distance3d.colliders.MeshGraph

class distance3d.colliders.MeshGraph(mesh2origin, vertices, triangles, artist=None)

Mesh collider that uses triangles for hill climbing.

Parameters:

mesh2originarray, shape (4, 4)

Pose of the mesh.

verticesarray, shape (n_vertices, 3)

Vertices of the mesh.

trianglesarray, shape (n_triangles, 3)

Indices of vertices that form triangles of the mesh.

artistpytransform3d.visualizer.Artist, optional (default: None)

Corresponding artist for visualizer.

Methods

aabb()	Get axis-aligned bounding box.
center()	Returns the (approximate) center of the collider.
collider2origin()	Get the transformation matrix of the collider
first_vertex()	Get vertex with index 0 from collider to initialize GJK algorithm.
make_artist([c])	Make artist that represents this collider.
support_function(search_direction)	Support function for collider.
update_pose(mesh2origin)	Update pose of collider.

__init__(mesh2origin, vertices, triangles, artist=None)

Methods

__init__(mesh2origin, vertices, triangles[, ...])
aabb()	Get axis-aligned bounding box.
center()	Returns the (approximate) center of the collider.
collider2origin()	Get the transformation matrix of the collider
first_vertex()	Get vertex with index 0 from collider to initialize GJK algorithm.
make_artist([c])	Make artist that represents this collider.
support_function(search_direction)	Support function for collider.
update_pose(mesh2origin)	Update pose of collider.