trimesh.scene package

Submodules

trimesh.scene.cameras module

class trimesh.scene.cameras.Camera(name=None, resolution=None, focal=None, fov=None, scene=None, transform=None)

Bases: object

Attributes:
K

Get the intrinsic matrix for the Camera object.

focal

Get the focal length in pixels for the camera.

fov

Get the field of view in degrees.

resolution

Get the camera resolution in pixels.

transform

Get the (4, 4) homogenous transformation from the world frame to this camera object.

K

Get the intrinsic matrix for the Camera object.

Returns:
K : (3, 3) float

Intrinsic matrix for camera

focal

Get the focal length in pixels for the camera.

Returns:
focal : (2,) float

Focal length in pixels

fov

Get the field of view in degrees.

Returns:
fov : (2,) float

XY field of view in degrees

resolution

Get the camera resolution in pixels.

Returns:
resolution (2,) float

Camera resolution in pixels

transform

Get the (4, 4) homogenous transformation from the world frame to this camera object.

Returns:
transform : (4, 4) float

Transform from world to camera

trimesh.scene.cameras.look_at(points, fov, rotation=None)

Generate transform for a camera to keep a list of points in the camera’s field of view.

Parameters:
points : (n, 3) float

Points in space

fov : (2,) float

Field of view, in DEGREES

rotation : None, or (4, 4) float

Rotation matrix for initial rotation

Returns:
transform : (4, 4) float

Transformation matrix with points in view

trimesh.scene.lighting module

lighting.py

Hold basic information about lights.

Forked from the light model in pyrender: https://github.com/mmatl/pyrender

class trimesh.scene.lighting.DirectionalLight(name=None, color=None, intensity=None, radius=None)

Bases: trimesh.scene.lighting.Light

Directional lights are light sources that act as though they are infinitely far away and emit light in the direction of the local -z axis. This light type inherits the orientation of the node that it belongs to; position and scale are ignored except for their effect on the inherited node orientation. Because it is at an infinite distance, the light is not attenuated. Its intensity is defined in lumens per metre squared, or lux (lm/m2).

Attributes:
name : str, optional

Name of the light.

color : (4,) unit8

RGBA value for the light’s color in linear space.

intensity : float

Brightness of light. The units that this is defined in depend on the type of light. point and spot lights use luminous intensity in candela (lm/sr), while directional lights use illuminance in lux (lm/m2).

radius : float

Cutoff distance at which light’s intensity may be considered to have reached zero. Supported only for point and spot lights, must be > 0. If None, the radius is assumed to be infinite.

class trimesh.scene.lighting.Light(name=None, color=None, intensity=None, radius=None)

Bases: abc.ABC

Base class for all light objects.

Attributes:
name : str, optional

Name of the light.

color : (4,) uint8

RGBA value for the light’s color in linear space.

intensity : float

Brightness of light. The units that this is defined in depend on the type of light: point and spot lights use luminous intensity in candela (lm/sr) while directional lights use illuminance in lux (lm/m2).

radius : float

Cutoff distance at which light’s intensity may be considered to have reached zero. Supported only for point and spot lights Must be > 0.0 If None, the radius is assumed to be infinite.

color
intensity
radius
class trimesh.scene.lighting.PointLight(name=None, color=None, intensity=None, radius=None)

Bases: trimesh.scene.lighting.Light

Point lights emit light in all directions from their position in space; rotation and scale are ignored except for their effect on the inherited node position. The brightness of the light attenuates in a physically correct manner as distance increases from the light’s position (i.e. brightness goes like the inverse square of the distance). Point light intensity is defined in candela, which is lumens per square radian (lm/sr).

Attributes:
name : str, optional

Name of the light.

color : (4,) uint8

RGBA value for the light’s color in linear space.

intensity : float

Brightness of light. The units that this is defined in depend on the type of light. point and spot lights use luminous intensity in candela (lm/sr), while directional lights use illuminance in lux (lm/m2).

radius : float

Cutoff distance at which light’s intensity may be considered to have reached zero. Supported only for point and spot lights, must be > 0. If None, the radius is assumed to be infinite.

class trimesh.scene.lighting.SpotLight(name=None, color=None, intensity=None, radius=None, innerConeAngle=0.0, outerConeAngle=0.7853981633974483)

Bases: trimesh.scene.lighting.Light

Spot lights emit light in a cone in the direction of the local -z axis. The angle and falloff of the cone is defined using two numbers, the innerConeAngle and outerConeAngle. As with point lights, the brightness also attenuates in a physically correct manner as distance increases from the light’s position (i.e. brightness goes like the inverse square of the distance). Spot light intensity refers to the brightness inside the innerConeAngle (and at the location of the light) and is defined in candela, which is lumens per square radian (lm/sr). A spot light’s position and orientation are inherited from its node transform. Inherited scale does not affect cone shape, and is ignored except for its effect on position and orientation.

Attributes:
name : str, optional

Name of the light.

color : (4,) uint8

RGBA value for the light’s color in linear space.

intensity : float

Brightness of light. The units that this is defined in depend on the type of light. point and spot lights use luminous intensity in candela (lm/sr), while directional lights use illuminance in lux (lm/m2).

radius : float

Cutoff distance at which light’s intensity may be considered to have reached zero. Supported only for point and spot lights, must be > 0. If None, the radius is assumed to be infinite.

innerConeAngle : float

Angle, in radians, from centre of spotlight where falloff begins. Must be greater than or equal to 0 and less than outerConeAngle.

outerConeAngle : float

Angle, in radians, from centre of spotlight where falloff ends. Must be greater than innerConeAngle and less than or equal to PI / 2.0.

innerConeAngle
outerConeAngle
trimesh.scene.lighting.autolight(scene)

Generate a list of lights for a scene that looks decent.

Parameters:
scene : trimesh.Scene

Scene with geometry

Returns:
lights : [Light]

List of light objects

transforms : (len(lights), 4, 4) float

Transformation matrices for light positions.

trimesh.scene.scene module

class trimesh.scene.scene.Scene(geometry=None, base_frame='world', metadata={}, graph=None, camera=None, lights=None)

Bases: trimesh.parent.Geometry

A simple scene graph which can be rendered directly via pyglet/openGL or through other endpoints such as a raytracer. Meshes are added by name, which can then be moved by updating transform in the transform tree.

Attributes:
bounding_box

An axis aligned bounding box for the current mesh.

bounding_box_oriented

An oriented bounding box for the current mesh.

bounding_cylinder

A minimum volume bounding cylinder for the current mesh.

bounding_primitive

The minimum volume primitive (box, sphere, or cylinder) that bounds the mesh.

bounding_sphere

A minimum volume bounding sphere for the current mesh.

bounds

Return the overall bounding box of the scene.

bounds_corners

A list of points that represent the corners of the AABB of every geometry in the scene.

camera

Get the single camera for the scene.

centroid

Return the center of the bounding box for the scene.

convex_hull

The convex hull of the whole scene

duplicate_nodes

Return a sequence of node keys of identical meshes.

extents

Return the axis aligned box size of the current scene.

geometry_identifiers

Look up geometries by identifier MD5

is_empty

Does the scene have anything in it.

is_valid

Is every geometry connected to the root node.

lights

Get a list of the lights in the scene.

scale

The approximate scale of the mesh

triangles

Return a correctly transformed polygon soup of the current scene.

triangles_node

Which node of self.graph does each triangle come from.

units

Get the units for every model in the scene, and raise a ValueError if there are mixed units.

Methods

add_geometry(geometry[, node_name, …]) Add a geometry to the scene.
apply_scale(scaling) Scale the mesh equally on all axis.
apply_translation(translation) Translate the current mesh.
convert_units(desired[, guess]) If geometry has units defined convert them to new units.
copy() Return a deep copy of the current scene
dump() Append all meshes in scene to a list of meshes.
explode([vector, origin]) Explode a scene around a point and vector.
export([file_type]) Export a snapshot of the current scene.
md5() MD5 of scene which will change when meshes or transforms are changed
rezero() Move the current scene so that the AABB of the whole scene is centered at the origin.
save_image([resolution]) Get a PNG image of a scene.
scaled(scale) Return a copy of the current scene, with meshes and scene transforms scaled to the requested factor.
set_camera([angles, distance, center, …]) Create a camera object for self.camera, and add a transform to self.graph for it.
show([viewer]) Display the current scene.
apply_transform  
add_geometry(geometry, node_name=None, geom_name=None, parent_node_name=None, transform=None)

Add a geometry to the scene.

If the mesh has multiple transforms defined in its metadata, they will all be copied into the TransformForest of the current scene automatically.

Parameters:
geometry : Trimesh, Path2D, Path3D PointCloud or list

Geometry to initially add to the scene

base_frame : str or hashable

Name of base frame

metadata : dict

Any metadata about the scene

graph : TransformForest or None

A passed transform graph to use

Returns:
node_name : str

Name of node in self.graph

apply_transform(transform)
bounds

Return the overall bounding box of the scene.

Returns:
bounds: (2,3) float points for min, max corner
bounds_corners

A list of points that represent the corners of the AABB of every geometry in the scene.

This can be useful if you want to take the AABB in a specific frame.

Returns:
corners: (n, 3) float, points in space
camera

Get the single camera for the scene. If not manually set one will abe automatically generated.

Returns:
camera : trimesh.scene.Camera

Camera object defined for the scene

centroid

Return the center of the bounding box for the scene.

Returns:
centroid: (3) float point for center of bounding box
convert_units(desired, guess=False)

If geometry has units defined convert them to new units.

Returns a new scene with geometries and transforms scaled.

Parameters:
desired : str

Desired final unit system: ‘inches’, ‘mm’, etc.

guess : bool

Is the converter allowed to guess scale when models don’t have it specified in their metadata.

Returns:
scaled : trimesh.Scene

Copy of scene with scaling applied and units set for every model

convex_hull

The convex hull of the whole scene

Returns:
hull: Trimesh object, convex hull of all meshes in scene
copy()

Return a deep copy of the current scene

Returns:
copied : trimesh.Scene

Copy of the current scene

dump()

Append all meshes in scene to a list of meshes.

Returns:
dumped: (n,) list, of Trimesh objects transformed to their

location the scene.graph

duplicate_nodes

Return a sequence of node keys of identical meshes.

Will combine meshes duplicated by copying in space with different keys in self.geometry, as well as meshes repeated by self.nodes.

Returns:
duplicates: (m) sequence of keys to self.nodes that represent

identical geometry

explode(vector=None, origin=None)

Explode a scene around a point and vector.

Parameters:
vector : (3,) float or float

Explode radially around a direction vector or spherically

origin : (3,) float

Point to explode around

export(file_type=None)

Export a snapshot of the current scene.

Parameters:
file_type: what encoding to use for meshes

ie: dict, dict64, stl

Returns:
export: dict with keys:

meshes: list of meshes, encoded as per file_type transforms: edge list of transforms, eg:

((u, v, {‘matrix’ : np.eye(4)}))

extents

Return the axis aligned box size of the current scene.

Returns:
extents: (3,) float, bounding box sides length
geometry_identifiers

Look up geometries by identifier MD5

Returns:
identifiers: dict, identifier md5: key in self.geometry
is_empty

Does the scene have anything in it.

Returns:
is_empty: bool, True if nothing is in the scene
is_valid

Is every geometry connected to the root node.

Returns:
is_valid : bool

Does every geometry have a transform

lights

Get a list of the lights in the scene. If nothing is set it will generate some automatically.

Returns:
lights : [trimesh.scene.lighting.Light]

Lights in the scene.

md5()

MD5 of scene which will change when meshes or transforms are changed

Returns:
hashed: str, MD5 hash of scene
rezero()

Move the current scene so that the AABB of the whole scene is centered at the origin.

Does this by changing the base frame to a new, offset base frame.

save_image(resolution=(1024, 768), **kwargs)

Get a PNG image of a scene.

Parameters:
resolution: (2,) int, resolution to render image
**kwargs: passed to SceneViewer constructor
Returns:
png: bytes, render of scene in PNG form
scale

The approximate scale of the mesh

Returns:
scale: float, the mean of the bounding box edge lengths
scaled(scale)

Return a copy of the current scene, with meshes and scene transforms scaled to the requested factor.

Parameters:
scale : float

Factor to scale meshes and transforms

Returns:
scaled : trimesh.Scene

A copy of the current scene but scaled

set_camera(angles=None, distance=None, center=None, resolution=None, fov=None)

Create a camera object for self.camera, and add a transform to self.graph for it.

If arguments are not passed sane defaults will be figured out which show the mesh roughly centered.

Parameters:
angles : (3,) float

Initial euler angles in radians

distance : float

Distance from centroid

center : (3,) float

Point camera should be center on

camera : Camera object

Object that stores camera parameters

show(viewer=None, **kwargs)

Display the current scene.

Parameters:
viewer: str ‘gl’: open a pyglet window

str,’notebook’: return ipython.display.HTML None: automatically pick based on whether or not

we are in an ipython notebook

smooth : bool

Turn on or off automatic smooth shading

triangles

Return a correctly transformed polygon soup of the current scene.

Returns:
triangles: (n,3,3) float, triangles in space
triangles_node

Which node of self.graph does each triangle come from.

Returns:
triangles_index : (len(self.triangles),)

Node name for each triangle

units

Get the units for every model in the scene, and raise a ValueError if there are mixed units.

Returns:
units : str

Units for every model in the scene

trimesh.scene.scene.append_scenes(iterable, common=['world'])

Concatenate multiple scene objects into one scene.

Parameters:
iterable : (n,) Trimesh or Scene

Geometries that should be appended

common : (n,) str

Nodes that shouldn’t be remapped

Returns:
result : trimesh.Scene

Scene containing all geometry

trimesh.scene.scene.split_scene(geometry)

Given a geometry, list of geometries, or a Scene return them as a single Scene object.

Parameters:
geometry : splittable
Returns:
scene: trimesh.Scene

trimesh.scene.transforms module

class trimesh.scene.transforms.EnforcedForest(*args, **kwargs)

Bases: networkx.classes.digraph.DiGraph

A subclass of networkx.DiGraph that will raise an error if an edge is added which would make the DiGraph not a forest or tree.

Attributes:
name

Methods

add_cycle(nodes, **attr) Add a cycle.
add_edge(u, v, *args, **kwargs) Add an edge between u and v.
add_edges_from(*args, **kwargs) Add all the edges in ebunch.
add_node(n[, attr_dict]) Add a single node n and update node attributes.
add_nodes_from(nodes, **attr) Add multiple nodes.
add_path(*args, **kwargs) Add a path.
add_star(nodes, **attr) Add a star.
add_weighted_edges_from(ebunch[, weight]) Add all the edges in ebunch as weighted edges with specified weights.
adjacency_iter() Return an iterator of (node, adjacency dict) tuples for all nodes.
adjacency_list() Return an adjacency list representation of the graph.
adjlist_dict_factory alias of builtins.dict
clear() Remove all nodes and edges from the graph.
copy() Return a copy of the graph.
degree([nbunch, weight]) Return the degree of a node or nodes.
degree_iter([nbunch, weight]) Return an iterator for (node, degree).
edge_attr_dict_factory alias of builtins.dict
edges([nbunch, data, default]) Return a list of edges.
edges_iter([nbunch, data, default]) Return an iterator over the edges.
get_edge_data(u, v[, default]) Return the attribute dictionary associated with edge (u,v).
has_edge(u, v) Return True if the edge (u,v) is in the graph.
has_node(n) Return True if the graph contains the node n.
has_predecessor(u, v) Return True if node u has predecessor v.
has_successor(u, v) Return True if node u has successor v.
in_degree([nbunch, weight]) Return the in-degree of a node or nodes.
in_degree_iter([nbunch, weight]) Return an iterator for (node, in-degree).
in_edges([nbunch, data]) Return a list of the incoming edges.
in_edges_iter([nbunch, data]) Return an iterator over the incoming edges.
is_directed() Return True if graph is directed, False otherwise.
is_multigraph() Return True if graph is a multigraph, False otherwise.
nbunch_iter([nbunch]) Return an iterator of nodes contained in nbunch that are also in the graph.
neighbors(n) Return a list of successor nodes of n.
neighbors_iter(n) Return an iterator over successor nodes of n.
node_dict_factory alias of builtins.dict
nodes([data]) Return a list of the nodes in the graph.
nodes_iter([data]) Return an iterator over the nodes.
nodes_with_selfloops() Return a list of nodes with self loops.
number_of_edges([u, v]) Return the number of edges between two nodes.
number_of_nodes() Return the number of nodes in the graph.
number_of_selfloops() Return the number of selfloop edges.
order() Return the number of nodes in the graph.
out_degree([nbunch, weight]) Return the out-degree of a node or nodes.
out_degree_iter([nbunch, weight]) Return an iterator for (node, out-degree).
out_edges([nbunch, data, default]) Return a list of edges.
out_edges_iter([nbunch, data, default]) Return an iterator over the edges.
predecessors(n) Return a list of predecessor nodes of n.
predecessors_iter(n) Return an iterator over predecessor nodes of n.
remove_edge(*args, **kwargs) Remove the edge between u and v.
remove_edges_from(*args, **kwargs) Remove all edges specified in ebunch.
remove_node(n) Remove node n.
remove_nodes_from(nbunch) Remove multiple nodes.
reverse([copy]) Return the reverse of the graph.
selfloop_edges([data, default]) Return a list of selfloop edges.
size([weight]) Return the number of edges.
subgraph(nbunch) Return the subgraph induced on nodes in nbunch.
successors(n) Return a list of successor nodes of n.
successors_iter(n) Return an iterator over successor nodes of n.
to_directed() Return a directed copy of the graph.
to_undirected([reciprocal]) Return an undirected representation of the digraph.
disconnect_path  
get_edge_data_direction  
shortest_path_undirected  
add_edge(u, v, *args, **kwargs)

Add an edge between u and v.

The nodes u and v will be automatically added if they are not already in the graph.

Edge attributes can be specified with keywords or by providing a dictionary with key/value pairs. See examples below.

Parameters:
u, v : nodes

Nodes can be, for example, strings or numbers. Nodes must be hashable (and not None) Python objects.

attr_dict : dictionary, optional (default= no attributes)

Dictionary of edge attributes. Key/value pairs will update existing data associated with the edge.

attr : keyword arguments, optional

Edge data (or labels or objects) can be assigned using keyword arguments.

See also

add_edges_from
add a collection of edges

Notes

Adding an edge that already exists updates the edge data.

Many NetworkX algorithms designed for weighted graphs use as the edge weight a numerical value assigned to a keyword which by default is ‘weight’.

Examples

The following all add the edge e=(1,2) to graph G:

>>> G = nx.Graph()   # or DiGraph, MultiGraph, MultiDiGraph, etc
>>> e = (1,2)
>>> G.add_edge(1, 2)           # explicit two-node form
>>> G.add_edge(*e)             # single edge as tuple of two nodes
>>> G.add_edges_from( [(1,2)] ) # add edges from iterable container

Associate data to edges using keywords:

>>> G.add_edge(1, 2, weight=3)
>>> G.add_edge(1, 3, weight=7, capacity=15, length=342.7)
add_edges_from(*args, **kwargs)

Add all the edges in ebunch.

Parameters:
ebunch : container of edges

Each edge given in the container will be added to the graph. The edges must be given as as 2-tuples (u,v) or 3-tuples (u,v,d) where d is a dictionary containing edge data.

attr_dict : dictionary, optional (default= no attributes)

Dictionary of edge attributes. Key/value pairs will update existing data associated with each edge.

attr : keyword arguments, optional

Edge data (or labels or objects) can be assigned using keyword arguments.

See also

add_edge
add a single edge
add_weighted_edges_from
convenient way to add weighted edges

Notes

Adding the same edge twice has no effect but any edge data will be updated when each duplicate edge is added.

Edge attributes specified in edges take precedence over attributes specified generally.

Examples

>>> G = nx.Graph()   # or DiGraph, MultiGraph, MultiDiGraph, etc
>>> G.add_edges_from([(0,1),(1,2)]) # using a list of edge tuples
>>> e = zip(range(0,3),range(1,4))
>>> G.add_edges_from(e) # Add the path graph 0-1-2-3

Associate data to edges

>>> G.add_edges_from([(1,2),(2,3)], weight=3)
>>> G.add_edges_from([(3,4),(1,4)], label='WN2898')
add_path(*args, **kwargs)

Add a path.

Parameters:
nodes : iterable container

A container of nodes. A path will be constructed from the nodes (in order) and added to the graph.

attr : keyword arguments, optional (default= no attributes)

Attributes to add to every edge in path.

See also

add_star, add_cycle

Examples

>>> G=nx.Graph()   # or DiGraph, MultiGraph, MultiDiGraph, etc
>>> G.add_path([0,1,2,3])
>>> G.add_path([10,11,12],weight=7)
disconnect_path(path)
get_edge_data_direction(u, v)
remove_edge(*args, **kwargs)

Remove the edge between u and v.

Parameters:
u, v : nodes

Remove the edge between nodes u and v.

Raises:
NetworkXError

If there is not an edge between u and v.

See also

remove_edges_from
remove a collection of edges

Examples

>>> G = nx.Graph()   # or DiGraph, etc
>>> G.add_path([0,1,2,3])
>>> G.remove_edge(0,1)
>>> e = (1,2)
>>> G.remove_edge(*e) # unpacks e from an edge tuple
>>> e = (2,3,{'weight':7}) # an edge with attribute data
>>> G.remove_edge(*e[:2]) # select first part of edge tuple
remove_edges_from(*args, **kwargs)

Remove all edges specified in ebunch.

Parameters:
ebunch: list or container of edge tuples

Each edge given in the list or container will be removed from the graph. The edges can be:

  • 2-tuples (u,v) edge between u and v.
  • 3-tuples (u,v,k) where k is ignored.

See also

remove_edge
remove a single edge

Notes

Will fail silently if an edge in ebunch is not in the graph.

Examples

>>> G = nx.Graph()   # or DiGraph, MultiGraph, MultiDiGraph, etc
>>> G.add_path([0,1,2,3])
>>> ebunch=[(1,2),(2,3)]
>>> G.remove_edges_from(ebunch)
shortest_path_undirected(u, v)
class trimesh.scene.transforms.TransformForest(base_frame='world')

Bases: object

Attributes:
nodes

A list of every node in the graph.

nodes_geometry

The nodes in the scene graph with geometry attached.

Methods

copy() Return a copy of the current TransformForest
from_edgelist(edges[, strict]) Load transform data from an edge list into the current scene graph.
get(frame_to[, frame_from]) Get the transform from one frame to another, assuming they are connected in the transform tree.
load(edgelist) Load transform data from an edge list into the current scene graph.
md5() MD5 of transforms.
show() Plot the graph layout of the scene.
to_edgelist() Export the current transforms as a list of edge tuples, with each tuple having the format: (node_a, node_b, {metadata})
to_flattened([base_frame]) Export the current transform graph as a flattened
to_gltf(scene) Export a transforms as the ‘nodes’ section of a GLTF dict.
update(frame_to[, frame_from]) Update a transform in the tree.
clear  
to_svg  
clear()
copy()

Return a copy of the current TransformForest

Returns:
copied: TransformForest
from_edgelist(edges, strict=True)

Load transform data from an edge list into the current scene graph.

Parameters:
edgelist : (n,) tuples

(node_a, node_b, {key: value})

strict : bool

If true, raise a ValueError when a malformed edge is passed in a tuple.

get(frame_to, frame_from=None)

Get the transform from one frame to another, assuming they are connected in the transform tree.

If the frames are not connected a NetworkXNoPath error will be raised.

frame_from: hashable object, usually a string (eg ‘world’).
If left as None it will be set to self.base_frame

frame_to: hashable object, usually a string (eg ‘mesh_0’)

Returns:
transform: (4,4) homogenous transformation matrix
load(edgelist)

Load transform data from an edge list into the current scene graph.

Parameters:
edgelist : (n,) tuples

(node_a, node_b, {key: value})

md5()

MD5 of transforms.

Currently only hashing update time.

nodes

A list of every node in the graph.

Returns:
nodes: (n,) array, of node names
nodes_geometry

The nodes in the scene graph with geometry attached.

Returns:
nodes_geometry: (m,) array, of node names
show()

Plot the graph layout of the scene.

to_edgelist()

Export the current transforms as a list of edge tuples, with each tuple having the format: (node_a, node_b, {metadata})

Returns:
edgelist: (n,) list of tuples
to_flattened(base_frame=None)

Export the current transform graph as a flattened

to_gltf(scene)

Export a transforms as the ‘nodes’ section of a GLTF dict. Flattens tree.

Returns:
gltf : dict
with keys:

‘nodes’: list of dicts

to_svg()
update(frame_to, frame_from=None, **kwargs)

Update a transform in the tree.

frame_from: hashable object, usually a string (eg ‘world’).
If left as None it will be set to self.base_frame

frame_to: hashable object, usually a string (eg ‘mesh_0’)

matrix: (4,4) array quaternion: (4) quaternion axis: (3) array angle: float, radians translation: (3) array geometry : Geometry object name

trimesh.scene.transforms.kwargs_to_matrix(**kwargs)

Turn a set of keyword arguments into a transformation matrix.

trimesh.scene.transforms.path_to_edges(path)

Turn an (n) path into a (2(n-1)) set of edges

Module contents