mani_skill.utils.geometry
=========================

.. py:module:: mani_skill.utils.geometry


Submodules
----------

.. toctree::
   :maxdepth: 1

   /api/mani_skill/utils/geometry/bounding_cylinder/index
   /api/mani_skill/utils/geometry/geometry/index
   /api/mani_skill/utils/geometry/rotation_conversions/index
   /api/mani_skill/utils/geometry/trimesh_utils/index


Functions
---------

.. autoapisummary::

   mani_skill.utils.geometry.aabc
   mani_skill.utils.geometry.angle_between_vec
   mani_skill.utils.geometry.angle_distance
   mani_skill.utils.geometry.get_axis_aligned_bbox_for_actor
   mani_skill.utils.geometry.get_axis_aligned_bbox_for_articulation
   mani_skill.utils.geometry.get_local_aabc_for_actor
   mani_skill.utils.geometry.get_local_axis_aligned_bbox_for_link
   mani_skill.utils.geometry.get_oriented_bounding_box_for_2d_points
   mani_skill.utils.geometry.invert_transform
   mani_skill.utils.geometry.rotate_2d_vec_by_angle
   mani_skill.utils.geometry.rotate_vector
   mani_skill.utils.geometry.rotation_between_vec
   mani_skill.utils.geometry.sample_on_unit_circle
   mani_skill.utils.geometry.sample_on_unit_sphere
   mani_skill.utils.geometry.transform_points
   mani_skill.utils.geometry.wxyz_to_xyzw
   mani_skill.utils.geometry.xyzw_to_wxyz


Package Contents
----------------

.. py:function:: aabc(points)

   Compute axis-aligned bounding cylinder for 3D points.

   :param points: Nx3 array of points

   :returns: (center_x, center_y, radius, min_z, max_z) tuple


.. py:function:: angle_between_vec(a, b)

.. py:function:: angle_distance(q0, q1)

.. py:function:: get_axis_aligned_bbox_for_actor(actor)

.. py:function:: get_axis_aligned_bbox_for_articulation(art)

.. py:function:: get_local_aabc_for_actor(actor)

.. py:function:: get_local_axis_aligned_bbox_for_link(link)

.. py:function:: get_oriented_bounding_box_for_2d_points(points_2d, resolution=0.0)

.. py:function:: invert_transform(H)

.. py:function:: rotate_2d_vec_by_angle(vec, theta)

.. py:function:: rotate_vector(v, q)

.. py:function:: rotation_between_vec(a, b)

.. py:function:: sample_on_unit_circle(rng)

.. py:function:: sample_on_unit_sphere(rng)

   Algo from http://corysimon.github.io/articles/uniformdistn-on-sphere/


.. py:function:: transform_points(H, pts)

   transforms a batch of pts by a batch of transformation matrices H


.. py:function:: wxyz_to_xyzw(q)

.. py:function:: xyzw_to_wxyz(q)