trimesh.ray package

Submodules

trimesh.ray.ray_pyembree module

Ray queries using the pyembree package with the API wrapped to match our native raytracer.

class trimesh.ray.ray_pyembree.RayMeshIntersector(geometry, scale_to_box=True)

Bases: object

Methods

contains_points(points)	Check if a mesh contains a list of points, using ray tests.
intersects_any(ray_origins, ray_directions)	Check if a list of rays hits the surface.
intersects_first(ray_origins, ray_directions)	Find the index of the first triangle a ray hits.
intersects_id(ray_origins, ray_directions[, …])	Find the triangles hit by a list of rays, including optionally multiple hits along a single ray.
intersects_location(ray_origins, ray_directions)	Return the location of where a ray hits a surface.

contains_points(points)

Check if a mesh contains a list of points, using ray tests.

If the point is on the surface of the mesh, behavior is undefined.

points: (n,3) points in space

Returns:

contains: (n,) bool

Whether point is inside mesh or not

intersects_any(ray_origins, ray_directions)

Check if a list of rays hits the surface.

Parameters:

ray_origins: (n,3) float, origins of rays

ray_directions: (n,3) float, direction (vector) of rays

Returns:

hit: (n,) bool, did each ray hit the surface

intersects_first(ray_origins, ray_directions)

Find the index of the first triangle a ray hits.

Parameters:

ray_origins: (n,3) float, origins of rays

ray_directions: (n,3) float, direction (vector) of rays

Returns:

triangle_index: (n,) int, index of triangle ray hit, or -1 if not hit

intersects_id(ray_origins, ray_directions, multiple_hits=True, max_hits=20, return_locations=False)

Find the triangles hit by a list of rays, including optionally multiple hits along a single ray.

Parameters:

ray_origins: (n,3) float, origins of rays

ray_directions: (n,3) float, direction (vector) of rays

multiple_hits: bool, if True will return every hit along the ray

if False will only return first hit

return_locations: bool, should we return hit locations or not

Returns:

index_tri: (m,) int, index of triangle the ray hit

index_ray: (m,) int, index of ray

locations: (m,3) float, locations in space

intersects_location(ray_origins, ray_directions, multiple_hits=True)

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: (n) sequence of (m,3) intersection points

index_ray: (n,) int, list of ray index

index_tri: (n,) int, list of triangle (face) indexes

trimesh.ray.ray_triangle module

A basic slow implementation of ray- triangle queries.

class trimesh.ray.ray_triangle.RayMeshIntersector(mesh)

Bases: object

An object to query a mesh for ray intersections. Precomputes an r-tree for each triangle on the mesh.

Methods

contains_points(points)	Check if a mesh contains a list of points, using ray tests.
intersects_any(ray_origins, ray_directions, …)	Find out if each ray hit any triangle on the mesh.
intersects_id(ray_origins, ray_directions[, …])	Find the intersections between the current mesh and a list of rays.
intersects_location(ray_origins, …)	Return unique cartesian locations where rays hit the mesh.

contains_points(points)

Check if a mesh contains a list of points, using ray tests.

If the point is on the surface of the mesh, behavior is undefined.

points: (n,3) points in space

Returns:

contains: (n) boolean array, whether point is inside mesh or not

intersects_any(ray_origins, ray_directions, **kwargs)

Find out if each ray hit any triangle on the mesh.

Parameters:

ray_origins: (m,3) float, ray origin points

ray_directions: (m,3) float, ray direction vectors

Returns:

hit: boolean, whether any ray hit any triangle on the mesh

intersects_id(ray_origins, ray_directions, return_locations=False, multiple_hits=True, **kwargs)

Find the intersections between the current mesh and a list of rays.

Parameters:

ray_origins: (m,3) float, ray origin points

ray_directions: (m,3) float, ray direction vectors

multiple_hits: bool, consider multiple hits of each ray or not

return_locations: bool, return hit locations or not

Returns:

index_triangle: (h,) int, index of triangles hit

index_ray: (h,) int, index of ray that hit triangle

locations: (h,3) float, (optional) position of intersection in space

intersects_location(ray_origins, ray_directions, **kwargs)

Return unique cartesian locations where rays hit the mesh. If you are counting the number of hits a ray had, this method should be used as if only the triangle index is used on- edge hits will be counted twice.

Parameters:

ray_origins : (m, 3) float

Ray origin points

ray_directions : (m, 3) float

Ray direction vectors

Returns:

locations : (n) sequence of (m,3) float

Intersection points

index_ray : (n,) int

Array of ray indexes

index_tri: (n,) int

Array of triangle (face) indexes

trimesh.ray.ray_triangle.ray_bounds(ray_origins, ray_directions, bounds, buffer_dist=1e-05)

Given a set of rays and a bounding box for the volume of interest where the rays will be passing through, find the bounding boxes of the rays as they pass through the volume.

ray_origins: (m,3) float, ray origin points ray_directions: (m,3) float, ray direction vectors bounds: (2,3) bounding box (min, max) buffer_dist: float, distance to pad zero width bounding boxes

Returns:

ray_bounding: (n) set of AABB of rays passing through volume

trimesh.ray.ray_triangle.ray_triangle_candidates(ray_origins, ray_directions, tree)

Do broad- phase search for triangles that the rays may intersect.

Does this by creating a bounding box for the ray as it passes through the volume occupied by the tree

Parameters:

ray_origins: (m,3) float, ray origin points

ray_directions: (m,3) float, ray direction vectors

tree: rtree object, contains AABB of each triangle

Returns:

ray_candidates: (n,) int, triangle indexes

ray_id: (n,) int, corresponding ray index for a triangle candidate

trimesh.ray.ray_triangle.ray_triangle_id(triangles, ray_origins, ray_directions, triangles_normal=None, tree=None, multiple_hits=True)

Find the intersections between a group of triangles and rays

Parameters:

triangles : (n, 3, 3) float

Triangles in space

ray_origins : (m, 3) float

Ray origin points

ray_directions : (m, 3) float

Ray direction vectors

triangles_normal : (n, 3) float

Normal vector of triangles, optional

tree : rtree.Index

Rtree object holding triangle bounds

Returns:

index_triangle : (h,) int

Index of triangles hit

index_ray : (h,) int

Index of ray that hit triangle

locations : (h, 3) float

Position of intersection in space

trimesh.ray.ray_util module

Module contents