trimesh.ray package¶
Submodules¶
trimesh.ray.ray_pyembree module¶
Ray queries using the pyembree package with the API wrapped to match our native raytracer.
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class
trimesh.ray.ray_pyembree.RayMeshIntersector(geometry, scale_to_box=True)¶ Bases:
objectMethods
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.
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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
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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
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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
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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
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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
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trimesh.ray.ray_triangle module¶
A basic slow implementation of ray- triangle queries.
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class
trimesh.ray.ray_triangle.RayMeshIntersector(mesh)¶ Bases:
objectAn 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.
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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.
- Parameters
- points: (n,3) points in space
- Returns
- contains: (n) boolean array, whether point is inside mesh or not
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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
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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
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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
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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.
- Parameters
- 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
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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
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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
- treertree.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