geometry

Primitives

Inheritance diagram of Circle, Ellipse, Frame, Line, Plane, Point, Polygon, Polyline, Quaternion, Vector

Classes

`Circle`	A circle is defined by a plane and a radius.
`Ellipse`	A ellipse is defined by a plane and a major.
`Frame`	A frame is defined by a base point and two orthonormal base vectors.
`Line`	A line is defined by two points.
`Plane`	A plane is defined by a base point and a normal vector.
`Point`	A point is defined by XYZ coordinates.
`Polygon`	An object representing an ordered collection of points in space connected by straight line segments forming a closed boundary around the interior space.
`Polyline`	A polyline is a sequence of points connected by line segments.
`Quaternion`	Creates a `Quaternion` object.
`Vector`	A vector is defined by XYZ components and a homogenisation factor.

Base Classes

Primitive

Base class for geometric primitives.

Shapes

Inheritance diagram of Box, Capsule, Cone, Cylinder, Polyhedron, Torus

Classes

`Box`	A box is defined by a frame and its dimensions along the frame’s x-, y- and z-axes.
`Capsule`	A capsule is defined by a line segment and a radius.
`Cone`	A cone is defined by a circle and a height.
`Cylinder`	A cylinder is defined by a circle and a height.
`Polyhedron`	A polyhedron is defined by its vertices and faces.
`Sphere`	A sphere is defined by a point and a radius.
`Torus`	A torus is defined by a plane and two radii.

Base Classes

Shape

Base class for geometric shapes.

Transformations

Inheritance diagram of Projection, Reflection, Rotation, Scale, Shear, Transformation, Translation

Classes

`Projection`	Create a projection transformation.
`Reflection`	Creates a `Reflection` that mirrors points at a plane.
`Rotation`	Create a rotation transformation.
`Scale`	Creates a scale transformation.
`Shear`	Create a shear transformation.
`Transformation`	The `Transformation` represents a 4x4 transformation matrix.
`Translation`	Create a translation transformation.

Functions

Predicates 2D

`is_ccw_xy`	Determine if c is on the left of ab when looking from a to b, and assuming that all points lie in the XY plane.
`is_colinear_xy`	Determine if three points are colinear on the XY-plane.
`is_polygon_convex_xy`	Determine if the polygon is convex on the XY-plane.
`is_point_on_line_xy`	Determine if a point lies on a line on the XY-plane.
`is_point_on_segment_xy`	Determine if a point lies on a given line segment on the XY-plane.
`is_point_on_polyline_xy`	Determine if a point is on a polyline on the XY-plane.
`is_point_in_triangle_xy`	Determine if a point is in the interior of a triangle lying on the XY-plane.
`is_point_in_polygon_xy`	Determine if a point is in the interior of a polygon lying on the XY-plane.
`is_point_in_convex_polygon_xy`	Determine if a point is in the interior of a convex polygon lying on the XY-plane.
`is_point_in_circle_xy`	Determine if a point lies in a circle lying on the XY-plane.
`is_polygon_in_polygon_xy`	Determine if a polygon is in the interior of another polygon on the XY-plane.

Predicates 3D

`is_colinear`	Determine if three points are colinear.
`is_coplanar`	Determine if the points are coplanar.
`is_point_in_halfspace`	Determine if a point lies in front of a plane.
`is_point_in_polyhedron`	Determine if the point lies inside the given polyhedron.
`is_point_on_line`	Determine if a point lies on a line.
`is_point_on_plane`	Determine if a point lies on a plane.
`is_point_on_polyline`	Determine if a point is on a polyline.
`is_point_on_segment`	Determine if a point lies on a given line segment.
`is_polygon_convex`	Determine if a polygon is convex.

Transformations

`mirror_points_line`	Mirror a point about a line.
`mirror_points_line_xy`	Mirror a point about a line.
`mirror_points_plane`	Mirror a point about a plane.
`mirror_points_point`	Mirror multiple points about a point.
`mirror_points_point_xy`	Mirror multiple points about a point.
`project_points_line`	Project points onto a line.
`project_points_line_xy`	Project points onto a line in the XY plane.
`project_points_plane`	Project multiple points onto a plane.
`reflect_line_plane`	Bounce a line of a reflection plane.
`reflect_line_triangle`	Bounce a line of a reflection triangle.
`rotate_points`	Rotates points around an arbitrary axis in 3D.
`rotate_points_xy`	Rotates points in the XY plane around the Z axis at a specific origin.
`scale_points`	Scale points.
`translate_points`	Translate points.
`translate_points_xy`	Translate points and in the XY plane.

Conversions

`axis_and_angle_from_matrix`	Returns the axis and the angle of the rotation matrix M.
`axis_angle_vector_from_matrix`	Returns the axis-angle vector of the rotation matrix M.
`axis_angle_from_quaternion`	Returns an axis and an angle of rotation from the given quaternion.
`basis_vectors_from_matrix`	Returns the basis vectors from the rotation matrix R.
`euler_angles_from_matrix`	Returns Euler angles from the rotation matrix M according to specified axis sequence and type of rotation.
`euler_angles_from_quaternion`	Returns Euler angles from a quaternion.
`matrix_from_frame`	Computes a change of basis transformation from world XY to the frame.
`matrix_from_euler_angles`	Calculates a rotation matrix from Euler angles.
`matrix_from_axis_and_angle`	Calculates a rotation matrix from an rotation axis, an angle and an optional point of rotation.
`matrix_from_axis_angle_vector`	Calculates a rotation matrix from an axis-angle vector.
`matrix_from_basis_vectors`	Creates a rotation matrix from basis vectors (= orthonormal vectors).
`matrix_from_translation`	Returns a 4x4 translation matrix in row-major order.
`matrix_from_orthogonal_projection`	Returns an orthogonal projection matrix to project onto a plane.
`matrix_from_parallel_projection`	Returns an parallel projection matrix to project onto a plane.
`matrix_from_perspective_projection`	Returns a perspective projection matrix to project onto a plane along lines that emanate from a single point, called the center of projection.
`matrix_from_perspective_entries`	Returns a matrix from perspective entries.
`matrix_from_shear_entries`	Returns a shear matrix from the 3 factors for x-y, x-z, and y-z axes.
`matrix_from_shear`	Constructs a shear matrix by an angle along the direction vector on the shear plane (defined by point and normal).
`matrix_from_scale_factors`	Returns a 4x4 scaling transformation.
`matrix_from_quaternion`	Calculates a rotation matrix from quaternion coefficients.
`quaternion_from_matrix`	Returns the 4 quaternion coefficients from a rotation matrix.
`quaternion_from_euler_angles`	Returns a quaternion from Euler angles.
`quaternion_from_axis_angle`	Returns a quaternion describing a rotation around the given axis by the given angle.

Quaternion math

`quaternion_norm`	Calculates the length (euclidean norm) of a quaternion.
`quaternion_unitize`	Makes a quaternion unit-length.
`quaternion_is_unit`	Checks if a quaternion is unit-length.
`quaternion_multiply`	Multiplies two quaternions.
`quaternion_canonize`	Converts a quaternion into a canonic form if needed.
`quaternion_conjugate`	Conjugate of a quaternion.

Linear algebra

`add_vectors`	Add two vectors.
`add_vectors_xy`	Add two vectors, assuming they lie in the XY-plane.
`cross_vectors`	Compute the cross product of two vectors.
`cross_vectors_xy`	Compute the cross product of two vectors, assuming they lie in the XY-plane.
`divide_vectors`	Element-wise division of two vectors.
`divide_vectors_xy`	Element-wise division of two vectors assumed to lie in the XY plane.
`dot_vectors`	Compute the dot product of two vectors.
`dot_vectors_xy`	Compute the dot product of two vectors, assuming they lie in the XY-plane.
`length_vector`	Calculate the length of the vector.
`length_vector_xy`	Compute the length of a vector, assuming it lies in the XY plane.
`length_vector_sqrd`	Compute the squared length of a vector.
`length_vector_sqrd_xy`	Compute the squared length of a vector, assuming it lies in the XY plane.
`multiply_matrices`	Mutliply a matrix with a matrix.
`multiply_matrix_vector`	Multiply a matrix with a vector.
`multiply_vectors`	Element-wise multiplication of two vectors.
`multiply_vectors_xy`	Element-wise multiplication of two vectors assumed to lie in the XY plane.
`norm_vector`	Calculate the length of a vector.
`norm_vectors`	Calculate the norm of each vector in a list of vectors.
`normalize_vector`	Normalise a given vector.
`normalize_vector_xy`	Normalize a vector, assuming it lies in the XY-plane.
`normalize_vectors`	Normalise multiple vectors.
`normalize_vectors_xy`	Normalise multiple vectors, assuming they lie in the XY plane.
`orthonormalize_vectors`	Orthonormalize a set of vectors.
`power_vector`	Raise a vector to the given power.
`power_vectors`	Raise a list of vectors to the given power.
`scale_vector`	Scale a vector by a given factor.
`scale_vector_xy`	Scale a vector by a given factor, assuming it lies in the XY plane.
`scale_vectors`	Scale multiple vectors by a given factor.
`scale_vectors_xy`	Scale multiple vectors by a given factor, assuming they lie in the XY plane.
`square_vector`	Raise a vector to the power 2.
`square_vectors`	Raise a multiple vectors to the power 2.
`subtract_vectors`	Subtract one vector from another.
`subtract_vectors_xy`	Subtract one vector from another, assuming they lie in the XY plane.
`sum_vectors`	Calculate the sum of a series of vectors along the specified axis.
`transpose_matrix`	Transpose a matrix.
`vector_component`	Compute the component of u in the direction of v.
`vector_component_xy`	Compute the component of u in the direction of v, assuming they lie in the XY-plane.
`vector_average`	Average of a vector.
`vector_variance`	Variance of a vector.
`vector_standard_deviation`	Standard deviation of a vector.

Points, Vectors, Lines, Planes

`angle_points`	Compute the smallest angle between the vectors defined by three points.
`angle_points_xy`	Compute the smallest angle between the vectors defined by the XY components of three points.
`angle_vectors`	Compute the smallest angle between two vectors.
`angle_vectors_xy`	Compute the smallest angle between the XY components of two vectors.
`angle_vectors_signed`	Computes the signed angle between two vectors.
`angles_points`	Compute the two angles between two vectors defined by three points.
`angles_points_xy`	Compute the two angles between the two vectors defined by the XY components of three points.
`angles_vectors`	Compute the the 2 angles formed by a pair of vectors.
`angles_vectors_xy`	Compute the angles between the XY components of two vectors.
`angle_planes`	Compute the smallest angle between the two normal vectors of two planes.
`centroid_points`	Compute the centroid of a set of points.
`centroid_points_xy`	Compute the centroid of a set of points lying in the XY-plane.
`centroid_points_weighted`	Compute the weighted centroid of a set of points.
`distance_line_line`	Compute the shortest distance between two lines.
`distance_point_line`	Compute the distance between a point and a line.
`distance_point_line_xy`	Compute the distance between a point and a line, assuming they lie in the XY-plane.
`distance_point_line_sqrd`	Compute the squared distance between a point and a line.
`distance_point_line_sqrd_xy`	Compute the squared distance between a point and a line lying in the XY-plane.
`distance_point_plane`	Compute the distance from a point to a plane defined by origin point and normal.
`distance_point_point`	Compute the distance bewteen a and b.
`distance_point_point_xy`	Compute the distance between points a and b, assuming they lie in the XY plane.
`distance_point_point_sqrd`	Compute the squared distance bewteen points a and b.
`distance_point_point_sqrd_xy`	Compute the squared distance between points a and b lying in the XY plane.
`midpoint_point_point`	Compute the midpoint of two points.
`midpoint_point_point_xy`	Compute the midpoint of two points lying in the XY-plane.
`midpoint_line`	Compute the midpoint of a line defined by two points.
`midpoint_line_xy`	Compute the midpoint of a line defined by two points.

Polygons & Polyhedrons

`area_polygon`	Compute the area of a polygon.
`area_polygon_xy`	Compute the area of a polygon lying in the XY-plane.
`area_triangle`	Compute the area of a triangle defined by three points.
`area_triangle_xy`	Compute the area of a triangle defined by three points lying in the XY-plane.
`centroid_polygon`	Compute the centroid of the surface of a polygon.
`centroid_polygon_xy`	Compute the centroid of the surface of a polygon projected to the XY plane.
`centroid_polygon_vertices`	Compute the centroid of the vertices of a polygon.
`centroid_polygon_vertices_xy`
`centroid_polygon_edges`	Compute the centroid of the edges of a polygon.
`centroid_polygon_edges_xy`
`centroid_polyhedron`	Compute the center of mass of a polyhedron.
`normal_polygon`	Compute the normal of a polygon defined by a sequence of points.
`normal_triangle`	Compute the normal vector of a triangle.
`normal_triangle_xy`	Compute the normal vector of a triangle assumed to lie in the XY plane.
`volume_polyhedron`	Compute the volume of a polyhedron represented by a closed mesh.

Point Sets

`bounding_box`	Computes the axis-aligned minimum bounding box of a list of points.
`bounding_box_xy`	Compute the axis-aligned minimum bounding box of a list of points in the XY-plane.
`convex_hull`	Construct convex hull for a set of points.
`convex_hull_numpy`	Compute the convex hull of a set of points.
`convex_hull_xy`	Computes the convex hull of a set of 2D points.
`convex_hull_xy_numpy`	Compute the convex hull of a set of points in the XY plane.
`oriented_bounding_box_numpy`	Compute the oriented minimum bounding box of a set of points in 3D space.
`oriented_bounding_box_xy_numpy`	Compute the oriented minimum bounding box of set of points in the XY plane.

Distance

`closest_point_in_cloud`	Calculates the closest point in a pointcloud.
`closest_point_in_cloud_xy`	Calculates the closest point in a list of points in the XY-plane.
`closest_point_on_line`	Computes closest point on line to a given point.
`closest_point_on_line_xy`	Compute closest point on line (continuous) to a given point lying in the XY-plane.
`closest_point_on_plane`	Compute closest point on a plane to a given point.
`closest_point_on_polyline`	Find the closest point on a polyline to a given point.
`closest_point_on_polyline_xy`	Compute closest point on a polyline to a given point, assuming they both lie in the XY-plane.
`closest_point_on_segment`	Computes closest point on line segment (p1, p2) to test point.
`closest_point_on_segment_xy`	Compute closest point on a line segment to a given point lying in the XY-plane.

Intersections

`intersection_circle_circle_xy`	Calculates the intersection points of two circles in 2d lying in the XY plane.
`intersection_line_line`	Computes the intersection of two lines.
`intersection_line_line_xy`	Compute the intersection of two lines, assuming they lie on the XY plane.
`intersection_line_plane`	Computes the intersection point of a line and a plane
`intersection_line_triangle`	Computes the intersection point of a line (ray) and a triangle based on the Moeller Trumbore intersection algorithm
`intersection_mesh_mesh`	Compute the intersection of tow meshes.
`intersection_plane_plane`	Computes the intersection of two planes
`intersection_plane_plane_plane`	Computes the intersection of three planes
`intersection_ray_mesh`	Compute the intersection(s) between a ray and a mesh.
`intersection_segment_segment`	Compute the intersection of two lines segments.
`intersection_segment_segment_xy`	Compute the intersection of two lines segments, assuming they lie in the XY plane.
`intersection_segment_plane`	Computes the intersection point of a line segment and a plane
`is_intersection_line_line`	Verifies if two lines intersect.
`is_intersection_line_line_xy`	Verifies if two lines intersect on the XY-plane.
`is_intersection_line_plane`	Determine if a line (ray) intersects with a plane.
`is_intersection_line_triangle`	Verifies if a line (ray) intersects with a triangle.
`is_intersection_plane_plane`	Verifies if two planes intersect.
`is_intersection_segment_plane`	Determine if a line segment intersects with a plane.
`is_intersection_segment_segment`	Verifies if two segments intersect.
`is_intersection_segment_segment_xy`	Determines if two segments, ab and cd, intersect.

Offsets

`offset_line`	Offset a line by a distance.
`offset_polyline`	Offset a polyline by a distance.
`offset_polygon`	Offset a polygon (closed) by a distance.

Interpolation

`barycentric_coordinates`	Compute the barycentric coordinates of a point wrt to a triangle.
`discrete_coons_patch`	Creates a coons patch from a set of four or three boundary polylines (ab, bc, dc, ad).
`tween_points`	Compute the interpolated points between two sets of points.
`tween_points_distance`	Compute an interpolated set of points between two sets of points, at a given distance.

Fitting

`bestfit_circle_numpy`	Fit a circle through a set of points.
`bestfit_plane`	Fit a plane to a list of (more than three) points.
`bestfit_plane_numpy`	Fit a plane through more than three (non-coplanar) points.

Boolean operations

`boolean_union_mesh_mesh`	Compute the boolean union of two triangle meshes.
`boolean_difference_mesh_mesh`	Compute the boolean difference of two triangle meshes.
`boolean_intersection_mesh_mesh`	Compute the boolean intersection of two triangle meshes.

Triangulation

`conforming_delaunay_triangulation`	Construct a Conforming Delaunay triangulation of set of vertices, constrained to the specified segments.
`constrained_delaunay_triangulation`	Construct a Delaunay triangulation of set of vertices, constrained to the specified segments.
`delaunay_from_points`	Computes the delaunay triangulation for a list of points.
`delaunay_from_points_numpy`	Computes the delaunay triangulation for a list of points using Numpy.
`delaunay_triangulation`	Construct a Delaunay triangulation of set of vertices.
`voronoi_from_points_numpy`	Generate a voronoi diagram from a set of points.

Triangle meshes

`trimesh_gaussian_curvature`	Compute the discrete gaussian curvature of a triangle mesh.
`trimesh_geodistance`	Compute the geodesic distance from every vertex of the mesh to a source vertex.
`trimesh_harmonic`	Compute the harmonic parametrisation of a triangle mesh within a fixed circular boundary.
`trimesh_isolines`	Compute isolines on a triangle mesh using a scalarfield of data points assigned to its vertices.
`trimesh_lscm`	Compute the least squares conformal map of a triangle mesh.
`trimesh_massmatrix`	Compute massmatrix on a triangle mesh using a scalarfield of data points assigned to its vertices.
`trimesh_principal_curvature`	Compute the principal curvature directions of a triangle mesh.
`trimesh_remesh`	Remeshing of a triangle mesh.
`trimesh_remesh_constrained`	Constrained remeshing of a triangle mesh.
`trimesh_slice`	Slice a mesh by a list of planes.

Quad meshes

quadmesh_planarize

Planarize the faces of a quad mesh.

Pointclouds

icp_numpy

Align two point clouds using the Iterative Closest Point (ICP) method.

geometry

Primitives

Classes

Base Classes

Shapes

Classes

Base Classes

Transformations

Classes

Functions

Predicates 2D

Predicates 3D

Transformations

Linear algebra

Points, Vectors, Lines, Planes

Polygons & Polyhedrons

Point Sets

Distance

Intersections

Offsets

Interpolation

Fitting

Boolean operations

Triangulation

Triangle meshes

Quad meshes

Pointclouds

COMPAS