util module

Define functions to be used everywhere in the subpackage.

triangles_ray_intersections(origin, direction, m_mesh, edges_1, edges_2, vertices_1, normals, eps)[source]

Detect collision between a single ray and several triangles of mesh.

Based on Möller–Trumbore intersection algorithm. Stolen and adapted from printrun library. Parallel implementation taken from @V0XNIHILI.

Parameters:

  • origin (np.ndarray(3, )) – Holds the starting point of the ray.

  • direction (np.ndarray(3, )) – Holds the direction of the ray.

  • m_mesh (int) – Number of triangles under study.

  • edges_1 (np.ndarray(m_mesh, 3)) – The first edge of every triangle.

  • edges_2 (np.ndarray(m_mesh, 3)) – The second edge of every triangle.

  • vertices_1 (np.ndarray(m_mesh, 3)) – The junction point of edges_1 and edges_2 for every triangle.

  • normals (np.ndarray(m_mesh, 3)) – Normal vector of every triangle.

  • eps (float) – Tolerance.

Return type:

tuple[ndarray, ndarray, ndarray]

Returns:

  • collisions (np.ndarray(m_mesh, )) – Array of booleans telling if there was a collision or not.

  • distances (np.ndarray(m_mesh, )) – Array of floats giving distance between origin and the triangle.

  • impact_angles (np.ndarray(m_mesh, )) – Holds the impact angles in radians, or a nan.