gimpact¶

Functions

`initialize`
`terminate`
`trimesh_capsule_collision`	Determines contacts of a trimesh-capsule collision.
`trimesh_plane_collision`	Determines contacts of a trimesh-plane collision.
`trimesh_ray_closest_collision`	Determines closest contact of a trimesh-ray collision.
`trimesh_ray_collision`	Determines contact of a trimesh-ray collision.
`trimesh_sphere_collision`	Determines contacts of a trimesh-sphere collision
`trimesh_trimesh_collision`	Determines contacts of a trimesh-trimesh collision.

Classes

`AABBSet`	Represents a collection of axis-aligned bounding boxes (AABBs)
`Contact`	Represents a collision contact
`TriMesh`	Represents a triangle mesh

class gimpact.AABB¶

Bases: object

Represents an axis-aligned bounding boxes (AABB). If the AABB is returned by an AABBSet, the AABB still “belongs to” to that AABBSet, so modifying it will alter the AABBSet; make a copy of it if you wish to modify it seperately.

Parameters:	min_x (float) – minimum of x axis max_x (float) – maximum of x axis min_y (float) – minimum of y axis max_y (float) – maximum of y axis min_z (float) – minimum of z axis max_z (float) – maximum of z axis

bounds¶: Gets and Sets Bounds of the AABB as a tuple (min_x, max_x, min_y, max_y, min_z, max_z)

clone()¶

clones the AABB.

Returns:	AABB clone
Return type:	AABB

intersection()¶

Finds intersection between the AABB and a given AABB. The resulting intersection will an invalid bounding box (i.e minimum will be greater than maximum in the non-overlapping axis) if both boxes do not intersect.

Parameters:	aabb (AABB) – bounding box
Returns:	intersection of boxes
Return type:	AABB

intersects()¶

Checks if the AABB intersects with a given AABB.

Parameters:	aabb (AABB) – bounding box
Returns:	flag indicating if the boxes intersect
Return type:	bool

max_x¶: Gets and Sets maximum x-axis value of the AABB

max_y¶: Gets and Sets maximum y-axis value of the AABB

max_z¶: Gets and Sets maximum z-axis value of the AABB

merge()¶

Merge the AABB with a given AABB.

Parameters:	aabb (AABB) – bounding box

min_x¶: Gets and Sets minimum x-axis value of the AABB

min_y¶: Gets and Sets minimum x-axis value of the AABB

min_z¶: Gets and Sets minimum z-axis value of the AABB

class gimpact.AABBSet¶

Bases: object

Represents a collection of axis-aligned bounding boxes (AABBs)

Parameters:	count (int) – number of bounding box

find_intersections()¶

Finds all intersections between this AABBs of this AABBSet and those of another.

Parameters:	aabb_set (AABBSet) – the other AABBSet
Returns:	A list of intersecting index pairs
Return type:	List[Tuple[int]]

global_bounds¶

Gets the AABB for the entire collection

Returns:	bounding box of AABBSet
Return type:	AABB

class gimpact.Contact¶

Bases: object

Represents a collision contact

Parameters:	point (Array[float]) – intersection point normal (Array[float]) – friction direction depth (float) – peneration depth feature1 (int) – index of colliding triangle in first mesh. feature2 (int) – index of colliding triangle in second mesh.

class gimpact.TriMesh¶

Bases: object

Represents a triangle mesh

Parameters:	vertices (Array[float]) – array of 3D vertices indices (Array[int]) – array of indices

aabb_set¶

Gets an AABBSet containing the AABBs of the triangles in trimesh

Returns:	AABBSet of Trimesh
Return type:	AABBSet

bounds¶

Gets an AABB bounding the trimesh

Returns:	bounding box of Trimesh
Return type:	AABB

clone()¶

clones the trimesh.

Returns:	trimesh clone
Return type:	Trimesh

decimate()¶

Simplifies mesh to a given target number of faces. Returns the same mesh if its face count is less than or equal to target_count.

Parameters:	target_count (int) – target number of faces
Returns:	simplified trimesh
Return type:	Trimesh

transform()¶

Transform triangle mesh in-place with given matrix.

Parameters:	matrix (Array[float]) – 4 x 4 transformation matrix

triangle()¶

returns vertices of the triangle with specified index

Parameters:	idx (int) – triangle index
Returns:	vertices of triangle with specified index
Return type:	Tuple[Tuple[float, float, float]]

triangle_count¶

Returns the number of triangles in the TriMesh.

Returns:	the number of triangles in the TriMesh
Return type:	int

gimpact.trimesh_capsule_collision()¶

Determines contacts of a trimesh-capsule collision.

Parameters:	trimesh (Trimesh) – triangle mesh point1 (Array[float]) – first end-point of the capsule point2 (Array[float]) – second end-point of the capsule radius (float) – radius of the sphere first_only (bool) – flag that indicates only first contact is required
Returns:	a list of Contacts
Return type:	List[Contact]

gimpact.trimesh_plane_collision()¶

Determines contacts of a trimesh-plane collision.

Parameters:	trimesh (Trimesh) – triangle mesh plane (Array[float]) – plane parameters (a, b, c, d) in form of ax + by + cz + d = 0 first_only (bool) – flag that indicates only first contact is required
Returns:	a list of tuples containing point and penetration depth
Return type:	List[Tuple[Array[float], float]]

gimpact.trimesh_ray_closest_collision()¶

Determines closest contact of a trimesh-ray collision. Collision is considered valid only when the ray collides with the front faces of the trimesh

Parameters:	trimesh (Trimesh) – triangle mesh origin (Array[float]) – origin point of ray direction (Array[float]) – direction vector of ray tmax (float) – max distance param for ray.
Returns:	closest contact if ray collides else None
Return type:	Union[Contact, None]

gimpact.trimesh_ray_collision()¶

Determines contact of a trimesh-ray collision. Collision is considered valid only when the ray collides with the front faces of the trimesh

Parameters:	trimesh (Trimesh) – triangle mesh origin (Array[float]) – origin point of ray direction (Array[float]) – direction vector of ray tmax (float) – max distance param for ray.
Returns:	random contact if ray collides else None
Return type:	Union[Contact, None]

gimpact.trimesh_sphere_collision()¶

Determines contacts of a trimesh-sphere collision

Parameters:	trimesh (Trimesh) – triangle mesh center (Array[float]) – center of the sphere radius (float) – radius of the sphere first_only (bool) – flag that indicates only first contact is required
Returns:	a list of Contacts
Return type:	List[Contact]

gimpact.trimesh_trimesh_collision()¶

Determines contacts of a trimesh-trimesh collision.

Parameters:	trimesh1 (Trimesh) – first triangle mesh trimesh2 (Trimesh) – second triangle mesh first_only (bool) – flag that indicates only first contact is required
Returns:	a list of Contacts
Return type:	List[Contact]