<commit_before>import numpy as np
import collections
import copy

from .. import util
from .. import units
from .. import convex
from .. import caching
from .. import grouping
from .. import transformations

from .. import bounds as bounds_module

from ..io import gltf
from .transforms import TransformForest


class Scene:
    '''
    A simple scene graph which can be rendered directly via pyglet/openGL,
    or through other endpoints such as a raytracer.

    Meshes and lights are added by name, which can then be moved by updating
    transform in the transform tree.
    '''

    def __init__(self,
                 geometry=None,
                 base_frame='world',
                 metadata={}):

        # mesh name : Trimesh object
        self.geometry = collections.OrderedDict()

        # graph structure of instances
        self.graph = TransformForest(base_frame=base_frame)

        self._cache = caching.Cache(id_function=self.md5)

        self.add_geometry(geometry)
        self.set_camera()

        self.metadata = {}
        self.metadata.update(metadata)

    def add_geometry(self,
                     geometry,
                     node_name=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, Path3D, or list of same
        node_name: name in the scene graph

        Returns
        ----------
        node_name: str, name of node in self.graph
        '''
        if geometry is None:
            return

        # if passed a sequence call add_geometry on all elements
        if util.is_sequence(geometry):
            return [self.add_geometry(i) for i in geometry]

        # default values for transforms and name
        transforms = np.eye(4).reshape((-1, 4, 4))
        geometry_name = 'geometry_' + str(len(self.geometry))

        # if object has metadata indicating different transforms or name
        # use those values
        if hasattr(geometry, 'metadata'):
            if 'name' in geometry.metadata:
                geometry_name = geometry.metadata['name']

            if 'transforms' in geometry.metadata:
                transforms = np.asanyarray(geometry.metadata['transforms'])
                transforms = transforms.reshape((-1, 4, 4))

        # save the geometry reference
        self.geometry[geometry_name] = geometry

        for i, transform in enumerate(transforms):

            # if we haven't been passed a name to set in the graph
            # use the geometry name plus an index
            if node_name is None:
                node_name = geometry_name + '_' + str(i)

            self.graph.update(frame_to=node_name,
                              matrix=transform,
                              geometry=geometry_name,
                              geometry_flags={'visible': True})

    def md5(self):
        '''
        MD5 of scene, which will change when meshes or transforms are changed

        Returns
        --------
        hashed: str, MD5 hash of scene
        '''

        # get the MD5 of geometry and graph
        data = [i.md5() for i in self.geometry.values()]
        hashed = util.md5_object(np.append(data, self.graph.md5()))

        return hashed

    @property
    def is_empty(self):
        '''
        Does the scene have anything in it.

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

        is_empty = len(self.geometry) == 0
        return is_empty

    @util.cache_decorator
    def bounds(self):
        '''
        Return the overall bounding box of the scene.

        Returns
        --------
        bounds: (2,3) float points for min, max corner
        '''
        corners = collections.deque()

        for node_name in self.graph.nodes_geometry:
            # access the transform and geometry name for every node
            transform, geometry_name = self.graph[node_name]

            # not all nodes have associated geometry
            if geometry_name is None:
                continue

            # geometry objects have bounds properties, which are (2,3) or (2,2)
            current_bounds = self.geometry[geometry_name].bounds.copy()
            # find the 8 corner vertices of the axis aligned bounding box
            current_corners = bounds_module.corners(current_bounds)
            # transform those corners into where the geometry is located
            corners.extend(transformations.transform_points(current_corners,
                                                            transform))
        corners = np.array(corners)
        bounds = np.array([corners.min(axis=0),
                           corners.max(axis=0)])
        return bounds

    @util.cache_decorator
    def extents(self):
        '''
        Return the axis aligned box size of the current scene.

        Returns
        ----------
        extents: (3,) float, bounding box sides length
        '''
        return np.diff(self.bounds, axis=0).reshape(-1)

    @util.cache_decorator
    def scale(self):
        '''
        The approximate scale of the mesh

        Returns
        -----------
        scale: float, the mean of the bounding box edge lengths
        '''
        scale = (self.extents ** 2).sum() ** .5
        return scale

    @util.cache_decorator
    def centroid(self):
        '''
        Return the center of the bounding box for the scene.

        Returns
        --------
        centroid: (3) float point for center of bounding box
        '''
        centroid = np.mean(self.bounds, axis=0)
        return centroid

    @util.cache_decorator
    def triangles(self):
        '''
        Return a correctly transformed polygon soup of the current scene.

        Returns
        ----------
        triangles: (n,3,3) float, triangles in space
        '''
        triangles = collections.deque()
        triangles_node = collections.deque()

        for node_name in self.graph.nodes_geometry:

            transform, geometry_name = self.graph[node_name]

            geometry = self.geometry[geometry_name]
            if not hasattr(geometry, 'triangles'):
                continue

            triangles.append(transformations.transform_points(
                geometry.triangles.copy().reshape((-1, 3)),
                transform))
            triangles_node.append(np.tile(node_name, len(geometry.triangles)))

        self._cache['triangles_node'] = np.hstack(triangles_node)
        triangles = np.vstack(triangles).reshape((-1, 3, 3))
        return triangles

    @util.cache_decorator
    def triangles_node(self):
        '''
        Which node of self.graph does each triangle come from.

        Returns
        ---------
        triangles_index: (len(self.triangles),) node name for each triangle
        '''
        populate = self.triangles
        return self._cache['triangles_node']

    @util.cache_decorator
    def geometry_identifiers(self):
        '''
        Look up geometries by identifier MD5

        Returns
        ---------
        identifiers: dict, identifier md5: key in self.geometry
        '''
        identifiers = {mesh.identifier_md5: name
                       for name, mesh in self.geometry.items()}
        return identifiers

    @util.cache_decorator
    def duplicate_nodes(self):
        '''
        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
        '''
        # if there is no geometry we can have no duplicate nodes
        if len(self.geometry) == 0:
            return []

        # geometry name : md5 of mesh
        mesh_hash = {k: int(m.identifier_md5, 16)
                     for k, m in self.geometry.items()}

        # the name of nodes in the scene graph with geometry
        node_names = np.array(self.graph.nodes_geometry)
        # the geometry names for each node in the same order
        node_geom = np.array([self.graph[i][1] for i in node_names])
        # the mesh md5 for each node in the same order
        node_hash = np.array([mesh_hash[v] for v in node_geom])

        # indexes of identical hashes
        node_groups = grouping.group(node_hash)

        # sequence of node names, where each sublist has identical geometry
        duplicates = [np.sort(node_names[g]).tolist() for g in node_groups]
        return duplicates

    def set_camera(self, angles=None, distance=None, center=None):
        '''
        Add a transform to self.graph for 'camera'

        If arguments are not passed sane defaults will be figured out.

        Parameters
        -----------
        angles:    (3,) float, initial euler angles in radians
        distance:  float, distance away camera should be
        center:    (3,) float, point camera should center on

        '''
        if len(self.geometry) == 0:
            return

        if center is None:
            center = self.centroid
        if distance is None:
            # for a 60.0 degree horizontal FOV
            distance = ((self.extents.max() / 2) /
                        np.tan(np.radians(60.0) / 2.0))

        if angles is None:
            angles = np.zeros(3)

        translation = np.eye(4)
        translation[0:3, 3] = center
        # offset by a distance set by the model size
        # the FOV is set for the Y axis, we multiply by a lightly
        # padded aspect ratio to make sure the model is in view initially
        translation[2][3] += distance * 1.35

        transform = np.dot(transformations.rotation_matrix(angles[0],
                                                           [1, 0, 0],
                                                           point=center),
                           transformations.rotation_matrix(angles[1],
                                                           [0, 1, 0],
                                                           point=center))
        transform = np.dot(transform, translation)

        self.graph.update(frame_from='camera',
                          frame_to=self.graph.base_frame,
                          matrix=transform)

    def rezero(self):
        '''
        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.
        '''
        if self.is_empty or np.allclose(self.centroid, 0.0):
            # early exit since what we want already exists
            return

        # the transformation to move the overall scene to the AABB centroid
        matrix = np.eye(4)
        matrix[:3, 3] = -self.centroid

        # we are going to change the base frame
        new_base = str(self.graph.base_frame) + '_I'
        self.graph.update(frame_from=new_base,
                          frame_to=self.graph.base_frame,
                          matrix=matrix)
        self.graph.base_frame = new_base

    def dump(self):
        '''
        Append all meshes in scene to a list of meshes.

        Returns
        ----------
        dumped: (n,) list, of Trimesh objects transformed to their
                           location the scene.graph
        '''
        result = collections.deque()

        for node_name in self.graph.nodes_geometry:
            transform, geometry_name = self.graph[node_name]

            current = self.geometry[geometry_name].copy()
            current.apply_transform(transform)
            result.append(current)
        return np.array(result)

    @util.cache_decorator
    def convex_hull(self):
        '''
        The convex hull of the whole scene

        Returns
        ---------
        hull: Trimesh object, convex hull of all meshes in scene
        '''
        points = util.vstack_empty([m.vertices for m in self.dump()])
        hull = convex.convex_hull(points)
        return hull

    @util.cache_decorator
    def bounding_box(self):
        '''
        An axis aligned bounding box for the current scene.

        Returns
        ----------
        aabb: trimesh.primitives.Box object with transform and extents defined
              to represent the axis aligned bounding box of the scene
        '''
        from .. import primitives
        center = self.bounds.mean(axis=0)
        aabb = primitives.Box(
            transform=transformations.translation_matrix(center),
            extents=self.extents,
            mutable=False)
        return aabb

    @util.cache_decorator
    def bounding_box_oriented(self):
        '''
        An oriented bounding box for the current mesh.

        Returns
        ---------
        obb: trimesh.primitives.Box object with transform and extents defined
             to represent the minimum volume oriented bounding box of the mesh
        '''
        from .. import primitives
        to_origin, extents = bounds_module.oriented_bounds(self)
        obb = primitives.Box(transform=np.linalg.inv(to_origin),
                             extents=extents,
                             mutable=False)
        return obb

    def export(self, 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)}))
        '''

        if file_type == 'gltf':
            return gltf.export_gltf(self)
        elif file_type == 'glb':
            return gltf.export_glb(self)

        export = {'graph': self.graph.to_edgelist(),
                  'geometry': {},
                  'scene_cache': {'bounds': self.bounds.tolist(),
                                  'extents': self.extents.tolist(),
                                  'centroid': self.centroid.tolist(),
                                  'scale': self.scale}}

        if file_type is None:
            file_type = {'Trimesh': 'ply',
                         'Path2D': 'dxf'}

        # if the mesh has an export method use it, otherwise put the mesh
        # itself into the export object
        for geometry_name, geometry in self.geometry.items():
            if hasattr(geometry, 'export'):
                if isinstance(file_type, dict):
                    # case where we have export types that are different
                    # for different classes of objects.
                    for query_class, query_format in file_type.items():
                        if util.is_instance_named(geometry, query_class):
                            export_type = query_format
                            break
                else:
                    # if file_type is not a dict, try to export everything in the
                    # scene as that value (probably a single string, like
                    # 'ply')
                    export_type = file_type
                exported = {'data': geometry.export(file_type=export_type),
                            'file_type': export_type}
                export['geometry'][geometry_name] = exported
            else:
                # case where mesh object doesn't have exporter
                # might be that someone replaced the mesh with a URL
                export['geometry'][geometry_name] = geometry
        return export

    def save_image(self, resolution=(1024, 768), **kwargs):
        '''
        Get a PNG image of a scene.

        Parameters
        -----------
        resultion: (2,) int, resolution to render image
        **kwargs:  passed to SceneViewer constructor

        Returns
        -----------
        png: bytes, render of scene in PNG form
        '''
        from .viewer import render_scene
        png = render_scene(scene=self,
                           resolution=resolution,
                           **kwargs)
        return png

    def convert_units(self, desired, guess=False):
        '''
        If geometry has units defined, convert them to new units.

        Returns a new scene with geometries and transforms scaled.

        Parameters
        ----------
        units: str, target unit system. EG 'inches', 'mm', etc
        '''
        # if there is no geometry do nothing
        if len(self.geometry) == 0:
            return self

        existing = [i.units for i in self.geometry.values()]
        if any(existing[0] != e for e in existing):
            # if all of our geometry doesn't have the same units already
            # this function will only do some hot nonsense
            raise ValueError('Models in scene have inconsistent units!')

        current = existing[0]
        if current is None:
            # will raise ValueError if not in metadata
            # and not allowed to guess
            current = units.units_from_metadata(self, guess=guess)

        # find the float conversion
        scale = units.unit_conversion(current=current,
                                      desired=desired)

        # exit early if our current units are the same as desired units
        if np.isclose(scale, 1.0):
            result = self.copy()
        else:
            result = self.scaled(scale=scale)

        for geometry in result.geometry.values():
            geometry.units = desired

        return result

    def explode(self, vector=None, origin=None):
        '''
        Explode a scene around a point and vector.

        Parameters
        -----------
        vector: (3,) float, or float, explode in a direction or spherically
        origin: (3,) float, point to explode around
        '''
        if origin is None:
            origin = self.centroid
        if vector is None:
            vector = self.scale / 25.0

        vector = np.asanyarray(vector, dtype=np.float64)
        origin = np.asanyarray(origin, dtype=np.float64)

        for node_name in self.graph.nodes_geometry:
            transform, geometry_name = self.graph[node_name]

            centroid = self.geometry[geometry_name].centroid
            # transform centroid into nodes location
            centroid = np.dot(transform,
                              np.append(centroid, 1))[:3]

            if vector.shape == ():
                # case where our vector is a single number
                offset = (centroid - origin) * vector
            elif np.shape(vector) == (3,):
                projected = np.dot(vector, (centroid - origin))
                offset = vector * projected
            else:
                raise ValueError('explode vector wrong shape!')

            transform[0:3, 3] += offset
            self.graph[node_name] = transform

    def scaled(self, scale):
        '''
        Return a copy of the current scene, with meshes and scene graph
        transforms scaled to the requested factor.

        Parameters
        -----------
        scale: float, factor to scale meshes and transforms by
        '''
        scale = float(scale)
        scale_matrix = np.eye(4) * scale

        transforms = np.array([self.graph[i][0]
                               for i in self.graph.nodes_geometry])
        geometries = np.array([self.graph[i][1]
                               for i in self.graph.nodes_geometry])

        result = self.copy()
        result.graph.clear()

        for group in grouping.group(geometries):
            geometry = geometries[group[0]]
            original = transforms[group[0]]
            new_geom = np.dot(scale_matrix, original)

            if result.geometry[geometry].vertices.shape[1] == 2:
                # if our scene is 2D only scale in 2D
                result.geometry[geometry].apply_transform(np.eye(3) * scale)
            else:
                # otherwise apply the full transform
                result.geometry[geometry].apply_transform(new_geom)

            for node, t in zip(self.graph.nodes_geometry[group],
                               transforms[group]):
                transform = util.multi_dot([scale_matrix,
                                            t,
                                            np.linalg.inv(new_geom)])
                transform[:3, 3] *= scale
                result.graph.update(frame_to=node,
                                    matrix=transform,
                                    geometry=geometry)
        return result

    def copy(self):
        '''
        Return a deep copy of the current scene

        Returns
        ----------
        copied: trimesh.Scene, copy of the current scene
        '''
        copied = copy.deepcopy(self)
        return copied

    def show(self, **kwargs):
        '''
        Open a pyglet window to preview the current scene

        Parameters
        -----------
        smooth: bool, turn on or off automatic smooth shading
        '''
        # this imports pyglet, and will raise an ImportError
        # if pyglet is not available
        from .viewer import SceneViewer
        SceneViewer(self, **kwargs)


def 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
    '''
    # already a scene, so return it
    if util.is_instance_named(geometry, 'Scene'):
        return geometry

    # a list of things
    if util.is_sequence(geometry):
        metadata = {}
        for g in geometry:
            try:
                metadata.update(g.metadata)
            except BaseException:
                continue
        return Scene(geometry,
                     metadata=metadata)

    # a single geometry so we are going to split
    split = collections.deque()
    metadata = {}
    for g in util.make_sequence(geometry):
        split.extend(g.split())
        metadata.update(g.metadata)
    scene = Scene(split, metadata=metadata)
    return scene
<commit_msg>Fixed doc typo in trimesh/scene/scene.py<commit_after>import numpy as np
import collections
import copy

from .. import util
from .. import units
from .. import convex
from .. import caching
from .. import grouping
from .. import transformations

from .. import bounds as bounds_module

from ..io import gltf
from .transforms import TransformForest


class Scene:
    '''
    A simple scene graph which can be rendered directly via pyglet/openGL,
    or through other endpoints such as a raytracer.

    Meshes and lights are added by name, which can then be moved by updating
    transform in the transform tree.
    '''

    def __init__(self,
                 geometry=None,
                 base_frame='world',
                 metadata={}):

        # mesh name : Trimesh object
        self.geometry = collections.OrderedDict()

        # graph structure of instances
        self.graph = TransformForest(base_frame=base_frame)

        self._cache = caching.Cache(id_function=self.md5)

        self.add_geometry(geometry)
        self.set_camera()

        self.metadata = {}
        self.metadata.update(metadata)

    def add_geometry(self,
                     geometry,
                     node_name=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, Path3D, or list of same
        node_name: name in the scene graph

        Returns
        ----------
        node_name: str, name of node in self.graph
        '''
        if geometry is None:
            return

        # if passed a sequence call add_geometry on all elements
        if util.is_sequence(geometry):
            return [self.add_geometry(i) for i in geometry]

        # default values for transforms and name
        transforms = np.eye(4).reshape((-1, 4, 4))
        geometry_name = 'geometry_' + str(len(self.geometry))

        # if object has metadata indicating different transforms or name
        # use those values
        if hasattr(geometry, 'metadata'):
            if 'name' in geometry.metadata:
                geometry_name = geometry.metadata['name']

            if 'transforms' in geometry.metadata:
                transforms = np.asanyarray(geometry.metadata['transforms'])
                transforms = transforms.reshape((-1, 4, 4))

        # save the geometry reference
        self.geometry[geometry_name] = geometry

        for i, transform in enumerate(transforms):

            # if we haven't been passed a name to set in the graph
            # use the geometry name plus an index
            if node_name is None:
                node_name = geometry_name + '_' + str(i)

            self.graph.update(frame_to=node_name,
                              matrix=transform,
                              geometry=geometry_name,
                              geometry_flags={'visible': True})

    def md5(self):
        '''
        MD5 of scene, which will change when meshes or transforms are changed

        Returns
        --------
        hashed: str, MD5 hash of scene
        '''

        # get the MD5 of geometry and graph
        data = [i.md5() for i in self.geometry.values()]
        hashed = util.md5_object(np.append(data, self.graph.md5()))

        return hashed

    @property
    def is_empty(self):
        '''
        Does the scene have anything in it.

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

        is_empty = len(self.geometry) == 0
        return is_empty

    @util.cache_decorator
    def bounds(self):
        '''
        Return the overall bounding box of the scene.

        Returns
        --------
        bounds: (2,3) float points for min, max corner
        '''
        corners = collections.deque()

        for node_name in self.graph.nodes_geometry:
            # access the transform and geometry name for every node
            transform, geometry_name = self.graph[node_name]

            # not all nodes have associated geometry
            if geometry_name is None:
                continue

            # geometry objects have bounds properties, which are (2,3) or (2,2)
            current_bounds = self.geometry[geometry_name].bounds.copy()
            # find the 8 corner vertices of the axis aligned bounding box
            current_corners = bounds_module.corners(current_bounds)
            # transform those corners into where the geometry is located
            corners.extend(transformations.transform_points(current_corners,
                                                            transform))
        corners = np.array(corners)
        bounds = np.array([corners.min(axis=0),
                           corners.max(axis=0)])
        return bounds

    @util.cache_decorator
    def extents(self):
        '''
        Return the axis aligned box size of the current scene.

        Returns
        ----------
        extents: (3,) float, bounding box sides length
        '''
        return np.diff(self.bounds, axis=0).reshape(-1)

    @util.cache_decorator
    def scale(self):
        '''
        The approximate scale of the mesh

        Returns
        -----------
        scale: float, the mean of the bounding box edge lengths
        '''
        scale = (self.extents ** 2).sum() ** .5
        return scale

    @util.cache_decorator
    def centroid(self):
        '''
        Return the center of the bounding box for the scene.

        Returns
        --------
        centroid: (3) float point for center of bounding box
        '''
        centroid = np.mean(self.bounds, axis=0)
        return centroid

    @util.cache_decorator
    def triangles(self):
        '''
        Return a correctly transformed polygon soup of the current scene.

        Returns
        ----------
        triangles: (n,3,3) float, triangles in space
        '''
        triangles = collections.deque()
        triangles_node = collections.deque()

        for node_name in self.graph.nodes_geometry:

            transform, geometry_name = self.graph[node_name]

            geometry = self.geometry[geometry_name]
            if not hasattr(geometry, 'triangles'):
                continue

            triangles.append(transformations.transform_points(
                geometry.triangles.copy().reshape((-1, 3)),
                transform))
            triangles_node.append(np.tile(node_name, len(geometry.triangles)))

        self._cache['triangles_node'] = np.hstack(triangles_node)
        triangles = np.vstack(triangles).reshape((-1, 3, 3))
        return triangles

    @util.cache_decorator
    def triangles_node(self):
        '''
        Which node of self.graph does each triangle come from.

        Returns
        ---------
        triangles_index: (len(self.triangles),) node name for each triangle
        '''
        populate = self.triangles
        return self._cache['triangles_node']

    @util.cache_decorator
    def geometry_identifiers(self):
        '''
        Look up geometries by identifier MD5

        Returns
        ---------
        identifiers: dict, identifier md5: key in self.geometry
        '''
        identifiers = {mesh.identifier_md5: name
                       for name, mesh in self.geometry.items()}
        return identifiers

    @util.cache_decorator
    def duplicate_nodes(self):
        '''
        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
        '''
        # if there is no geometry we can have no duplicate nodes
        if len(self.geometry) == 0:
            return []

        # geometry name : md5 of mesh
        mesh_hash = {k: int(m.identifier_md5, 16)
                     for k, m in self.geometry.items()}

        # the name of nodes in the scene graph with geometry
        node_names = np.array(self.graph.nodes_geometry)
        # the geometry names for each node in the same order
        node_geom = np.array([self.graph[i][1] for i in node_names])
        # the mesh md5 for each node in the same order
        node_hash = np.array([mesh_hash[v] for v in node_geom])

        # indexes of identical hashes
        node_groups = grouping.group(node_hash)

        # sequence of node names, where each sublist has identical geometry
        duplicates = [np.sort(node_names[g]).tolist() for g in node_groups]
        return duplicates

    def set_camera(self, angles=None, distance=None, center=None):
        '''
        Add a transform to self.graph for 'camera'

        If arguments are not passed sane defaults will be figured out.

        Parameters
        -----------
        angles:    (3,) float, initial euler angles in radians
        distance:  float, distance away camera should be
        center:    (3,) float, point camera should center on

        '''
        if len(self.geometry) == 0:
            return

        if center is None:
            center = self.centroid
        if distance is None:
            # for a 60.0 degree horizontal FOV
            distance = ((self.extents.max() / 2) /
                        np.tan(np.radians(60.0) / 2.0))

        if angles is None:
            angles = np.zeros(3)

        translation = np.eye(4)
        translation[0:3, 3] = center
        # offset by a distance set by the model size
        # the FOV is set for the Y axis, we multiply by a lightly
        # padded aspect ratio to make sure the model is in view initially
        translation[2][3] += distance * 1.35

        transform = np.dot(transformations.rotation_matrix(angles[0],
                                                           [1, 0, 0],
                                                           point=center),
                           transformations.rotation_matrix(angles[1],
                                                           [0, 1, 0],
                                                           point=center))
        transform = np.dot(transform, translation)

        self.graph.update(frame_from='camera',
                          frame_to=self.graph.base_frame,
                          matrix=transform)

    def rezero(self):
        '''
        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.
        '''
        if self.is_empty or np.allclose(self.centroid, 0.0):
            # early exit since what we want already exists
            return

        # the transformation to move the overall scene to the AABB centroid
        matrix = np.eye(4)
        matrix[:3, 3] = -self.centroid

        # we are going to change the base frame
        new_base = str(self.graph.base_frame) + '_I'
        self.graph.update(frame_from=new_base,
                          frame_to=self.graph.base_frame,
                          matrix=matrix)
        self.graph.base_frame = new_base

    def dump(self):
        '''
        Append all meshes in scene to a list of meshes.

        Returns
        ----------
        dumped: (n,) list, of Trimesh objects transformed to their
                           location the scene.graph
        '''
        result = collections.deque()

        for node_name in self.graph.nodes_geometry:
            transform, geometry_name = self.graph[node_name]

            current = self.geometry[geometry_name].copy()
            current.apply_transform(transform)
            result.append(current)
        return np.array(result)

    @util.cache_decorator
    def convex_hull(self):
        '''
        The convex hull of the whole scene

        Returns
        ---------
        hull: Trimesh object, convex hull of all meshes in scene
        '''
        points = util.vstack_empty([m.vertices for m in self.dump()])
        hull = convex.convex_hull(points)
        return hull

    @util.cache_decorator
    def bounding_box(self):
        '''
        An axis aligned bounding box for the current scene.

        Returns
        ----------
        aabb: trimesh.primitives.Box object with transform and extents defined
              to represent the axis aligned bounding box of the scene
        '''
        from .. import primitives
        center = self.bounds.mean(axis=0)
        aabb = primitives.Box(
            transform=transformations.translation_matrix(center),
            extents=self.extents,
            mutable=False)
        return aabb

    @util.cache_decorator
    def bounding_box_oriented(self):
        '''
        An oriented bounding box for the current mesh.

        Returns
        ---------
        obb: trimesh.primitives.Box object with transform and extents defined
             to represent the minimum volume oriented bounding box of the mesh
        '''
        from .. import primitives
        to_origin, extents = bounds_module.oriented_bounds(self)
        obb = primitives.Box(transform=np.linalg.inv(to_origin),
                             extents=extents,
                             mutable=False)
        return obb

    def export(self, 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)}))
        '''

        if file_type == 'gltf':
            return gltf.export_gltf(self)
        elif file_type == 'glb':
            return gltf.export_glb(self)

        export = {'graph': self.graph.to_edgelist(),
                  'geometry': {},
                  'scene_cache': {'bounds': self.bounds.tolist(),
                                  'extents': self.extents.tolist(),
                                  'centroid': self.centroid.tolist(),
                                  'scale': self.scale}}

        if file_type is None:
            file_type = {'Trimesh': 'ply',
                         'Path2D': 'dxf'}

        # if the mesh has an export method use it, otherwise put the mesh
        # itself into the export object
        for geometry_name, geometry in self.geometry.items():
            if hasattr(geometry, 'export'):
                if isinstance(file_type, dict):
                    # case where we have export types that are different
                    # for different classes of objects.
                    for query_class, query_format in file_type.items():
                        if util.is_instance_named(geometry, query_class):
                            export_type = query_format
                            break
                else:
                    # if file_type is not a dict, try to export everything in the
                    # scene as that value (probably a single string, like
                    # 'ply')
                    export_type = file_type
                exported = {'data': geometry.export(file_type=export_type),
                            'file_type': export_type}
                export['geometry'][geometry_name] = exported
            else:
                # case where mesh object doesn't have exporter
                # might be that someone replaced the mesh with a URL
                export['geometry'][geometry_name] = geometry
        return export

    def save_image(self, 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
        '''
        from .viewer import render_scene
        png = render_scene(scene=self,
                           resolution=resolution,
                           **kwargs)
        return png

    def convert_units(self, desired, guess=False):
        '''
        If geometry has units defined, convert them to new units.

        Returns a new scene with geometries and transforms scaled.

        Parameters
        ----------
        units: str, target unit system. EG 'inches', 'mm', etc
        '''
        # if there is no geometry do nothing
        if len(self.geometry) == 0:
            return self

        existing = [i.units for i in self.geometry.values()]
        if any(existing[0] != e for e in existing):
            # if all of our geometry doesn't have the same units already
            # this function will only do some hot nonsense
            raise ValueError('Models in scene have inconsistent units!')

        current = existing[0]
        if current is None:
            # will raise ValueError if not in metadata
            # and not allowed to guess
            current = units.units_from_metadata(self, guess=guess)

        # find the float conversion
        scale = units.unit_conversion(current=current,
                                      desired=desired)

        # exit early if our current units are the same as desired units
        if np.isclose(scale, 1.0):
            result = self.copy()
        else:
            result = self.scaled(scale=scale)

        for geometry in result.geometry.values():
            geometry.units = desired

        return result

    def explode(self, vector=None, origin=None):
        '''
        Explode a scene around a point and vector.

        Parameters
        -----------
        vector: (3,) float, or float, explode in a direction or spherically
        origin: (3,) float, point to explode around
        '''
        if origin is None:
            origin = self.centroid
        if vector is None:
            vector = self.scale / 25.0

        vector = np.asanyarray(vector, dtype=np.float64)
        origin = np.asanyarray(origin, dtype=np.float64)

        for node_name in self.graph.nodes_geometry:
            transform, geometry_name = self.graph[node_name]

            centroid = self.geometry[geometry_name].centroid
            # transform centroid into nodes location
            centroid = np.dot(transform,
                              np.append(centroid, 1))[:3]

            if vector.shape == ():
                # case where our vector is a single number
                offset = (centroid - origin) * vector
            elif np.shape(vector) == (3,):
                projected = np.dot(vector, (centroid - origin))
                offset = vector * projected
            else:
                raise ValueError('explode vector wrong shape!')

            transform[0:3, 3] += offset
            self.graph[node_name] = transform

    def scaled(self, scale):
        '''
        Return a copy of the current scene, with meshes and scene graph
        transforms scaled to the requested factor.

        Parameters
        -----------
        scale: float, factor to scale meshes and transforms by
        '''
        scale = float(scale)
        scale_matrix = np.eye(4) * scale

        transforms = np.array([self.graph[i][0]
                               for i in self.graph.nodes_geometry])
        geometries = np.array([self.graph[i][1]
                               for i in self.graph.nodes_geometry])

        result = self.copy()
        result.graph.clear()

        for group in grouping.group(geometries):
            geometry = geometries[group[0]]
            original = transforms[group[0]]
            new_geom = np.dot(scale_matrix, original)

            if result.geometry[geometry].vertices.shape[1] == 2:
                # if our scene is 2D only scale in 2D
                result.geometry[geometry].apply_transform(np.eye(3) * scale)
            else:
                # otherwise apply the full transform
                result.geometry[geometry].apply_transform(new_geom)

            for node, t in zip(self.graph.nodes_geometry[group],
                               transforms[group]):
                transform = util.multi_dot([scale_matrix,
                                            t,
                                            np.linalg.inv(new_geom)])
                transform[:3, 3] *= scale
                result.graph.update(frame_to=node,
                                    matrix=transform,
                                    geometry=geometry)
        return result

    def copy(self):
        '''
        Return a deep copy of the current scene

        Returns
        ----------
        copied: trimesh.Scene, copy of the current scene
        '''
        copied = copy.deepcopy(self)
        return copied

    def show(self, **kwargs):
        '''
        Open a pyglet window to preview the current scene

        Parameters
        -----------
        smooth: bool, turn on or off automatic smooth shading
        '''
        # this imports pyglet, and will raise an ImportError
        # if pyglet is not available
        from .viewer import SceneViewer
        SceneViewer(self, **kwargs)


def 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
    '''
    # already a scene, so return it
    if util.is_instance_named(geometry, 'Scene'):
        return geometry

    # a list of things
    if util.is_sequence(geometry):
        metadata = {}
        for g in geometry:
            try:
                metadata.update(g.metadata)
            except BaseException:
                continue
        return Scene(geometry,
                     metadata=metadata)

    # a single geometry so we are going to split
    split = collections.deque()
    metadata = {}
    for g in util.make_sequence(geometry):
        split.extend(g.split())
        metadata.update(g.metadata)
    scene = Scene(split, metadata=metadata)
    return scene

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{'dir': 'git-commits-cleaned', 'id': '5795057', 'n_tokens_mistral': 11545, 'n_tokens_neox': 10914, 'n_words': 3660}