Mi^SSKrSSKrSSKrSSKJr SSKJr SSKrSSK J r J r J r J r JrJrJr SSKJr SSKJr SSKJrJr SS KJr SS KJrJrJrJrJrJ r J!r!J"r"J#r#J$r$J%r%J&r&J'r'J(r( SS KJ)r) S S K J*r*J+r+ S SK,J-r- \%\\\\\.\4\4r/"SS\5r0Sr1SSjr2SS\0S\S\04Sjjr3g)N)deepcopy)sha256)cachingconvexgroupinginertiatransformationsunitsutil)log)export)Geometry Geometry3D) procrustes) ArrayLikeDictFloatingIntegerIterableListNDArrayOptionalSequenceTupleUnion ViewerTypefloat64int64) unique_name)cameraslighting) SceneGraphc*\rSrSrSrSPS\\S\S\\S\\ S\\ RS \\ \ RS \\4S jjrS rSQS\S \\S\\S\\S\\S\\4 SjjrS\\\\ 4SS4SjrSRSjrSSS\\S\\S\\SS4SjjrS\4Sjr\S\4Sj5r\S\4Sj5r\ RBS\\\\"44Sj5r#\ RBS\\\"4Sj5r$\ RBS\\\"4Sj5r%\ RBS\&4S j5r'\ RBS\\\"4S!j5r(\ RBS\4S"j5r)\ RBS#5r*S$r+\ RBS\&4S%j5r,\ RBS\"4S&j5r-\ RBS\\"4S'j5r.\ RBS(5r/\ RBS\\\44S)j5r0\ RBS\4S*j5r1\ RBS\2\2\4S+j5r3STS,\SS4S-jjr4SQS\ R4S.jjr5\S/5r6\6RnS0\84S1j5r6S\9\\"\\"\\:44S2jr;\S\ R4S3j5r<\\>RnS \ \ R4S7j5r>SRS8jr?SUS9\S\2\@4S:jjrASVS;jrBS\@4S<jrCS=\SS4S>jrD\ RBS?5rESWS@jrFSXS\G4SAjjrH\S\\4SBj5rI\IRnSC\4SDj5rISUSE\SF\SS4SGjjrJSWSRSHjjrKSI\\\84SS4SJjrLSYSKjrMSXSL\N4SMjjrOSNrPSOrQg)ZScene'z A simple scene graph which can be rendered directly via pyglet/openGL or through other endpoints such as a raytracer. Meshes are added by name, which can then be moved by updating transform in the transform tree. Ngeometry base_framemetadatagraphcameralightscamera_transformc|[R"5Ul[US9Ul[ R "URS9UlUbURU5 0Ul [U[5(aURRU5 UbX@lUbX`lUbXPlUbXplggg)a Create a new Scene object. Parameters ------------- geometry : Trimesh, Path2D, Path3D PointCloud or list Geometry to initially add to the scene base_frame Name of base frame metadata Any metadata about the scene graph A passed transform graph to use camera : Camera or None A passed camera to use lights : [trimesh.scene.lighting.Light] or None A passed lights to use camera_transform Homogeneous (4, 4) camera transform in the base frame r)) id_functionN) collections OrderedDictr(r$r+rCache__hash___cache add_geometryr* isinstancedictupdater-r,r.)selfr(r)r*r+r,r-r.s m/var/www/eduai.edurigo.com/storigo/production/storigo_env/lib/python3.13/site-packages/trimesh/scene/scene.py__init__Scene.__init__/s>$//1  :6 mm >     h ' h % % MM  *  J   K   K+(8%, cURRnURRRUHCn[R "XRUS5nURR X#US9 ME U$)z Apply a transform to all children of the base frame without modifying any geometry. Parameters -------------- transform : (4, 4) Homogeneous transformation matrix. r frame_fromframe_tomatrix)r+r) transformschildrennpdotr:)r; transformbasechildcombineds r<apply_transformScene.apply_transformjslzz$$ZZ**33D9EvviE):1)=>H JJ  h  O: r? node_name geom_nameparent_node_namerIc pUcg[R"U5(a%UVs/sHnURUUUUUUS9PM sn$[U[5(a3UR 5VV s0sHupXRXUS9_M sn n$[U[ 5(aiX-n URR5 URRU R5 U RRURl gUbUn OoSUR;aURSn OOURRbURRn O!S[[!UR55-n [#XRR%5S9n XRU 'Uc@URRR&R%5n [#X5nX,;deUc[(R*"S5nURRUUUU SS 0US 9 U$s snfs sn nf) a Add a geometry to the scene. If the mesh has multiple transforms defined in its metadata, they will all be copied into the TransformForest of the current scene automatically. Parameters ---------- geometry : Trimesh, Path2D, Path3D PointCloud or list Geometry to initially add to the scene node_name : None or str Name of the added node. geom_name : None or str Name of the added geometry. parent_node_name : None or str Name of the parent node in the graph. transform : None or (4, 4) float Transform that applies to the added node. metadata : None or dict Optional metadata for the node. Returns ---------- node_name : str Name of single node in self.graph (passed in) or None if node was not added (eg. geometry was null or a Scene). N)r(rOrPrQrIr*)r(rPr*name geometry_startcontainsvisibleT)rCrBrDr(geometry_flagsr*)r is_sequencer7r8r9itemsr&r(clearr:r+rEr*source file_namestrlenr keys node_datarGeye) r;r(rOrPrQrIr*valuekvconcatrSexistings r<r7Scene.add_geometryzs&L      h ' '& &E!!"''%5'% "&  $ ' '%NN,,DA$$ax$PP,  % ( (_F MM   ! MM  1$*LL$;$;DJJ !   D x(( ($$V,D __ & & 2??,,DS%7!88D 0B0B0DE& d  zz,,66;;=H$D3I, ,,  q I '%t,  K s H--H2namesreturnc[U[5(aU/n[U5nURR U5 UVs/sHo R R US5PM ngs snf)z Delete one more multiple geometries from the scene and also remove any node in the transform graph which references it. Parameters -------------- name : hashable Name that references self.geometry N)r8r`setr+remove_geometriesr(pop)r;rkrSs r<delete_geometryScene.delete_geometrysY eS ! !GEE  $$U+38954  4 &599s%A+cSSKJn URR5H,n[R "US5(dM!U"US9UlM. g)zT Strip visuals from every Trimesh geometry and set them to an empty `ColorVisuals`. r) ColorVisualsTrimesh)meshN) visual.colorrtr(valuesr is_instance_namedvisual)r;rtr(s r< strip_visualsScene.strip_visualss= 0 ,,.H%%h ::".H"=/r?percent face_count aggressionc0nURR5H*upV[US5(dMURXUS9XE'M, URR U5 g)a] Apply in-place `mesh.simplify_quadric_decimation` to any meshes in the scene. Parameters ----------- percent A number between 0.0 and 1.0 for how much face_count Target number of faces desired in the resulting mesh. aggression An integer between `0` and `10`, the scale being roughly `0` is "slow and good" and `10` being "fast and bad." simplify_quadric_decimation)r}r~rN)r(r\hasattrrr:)r;r}r~rupdatesrfrgs r<r!Scene.simplify_quadric_decimation s`,MM'')DAq788::#z; * W%r?c2^URm[URRR 55/nUR U4SjTR 555 [R"SRU5RS55$)ze Return information about scene which is hashable. Returns --------- hashed String hashing scene. c3\># UH!n[TUR55v M# g7fN)hexr5).0rfr(s r< !Scene.__hash__..8s&M_HQK00233_s),zutf-8) r(rr+rEr5extendrbr hash_fastjoinencode)r;hashabler(s @r<r5Scene.__hash__)sm== --6689:MX]]_MM  !2!9!9'!BCCr?c2[UR5S:H$)zd Does the scene have anything in it. Returns ---------- is_empty True if nothing is in the scene r)rar(r;s r<is_emptyScene.is_empty;s4==!Q&&r?c[UR5S:XagURRVs1sHoRUSiM nnU[ URR 55:H$s snf![a gf=f)z{ Is every geometry connected to the root node. Returns ----------- is_valid : bool Does every geometry have a transform rTr!F)rar(r+nodes_geometry BaseExceptionrnrb)r;i referenceds r<is_validScene.is_validHs t}}  " 48JJ4M4MN4Mq**Q-*4MJN S!3!3!5666 O  s"A<A7A<7A<< B B cp0nURR5VVs0sHHup#U[US5(a%[UR5S:a URO UR _MJ nnnUR UR5VVs0sHUup%UcM URSS:XdMU[R"U[R"[U5545_MW snn5 URRHnURUupxURU5n U cM*[R"USS2SS24U R5n [R "U R#SS9USS2S4-U R%SS9USS2S4-/5X'M U$s snnfs snnf)z Get the post-transform AABB for each node which has geometry defined. Returns ----------- corners Bounds for each node with vertices: {node_name : (2, 3) float} verticesrNr!raxis)r(r\rrarboundsr:shaperG column_stackzerosr+rgetrHTarrayminmax) r;cornersrfmrrgrOrI geometry_namepointsrHs r<bounds_cornersScene.bounds_corners^s ++- - WQ 33AJJ!8KqzzQRQYQY Y-  %NN, ,DA:%&WWQZ1_:2??ArxxA'7#899,  22I'+zz)'< $I\\-0F~&&2A2rr6*FHH5C!#a9RaRU#33SWW!W_yQSRSQSUVQVGW5WX"G 39  sAF, F2 F2 2:F2 c&URn[U5S:Xag[R"[ URR 555n[R "URSS9URSS9/[RS9$)z Return the overall bounding box of the scene. Returns -------- bounds : (2, 3) float or None Position of [min, max] bounding box Returns None if no valid bounds exist rNrdtype) rrarGvstacklistrxrrrr)r;rrs r<r Scene.boundssq,, ~ ! #))D!4!4!;!;!=>?xx!,gkkqk.AB"**UUr?cjURnUcg[R"USS9RS5$)z Return the axis aligned box size of the current scene or None if the scene is empty. Returns ---------- extents Bounding box sides length or None for empty scene. Nrr)rrGdiffreshape)r;rs r<extents Scene.extentss1 >wwvA&..r22r?c`URnUcg[US-R5S-5$)zr The approximate scale of the mesh Returns ----------- scale : float The mean of the bounding box edge lengths ?rg?)rfloatsum)r;rs r<scale Scene.scales2,, ?gqj%%'3.//r?cdURnUcg[R"URSS9nU$)z Return the center of the bounding box for the scene. Returns -------- centroid : (3) float Point for center of bounding box Nrr)rrGmean)r;rcentroids r<rScene.centroids. >774;;Q/r?c pURR5VVs0sH$up[US5(dMXR_M& nnnURR5VVs0sH$up[US5(dMXR_M& nnnUR nUR Vs/sHoeUPM nn[R"UVV s/sH=upX;dM [R"U[R"X9S55SSPM? sn n[RS9n [R"UV V s/sH upXIPM sn n [RS9n XR5-n XRS5-RSS 9$s snnfs snnfs snfs sn nfs sn n f) z Find the center of mass for every instance in the scene. Returns ------------ center_mass : (3,) float The center of mass of the scene center_massmassr!Nrr)rr!rr)r(r\rrrr+rrGrrHappendrrr) r;rfrrrr+ninstancematg transformed_weightss r<rScene.center_masssw ++- -q-( A}} -  '+mm&9&9&;R&;dawq&?Q 66 &;R &+&:&:;&:!H&:;hh' &FC#>sBIIkna89"1=&  **  ((9DG9L;;= oog66;;;CC/ S< :s.FF)F!F!1F' F, %5F, F2 ch[R"U[R"UR5S9$)z Return the moment of inertia of the current scene with respect to the center of mass of the current scene. Returns ------------ inertia : (3, 3) float Inertia with respect to cartesian axis at `scene.center_mass` scenerI)r scene_inertiar translation_matrixrrs r<moment_inertiaScene.moment_inertias-$$/"D"DTEUEU"V  r?c*[R"XS9$)z Return the moment of inertia of the current scene relative to a transform from the base frame. Parameters transform : (4, 4) float Homogeneous transformation matrix. Returns ------------- inertia : (3, 3) float Inertia tensor at requested frame. r)r r)r;rIs r<moment_inertia_frameScene.moment_inertia_frames$$4EEr?c^^TRR5VVs0sH$up[US5(dMXR_M& snnm[ UU4SjTR R 5S5$s snnf)z What is the summed area of every geometry which has area. Returns ------------ area : float Summed area of every instanced geometry areac3h># UH'nTRTRUSS5v M) g7fr!Nrr+)rrareasr;s r<rScene.area..s. Q7P!UYYtzz!}Q' - -7P/2r)r(r\rrrr+r)r;rrrs` @r<r Scene.areasc(,}}':':'<S'# UH'nTRTRUSS5v M) g7frr)rrr;volumes r<rScene.volume..0s. R8Q1VZZ 1 a(# . .8Qrr)r(r\rrrr+r)r;rrrs` @r<r Scene.volume!sc+/--*=*=*?V*?$!71fCU+!XX+*?V R 8Q8Q RTW  Wrc B/n/nURRHnURUupEURUn[US5(dM6UR [ R "URR5RS5US95 UR [R"U[UR555 M [R"U5URS'[R"U5RS5$)z Return a correctly transformed polygon soup of the current scene. Returns ---------- triangles : (n, 3, 3) float Triangles in space triangles)rr)rDtriangles_node)rrr)r+rr(rrr transform_pointsrcopyrrGtilerahstackr6r)r;rrrOrIrr(s r<rScene.triangles3s 22I'+zz)'< $I}}]3H8[11   00&&++-55g>y   ! !"'')S9K9K5L"M N3")+ .(A $%yy#++J77r?c8URnURS$)z Which node of self.graph does each triangle come from. Returns --------- triangles_index : (len(self.triangles),) Node name for each triangle r)rr6)r;populates r<rScene.triangles_nodeTs>>{{+,,r?cURR5VVs0sHupURU_M snn$s snnf)zq Look up geometries by identifier hash. Returns --------- identifiers {Identifier hash: key in self.geometry} )r(r\identifier_hash)r;rSrvs r<geometry_identifiersScene.geometry_identifiersas9>B]]=P=P=RS=Rzt$$d*=RSSSs;cSRSURR555[[ UR 55-n[ UR55R5$)z( Get a unique identifier for the scene. rc38# UHoRv M g7fr)rrrs r<r(Scene.identifier_hash..rsI2HQ((2Hs) rr(rxr`hashr+rr hexdigest)r;dumps r<rScene.identifier_hashmsZ wwI$--2F2F2HIIC  M  dkkm$..00r?c X[UR5S:Xa/$URR5VVs0sH/up[US5(dMU[ UR S5_M1 nnnUR nURVs0sHoUURXES5_M nn[R"[5nUR5VVs/sHupXUcM XxRU5PM nn[UR55$s snnfs snfs snnf)a Return a sequence of node keys of identical meshes. Will include meshes with different geometry but identical spatial hashes as well as meshes repeated by self.nodes. Returns ----------- duplicates Keys of self.graph that represent identical geometry rrr!)rar(r\rintrr+rrr2 defaultdictrrrx) r;rfrhashesr+node node_hash duplicateshasheds r<duplicate_nodesScene.duplicate_nodesws t}}  "I  ++- -q+, *As1$$b) )-   CHBVBVWBV$6::ek!n55BV W!,,T2 !* 1 1  ,J  % %d + 1 J%%'((/ X  sDD D! D&(D&cost_thresholdc[XS9$)a If a scene has been "baked" with meshes it means that the duplicate nodes have *corresponding vertices* but are rigidly transformed to different places. This means the problem of finding ab instance transform can use the `procrustes` analysis which is *very* fast relative to more complicated registration problems that require ICP and nearest-point-on-surface calculations. TODO : construct a parent non-geometry node for containing every group. Parameters ---------- scene The scene to handle. cost_threshold The maximum value for `procrustes` cost which is "squared mean vertex distance between pair". If the fit is above this value the instance will be left even if it is a duplicate. Returns --------- dedupe A copy of the scene de-duplicated as much as possible. )r)reconstruct_instances)r;rs r<rScene.reconstruct_instancess6%TIIr?cUc[R"SS/5n[UR5S:Xa\[R "US9Ul[R"S5URUR R'UR $Uc[R"S5n[R"U6n[R"URXVX#S9n[US5(a1UR b$XPR lUbX@R lO[R "XTS 9UlXpRUR R'UR $) a Create a camera object for self.camera, and add a transform to self.graph for it. If arguments are not passed sane defaults will be figured out which show the mesh roughly centered. Parameters ----------- angles : (3,) float Initial euler angles in radians distance : float Distance from centroid center : (3,) float Point camera should be center on camera : Camera object Object that stores camera parameters <-r)fovrXr)rrotationdistancecenter_camera)r resolution)rGrrar(r"Camerarrdr+rSrr euler_matrixlook_atrrrr)r;anglesrrrrrrIs r< set_cameraScene.set_cameras, ;((B8$C t}}  "">>c2DL,.FF1IDJJt||(( )<<  >XXa[F"//8OO KKSh  4 # # (@"LL %*4 '#>>cIDL(1 4<<$$%||r?cNURURRS$)z Get camera transform in the base frame. Returns ------- camera_transform : (4, 4) float Camera transform in the base frame rr+r,rSrs r<r.Scene.camera_transforms"zz$++**+A..r?rDcHXRURR'g)z Set the camera transform in the base frame Parameters ---------- camera_transform : (4, 4) float Camera transform in the base frame Nr$)r;rDs r<r.r%s(. 4;;##$r?cURR5upURn[R"XSS9n[ R "U5[R"U5-nXAU4$)aR Calculate the trimesh.scene.Camera origin and ray direction vectors. Returns one ray per pixel as set in camera.resolution Returns -------------- origin: (n, 3) float Ray origins in space vectors: (n, 3) float Ray direction unit vectors in world coordinates pixels : (n, 2) int Which pixel does each ray correspond to in an image F) translate)r,to_raysr.r rrG ones_liketranslation_from_matrix)r;vectorspixelsrIoriginss r< camera_raysScene.camera_rays sf ++--/)) !227QVW,,w'/*Q*Q +  ''r?czUR(dUR5$URceUR$)z Get the single camera for the scene. If not manually set one will abe automatically generated. Returns ---------- camera : trimesh.scene.Camera Camera object defined for the scene ) has_camerar!rrs r<r, Scene.camera%s2??$ $||'''||r?cUcgXlg)zx Set a camera object for the Scene. Parameters ----------- camera : trimesh.scene.Camera Camera object for the scene N)r)r;r,s r<r,r38s >  r?cD[US5=(a URSL$)Nr)rrrs r<r2Scene.has_cameraFstY'DDLL,DDr?c[US5(a URcJ[R"U5up[ X5Hup4X@R UR 'M XlUR$)z Get a list of the lights in the scene. If nothing is set it will generate some automatically. Returns ------------- lights : [trimesh.scene.lighting.Light] Lights in the scene. _lights)rr8r# autolightzipr+rS)r;r-rELrs r<r- Scene.lightsJs_tY''4<<+?!)!3!3D!9 FF/%& 166"0"L||r?cXlg)z Assign a list of light objects to the scene Parameters -------------- lights : [trimesh.scene.lighting.Light] Lights in the scene. N)r8)r;r-s r<r-r<_s  r?cUR(d&[R"URS5(ag[R"S5nUR*USS2S4'[ UR R5S-nUR RX R RUS9 X R lg)z Move the current scene so that the AABB of the whole scene is centered at the origin. Does this by changing the base frame to a new, offset base frame. rNrXr_IrA) rrGallcloserrdr`r+r)r:)r;rDnew_bases r<rezero Scene.rezeroks ==BKK s;; rr1u tzz,,-4 ***?*?  !) r? concatenatecl/nURRHnURUupEURUR5n[ US5(a`[ R "U[ RSS9nSUSS2SS24'UR5(dUR5nO USS2SS24nURU5 XVRS'X6RS 'URU5 M U(a0[R"S [SS 9 [ R "U5$U$) a- Get a list of every geometry moved to its instance position, i.e. freezing or "baking" transforms. Parameters ------------ concatenate KWARG IS DEPRECATED FOR REMOVAL APRIL 2025 Concatenate results into single geometry. This keyword argument will make the type hint incorrect and you should replace `Scene.dump(concatenate=True)` with: - `Scene.to_geometry()` for a Trimesh, Path2D or Path3D - `Scene.to_mesh()` for only `Trimesh` components. Returns ---------- dumped Copies of `Scene.geometry` transformed to their instance position. to_3Dg:0yE>)atolTNrrrSr zd`Scene.dump(concatenate=True)` DEPRECATED FOR REMOVAL APRIL 2025: replace with `Scene.to_geometry()`)category stacklevel)r+rr(rrr isclose _IDENTITYallrFrMr*rwarningswarnDeprecationWarningrD)r;rDresultrOrIrcurrentchecks r<r Scene.dumps*22I'+zz)'< $ImmM2779Gw(( YTJ $bqb"1"f yy{{%mmoG!*"1"bqb& 1I  # #I .'4  V $'0  V $ MM' "/32  MMv+  ##F+ + r?c SSKJn [R"UR 5Vs/sHn[ X!5(dMUPM sn5$s snf)z Concatenate every mesh instances in the scene into a single mesh, applying transforms and "baking" the result. Will drop any geometry in the scene that is not a `Trimesh` object. Returns ---------- mesh All meshes in the scene concatenated into one. r)ru)rJrur rDrr8)r;ruds r<to_mesh Scene.to_meshs9 #DIIK RKq:a;QK RSS Rs AAcJ[R"UR55$)a  Concatenate geometry in the scene into a single like-typed geometry, applying the transforms and "baking" the result. May drop geometry if the scene has mixed geometry. Returns --------- concat Either a Trimesh, Path2D, or Path3D depending on what is in the scene. )r rDrrs r< to_geometryScene.to_geometrys ,,r?r cURnURRU5nUR5Vs/sHoDSU;dM UPM nn[ US9nUR U5 UVs1sHnSUS;dMUSSiM nnUVs0sHowUR U_M nn[XS9n U $s snfs snfs snf)z Get part of a scene that succeeds a specified node. Parameters ------------ node Hashable key in `scene.graph` Returns ----------- subscene Partial scene generated from current. rr0r(rr(r+)r+rE successors to_edgelistr$ from_edgelistr(r&) r;r r+nodeseedgesgeometry_namesrfr(rPs r<subsceneScene.subscenes    ++D1!--/A/qQ45=/Ad+ E"49PEqZ1Q4=O*!A$z*EP1?@At}}Q''@6 B Q@s B9 B90 B> B>Cc[R"UR5Vs/sHoRPM sn5n[R "U5$s snf)z The convex hull of the whole scene. Returns --------- hull : trimesh.Trimesh Trimesh object which is a convex hull of all meshes in scene )r vstack_emptyrrr convex_hull)r;rrs r<rhScene.convex_hullsB"" #D 1JJ #DE!!&))$EsAc 4[R"SXUS.UD6$)a Export a snapshot of the current scene. Parameters ---------- file_obj : str, file-like, or None File object to export to file_type : str or None What encoding to use for meshes IE: dict, dict64, stl Returns ---------- export : bytes Only returned if file_obj is None )rfile_obj file_type)r export_scene)r;rkrlkwargss r<r Scene.exports)""" Y BH  r?c &SSKJn U"SXSSS.UD6$)z Get a PNG image of a scene. Parameters ----------- resolution : (2,) int Resolution to render image **kwargs Passed to SceneViewer constructor Returns ----------- png : bytes Render of scene as a PNG r) render_sceneF)rr fullscreen resizablerm)viewer.windowedrr)r;rrorrs r< save_imageScene.save_images( 3 %5 TZ  r?cURR5Vs1sHoRiM nn[U5S:XaUR 5$[U5S:a[ R "SUS35 gs snf)z Get the units for every model in the scene. If the scene has mixed units or no units this will return None. Returns ----------- units Units for every model in the scene or None if there are no units or mixed units r!z Mixed units `z` returning NoneN)r(rxr rarpr warning)r;rris r<r Scene.units0sk&*]]%9%9%;<%;GG%;< x=A <<> ! ]Q  KK-z1AB C =sA=recUR5R5nURR5H nXlM g)z Set the units for every model in the scene without converting any units just setting the tag. Parameters ------------ value : str Value to set every geometry unit value to N)striplowerr(rxr )r;rers r<r rzDs4 ##%%%'AG(r?desiredguessc[UR5S:XaUR5$URnUc[R"XS9n[R "X1S9nUR US9nXlU$)a If geometry has units defined convert them to new units. Returns a new scene with geometries and transforms scaled. Parameters ---------- desired : str Desired final unit system: 'inches', 'mm', etc. guess : bool Is the converter allowed to guess scale when models don't have it specified in their metadata. Returns ---------- scaled : trimesh.Scene Copy of scene with scaling applied and units set for every model r)r)rQr~)r)rar(rr units_from_metadataunit_conversionscaled)r;r~rrQrrPs r< convert_unitsScene.convert_unitsSsq* t}}  "99; ** ?//BG%%gG5)  r?cUc URnUcURS- n[R"U[RS9n[R"U[RS9nUR R HnUR UupEURURn[R"U[R"US55SSnURS:XaXb- U-nOC[R"U5S:Xa[R"XU- 5nX-nO [S5eUR5n U SS2S4==U- ss'XR U'M g) z Explode the current scene in-place around a point and vector. Parameters ----------- vector : (3,) float or float Explode radially around a direction vector or spherically origin : (3,) float Point to explode around Ng9@rr!rrm)rzexplode vector wrong shape!) rrrG asanyarrayrr+rr(rHrr ValueErrorr) r;vectororiginrOrIrroffset projectedT_news r<explode Scene.explode|s) >]]F >ZZ$&FvRZZ8vRZZ822I'+zz)'< $I}}]3<??NN$E "1"a%LF "L$)JJy !%3r?rc  UR5n[R"US5(aU$[U[[ [R 45=(a [U5S:HnU(aF[R"[R"U5US:H5(a[US5nSnOU(d [U5nU(Ga.URRGHnURRUn[U5S:dM.URUnUHnURRRUnUR!UR5UUUURRR"X4R%SS5URRR"X4R%SS5S 9 M UR'U5 GM URHYnURUR(R*SS :XdM/URUR-5URU'M[ URR.Hn URR%U 5upU R5n S U SS2S4'URUR1U 5R3U5R1[R4R7U 55 M URRR"n U H`n SX;dM Xn XSR5n U SS2S4==U-ss'XS'URR8"SU SU SS .U D6 Mb 0URRl[=[>R@"55URRl!URR:RE5 GO[RF"S5U-n[RF"S 5U-n[RH"URR.5n[RJ"[U5S S 45nS/[U5-n[MU5HunnURUuUU'UU'M URRE5 [NRP"U5GHnUUSnUUSn[RR"UU5nURUR(R*SS :XaURUR1U5 OURUR1U5 [UUUUU5Hgunn [VRX"X[R4R7U5/5nUSS2S4==U-ss'URR9UUUS9 Mi GM SUl-U$)a Return a copy of the current scene, with meshes and scene transforms scaled to the requested factor. Parameters ----------- scale : float or (3,) float Factor to scale meshes and transforms Returns ----------- scaled : trimesh.Scene A copy of the current scene but scaled rrrFr!rDNr*)r(rPrOrQrIr*rr)rBrCrX)rCrDr(rm).rrGr@r8rtuplendarrayrarLasarrayrr+geometry_nodesr(rEparentsr7 edge_datarrqrrrFrrM apply_scalelinalginvr:r6r`uuiduuid4 _modifiedr]rdrr enumeratergrouprHr:r multi_dotr)r;rrP scale_is_3DrPnodes_with_geomgeomrpkeyrruvpropsscale_2Dscale_3Dr`rE geometriesrr rr(originalnew_geomrIs r<r Scene.scaleds ;;uc " "M!ubjj(ABVs5zUV 266"**U"3uQx"?@@%(OEK%LE  $\\88 "(,,"="=i"H'!+!??95D,"LL33;;A>++%)YY[&/&'-.&,ll&=&=&G&G&O&S&S ($'&,\\%<%<%F%Fv%N%R%R *D&, -**95%9*$__ ??9-66<!COOH-==hGOOH-==hG"5<E1BCGD! $RYY]]8=T/U VIbqb!e$-$LL''!%i(( D44 r?cxURR5VVs0sHupXR5_M nnn[US5(a URcSnOUR R5n[ UURR5URR5US9nU$s snnf)zp Return a deep copy of the current scene Returns ---------- copied : trimesh.Scene Copy of the current scene rN)r(r+r*r,) r(r\rrrr,r&r+r*)r;rrr(r,copieds r<r Scene.copy+s-1MM,?,?,AB,ADAAvvxK,ABtY''4<<+?F[[%%'F**//#]]'')    CsB6viewerc UcSSKJn U"5nU(dSnUS:XaSSKJn U"U40UD6$US:XaSSKJn U"U40UD6$US:XaSSKJn U"U40UD6$[ U5(a U"U40UD6$[ S 5e) a@ Display the current scene. Parameters ----------- viewer What kind of viewer to use, such as `gl` to open a pyglet window `jupyter` for a jupyter notebook `marimo'` for a marimo notebook None for a "best guess" kwargs Passed to viewer, such as `smooth=False` which will turn off automatic smooth shading r) in_notebookgl) SceneViewerjupyter)scene_to_notebookmarimo)scene_to_mo_notebookzJInvalid value for viewer: not 'gl', 'jupyter', 'marimo', callable, or None)rrrrrcallabler)r;rrorrrrs r<show Scene.showGs* > ,!]F T> -t.v. . y 2$T4V4 4 x  5'77 7 f  $)&) )\ r?cF[X/URR/S9nU$)a Concatenate the current scene with another scene or mesh. Parameters ------------ other : trimesh.Scene, trimesh.Trimesh, trimesh.Path Other object to append into the result scene Returns ------------ appended : trimesh.Scene Scene with geometry from both scenes )common) append_scenesr+r))r;otherrPs r<__add__ Scene.__add__|s$}djj6K6K5LM r?) r6rr8r,r.r(r+r-r*)NworldNNNNN)NNNNN)rlN)NNN)gh㈵>)F)rlztrimesh.Trimesh)NNr)rlr&)R__name__ __module__ __qualname____firstlineno____doc__r GeometryInputr`rr$r"rrr#Lightrr=rMr7rrnrqr{rrrrr5propertyboolrrrcache_decoratorrrrrrrrrrrrrrrrrrrrr!r.setterrrrr/r,r2r-rBrrrVrYrdrhrbytesrvr rrrrrrr__static_attributes__rmr?r<r&r&'s -1!#'&*+/59.299=)99994. 99  # 99 ( 99(..1299#7+99v&$(#'*.'+#'ppC=pC= p #3- p G$ p4.pd:U3X+=%>:4:( >'+(,(, &(#&W%&W% &  &<D#D$ '$ ' '7$77* *S''*:%: ;**X V!12VV"  3''"23 3 3  0u 0 0  (77#34   !DW!D!DF     F   e  "    " 877+88@  - -  Td38n T T 111 ()d3i()()TJHJJ<MQ1 1f / / .y . .(U77#3WW5Ewu~#UV(6$ ]] Xgnn5  EDEEX^^,( ]] Xhnn5  ).88h8tT -X -SW<  * * * u ,x}& \\ 3  'S''''R%*NFE(I"56F7FP<"33jr?r&c [U[5(aU$0n[R"U5(aNUVs/sHo2R [ US055PM n[XS9n[ SU5S5UlU$[UR"S0UD6[UR5S9n[UR5UlU$s snf)z Given a geometry, list of geometries, or a Scene return them as a single Scene object. Parameters ---------- geometry : splittable Returns --------- scene: trimesh.Scene r*)r*c3V# UHoRcMURv M! g7fr)r^rs r<rsplit_scene..sQ1HHhahhs))Nrm) r8r&r r[r:getattrnext_sourcesplitrr*r^)r(ror*rrs r< split_sceners(E""H !!>FGhJ3 4hGh2QQSWX  L  NN $V $h//0 !1 L Hs%C cN^^^^[U[5(aU$TcU/m0n/n[T5m[5mUUUU4SjnUGHn[US5(aUR 5n[U[5(d![ [ U5RS35e0nURR5H$up[XR5S9n XU'XU 'M& 0m[5mURR5HAupn U"U 5U"U 5pSU ;aU SU;a X}SU S'URXU 45 MC TRT5 GM [US9nURR!U5 URRU5 U$)aO Concatenate multiple scene objects into one scene. Parameters ------------- iterable : (n,) Trimesh or Scene Geometries that should be appended common : (n,) str Nodes that shouldn't be remapped base_frame : str Base frame of the resulting scene Returns ------------ result : trimesh.Scene Scene containing all geometry c>UT;aTU$UT;a%UT;aU[R"5-nUTU'UnTRU5 U$)z Remap node to new name if necessary Parameters ------------- node : hashable Node name in original scene Returns ------------- name : hashable Node name in concatenated scene )r unique_idadd)r rSrconsumedrQmap_nodes r< node_remap!append_scenes..node_remapsZ 8 D> ! v $("2$..**D!HTND  D r?rz is not a scene!rUr(r0)r8r&rnrrrtyperr(r\r rbr+r^rr:r_)iterablerr)r(rbrsmap_geomrfrgrSabattrrPrrQrs ` @@@r<rrs$(E"" ~H E[FuHB 1g   A!U##Q 0 011ABC CJJ$$&DAQADQKTN '%''--/JA$a=*Q-q T!d:&6(&B#+,<#=Z LL! &0  INj )F LLu% OO8$ Mr?rrrlc ^URR5nURGH n[U5S:aMUSnURUupVURUR R [R5nUSSHnURUupURU R R [R5n U RUR:waMf[X{SSSS9upnX:dM|URU[R"X5US9 M GM [URR55n[!URR#5VVs0sHunnUU;dMUUR5_M! snnUS 9$s snnf) a If a scene has been "baked" with meshes it means that the duplicate nodes have *corresponding vertices* but are rigidly transformed to different places. This means the problem of finding ab instance transform can use the `procrustes` analysis which is *very* fast relative to more complicated registration problems that require ICP and nearest-point-on-surface calculations. TODO : construct a parent non-geometry node for containing every group. Parameters ---------- scene The scene to handle. cost_threshold The maximum value for `procrustes` cost which is "squared mean vertex distance between pair". If the fit is above this value the instance will be left even if it is a duplicate. Returns --------- dedupe A copy of the scene de-duplicated as much as possible. rrr!NTF) translationr reflection)rDr(r\)r+rrrar(rviewrGrrrr:rHrnrrbr&r\)rrr+r node_baser geom_baserJr node_mat node_geom node_verticesrD_pcostrrfrgs r<rr$st8 KK   E&& u:> !H {{9- y1::?? K!"ID"'++d"3 H"NN95>>CCBJJOM""djj0 *Uu  F$ T"&&*BY W#'@U))..01J */..*>*>*@T*@$!QAO+!QVVX+*@T Ts < F) F) )Nr)gư>)4r2rrMrrhashlibrnumpyrGrrrrr r r r constantsr exchangerparentrr registrationrtypedrrrrrrrrrrrrrrr r"r#rEr$r`rr&rrrrmr?r<rs OOO)% "h 2Dh4GRS dJdN+"JnbDDDEDr?