trimesh.collision module¶

Classes

`CollisionManager`()	A mesh-mesh collision manager.
`ContactData`(names, contact)	Data structure for holding information about a collision contact.
`DistanceData`(names, result)	Data structure for holding information about a distance query.

Functions

`mesh_to_BVH`(mesh)	Create a BVHModel object from a Trimesh object
`scene_to_collision`(scene)	Create collision objects from a trimesh.Scene object.

class trimesh.collision.CollisionManager¶

Bases: object

A mesh-mesh collision manager.

Methods

`add_object`(name, mesh[, transform])	Add an object to the collision manager.
`in_collision_internal`([return_names, …])	Check if any pair of objects in the manager collide with one another.
`in_collision_other`(other_manager[, …])	Check if any object from this manager collides with any object from another manager.
`in_collision_single`(mesh[, transform, …])	Check a single object for collisions against all objects in the manager.
`min_distance_internal`([return_names, …])	Get the minimum distance between any pair of objects in the manager.
`min_distance_other`(other_manager[, …])	Get the minimum distance between any pair of objects, one in each manager.
`min_distance_single`(mesh[, transform, …])	Get the minimum distance between a single object and any object in the manager.
`remove_object`(name)	Delete an object from the collision manager.
`set_transform`(name, transform)	Set the transform for one of the manager’s objects.

add_object(name, mesh, transform=None)¶

Add an object to the collision manager.

If an object with the given name is already in the manager, replace it.

Parameters

name (str) – An identifier for the object
mesh (Trimesh object) – The geometry of the collision object
transform ((4,4) float) – Homogeneous transform matrix for the object

in_collision_internal(return_names=False, return_data=False)¶

Check if any pair of objects in the manager collide with one another.

Parameters

return_names (bool) – If true, a set is returned containing the names of all pairs of objects in collision.
return_data (bool) – If true, a list of ContactData is returned as well

Returns

is_collision (bool) – True if a collision occurred between any pair of objects and False otherwise
names (set of 2-tup) – The set of pairwise collisions. Each tuple contains two names in alphabetical order indicating that the two corresponding objects are in collision.
contacts (list of ContactData) – All contacts detected

in_collision_other(other_manager, return_names=False, return_data=False)¶

Check if any object from this manager collides with any object from another manager.

Parameters

other_manager (CollisionManager) – Another collision manager object
return_names (bool) – If true, a set is returned containing the names of all pairs of objects in collision.
return_data (bool) – If true, a list of ContactData is returned as well

Returns

is_collision (bool) – True if a collision occurred between any pair of objects and False otherwise
names (set of 2-tup) – The set of pairwise collisions. Each tuple contains two names (first from this manager, second from the other_manager) indicating that the two corresponding objects are in collision.
contacts (list of ContactData) – All contacts detected

in_collision_single(mesh, transform=None, return_names=False, return_data=False)¶

Check a single object for collisions against all objects in the manager.

Parameters

mesh (Trimesh object) – The geometry of the collision object
transform ((4,4) float) – Homogeneous transform matrix
return_names (bool) – If true, a set is returned containing the names of all objects in collision with the object
return_data (bool) – If true, a list of ContactData is returned as well

Returns

is_collision (bool) – True if a collision occurs and False otherwise
names (set of str) – The set of names of objects that collided with the provided one
contacts (list of ContactData) – All contacts detected

min_distance_internal(return_names=False, return_data=False)¶

Get the minimum distance between any pair of objects in the manager.

Parameters

return_names (bool) – If true, a 2-tuple is returned containing the names of the closest objects.
return_data (bool) – If true, a DistanceData object is returned as well

Returns

distance (float) – Min distance between any two managed objects
names ((2,) str) – The names of the closest objects
data (DistanceData) – Extra data about the distance query

min_distance_other(other_manager, return_names=False, return_data=False)¶

Get the minimum distance between any pair of objects, one in each manager.

Parameters

other_manager (CollisionManager) – Another collision manager object
return_names (bool) – If true, a 2-tuple is returned containing the names of the closest objects.
return_data (bool) – If true, a DistanceData object is returned as well

Returns

distance (float) – The min distance between a pair of objects, one from each manager.
names (2-tup of str) – A 2-tuple containing two names (first from this manager, second from the other_manager) indicating the two closest objects.
data (DistanceData) – Extra data about the distance query

min_distance_single(mesh, transform=None, return_name=False, return_data=False)¶

Get the minimum distance between a single object and any object in the manager.

Parameters

mesh (Trimesh object) – The geometry of the collision object
transform ((4,4) float) – Homogeneous transform matrix for the object
return_names (bool) – If true, return name of the closest object
return_data (bool) – If true, a DistanceData object is returned as well

Returns

distance (float) – Min distance between mesh and any object in the manager
name (str) – The name of the object in the manager that was closest
data (DistanceData) – Extra data about the distance query

remove_object(name)¶

Delete an object from the collision manager.

Parameters: name (str) – The identifier for the object

set_transform(name, transform)¶

Set the transform for one of the manager’s objects. This replaces the prior transform.

Parameters

name (str) – An identifier for the object already in the manager
transform ((4,4) float) – A new homogeneous transform matrix for the object

class trimesh.collision.ContactData(names, contact)¶

Bases: object

Data structure for holding information about a collision contact.

Methods

index(name)

Returns the index of the face in contact for the mesh with the given name.

Attributes

point

The 3D point of intersection for this contact.

index(name)¶

Returns the index of the face in contact for the mesh with the given name.

Parameters: name (str) – The name of the target object.
Returns: index – The index of the face in collison
Return type: int

property point¶

The 3D point of intersection for this contact.

Returns: point – The intersection point.
Return type: (3,) float

class trimesh.collision.DistanceData(names, result)¶

Bases: object

Data structure for holding information about a distance query.

Attributes

distance

Returns the distance between the two objects.

Methods

`index`(name)	Returns the index of the closest face for the mesh with the given name.
`point`(name)	The 3D point of closest distance on the mesh with the given name.

property distance¶

Returns the distance between the two objects.

Returns: distance – The euclidean distance between the objects.
Return type: float

index(name)¶

Returns the index of the closest face for the mesh with the given name.

Parameters: name (str) – The name of the target object.
Returns: index – The index of the face in collisoin.
Return type: int

point(name)¶

The 3D point of closest distance on the mesh with the given name.

Parameters: name (str) – The name of the target object.
Returns: point – The closest point.
Return type: (3,) float

trimesh.collision.mesh_to_BVH(mesh)¶

Create a BVHModel object from a Trimesh object

Parameters: mesh (Trimesh) – Input geometry
Returns: bvh – BVH of input geometry
Return type: fcl.BVHModel

trimesh.collision.scene_to_collision(scene)¶

Create collision objects from a trimesh.Scene object.

Parameters

scene (trimesh.Scene) – Scene to create collision objects for

Returns

manager (CollisionManager) – CollisionManager for objects in scene
objects ({node name: CollisionObject}) – Collision objects for nodes in scene