ray

In [1]:

"""
An example showing simple ray-mesh queries.
"""

Out[1]:

'\nAn example showing simple ray-mesh queries.\n'

In [2]:

import trimesh
import numpy as np

In [3]:

# test on a sphere primitive
mesh = trimesh.creation.icosphere()

In [4]:

# create some rays
ray_origins = np.array([[0, 0, -3],
                        [2, 2, -3]])
ray_directions = np.array([[0, 0, 1],
                           [0, 0, 1]])

In [5]:

# check out the docstring for intersects_location queries
print(mesh.ray.intersects_location.__doc__)

        Return the location of where a ray hits a surface.

        Parameters
        ----------
        ray_origins : (n, 3) float
          Origins of rays
        ray_directions : (n, 3) float
          Direction (vector) of rays

        Returns
        ---------
        locations : (m) sequence of (p, 3) float
          Intersection points
        index_ray : (m,) int
          Indexes of ray
        index_tri : (m,) int
          Indexes of mesh.faces
        

In [6]:

# run the mesh- ray query
locations, index_ray, index_tri = mesh.ray.intersects_location(
        ray_origins=ray_origins,
        ray_directions=ray_directions)

In [7]:

print('The rays hit the mesh at coordinates:\n', locations)

The rays hit the mesh at coordinates:
 [[ 0.  0. -1.]
 [ 0.  0.  1.]]

In [8]:

print('The rays with index: {} hit the triangles stored at mesh.faces[{}]'.format(index_ray, index_tri))

The rays with index: [0 0] hit the triangles stored at mesh.faces[[565 442]]

In [9]:

# stack rays into line segments for visualization as Path3D
ray_visualize = trimesh.load_path(np.hstack((ray_origins,
                                             ray_origins + ray_directions*5.0)).reshape(-1, 2, 3))

In [10]:

# unmerge so viewer doesn't smooth
mesh.unmerge_vertices()
# make mesh white- ish
mesh.visual.face_colors = [255,255,255,255]
mesh.visual.face_colors[index_tri] = [255, 0, 0, 255]

In [11]:

# create a visualization scene with rays, hits, and mesh
scene = trimesh.Scene([mesh,
                       ray_visualize])

In [12]:

# show the visualization
scene.show()

Out[12]: