trimesh.voxel.transforms

class trimesh.voxel.transforms.Transform(matrix, datastore: DataStore | None = None)

Bases: object

Class for caching metadata associated with 4x4 transformations.

The transformation matrix is used to define relevant properties for the voxels, including pitch and origin.

__init__(matrix, datastore: DataStore | None = None)

Initialize with a transform.

Parameters:

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

• datastore – If passed store the actual values in a reference to another datastore.

apply_scale(scale)

Mutate the transform in-place and return self.

apply_transform(matrix)

Mutate the transform in-place and return self.

apply_translation(translation)

Mutate the transform in-place and return self.

copy()

property inverse_matrix

inverse_transform_points(points)

Apply the inverse transformation to points (not in-place).

property is_identity

Flags this transformation being sufficiently close to eye(4).

property matrix

Get the homogeneous transformation matrix.

Returns:

matrix – Transformation matrix

Return type:

(4, 4) float

property pitch

property scale

Get the scale factor of the current transformation.

Returns:

scale – Scale factor from the matrix

Return type:

(3,) float

transform_points(points)

Apply the transformation to points (not in-place).

Parameters:

points ((n, 3) float) – Points in cartesian space

Returns:

transformed – Points transformed by matrix

Return type:

(n, 3) float

property translation

Get the translation component of the matrix

Returns:

translation – Cartesian translation

Return type:

(3,) float

property unit_volume

Volume of a transformed unit cube.