def test_cap_nohit(self):
# check to see if we handle capping with
# non-intersecting planes well
try:
from triangle import triangulate # NOQA
except BaseException as E:
if g.all_dep:
raise E
else:
return
for i in range(100):
from trimesh.transformations import random_rotation_matrix
box1 = g.trimesh.primitives.Box(extents=[10, 20, 30],
transform=random_rotation_matrix())
box2 = g.trimesh.primitives.Box(extents=[10, 20, 30],
transform=random_rotation_matrix())
result = g.trimesh.intersections.slice_mesh_plane(
mesh=box2,
plane_normal=-box1.face_normals,
plane_origin=box1.vertices[box1.faces[:, 1]],
cap=True)
assert len(result.faces) > 0
def setUp(self):
self.points = tf.random_vector((128, 3)).astype(np.float32)
self.T1 = tf.random_rotation_matrix()
self.T1[:3, 3] = tf.random_vector((3, ))
self.T1 = self.T1.astype(np.float32)
self.T2 = np.asarray([tf.random_rotation_matrix() for _ in range(5)])
self.T2[:, :3, 3] = tf.random_vector((5, 3))
self.T2 = self.T2.astype(np.float32)
def rotate(obj_path, out_path, angle_list, base=False, random=False):
mesh = load_mesh(obj_path)
mesh.vertices -= mesh.center_mass
# Calculate the momentum and principal axes
inertia = mesh.moment_inertia
if base == True:
p_axis = Principal_Axes(inertia)
p_R = np.concatenate((np.concatenate(p_axis, axis=0).reshape(
-1, 3), np.array([[0., 0., 0.]])),
axis=0)
R = np.concatenate((p_R, np.array([[0.], [0.], [0.], [1]])), axis=1)
else:
if random == False:
alpha, beta, gamma = np.radians(angle_list[0]), np.radians(angle_list[1]),\
np.radians(angle_list[2])
Rx = transform.rotation_matrix(alpha, [1, 0, 0])
Ry = transform.rotation_matrix(beta, [0, 1, 0])
Rz = transform.rotation_matrix(gamma, [0, 0, 1])
R = transform.concatenate_matrices(Rx, Ry, Rz)
else:
# Random Rotation Matrix
R = transform.random_rotation_matrix()
# Rotation
mesh.apply_transform(R)
mesh.export(out_path)
def create_scene2():
scene = trimesh.Scene()
for _ in range(5):
geom = trimesh.load('models/fuze.obj')
R = tf.random_rotation_matrix()
T = tf.translation_matrix(np.random.uniform(-0.3, 0.3, (3, )))
scene.add_geometry(geom, transform=T @ R)
return scene
def create_scene1():
scene = trimesh.Scene()
for _ in range(20):
geom = trimesh.creation.axis(0.02)
R = tf.random_rotation_matrix()
T = tf.translation_matrix(np.random.uniform(-1, 1, (3, )))
scene.add_geometry(geom, transform=T @ R)
return scene
def setUp(self):
batch_size = 5
self.Rs = np.asarray(
[tf.random_rotation_matrix() for _ in range(batch_size)],
dtype=np.float32,
)[:, :3, :3]
self.ts = np.asarray(
[tf.random_vector((3, )) for _ in range(batch_size)],
dtype=np.float32,
)
self.gTs = np.random.uniform(-1, 1,
(batch_size, 4, 4)).astype(np.float32)
self.check_backward_options = {"atol": 5e-4, "rtol": 5e-3}
def setUp(self):
self.R = tf.random_rotation_matrix()
self.t = tf.random_vector((3, ))