=========
ncollpyde
=========
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A python library for spatial queries of points and line segments with meshes.
ncollpyde wraps around a subset of the parry rust library (formerly its predecessor ncollide).
* Free software: MIT License
* Documentation: https://ncollpyde.readthedocs.io.
Install
-------
``pip install ncollpyde``
Pre-built wheels are available for Linux, MacOS, and Windows.
If you have a stable rust compiler, you should also be able to install from source.
Features
--------
* Checking whether points are inside a volume defined by a triangular mesh
* Checking the intersection of line segments with the mesh
* Get the (signed) distance from points to the boundary of a mesh
Usage
-----
This library implements most of its functionality through the ``Volume`` class,
instantiated from an array of vertices,
and an array of triangles as indices into the vertex array.
.. code-block:: python
# get an array of vertices and triangles which refer to those points
import meshio
mesh = meshio.read("meshes/teapot.stl")
# use this library
from ncollpyde import Volume
volume = Volume(mesh.points, mesh.cells_dict["triangle"])
# or, for convenience
volume = Volume.from_meshio(mesh)
# containment checks: singular and multiple
assert [-2.30, -4.15, 1.90] in volume
assert np.array_equal(
volume.contains(
[
[-2.30, -4.15, 1.90],
[-0.35, -0.51, 7.61],
]
),
[True, False]
)
# line segment intersection
seg_idxs, intersections, is_backface = volume.intersections(
[[-10, -10, -10], [0, 0, 3], [10, 10, 10]],
[[0, 0, 3], [10, 10, 10], [20, 20, 20]],
)
assert np.array_equal(seg_idxs, [0, 1]) # idx 2 does not intersect
assert np.array_equal(seg_idxs, [0, 1])
assert np.allclose(
intersections,
[
[-2.23347309, -2.23347309, 0.09648498],
[ 3.36591285, 3.36591285, 5.356139],
],
)
assert np.array_equal(
is_backface,
[False, True],
)
# distance from boundary (negative means internal)
assert np.array_equal(
volume.distance([[10, 10, 10], [0, 0, 3]]),
[10.08592464, -2.99951118],
)
See the API docs for more advanced usage.
Known issues
------------
* Performance gains for multi-threaded queries are underwhelming, especially for ray intersections: see `this issue <https://github.com/clbarnes/ncollpyde/issues/12>`_
* Very rare false positives for containment
* Due to a `bug in the underlying library <https://github.com/rustsim/ncollide/issues/335>`_
* Only happens when the point is outside the mesh and fires a ray which touches a single edge or vertex of the mesh.
* Also affects ``is_backface`` result for ray intersection checks
* manylinux-compatible wheels are built on CI but not necessarily in your local environment. Always allow CI to deploy the wheels.
* If you are installing from a source distribution rather than a wheel, you need a compatible `rust toolchain <https://www.rust-lang.org/tools/install>`_
* Meshes with >= ~4.3bn vertices are not supported, as the underlying library uses u32 to address them. This is probably not a problem at time of writing; such a mesh would take up hundreds of GB of RAM to operate on.
ncollpyde v0.11 was the last to support ``meshio < 4.0``.
Acknowledgements
----------------
Thanks to top users
`Philipp Schlegel <https://github.com/schlegelp/>`_ (check out `navis <https://github.com/navis-org/navis>`_!)
and `Nik Drummond <https://github.com/nikdrummond>`_
for their help in debugging and expanding ``ncollpyde`` 's functionality.
Thanks also to ``pyo3``/ ``maturin`` developers
`@konstin <https://github.com/konstin>`_
and `@messense <https://github.com/messense/>`_
for taking an interest in the project and helping along the way.
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