trimesh.triangles

triangles.py

Functions for dealing with triangle soups in (n, 3, 3) float form.

Functions:

all_coplanar(triangles)

Check to see if a list of triangles are all coplanar

angles(triangles)

Calculates the angles of input triangles.

any_coplanar(triangles)

For a list of triangles if the FIRST triangle is coplanar with ANY of the following triangles, return True.

area([triangles, crosses, sum])

Calculates the sum area of input triangles

barycentric_to_points(triangles, barycentric)

Convert a list of barycentric coordinates on a list of triangles to cartesian points.

bounds_tree(triangles)

Given a list of triangles, create an r-tree for broad- phase collision detection

closest_point(triangles, points)

Return the closest point on the surface of each triangle for a list of corresponding points.

cross(triangles)

Returns the cross product of two edges from input triangles

diagonal_dot(a, b)

Dot product by row of a and b.

extents(triangles[, areas])

Return the 2D bounding box size of each triangle.

mass_properties(triangles[, crosses, …])

Calculate the mass properties of a group of triangles.

nondegenerate(triangles[, areas, height])

Find all triangles which have an oriented bounding box where both of the two sides is larger than a specified height.

normals([triangles, crosses])

Calculates the normals of input triangles

point_plane_distance(points, plane_normal[, …])

The minimum perpendicular distance of a point to a plane.

points_to_barycentric(triangles, points[, …])

Find the barycentric coordinates of points relative to triangles.

to_kwargs(triangles)

Convert a list of triangles to the kwargs for the Trimesh constructor.

unitize(vectors[, check_valid, threshold])

Unitize a vector or an array or row-vectors.

windings_aligned(triangles, normals_compare)

Given a list of triangles and a list of normals determine if the two are aligned
trimesh.triangles.all_coplanar(triangles)

Check to see if a list of triangles are all coplanar

Parameters

triangles ((n, 3, 3) float) – Vertices of triangles

Returns

all_coplanar – True if all triangles are coplanar

Return type

bool

trimesh.triangles.angles(triangles)

Calculates the angles of input triangles.

Parameters

triangles ((n, 3, 3) float) – Vertex positions

Returns

angles – Angles at vertex positions in radians Degenerate angles will be returned as zero

Return type

(n, 3) float

trimesh.triangles.any_coplanar(triangles)

For a list of triangles if the FIRST triangle is coplanar with ANY of the following triangles, return True. Otherwise, return False.

trimesh.triangles.area(triangles=None, crosses=None, sum=False)

Calculates the sum area of input triangles

Parameters

  • triangles ((n, 3, 3) float) – Vertices of triangles

  • crosses ((n, 3) float or None) – As a speedup don’t re- compute cross products

  • sum (bool) – Return summed area or individual triangle area

Returns

area – Individual or summed area depending on sum argument

Return type

(n,) float or float

trimesh.triangles.barycentric_to_points(triangles, barycentric)

Convert a list of barycentric coordinates on a list of triangles to cartesian points.

Parameters

  • triangles ((n, 3, 3) float) – Triangles in space

  • barycentric ((n, 2) float) – Barycentric coordinates

Returns

points – Points in space

Return type

(m, 3) float

trimesh.triangles.bounds_tree(triangles)

Given a list of triangles, create an r-tree for broad- phase collision detection

Parameters

triangles ((n, 3, 3) float) – Triangles in space

Returns

tree – One node per triangle

Return type

rtree.Rtree

trimesh.triangles.closest_point(triangles, points)

Return the closest point on the surface of each triangle for a list of corresponding points.

Implements the method from “Real Time Collision Detection” and use the same variable names as “ClosestPtPointTriangle” to avoid being any more confusing.

Parameters

  • triangles ((n, 3, 3) float) – Triangle vertices in space

  • points ((n, 3) float) – Points in space

Returns

closest – Point on each triangle closest to each point

Return type

(n, 3) float

trimesh.triangles.cross(triangles)

Returns the cross product of two edges from input triangles

Parameters

triangles ((n, 3, 3) float) – Vertices of triangles

Returns

crosses – Cross product of two edge vectors

Return type

(n, 3) float

trimesh.triangles.extents(triangles, areas=None)

Return the 2D bounding box size of each triangle.

Parameters

  • triangles ((n, 3, 3) float) – Triangles in space

  • areas ((n,) float) – Optional area of input triangles

Returns

box – The size of each triangle’s 2D oriented bounding box

Return type

(n, 2) float

trimesh.triangles.mass_properties(triangles, crosses=None, density=1.0, center_mass=None, skip_inertia=False)

Calculate the mass properties of a group of triangles.

Implemented from: http://www.geometrictools.com/Documentation/PolyhedralMassProperties.pdf

Parameters

  • triangles ((n, 3, 3) float) – Triangle vertices in space

  • crosses ((n,) float) – Optional cross products of triangles

  • density (float) – Optional override for density

  • center_mass ((3,) float) – Optional override for center mass

  • skip_inertia (bool) – if True will not return moments matrix

Returns

info – Mass properties

Return type

dict

trimesh.triangles.nondegenerate(triangles, areas=None, height=None)

Find all triangles which have an oriented bounding box where both of the two sides is larger than a specified height.

Degenerate triangles can be when: 1) Two of the three vertices are colocated 2) All three vertices are unique but colinear

Parameters

  • triangles ((n, 3, 3) float) – Triangles in space

  • height (float) – Minimum edge length of a triangle to keep

Returns

nondegenerate – True if a triangle meets required minimum height

Return type

(n,) bool

trimesh.triangles.normals(triangles=None, crosses=None)

Calculates the normals of input triangles

Parameters

  • triangles ((n, 3, 3) float) – Vertex positions

  • crosses ((n, 3) float) – Cross products of edge vectors

Returns

  • normals ((m, 3) float) – Normal vectors

  • valid ((n,) bool) – Was the face nonzero area or not

trimesh.triangles.points_to_barycentric(triangles, points, method='cramer')

Find the barycentric coordinates of points relative to triangles.

The Cramer’s rule solution implements:

http://blackpawn.com/texts/pointinpoly

The cross product solution implements:

https://www.cs.ubc.ca/~heidrich/Papers/JGT.05.pdf

Parameters

  • triangles ((n, 3, 3) float) – Triangles vertices in space

  • points ((n, 3) float) – Point in space associated with a triangle

  • method (str) –

    Which method to compute the barycentric coordinates with:
    • ’cross’: uses a method using cross products, roughly 2x slower but

      different numerical robustness properties

    • anything else: uses a cramer’s rule solution

Returns

barycentric – Barycentric coordinates of each point

Return type

(n, 3) float

trimesh.triangles.to_kwargs(triangles)

Convert a list of triangles to the kwargs for the Trimesh constructor.

Parameters

triangles ((n, 3, 3) float) – Triangles in space

Returns

kwargs – Keyword arguments for the trimesh.Trimesh constructor Includes keys ‘vertices’ and ‘faces’

Return type

dict

Examples

>>> mesh = trimesh.Trimesh(**trimesh.triangles.to_kwargs(triangles))
trimesh.triangles.windings_aligned(triangles, normals_compare)

Given a list of triangles and a list of normals determine if the two are aligned

Parameters

  • triangles ((n, 3, 3) float) – Vertex locations in space

  • normals_compare ((n, 3) float) – List of normals to compare

Returns

aligned – Are normals aligned with triangles

Return type

(n,) bool