Ray

An example showing simple ray-mesh queries.

import numpy as np

import trimesh

# test on a sphere primitive
mesh = trimesh.creation.icosphere()

# create some rays
ray_origins = np.array([[0, 0, -3], [2, 2, -3]])
ray_directions = np.array([[0, 0, 1], [0, 0, 1]])

# check out the docstring for intersects_location queries
mesh.ray.intersects_location.__doc__

'n        Return the location of where a ray hits a surface.nn        Parametersn        ----------n        ray_origins : (n, 3) floatn          Origins of raysn        ray_directions : (n, 3) floatn          Direction (vector) of raysnn        Returnsn        ---------n        locations : (m) sequence of (p, 3) floatn          Intersection pointsn        index_ray : (m,) intn          Indexes of rayn        index_tri : (m,) intn          Indexes of mesh.facesn        '

# run the mesh- ray query
locations, index_ray, index_tri = mesh.ray.intersects_location(
    ray_origins=ray_origins, ray_directions=ray_directions
)

# the rays hit the mesh at coordinateslocations

# the rays with index_ray hit the triangles stored at mesh.faces[index_tri]len(index_ray)

# stack rays into line segments for visualization as Path3D
ray_visualize = trimesh.load_path(
    np.hstack((ray_origins, ray_origins + ray_directions * 5.0)).reshape(-1, 2, 3)
)

# unmerge so viewer doesn't smooth
mesh.unmerge_vertices()
# make mesh white- ish
mesh.visual.face_colors = [255, 255, 255, 255]
mesh.visual.face_colors[index_tri] = [255, 0, 0, 255]

# create a visualization scene with rays, hits, and mesh
scene = trimesh.Scene([mesh, ray_visualize])

# show the visualization
scene.show()