trimesh.collision

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) – [OPTIONAL] The set of names of objects that collided with the provided one

  • contacts (list of ContactData) – [OPTIONAL] 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.

Attributes:

depth

The penetration depth of the 3D point of intersection for this contact.

point

The 3D point of intersection for this contact.

Methods:

index(name)

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

The penetration depth of the 3D point of intersection for this contact.

Returns

depth – The penetration depth.

Return type

float

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 collision

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