trimesh.collision

class trimesh.collision.CollisionManager

Bases: object

A mesh-mesh collision manager.

__init__()

Initialize a mesh-mesh collision manager.

add_object(name, mesh, transform=None)

Add an object to the collision manager.

If an object with the given name is already in the manager, replace it.

Parameters:

  • name (str) – An identifier for the object

  • mesh (Trimesh object) – The geometry of the collision object

  • transform ((4,4) float) – Homogeneous transform matrix for the object

in_collision_internal(return_names=False, return_data=False)

Check if any pair of objects in the manager collide with one another.

Parameters:

  • return_names (bool) – If true, a set is returned containing the names of all pairs of objects in collision.

  • return_data (bool) – If true, a list of ContactData is returned as well

Returns:

  • is_collision (bool) – True if a collision occurred between any pair of objects and False otherwise

  • names (set of 2-tup) – The set of pairwise collisions. Each tuple contains two names in alphabetical order indicating that the two corresponding objects are in collision.

  • contacts (list of ContactData) – All contacts detected

in_collision_other(other_manager, return_names=False, return_data=False)

Check if any object from this manager collides with any object from another manager.

Parameters:

  • other_manager (CollisionManager) – Another collision manager object

  • return_names (bool) – If true, a set is returned containing the names of all pairs of objects in collision.

  • return_data (bool) – If true, a list of ContactData is returned as well

Returns:

  • is_collision (bool) – True if a collision occurred between any pair of objects and False otherwise

  • names (set of 2-tup) – The set of pairwise collisions. Each tuple contains two names (first from this manager, second from the other_manager) indicating that the two corresponding objects are in collision.

  • contacts (list of ContactData) – All contacts detected

in_collision_single(mesh, transform=None, return_names=False, return_data=False)

Check a single object for collisions against all objects in the manager.

Parameters:

  • mesh (Trimesh object) – The geometry of the collision object

  • transform ((4,4) float) – Homogeneous transform matrix

  • return_names (bool) – If true, a set is returned containing the names of all objects in collision with the object

  • return_data (bool) – If true, a list of ContactData is returned as well

Returns:

  • is_collision (bool) – True if a collision occurs and False otherwise

  • names (set of str) – [OPTIONAL] The set of names of objects that collided with the provided one

  • contacts (list of ContactData) – [OPTIONAL] All contacts detected

min_distance_internal(name=None, return_names=False, return_data=False)

Get the minimum distance between objects in the manager.

If name is provided, computes the minimum distance between the specified object and any other object in the manager. If name is None, computes the minimum distance between any pair of objects in the manager.

Parameters:

  • name (str or None) – If provided, the identifier for the object already in the manager to compute distances from. If None, computes distances between all pairs of objects.

  • return_names (bool) – If true, a 2-tuple is returned containing the names of the closest objects.

  • return_data (bool) – If true, a DistanceData object is returned as well

Returns:

  • distance (float) – Min distance between objects

  • names ((2,) str) – The names of the closest objects

  • data (DistanceData) – Extra data about the distance query

min_distance_other(other_manager, return_names=False, return_data=False)

Get the minimum distance between any pair of objects, one in each manager.

Parameters:

  • other_manager (CollisionManager) – Another collision manager object

  • return_names (bool) – If true, a 2-tuple is returned containing the names of the closest objects.

  • return_data (bool) – If true, a DistanceData object is returned as well

Returns:

  • distance (float) – The min distance between a pair of objects, one from each manager.

  • names (2-tup of str) – A 2-tuple containing two names (first from this manager, second from the other_manager) indicating the two closest objects.

  • data (DistanceData) – Extra data about the distance query

min_distance_single(mesh, transform=None, return_name=False, return_data=False)

Get the minimum distance between a single object and any object in the manager.

Parameters:

  • mesh (Trimesh object) – The geometry of the collision object

  • transform ((4,4) float) – Homogeneous transform matrix for the object

  • return_names (bool) – If true, return name of the closest object

  • return_data (bool) – If true, a DistanceData object is returned as well

Returns:

  • distance (float) – Min distance between mesh and any object in the manager

  • name (str) – The name of the object in the manager that was closest

  • data (DistanceData) – Extra data about the distance query

remove_object(name)

Delete an object from the collision manager.

Parameters:

name (str) – The identifier for the object

set_transform(name, transform)

Set the transform for one of the manager’s objects. This replaces the prior transform.

Parameters:

  • name (str) – An identifier for the object already in the manager

  • transform ((4,4) float) – A new homogeneous transform matrix for the object

class trimesh.collision.ContactData(names, contact)

Bases: object

Data structure for holding information about a collision contact.

__init__(names, contact)

Initialize a ContactData.

Parameters:

  • names (list of str) – The names of the two objects in order.

  • contact (fcl.Contact) – The contact in question.

property depth

The penetration depth of the 3D point of intersection for this contact.

Returns:

depth – The penetration depth.

Return type:

float

index(name)

Returns the index of the face in contact for the mesh with the given name.

Parameters:

name (str) – The name of the target object.

Returns:

index – The index of the face in collision

Return type:

int

property normal

The 3D intersection normal for this contact.

Returns:

normal – The intersection normal.

Return type:

(3,) float

property point

The 3D point of intersection for this contact.

Returns:

point – The intersection point.

Return type:

(3,) float

class trimesh.collision.DistanceData(names, result)

Bases: object

Data structure for holding information about a distance query.

__init__(names, result)

Initialize a DistanceData.

Parameters:

  • names (list of str) – The names of the two objects in order.

  • contact (fcl.DistanceResult) – The distance query result.

property distance

Returns the distance between the two objects.

Returns:

distance – The euclidean distance between the objects.

Return type:

float

index(name)

Returns the index of the closest face for the mesh with the given name.

Parameters:

name (str) – The name of the target object.

Returns:

index – The index of the face in collisoin.

Return type:

int

point(name)

The 3D point of closest distance on the mesh with the given name.

Parameters:

name (str) – The name of the target object.

Returns:

point – The closest point.

Return type:

(3,) float

trimesh.collision.mesh_to_BVH(mesh)

Create a BVHModel object from a Trimesh object

Parameters:

mesh (Trimesh) – Input geometry

Returns:

bvh – BVH of input geometry

Return type:

fcl.BVHModel

trimesh.collision.mesh_to_convex(mesh)

Create a Convex object from a Trimesh object

Parameters:

mesh (Trimesh) – Input geometry

Returns:

convex – Convex of input geometry

Return type:

fcl.Convex

trimesh.collision.scene_to_collision(scene)

Create collision objects from a trimesh.Scene object.

Parameters:

scene (trimesh.Scene) – Scene to create collision objects for

Returns:

  • manager (CollisionManager) – CollisionManager for objects in scene

  • objects ({node name: CollisionObject}) – Collision objects for nodes in scene