230 lines
6.5 KiB
Python
230 lines
6.5 KiB
Python
"""
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parent.py
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-------------
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The base class for Trimesh, PointCloud, and Scene objects
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"""
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import abc
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import numpy as np
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from . import caching
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from . import transformations
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from .util import ABC
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class Geometry(ABC):
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"""Parent of geometry classes.
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The `Geometry` object is the parent object of geometry classes, including:
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Trimesh, PointCloud, and Scene objects.
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By decorating a method with `abc.abstractmethod` it just means the objects
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that inherit from `Geometry` MUST implement those methods.
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"""
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@abc.abstractproperty
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def bounds(self):
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pass
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@abc.abstractproperty
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def extents(self):
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pass
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@abc.abstractmethod
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def apply_transform(self, matrix):
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pass
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@abc.abstractmethod
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def is_empty(self):
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pass
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@abc.abstractmethod
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def crc(self):
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pass
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@abc.abstractmethod
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def md5(self):
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pass
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def __repr__(self):
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"""
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Print quick summary of the current geometry without
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computing properties.
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"""
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elements = []
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if hasattr(self, 'vertices'):
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# for Trimesh and PointCloud
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elements.append('vertices.shape={}'.format(
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self.vertices.shape))
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if hasattr(self, 'faces'):
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# for Trimesh
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elements.append('faces.shape={}'.format(
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self.faces.shape))
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if hasattr(self, 'geometry') and isinstance(
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self.geometry, dict):
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# for Scene
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elements.append('len(geometry)={}'.format(
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len(self.geometry)))
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if 'Voxel' in type(self).__name__:
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# for VoxelGrid objects
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elements.append(str(self.shape)[1:-1])
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return '<trimesh.{}({})>'.format(
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type(self).__name__, ', '.join(elements))
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def apply_translation(self, translation):
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"""
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Translate the current mesh.
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Parameters
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----------
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translation : (3,) float
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Translation in XYZ
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"""
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translation = np.asanyarray(translation, dtype=np.float64)
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if translation.shape != (3,):
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raise ValueError('Translation must be (3,)!')
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matrix = np.eye(4)
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matrix[:3, 3] = translation
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return self.apply_transform(matrix)
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def apply_scale(self, scaling):
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"""
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Scale the mesh.
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Parameters
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----------
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scaling : float or (3,) float
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Scale factor to apply to the mesh
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"""
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matrix = transformations.scale_and_translate(scale=scaling)
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# apply_transform will work nicely even on negative scales
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return self.apply_transform(matrix)
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def apply_obb(self):
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"""
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Apply the oriented bounding box transform to the current mesh.
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This will result in a mesh with an AABB centered at the
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origin and the same dimensions as the OBB.
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Returns
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----------
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matrix : (4, 4) float
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Transformation matrix that was applied
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to mesh to move it into OBB frame
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"""
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matrix = self.bounding_box_oriented.primitive.transform
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matrix = np.linalg.inv(matrix)
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self.apply_transform(matrix)
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return matrix
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@abc.abstractmethod
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def copy(self):
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pass
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@abc.abstractmethod
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def show(self):
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pass
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@caching.cache_decorator
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def bounding_box(self):
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"""
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An axis aligned bounding box for the current mesh.
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Returns
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----------
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aabb : trimesh.primitives.Box
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Box object with transform and extents defined
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representing the axis aligned bounding box of the mesh
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"""
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from . import primitives
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transform = np.eye(4)
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# translate to center of axis aligned bounds
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transform[:3, 3] = self.bounds.mean(axis=0)
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aabb = primitives.Box(transform=transform,
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extents=self.extents,
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mutable=False)
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return aabb
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@caching.cache_decorator
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def bounding_box_oriented(self):
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"""
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An oriented bounding box for the current mesh.
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Returns
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---------
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obb : trimesh.primitives.Box
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Box object with transform and extents defined
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representing the minimum volume oriented
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bounding box of the mesh
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"""
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from . import primitives, bounds
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to_origin, extents = bounds.oriented_bounds(self)
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obb = primitives.Box(transform=np.linalg.inv(to_origin),
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extents=extents,
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mutable=False)
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return obb
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@caching.cache_decorator
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def bounding_sphere(self):
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"""
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A minimum volume bounding sphere for the current mesh.
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Note that the Sphere primitive returned has an unpadded, exact
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sphere_radius so while the distance of every vertex of the current
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mesh from sphere_center will be less than sphere_radius, the faceted
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sphere primitive may not contain every vertex
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Returns
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--------
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minball : trimesh.primitives.Sphere
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Sphere primitive containing current mesh
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"""
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from . import primitives, nsphere
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center, radius = nsphere.minimum_nsphere(self)
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minball = primitives.Sphere(center=center,
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radius=radius,
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mutable=False)
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return minball
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@caching.cache_decorator
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def bounding_cylinder(self):
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"""
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A minimum volume bounding cylinder for the current mesh.
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Returns
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--------
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mincyl : trimesh.primitives.Cylinder
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Cylinder primitive containing current mesh
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"""
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from . import primitives, bounds
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kwargs = bounds.minimum_cylinder(self)
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mincyl = primitives.Cylinder(mutable=False, **kwargs)
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return mincyl
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@caching.cache_decorator
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def bounding_primitive(self):
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"""
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The minimum volume primitive (box, sphere, or cylinder) that
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bounds the mesh.
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Returns
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---------
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bounding_primitive : object
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Smallest primitive which bounds the mesh:
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trimesh.primitives.Sphere
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trimesh.primitives.Box
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trimesh.primitives.Cylinder
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"""
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options = [self.bounding_box_oriented,
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self.bounding_sphere,
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self.bounding_cylinder]
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volume_min = np.argmin([i.volume for i in options])
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bounding_primitive = options[volume_min]
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return bounding_primitive
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