Mi lSrSSKrSSKrSSKrSSKrSSKrSSKrSSKrSSKrSSK r SSK r SSK r SSK r SSK Jr SSKJr SSKJrJr SSKrSSKJr SSKJrJrJrJrJrJrJrJ r J!r! \RD"\#5r$\RJr%\ Rr&\RNr'\RP"\RB5RRS -r*S r+S r,\RZ"S \RBS 9r.S \.R^S'S\0S\14Sjr2SbSjr3S\44Sjr5Sr6Sr7S\14Sjr8S\14Sjr9ScS\1S\14Sjjr:Sr;ScSjrSr?\RRrAS"rDS#rEScS$jrFS%rGS&rHS'rIS(rJS)rKS*rLSdS\M4S+jjrN\RSSS,S,SS,4S-\\\RS.\1S/\1S0\\S1\14 S2jjrQS3rRS4rSSeS5jrTSeS6jrUSfS7jrVSgS8jrWShS9jrXS:\ \\4S\4S;jrYS<rZSiS=jr[S>r\SdS\ S?4S@jjr]SjSA\1SB\1SC\\SD\14SEjjr^SkSFjr_SGr`SHraSIrbSJrcSlSKjrdSLreSMrfSNrgSdS\04SOjjrhSPriSQrjSRrkSgSSjrlSmSTjrmSnSUjrnSoSV\44SWjjroSoSV\44SXjjrp"SYSZ\5rqSgS[jrrS\rsScS]jrtSdS^\\0S_\ \\\4S`\\4Sajjrug!\Ba \$RS 5 S!rAGNYf=f)pz Grab bag of utility functions. N)Mapping)deepcopy)BytesIOStringIO)chain) ArrayLikeDictIntegerIterableNDArrayOptionalSetUnionfloat64d:0yE>Fdtype WRITEABLEnamereturncX[RS:aSSKJn OSSKJn U"U5SL$)z Check to see if a module is installed by name without actually importing the module. Parameters ------------ name : str The name of the module to check Returns ------------ installed : bool True if module is installed ) r) find_spec) find_loaderN)sys version_infoimportlib.utilrpkgutilr)rrs f/var/www/eduai.edurigo.com/storigo/production/storigo_env/lib/python3.13/site-packages/trimesh/util.py has_moduler$;s) 7", 5 T?$ &&c2[R"U5nUc[n[UR5S:Xab[R "[R "X-S/URS-55nX2:nX4==S-ss'XRS5-nOo[UR5S:XaK[R "[R "X55nX2:nU(aX- nOUR5nO [S5eU(aXTU4$U$)a Unitize a vector or an array or row-vectors. Parameters ------------ vectors : (n,m) or (j) float Vector or vectors to be unitized check_valid : bool If set, will return mask of nonzero vectors threshold : float Cutoff for a value to be considered zero. Returns --------- unit : (n,m) or (j) float Input vectors but unitized valid : (n,) bool or bool Mask of nonzero vectors returned if `check_valid` ?rr)rz vectors must be (n, ) or (n, d)!) np asanyarrayTOL_ZEROlenshapesqrtdotreshapecopy ValueError)vectors check_valid thresholdnormvalidunits r#unitizer;Ts*mmG$G  7==Qwwrvvg/#q9I1IJK   g.. W]] q wwrvvg/0  >D<<>D;<<{E!! Kr%c[R"S[SS9 [R"U[R S9n[R"U[R S9n[R "X- S-R55$)z: DEPRECATED: use `np.linalg.norm(a - b)` instead of this. zp`trimesh.util.euclidean` is deprecated and will be removed in January 2025. replace with `np.linalg.norm(a - b)`r'category stacklevelr)warningswarnDeprecationWarningr+r,rr0sumabs r# euclideanrGse MM 1$  arzz*A arzz*A 77QUqL%%' ((r%c@[US5=(d [US5$)z Check if an object is file-like Parameters ------------ obj : object Any object type to be checked Returns ----------- is_file : bool True if object is a file readwrite)hasattrobjs r#is_filerNs 3  873#88r%cvURRn[US5=(a URS5$)z Check if the object is a `pathlib.Path` or subclass. Parameters ------------ obj : object Object to be checked Returns ------------ is_pathlib : bool Is the input object a pathlib path absolutePath) __class____name__rKendswithrMrs r# is_pathlibrVs. == ! !D 3 # = f(==r%cV[R"S[SS9 [U[5$)zd DEPRECATED : this is not necessary since we dropped Python 2. Replace with `isinstance(obj, str)` zo`trimesh.util.is_string` is deprecated and will be removed in January 2025. replace with `isinstance(obj, str)`r'r=)r@rArB isinstancestrrLs r# is_stringrZs,  MM 0$  c3 r%cd^[TS5(+=(a [TS5=(d [TS5nU=(a$ [U4Sj[[[455nU=(a [ T5R S;n[TS5(aU=(a TRS:gnU$)z Check if an object is a sequence or not. Parameters ------------- obj : object Any object type to be checked Returns ------------- is_sequence : bool True if object is sequence strip __getitem____iter__c3F># UHn[TU5(+v M g7fN)rX.0irMs r# is_sequence..s G6F*S!,,,6Fs!) PointCloudr/)rKalldictsetrYtyperSr/)rMseqs` r# is_sequencermssG$ $ Dm)D  ZJC  G#GtS#6FGGC  :$s)$$N:CsG%cii2o Jr% allow_zeroscD[US5(a"[UR5[U5:wag[U5S:XaSU;ag[URU5H<up4[ U5(a X4;aM gUS:aUS:Xa U(d gM5XC:wdM< g g)a Compare the shape of a numpy.ndarray to a target shape, with any value less than zero being considered a wildcard Note that if a list-like object is passed that is not a numpy array, this function will not convert it and will return False. Parameters ------------ obj : np.ndarray Array to check the shape on shape : list or tuple Any negative term will be considered a wildcard Any tuple term will be evaluated as an OR allow_zeros: bool if False, zeros do not match negatives in shape Returns --------- shape_ok : bool True if shape of obj matches query shape Examples ------------------------ In [1]: a = np.random.random((100, 3)) In [2]: a.shape Out[2]: (100, 3) In [3]: trimesh.util.is_shape(a, (-1, 3)) Out[3]: True In [4]: trimesh.util.is_shape(a, (-1, 3, 5)) Out[4]: False In [5]: trimesh.util.is_shape(a, (100, -1)) Out[5]: True In [6]: trimesh.util.is_shape(a, (-1, (3, 4))) Out[6]: True In [7]: trimesh.util.is_shape(a, (-1, (4, 5))) Out[7]: False r/Frr)T)rKr.r/ziprm)rMr/rnrctargets r#is_shaperrsb 3 C Nc%j$@ 3x1}u E*  v  { A:Avk ;++2 r%c>[U5(a [U5$U/$)ae Given an object, if it is a sequence return, otherwise add it to a length 1 sequence and return. Useful for wrapping functions which sometimes return single objects and other times return lists of objects. Parameters ------------- obj : object An object to be made a sequence Returns -------------- as_sequence : (n,) sequence Contains input value )rmlistrLs r# make_sequenceruHs $3Cyu r%c [R"U[RS9n[US5(aU[*:n[R "[R "X [:55n[R"[U5[RS9nSXBSS2S4'SU[R"USS2S4USS2S45'O[US5(aU[*:n[R "[R "X [:55n[R"[U5[RS9nSXBSS2S4'SU[R"USS2S4USS2S45'SU[R"[R"USS2S4USS2S45USS2S45'O [S 5eXRS 5-nU(aXT4$U$) aB For a set of 3D vectors alter the sign so they are all in the upper hemisphere. If the vector lies on the plane all vectors with negative Y will be reversed. If the vector has a zero Z and Y value vectors with a negative X value will be reversed. Parameters ------------ vectors : (n, 3) float Input vectors return_sign : bool Return the sign mask or not Returns ---------- oriented: (n, 3) float Vectors with same magnitude as source but possibly reversed to ensure all vectors are in the same hemisphere. sign : (n,) float [OPTIONAL] sign of original vectors rr)r'gNrrr)rr'zvectors must be (n, 3)!r*) r+r,rrrr- logical_not logical_oronesr. logical_andr4r2)r5 return_signnegativezerosignsorienteds r#vector_hemispherer`s8mmG2::6G!!hY&~~bmmH6HIJG BJJ7 $q!tn=AbnnT!Q$Z!Q$89 '7 # #hY&~~bmmH6HIJG BJJ7 $q!tn<@bnnT!Q$Z!Q$89   NN2>>$q!t*d1a4jA8AqD> R 233w//H Or%c[R"U[RS9n[US5(d [ S5e[ USS9upSU[R "U5[:'URup4n[R"[U5S4[RS9n[R"[R"XC5[R"U545Xb'U$)z Convert a set of cartesian points to (n, 2) spherical unit vectors. Parameters ------------ cartesian : (n, 3) float Points in space Returns ------------ spherical : (n, 2) float Angles, in radians rrxz Cartesian points must be (n, 3)!T)r6r')r+r,rrrr4r;abs TOL_MERGETzerosr. column_stackarctan2arccos) cartesianr:r9xyz sphericals r#vector_to_sphericalrs irzz:I Iw ' ';<<)6KD%(D !"ffGA!#i.!,BJJ?I 1(8"))A,'GHI r%rc[R"U[RS9n[US5(d [ S5eUR up[R "U5[R"U5pC[R "U5[R"U5pe[R"XE-X5-U45$)z Convert an array of `(n, 2)` spherical angles to `(n, 3)` unit vectors. Parameters ------------ spherical : (n , 2) float Angles, in radians Returns ----------- vectors : (n, 3) float Unit vectors rrwz%spherical coordinates must be (n, 2)!) r+r,rrrr4rsincosr)rthetaphistctspcps r#spherical_to_vectorrs irzz:I Iw ' '@AAJE VVE]BFF5M VVC["&&+ ??BGRWb1 22r%c4[U[R5(aMURS5n[R"X45nURS5SSRS5nU$SSKnUR U5upE[U5 [XE5$)aW For an iterable, group values into pairs. Parameters ------------ iterable : (m, ) list A sequence of values Returns ----------- pairs: (n, 2) Pairs of sequential values Example ----------- In [1]: data Out[1]: [0, 1, 2, 3, 4, 5, 6] In [2]: list(trimesh.util.pairwise(data)) Out[2]: [(0, 1), (1, 2), (2, 3), (3, 4), (4, 5), (5, 6)] r)rrwrN) rXr+ndarrayr2r itertoolsteenextrp)iterablestackedpairsrrErFs r#pairwisers2(BJJ''##B'//8"67#Ab)11':  == "DAG q9r%z1np.linalg.multi_dot not available, using fallbackc[R"U5nUSR5nUSSHn[R"X5nM U$)z Compute the dot product of two or more arrays in a single function call. In most versions of numpy this is included, this slower function is provided for backwards compatibility with ancient versions of numpy. rrN)r+r,r3r1)arraysresultrcs r# multi_dotrsE v&!AVVF&F r%c[R"U5n[R"X-S/URS-5$)a Dot product by row of a and b. There are a lot of ways to do this though performance varies very widely. This method uses a dot product to sum the row and avoids function calls if at all possible. Comparing performance of some equivalent versions: ``` In [1]: import numpy as np; import trimesh In [2]: a = np.random.random((10000, 3)) In [3]: b = np.random.random((10000, 3)) In [4]: %timeit (a * b).sum(axis=1) 1000 loops, best of 3: 181 us per loop In [5]: %timeit np.einsum('ij,ij->i', a, b) 10000 loops, best of 3: 62.7 us per loop In [6]: %timeit np.diag(np.dot(a, b.T)) 1 loop, best of 3: 429 ms per loop In [7]: %timeit np.dot(a * b, np.ones(a.shape[1])) 10000 loops, best of 3: 61.3 us per loop In [8]: %timeit trimesh.util.diagonal_dot(a, b) 10000 loops, best of 3: 55.2 us per loop ``` Parameters ------------ a : (m, d) float First array b : (m, d) float Second array Returns ------------- result : (m,) float Dot product of each row r(r)r+r,r1r/rDs r# diagonal_dotrs7` aA 66!%#+ ,,r%c[R"[R"US-S/URS-55$)a Compute the norm per-row of a numpy array. This is identical to np.linalg.norm(data, axis=1) but roughly three times faster due to being less general. In [3]: %timeit trimesh.util.row_norm(a) 76.3 us +/- 651 ns per loop In [4]: %timeit np.linalg.norm(a, axis=1) 220 us +/- 5.41 us per loop Parameters ------------- data : (n, d) float Input 2D data to calculate per-row norm of Returns ------------- norm : (n,) float Norm of each row of input array r'r)r+r0r1r/)datas r#row_normrQs1. 77266$'A3A#67 88r%cn[R"U[RS9nURnUS:XaSnOr[ U5S:wa [ S5eUSS:Xa8[R "U[R"[ U5545nSnOUSS:XaSnO [ S 5eU(aX4$U$) ab For a list of (n, 2) or (n, 3) points return them as (n, 3) 3D points, 2D points on the XY plane. Parameters ------------ points : (n, 2) or (n, 3) float Points in either 2D or 3D space return_2D : bool Were the original points 2D? Returns ---------- points : (n, 3) float Points in space is_2D : bool [OPTIONAL] if source points were (n, 2) r)rFr'zPoints must be 2D array!rTrz Points must be (n, 2) or (n, 3)!)r+r,rr/r.r4rr)points return_2Dr/is_2Ds r#stack_3Drks&]]6 4F LLE } Uq344 qQ&"((3v;*?!@A qQ;<<} Mr%c V[R"U[RS9n[U5S:wa [ S5e[R"U[RS9nUR S:Xa#[R "XR S5n[URU5VVs/sHup#[R"USU06PM nnn[R"[R"USS065RUR SS 5RnU$s snnf) a< Return a grid from an (2,dimension) bounds with samples step distance apart. Parameters ------------ bounds: (2,dimension) list of [[min x, min y, etc], [max x, max y, etc]] step: float, or (dimension) floats, separation between points Returns --------- grid: (n, dimension), points inside the specified bounds rr'bounds must be (2, dimension!rgrstepindexingijr)) r+r,rr.r4r/tilerprarangevstackmeshgridr2)boundsrrFs grid_elementsgrids r# grid_arangers]]6 4F 6{a899 ==RZZ 0D zzRwwt\\!_-7:688T7JK7JtqRYY**7JMK "++} Return a grid spaced inside a bounding box with edges spaced using np.linspace. Parameters ------------ bounds: (2,dimension) list of [[min x, min y, etc], [max x, max y, etc]] count: int, or (dimension,) int, number of samples per side Returns --------- grid: (n, dimension) float, points in the specified bounds rr'rrgrnumrrr))r+r,rr.r4int64r/rrprlinspacerrr2)rcountrFcrrs r# grid_linspacers]]6 4F 6{a899 MM%rxx 0E {{b||A/8;FHHe8LM8LR[[!++8LMM "++} 0x7F, or 127) Should work in both Python 2 and 3 iTF)tellrIseekrXrYord)file_objstartfbytesis_strfbytecodes r#is_binary_filers_ MMOE ]]4 F MM%  $F u:DD #:  r%cUR5nURSS5 UR5nURU5 X!- nU$)z For an open file object how far is it to the end Parameters ------------ file_obj: open file-like object Returns ---------- distance: int, bytes to end of file rr')rr)rposition_current position_enddistances r#distance_to_endr sC }} MM!Q==?L MM"#.H Or%c[[[R"U555nUb[R"X!S5n[U5$)z Return the number of digits to the first nonzero decimal. Parameters ----------- decimal: float min_digits: int, minimum number of digits to return Returns ----------- digits: int, number of digits to the first nonzero decimal )rintr+log10clip)decimal min_digitsdigitss r#decimal_to_digitsr s<RXXg&' (FR0 v;r%Tloggerscolorscapture_warnings blacklist only_parentc `^ Uc/SQn[R"U5 [R"SS5nU(aSSKJn U"SSSS S S S S S .S9nUc[R "5nURU5 URU5 Uc;[[RRRR55nUR[R"S55 S[R"S5lUV s0sHVn [#U S5(dM[%U [R5(dM7U R&U;dMIU R&U _MX nn U(aV0n [)UR+55H5m [-U 4SjU R+555(aM-UT U T 'M7 U nUR5H%n U R/U5 U RU5 M' [0R2"SSS9 g![ a GNf=fs sn f)a Attach a stream handler to all loggers. Parameters ------------ level : enum Logging level, like logging.INFO handler : None or logging.Handler Handler to attach loggers : None or (n,) logging.Logger If None, will try to attach to all available colors : bool If True try to use colorlog formatter blacklist : (n,) str Names of loggers NOT to attach to only_parent Only attach to parent loggers, i.e. `trimesh`, `trimesh.sub1`, `trimesh.sub2` will only attach to `trimesh` and not the sub-loggers N) TerminalIPythonApp PYREADLINEpyembreeshapely matplotlibz parso.cacheparsozparso.python.diffasynciozprompt_toolkit.bufferzD[%(asctime)s] %(levelname)-7s (%(filename)s:%(lineno)3s) %(message)sz%Y-%m-%d %H:%M:%Sr)ColoredFormatterzW%(log_color)s%(levelname)-8s%(reset)s %(filename)17s:%(lineno)-4s %(blue)4s%(message)sTcyangreenyellowred)DEBUGINFOWARNINGERRORCRITICAL)datefmtreset log_colorsz py.warningsrrc3L># UHnTRUS35v M g7f).N) startswith)rbprs r#rd attach_to_log..s%O9NAt!Aw//9Ns!$) precisionsuppress)loggingcaptureWarnings Formattercolorlogr ImportError StreamHandler setFormattersetLevelrjLoggermanager loggerDictvaluesadd getLoggerdisabledrKrXrsortedkeysany addHandlerr+set_printoptions) levelhandlerrrrrr formatterrLparent_loggersloggerrs @r# attach_to_logr+4s<   ,-!!NI  1(J##'" % I&'') # Ugnn,,77>>@A KK!!-01.2Gj!* A 1f   q'.. )  FF) #   7<<>*DO9L9L9NOOO'.t}t$+ !.."'"# !d3a   .s)HH+(H+ H+H+ H('H(c[R"U5n[U5S:Xa[R"/5$[ US5(aS[US54nOSn[R "USSUSS45R U5$)a~ Stack a list of values that represent a polyline into individual line segments with duplicated consecutive values. Parameters ------------ indices : (m,) any List of items to be stacked Returns --------- stacked : (n, 2) any Stacked items Examples ---------- In [1]: trimesh.util.stack_lines([0, 1, 2]) Out[1]: array([[0, 1], [1, 2]]) In [2]: trimesh.util.stack_lines([0, 1, 2, 4, 5]) Out[2]: array([[0, 1], [1, 2], [2, 4], [4, 5]]) In [3]: trimesh.util.stack_lines([[0, 0], [1, 1], [2, 2], [3, 3]]) Out[3]: array([[0, 0], [1, 1], [1, 1], [2, 2], [2, 2], [3, 3]]) rr)rwNr)r+r,r.arrayrmrr2)indicesr/s r# stack_linesr/s~NmmG$G 7|qxx| WQZ S_% ??GCRL'!"+6 7 ? ? FFr%cn[R"UVs/sHn[U5PM sn5n[R"S[R"U5SS5n/n[ XA5H)upg[U5S:XaMURXv-5 M+ [ U5n[ U5nX4$s snf)a Given a sequence of zero-indexed faces and vertices combine them into a single array of faces and a single array of vertices. Parameters ----------- vertices_seq : (n, ) sequence of (m, d) float Multiple arrays of verticesvertex arrays faces_seq : (n, ) sequence of (p, j) int Zero indexed faces for matching vertices Returns ---------- vertices : (i, d) float Points in space faces : (j, 3) int Reference vertex indices rNr))r+r-r.rcumsumrp vstack_empty) vertices_seq faces_seqrc vertices_len face_offset new_facesoffsetfacesverticess r# append_facesr;s*88\:\SV\:;L))Aryy6s;/2Y> y>#e*JWWU]]7+a\ : B B2 FF!!6*:XI6I r%c d[R"U5n[U5n[U5n[U5n[U5n[ UR 5S:a[ S[UR 55eURRc [ S5eURS5S:a [ SU5eSnURRHnXRRn[ XR 5S:XaXR SOSnUS ;aURS S 5U-n OAUS :Xa%URS S [U5-S-5U-n O[ SUR5eXXU -- nM US[ U5*U-nU[ U5-n[ U5n [R"URRV s/sHoU RU S45PM sn 5RS5n UR"U 6S[ U5*n U $s sn f)a Convert an unstructured array into a string with a specified number of digits and delimiter. The reason thisexists is that the basic numpy array to string conversionsare surprisingly bad. Parameters ------------ array : (n,) or (n, d) float or int Data to be converted If shape is (n,) only column delimiter will be used col_delim : str What string should separate values in a column row_delim : str What string should separate values in a row digits : int How many digits should floating point numbers include value_format : str Format string for each value or sequence of values If multiple values per value_format it must divide into array evenly. Returns ---------- formatted : str String representation of original array rr=Nz4array is not structured, use array_to_string insteadr>zNvalue_format %s is invalid, repeating unstructured array values is unsupportedr'r?rBz{:0.0f}rArCrDrEr))r+r,rrYr.r/r4rrFrrGrHhstackr2rI)r-rJrKrrLrNrrGelement_row_lengthelement_format_strrr flattenedrQs r#structured_array_to_stringrYTs > MM% E [FIIII|$L 5;;! ;S=M   {{ OPP#" &   J !!{  %%589J9J5Kq5PU[..q1VW : !-!5!5dI!F!R  S[$$T53v;+>+EFR 8%++F F+=== " -s9~o.:J#e*J JE 05 0A0AB0A1q  5"+ &0AB gbk !!9-.?Y@I  CsH-c[R"U5nURn[R"U5nUc URn[R"U5R US.nUS;a[[ R"URU5R55n[US5(aURS5nXeS'U$US:XaURSS9US'U$[S US 35e) aZ Export a numpy array to a compact serializable dictionary. Parameters ------------ array : array Any numpy array dtype : str or None Optional dtype to encode array encoding : str 'base64' or 'binary' Returns --------- encoded : dict Has keys: 'dtype': str, of dtype 'shape': tuple of shape 'base64': str, base64 encoded string )rr/)base64dict64decodeutf-8r[binaryC)orderz encoding z is not available!) r+r,r/ravelrrYr[ b64encodeastypetobytesrKr]r4)r-rencodingr/flatencodedpackeds r#array_to_encodedrjs* MM% E KKE 88E?D } ++e? 68 $ $]]7+F" N X !MMM4 N9XJ.@ABBr%cUR5nUHTn[US5(dMURU5nX4:wdM.XXRU5'URU5 MV U$)a~ If a dictionary has keys that are bytes decode them to a str. Parameters ------------ store : dict Dictionary with data Returns --------- result : dict Values are untouched but keys that were bytes are converted to ASCII strings. Example ----------- In [1]: d Out[1]: {1020: 'nah', b'hi': 'stuff'} In [2]: trimesh.util.decode_keys(d) Out[2]: {1020: 'nah', 'hi': 'stuff'} r])r!rKr]pop)storerfr!keydecodeds r# decode_keysrps^. ::.s0NgQ!AaD A !gs 99 9)splitr joinr\)text starts_withnew_linertleadrcremovedrs r# comment_stripr{s& _ # #K 0E {##Qx.33Uwwx#UG3   --NgN N O \\^F M4sB rhc[U[5(d3[U5(a[R"U5nU$[ S5e[ U5n[R"US5nSU;a/[R"[R"US5U5nOSU;a[R"USUS9nSU;aWRUS5nW$)a- Turn a dictionary with base64 encoded strings back into a numpy array. Parameters ------------ encoded Has keys: dtype: string of dtype shape: int tuple of shape base64: base64 encoded string of flat array binary: decode result coming from numpy.tobytes Returns ---------- array z(Unable to extract numpy array from inputrr[r_rr/) rXrirmr+r,r4rpr frombufferr[ b64decoder2)rhas_arrayrr-s r#encoded_to_arrayr$s$ gt $ $ w  }}W-HOGH H'"G HHWW% &E7 f..wx/@A5I W  gh/u=' gg./ Lr%c^[U[5(a[U4SjU55$[TU5 g![a gf=f)a4 Given an object, if it is a member of the class 'name', or a subclass of 'name', return True. Parameters ------------ obj : instance Some object of some class name: str The name of the class we want to check for Returns --------- is_instance : bool Whether the object is a member of the named class c3<># UHn[TU5v M g7fr`)is_instance_namedras r#rd$is_instance_named..\s?$Q(a00$sTF)rXrtr" type_namedr4rUs` r#rrIsE" dD ! !?$?? ? sD ! s): : AAc[R"[URR5/5n[ U5H6nUR USVs/sHo3cMURPM sn5 M8 [R"U5nUVs/sHn[US5(dMUPM sn$s snf![a /nN9f=fs snf)z( Return the bases of the object passed. r)rS) rdequertrR __bases__ranger__base__r+rU IndexErrorrK)rMdepthbasesrcs r# type_basesrds   tCMM$;$;<= >E 5\ %)E)Qjajj)EF %  7u!: 6Au 77 F  7s*B7 B7 ;B<C.C< C  C c[U5nURRU:Xa UR$[U5HnURU:XdMUs $ [ SU-5e)z Similar to the type() builtin, but looks in class bases for named instance. Parameters ------------ obj : any Object to look for class of name : str Nnme of class Returns ---------- class : Optional[Callable] Camed class, or None z Unable to extract class of name )rYrRrSrr4)rMrbases r#rrrs[$ t9D }}%}}3 ==D K  7$> ??r%)ztrimesh.Trimeshztrimesh.path.Path2Dztrimesh.path.Path3Dc ` ^/n[X5HFn[US5(a!URUR55 M5UR U5 MH [ U5S:XaUSR 5$[ U5S:Xa SSKJn U"5$UVs/sHn[US5(dMUPM nnUVs/sHn[US5(dMUPM nn[ U5[ U5:aSSK J n U"U5$[ U5S:Xa/$[USS5n [UV s/sHoRR 5PM sn UV s/sHoRR 5PM sn 5upSn [S U55(aA[!UV s/sHoR"PM sn 5n U R$U R$:XdeSn[S U55(aA[!UV s/sHoR&PM sn 5nUR$U R$:XdeUSR(RUSSV s/sHoR(PM sn 5n0nUR3SU55/ 0nUSR4R75Hcm[9U4SjU55(dM[:R"UVs/sHnUR4R=T/5PM! snSS9UT'Me 0nUSR@R75Hcm[9U4SjU55(dM[:R"UVs/sHnUR@R=T/5PM! snSS9UT'Me U "U U U UUUUUSS9 n[CUSRD5Ul#U$s snfs snfs sn fs sn fs sn fs sn fs sn f![*a5n[,R/S [03S S 9 Sn[0(aUeSnAGNSnAff=f![*a GNf=fs snf![*a [,R?STS3S S 9 GMf=fs snf![*a [,R?STS3S S 9 GMef=f![*a U$f=f)a Concatenate two or more meshes. Parameters ------------ a : trimesh.Trimesh Mesh or list of meshes to be concatenated object, or list of such b : trimesh.Trimesh Mesh or list of meshes to be concatenated Returns ---------- result Concatenated mesh Scenerr)TrimeshrrQ) concatenateNc3@# UHnSUR;v M g7f) face_normalsN_cacherbms r#rdconcatenate..s 7w!>QXX %wc3@# UHnSUR;v M g7f)vertex_normalsNrrs r#rdrs 9A qxx 'rzfailed to combine visuals Texc_infoc3L# UHn[UR5v M g7fr`)rmetadatars r#rdrs?w!!**--ws"$c3># UH@n[URRT/55[UR5:Hv MB g7fr`)r.vertex_attributesgetr:rbrrns r#rdrs8YQXAs1&&**334AJJGQXAA axisz)Failed to concatenate `vertex_attribute['z']`c3># UH@n[URRT/55[UR5:Hv MB g7fr`)r.face_attributesrr9rs r#rdrs6TGqs1$$((b12c!''lBGrz'Failed to concatenate `face_attribute['F) r:r9rrvisualrrrprocess)$rrextenddumprr.r3rr path.utilrrr;r:r9r"r2rr/rr BaseExceptionlogdebug_STRICTupdaterr!rhr+rwarningrrsource_source)rErFrrcrrAis_meshis_pathconcatenate_path trimesh_typerr:r9rrrErrmeshrrrns @r#rrsP& D 1[ Q ( ( KK ! KKN  4yA~Aw||~ Ta!yB$Q"3Ay"Aq$GB?$Q"3Av">q$G? 7|c'l">(( 7|q gaj)4L#$+,Gq G,w.Ow!ww||~w.OOH L 7w 777#W$EW^^W$EF !!U[[000N 9 999%&IA'7'7&IJ##x~~555""..'!"+/N+Q+/NOH ?w? ?@ qz++002 YQXY Y Y )+ELMWTT++//R8WMTU*!#& 3Oqz))..0 TGT T T ')~~CJK74T))--c267KRS($ 1!%+' F !'!*"3"34 MAC?" -.O %F 'J 0O  .wi84 H 7G     N   ?uCHSW L   =cU#FQU *   M sO 4O OO0#O#O 'OO$:O.O).O.8P0Q$&Q QQ5*&Q0  Q5,R)O.. P-8*P((P-0 P>=P>Q"Q-,Q-0Q55"RR R-,R-repaironly_watertight min_facesrc8[U5n[U5S:Xa/$URR[R 5nUR R[R 5n/n/n /n /n [R"[U55n UGHCn [R"U 5n [U 5S:XaM+U RRS:Xa1U R5(dM\UbU R5U:aMuOUb[U 5U:aMXmn[R"URS55n[R"[U55X'U RUR U 5 URX5 U RX5 U RUR"R%U 55 GMF [U 5S:Xa[R("/5$[+US5nU(aSn[R("U 5n U SR-U SS5n[3X5upU"U U[R4"U 5U[7UR85S S 9n[7UR:5UlU$U cS/[U 5-n [?XX5VVVVs/sH&unnnnU"UUUU[7UR85S S 9PM( nnnnnUVs/sH#n[AUS [7UR:55PM% nU(a@UVs/sH2n[UR5S :=(a URC5PM4 nnO#U(aUVs/sHnURDPM nnU(a+[?UW5VVs/sHunnU(dMUPM snn$U$![&anUeSnAff=f![&a [.R1SSS 9 GNf=fs snnnnfs snfs snfs snfs snnf)a$ Return a subset of a mesh. Parameters ------------ mesh : Trimesh Source mesh to take geometry from faces_sequence : sequence (p,) int Indexes of mesh.faces repair Try to make submeshes watertight only_watertight Only return submeshes which are watertight min_faces Minimum number of faces allowed in a submesh. append : bool Return a single mesh which has the faces appended, if this flag is set, only_watertight is ignored Returns --------- result : Trimesh | list[Trimesh] Depending on if `append` is true or not. rrFNr)rrzfailed to combine visualsTrF)r:r9rrrrrr)#rtr.r9viewr+rr:rr,rrGr"rCuniquer2rrr face_subsetrr-rrrrr;rrrrrrpsetattr fill_holes is_watertight)rfaces_sequencerrrroriginal_facesoriginal_verticesr9r:normalsvisualsmaskindexcurrentrrrrappendedrrAnrrrrc watertightws r#submeshrsB.)N >a ZZ__RZZ0N **2::6 EHGG 99S*+ ,D e$ u:?  ;;  s "99;;$y)@  "s5zI'=  '7??2./yyV- t((/0 T]#)12  NN4;;2259 :5 > 8}xx|dI.L  Bhhw'GQZ++GABK8F'x77+dmm,  $DKK0&3x=(hw@ AJAq!Q dmm,  A = count rN)r.r+rr,)rrrightpaddeds r#zero_padrst 4yA~xx TU % #'CI:<  #';SY  }}T""r%c f"SS[R5n[R"U4SU0UD6$)a  A version of json.dumps that can handle numpy arrays by creating a custom encoder for numpy dtypes. Parameters -------------- obj : list, dict A JSON-serializable blob kwargs : dict Passed to json.dumps Returns -------------- dumped : str JSON dump of obj c\rSrSrSrSrg)jsonify..EdgeEncoderic[US5(aUR5$[US5(aUR5$[RR X5$)Nr timestamp)rKrrr JSONEncoderdefault)selfrMs r#r$jsonify..EdgeEncoder.defaultsMsH%%zz|#k**}}&##++D6 6r%rgN)rS __module__ __qualname____firstlineno__r__static_attributes__rgr%r# EdgeEncoderrs 7r%rcls)rrdumps)rMkwargsrs r#rrs/$7d&&7 ::c 5{ 5f 55r%c[U[R5(a[R"XRS9$[XR 5(dUcU$[ U5(a2[U5S:Xa#[USUR 5(aUS$[U[5(aGUR RS:Xa-URS5(aSSK J n URU5$UR U5nU$)z Convert an item to have the dtype of another item Parameters ------------ item : any Item to be converted like : any Object with target dtype If None, item is returned unmodified Returns ---------- result: item, but in dtype of like rrrPolygonPOLYGON)wkt)rXr+rr,rrRrmr.rYrSr rrr)itemlikers r# convert_likers"$ ##}}T44$''4< 4SY!^ 47DNN0S0SAw 4 NN # #y 0 OOI & & yy >>$ D Kr%c SSKn[R"U[RSS9n[ UR 5S:Xa;UR SS:wa [ S5eUR[ U5S 45nO4[ UR 5S:wdURS:Xa [ S 5eUR SnUS-S:wa [ S 5e[US- 5nURRUS 9nURR[[R"[ U55US/[ U5-5US 9$)a> Given a set of axis aligned bounds create an r-tree for broad-phase collision detection. Parameters ------------ bounds : (n, 2D) or (n, 2, D) float Non-interleaved bounds where D=dimension E.G a 2D bounds tree: [(minx, miny, maxx, maxy), ...] Returns --------- tree : Rtree Tree containing bounds by index rNTrr3rrr'zbounds not (n, 2, dimension)!r)z"Bounds must be (n, dimension * 2)!zBounds must be (n,dimension*2)!) dimension) properties)rtreer+r-rr.r/r4r2sizerrPropertyIndexrpr)rrrrs r# bounds_treer s"XXfBJJT :F 6<<A <<?a <= =Vb 12 V\\ a 6;;!#3=>> QIA !:;;IM"I%% %:J ;;   BIIc&k "FTFS[,@Aj  r%c[U[5(a [U5$[U[5(a [ U5$[ [ U5RS35e)z Wrap a string or bytes object as a file object. Parameters ------------ item: str or bytes Item to be wrapped Returns --------- wrapped : file-like object Contains data from item z is not wrappable!)rXrYrbytesrr4rkrS)rs r#wrap_as_streamr7sP$~ D% t} T ++,,>? @@r%c0[X5up#USU--nU$)a  Round a single value to a specified number of significant figures. Parameters ------------ values : float Value to be rounded sigfig : int Number of significant figures to reduce to Returns ---------- rounded : float Value rounded to the specified number of significant figures Examples ---------- In [1]: trimesh.util.round_sigfig(-232453.00014045456, 1) Out[1]: -200000.0 In [2]: trimesh.util.round_sigfig(.00014045456, 1) Out[2]: 0.0001 In [3]: trimesh.util.round_sigfig(.00014045456, 4) Out[3]: 0.0001405 r) sigfig_int)rsigfigas_int multiplierroundeds r# sigfig_roundrLs$8$F3FJ'G Nr%cp[R"U5RS5n[R"U[RS9RS5nURUR:wa [ S5e[R "[U55n[R"U5[:n[R"[R"[R"X555X#'X!- S-nUSU-- R5R5nXT4$)a Convert a set of floating point values into integers with a specified number of significant figures and an exponent. Parameters ------------ values : (n,) float or int Array of values sigfig : (n,) int Number of significant figures to keep Returns ------------ as_int : (n,) int Every value[i] has sigfig[i] digits multiplier : (n, int) Exponent, so as_int * 10 ** multiplier is the same order of magnitude as the input r)rzsigfig must match identifierrr)r+r,r2rr/r4rr.rr-floorrroundrd)rrexponentnonzerorrs r#rrns*]]6 " * *2 .F ]]6 2 : :2 >F ||v||#788xxF $HffVnx'G"&&*A!BCH"Q&JJ' . . 0 7 7 AF  r%c [U5R5n[U[5(a [ U5nUR S5(aO[ R"U5nUR5Vs0sHo3[ URU55_M sn$UR S5(a=SSK n[USS5SSnU[ URUSS 9R550$S US S;aDSSK nURUSS 9nUR5Vs0sHo3URU5_M sn$[!S 5es snfs snf)aP Given an open file object and a file type, return all components of the archive as open file objects in a dict. Parameters ------------ file_obj : file-like Containing compressed data file_type : str File extension, 'zip', 'tar.gz', etc Returns --------- decompressed : dict Data from archive in format {file name : file-like} rpbz2rNr archive1234r)modetari)fileobjrzUnsupported type passed!)rYlowerrXrrrTzipfileZipFilenamelistrIr getattropentarfilegetnames extractfiler4)r file_typearchiverr rs r# decompressrs7$I$$&I(E""!(+%  //(+ELEUEUEWXEWTnW\\$%788EWXX%  x7<nSXXhSX%A%F%F%HIJJ "#,,xc,:>& 1D ((D"ItAbz484BHH E G GC 6{aIIc!$Q$i(ADqD  99W%cr*L 773s84 (D"D "D  )C99Q 'A+ 67L 88L$D 1D 3|$q( )?C!_q >%   sAA/cUVs/sHn[U5S:dMUPM nn[U5S:Xa[R"US5$[U5S:Xa[R"/5$[R"U5$s snf)z A thin wrapper for numpy.vstack that ignores empty lists. Parameters ------------ tup : tuple or list of arrays With the same number of columns Returns ------------ stacked : (n, d) array With same number of columns as constituent arrays. rr)r.r+r,r-r)tuprc stackables r#r2r2Iso  .Cq3q6A:CI. 9~}}Yq\** Y1 xx| 99Y /s BBcdS[USS5;n[U[5n[U[5nU(a(U(a!UR UR U55 O@U(d(U(a!UR UR U55 OUR U5 UR5 U$)a If a file is open in binary mode and a string is passed, encode and write. If a file is open in text mode and bytes are passed decode bytes to str and write. Assumes binary mode if file_obj does not have a 'mode' attribute (e.g. io.BufferedRandom). Parameters ----------- file_obj : file object With 'write' and 'mode' stuff : str or bytes Stuff to be written encoding : str Encoding of text rFr)rrXrYrrJencoder]flush)rstuffrf binary_file string_stuff binary_stuffs r# write_encodedrHds~(6377KeS)LeU+L|u||H-. \u||H-.u NN Lr%cn[R"[R"S5SS9RSU$)z Generate a random alphaNumber unique identifier using UUID logic. Parameters ------------ length : int Length of desired identifier Returns ------------ unique : str Unique alphaNumber identifier r)rversionN)uuidUUIDrandom getrandbitshex)lengths r# unique_idrRs- 99++C0! < @ @& IIr%c6[R"U[RSS9nURS:wa [ S5e[R R U5nX!:a[R"S5$X-n[R"US*USS/5n[R R U5nXA:aC[R"US *USS/5nU[R R U5-nOX4-n[R"X5n[R"X5U/[RS 9n[(a[R"[R"X055S :de[R"[R"XP55S :de[R"[R"X555S :de[R"[R R USS 9S 5(deU$)al Generate an arbitrary basis (also known as a coordinate frame) from a given z-axis vector. Parameters ------------ z : (3,) float A vector along the positive z-axis. epsilon : float Numbers smaller than this considered zero. Returns --------- x : (3,) float Vector along x axis. y : (3,) float Vector along y axis. z : (3,) float Vector along z axis. Tr)rzz must be (3,) float!rrrrr'rrrr() r+r-rr/r4linalgr8eyecrossrrr1allclose)repsilonz_normrx_normrrs r#generate_basisr[s, "**40Aww$011 YY^^A F vvayKA 1Q4%1s#$A YY^^A F  HHqteQqT3' ( RYY^^A   A XXqQirzz 2FwvvbffQl#d***vvbffQl#d***vvbffQl#d***{{299>>&q>93???? Mr%atolcBX- n[R"X2*:X2:5$)a A replacement for np.isclose that does fewer checks and validation and as a result is roughly 4x faster. Note that this is used in tight loops, and as such a and b MUST be np.ndarray, not list or "array-like" Parameters ------------ a : np.ndarray To be compared b : np.ndarray To be compared atol : float Acceptable distance between `a` and `b` to be "close" Returns ----------- close : np.ndarray, bool Per-element closeness )r+r|)rErFr\diffs r#iscloser_s", 5D >>$, 44r%cJ[[R"X- 55U:$)aD A replacement for np.allclose that does few checks and validation and as a result is faster. Parameters ------------ a : np.ndarray To be compared b : np.ndarray To be compared atol : float Acceptable distance between `a` and `b` to be "close" Returns ----------- bool indicating if all elements are within `atol`. )floatr+ptp)rErFr\s r#rWrWs&  $ &&r%cB\rSrSrSrSrSrSrSrSr Sr S r S r g ) FunctionRegistryi a Non-overwritable mapping of string keys to functions. This allows external packages to register additional implementations of common functionality without risk of breaking implementations provided by trimesh. See trimesh.voxel.morphology for example usage. c L0UlUR5H up#X0U'M gr`)_dictr!)rrrrs r#__init__FunctionRegistry.__init__ s" LLNDAG#r%c URU$r`rfrrns r#r]FunctionRegistry.__getitem__ szz#r%c[U[5(d[SU<35eX;a[SU35e[ U5(d [S5eX R U'g)Nzkey must be a string, got z%Cannot set new value to existing key z'Cannot set value which is not callable.)rXrYr4KeyErrorcallablerf)rrnvalues r# __setitem__FunctionRegistry.__setitem__ sZ#s##9#AB B ;B3%HI IFG G 3r%c,[UR5$r`)iterrfrs r#r^FunctionRegistry.__iter__! sDJJr%c,[UR5$r`)r.rfrus r#__len__FunctionRegistry.__len__$ s4::r%cXR;$r`rjrks r# __contains__FunctionRegistry.__contains__' sjj  r%cX"U0UD6$r`rg)rrnargsrs r#__call__FunctionRegistry.__call__* sy$)&))r%rjN) rSrrr__doc__rgr]rqr^rxr{rrrgr%r#rdrd s*   !*r%rdc "[US5(dU$URU5nU$![a\ SSKJn U"USS5n[ R SRXSUS55 URUS=(d US S 9nU$f=f) aC Try to decode byte input as a string. Tries initial guess (UTF-8) then if that fails it uses charset_normalizer to try another guess before failing. Parameters ------------ text : bytes Data that might be a string initial : str Initial guess for text encoding. Returns ------------ decoded : str Data as a string r]r)detectNiz&Data not {}! Trying {} (confidence {})rf confidenceignoreerrors)rKr]UnicodeDecodeErrorcharset_normalizerrrrrI)rvinitialcharset_normalizer_detectrs r# decode_textr. s( 4 " " K{{7#" K! KJ+4;7 4 ; ; +VL-A  {{6*-8{J K!Ks(A"B Bc[US5(aURSSS9RS5$[US5(aURSSS9$[U5$)z Force a string or other to ASCII text ignoring errors. Parameters ----------- text : any Input to be converted to ASCII string Returns ----------- ascii : str Input as an ASCII string rBasciirrr])rKrBr]rY)rvs r#to_asciirZ sYtX{{78{4;;GDD x {{78{44 t9r%c[R"U[RS9n[UR5S:wdURSS:wa [ S5e[R "USS2SS/4USS-R6nUR5S- nUS :nU(dU$USSUSS-URS 5-RSS 9S U-- nXCU4$) ay Check if connected 2D points are counterclockwise. Parameters ----------- points : (n, 2) float Connected points on a plane return_all : bool Return polygon area and centroid or just counter-clockwise. Returns ---------- ccw : bool True if points are counter-clockwise area : float Only returned if `return_centroid` centroid : (2,) float Centroid of the polygon. rr'rz only defined for `(n, 2)` pointsNr)rg@rr*rg@) r+r-rr.r/r4subtractrrCr2)r return_allproductareaccwcentroids r#is_ccwrr s(XXfBJJ /F 6<<AaA!5;<<kkF3B3A;/&*<??@G ;;=3 D *C  vabz)W__W-EEJJPQJR d H h r%rcontainscountscUb[U5S:aX;aU$UcSnOURUS5nUbT[U5S:aEUS-nURSS5n[U5S:XaUS:Xa[US5nUSS-nOOSn[ US-SU-[U5-5H$nUR U5nXq;dMUbXbU'Us $ [S5e![a N]f=f)a Deterministically generate a unique name not contained in a dict, set or other grouping with `__includes__` defined. Will create names of the form "start_10" and increment accordingly. Parameters ----------- start : str Initial guess for name. contains : dict, set, or list Bundle of existing names we can *not* use. counts : None or dict Maps name starts encountered before to increments in order to speed up finding a unique name as otherwise it potentially has to iterate through all of contains. Should map to "how many times has this `start` been attempted, i.e. `counts[start]: int`. Note that this *will be mutated* in-place by this function! Returns --------- unique : str A name that is not contained in `contains` rz_{}_rr'z geometry_{}z Unable to establish unique name!)r.rrsplitrrrrIr4)rrr incrementr'rtrcchecks r# unique_namer s > SZ!^0E ~ JJua(  SZ!^EM  S!$ u:?yA~  aM !!Hu, " 9q=!i-#h-"? @  #  ! !u L A 7 88!  s1C C)(C))FN)Fr`)  rB)Nr[)r^)#r)r)TFNF)T)r) )g-q=)r)vrabcr[rrrrNshutilrtimerLr@rcollections.abcrr3riorrnumpyr+ iterationrtypedr r r r r rrrrrrSrABCnowwhichfinfo resolutionr-rrrU _IDENTITYflagsrYr0r$r;rarGrNrVrZrmrrrurrrrrTrAttributeErrorrrrrrrrrrrrrrrr+r/r;rRrYrjrpr{rrrrrrrrrrrrrrr&r,r8r=r2rHrRr[r_rWrdrrrrrgr%r#rs   #    ! gg ii  88BJJ  * *S 0   FF1BJJ ' $  'S'T'24n)u)"9">& d "@TdTtTn0GT83931A30&R ##I"3-l94%P><,&&(3* -- 26!$(w4hw~~. /w4  w4  w4 ! w4w4t.Gb$NK^BFVr&RB*Z"eD)O4""J6 8@8 E JKEV!#' L L L  L  L^#66@*Z(VA*D"J$1N<$$<:z!, 6DJ$:z554'',&*w&*R)X0(\"B9 C=B9C(*+B9 TNB9e< IIAB  sJJ32J3