.. DO NOT EDIT.
.. THIS FILE WAS AUTOMATICALLY GENERATED BY SPHINX-GALLERY.
.. TO MAKE CHANGES, EDIT THE SOURCE PYTHON FILE:
.. "_auto_examples/aabbtree/plot_aabbtree.py"
.. LINE NUMBERS ARE GIVEN BELOW.

.. only:: html

    .. note::
        :class: sphx-glr-download-link-note

        Click :ref:`here <sphx_glr_download__auto_examples_aabbtree_plot_aabbtree.py>`
        to download the full example code

.. rst-class:: sphx-glr-example-title

.. _sphx_glr__auto_examples_aabbtree_plot_aabbtree.py:


=========
AABB Tree
=========

Plot AABB tree.

.. GENERATED FROM PYTHON SOURCE LINES 8-78



.. image-sg:: /_auto_examples/aabbtree/images/sphx_glr_plot_aabbtree_001.png
   :alt: plot aabbtree
   :srcset: /_auto_examples/aabbtree/images/sphx_glr_plot_aabbtree_001.png
   :class: sphx-glr-single-img





.. code-block:: default

    from distance3d.aabb_tree import AabbTree

    print(__doc__)
    import numpy as np
    import pytransform3d.plot_utils as ppu
    import matplotlib.pyplot as plt
    from distance3d import containment, random, plotting

    ax = ppu.make_3d_axis(3)
    random_state = np.random.RandomState(0)

    center, radius = random.rand_sphere(random_state)
    mins, maxs = containment.sphere_aabb(center, radius)
    ppu.plot_sphere(ax, radius, center, wireframe=False, alpha=0.5)
    plotting.plot_aabb(ax, mins, maxs)
    aabb1 = np.array([mins, maxs]).T

    box2origin, size = random.rand_box(random_state)
    mins, maxs = containment.box_aabb(box2origin, size)
    ppu.plot_box(ax=ax, A2B=box2origin, size=size, wireframe=False, alpha=0.5)
    plotting.plot_aabb(ax, mins, maxs)
    aabb2 = np.array([mins, maxs]).T

    cylinder2origin, radius, length = random.rand_cylinder(random_state)
    mins, maxs = containment.cylinder_aabb(cylinder2origin, radius, length)
    ppu.plot_cylinder(ax=ax, A2B=cylinder2origin, radius=radius, length=length, wireframe=False, alpha=0.5)
    plotting.plot_aabb(ax, mins, maxs)
    aabb3 = np.array([mins, maxs]).T

    capsule2origin, radius, height = random.rand_capsule(random_state)
    mins, maxs = containment.capsule_aabb(capsule2origin, radius, height)
    ppu.plot_capsule(ax, capsule2origin, height, radius, wireframe=False, alpha=0.5)
    plotting.plot_aabb(ax, mins, maxs)
    aabb4 = np.array([mins, maxs]).T

    ellipsoid2origin, radii = random.rand_ellipsoid(random_state)
    mins, maxs = containment.ellipsoid_aabb(ellipsoid2origin, radii)
    ppu.plot_ellipsoid(ax, radii, ellipsoid2origin, wireframe=False, alpha=0.5)
    plotting.plot_aabb(ax, mins, maxs)
    aabb5 = np.array([mins, maxs]).T

    cone2origin, radius, height = random.rand_cone(random_state)
    mins, maxs = containment.cone_aabb(cone2origin, radius, height)
    ppu.plot_cone(ax, height, radius, cone2origin, wireframe=False, alpha=0.5)
    plotting.plot_aabb(ax, mins, maxs)
    aabb6 = np.array([mins, maxs]).T

    center, radius, normal = random.rand_circle(random_state)
    mins, maxs = containment.disk_aabb(center, radius, normal)
    plotting.plot_circle(ax, center, radius, normal, surface_alpha=0.5, color="k")
    plotting.plot_aabb(ax, mins, maxs)
    aabb7 = np.array([mins, maxs]).T

    center, axes, radii = random.rand_ellipse(random_state, center_scale=10.0, radii_scale=0.3)
    mins, maxs = containment.ellipse_aabb(center, axes, radii)
    plotting.plot_ellipse(ax, center, axes, radii, surface_alpha=0.5, color="k")
    plotting.plot_aabb(ax, mins, maxs)
    aabb8 = np.array([mins, maxs]).T

    tree = AabbTree()
    tree.insert_aabb(aabb1, "sphere")
    tree.insert_aabb(aabb2, "box")
    tree.insert_aabb(aabb3, "cylinder")
    tree.insert_aabb(aabb4, "capsule")
    tree.insert_aabb(aabb5, "ellipsoid")
    tree.insert_aabb(aabb6, "cone")
    tree.insert_aabb(aabb7, "disk")
    tree.insert_aabb(aabb8, "ellipse")
    plotting.plot_aabb_tree(ax, tree)
    plt.show()


.. rst-class:: sphx-glr-timing

   **Total running time of the script:** ( 0 minutes  0.241 seconds)


.. _sphx_glr_download__auto_examples_aabbtree_plot_aabbtree.py:

.. only:: html

  .. container:: sphx-glr-footer sphx-glr-footer-example


    .. container:: sphx-glr-download sphx-glr-download-python

      :download:`Download Python source code: plot_aabbtree.py <plot_aabbtree.py>`

    .. container:: sphx-glr-download sphx-glr-download-jupyter

      :download:`Download Jupyter notebook: plot_aabbtree.ipynb <plot_aabbtree.ipynb>`


.. only:: html

 .. rst-class:: sphx-glr-signature

    `Gallery generated by Sphinx-Gallery <https://sphinx-gallery.github.io>`_