(H Or-returncUS:XaSS/$US:Xa/SQ$US:Xa/SQ$US:Xa/SQ$US:Xa/S Q$S S KJn U"U[R"US-55$) z Return all binomial coefficients for a given order. For n > 5, scipy.special.binom is used, below we hardcode. Parameters -------------- n : int Order of binomial Returns --------------- binom : (n + 1,) int Binomial coefficients of a given order r r)r rr )r rErEr )r rFrFr )r rH rIrHr r)binom) scipy.specialrJrr")r-rJs r5r!r!kse  Av1v a a a a##'Q !a%())rB)Nr) numpyr constantsrrrr$typedrrr6rAr!rBr5rPs0''!4n)X**D*rB