habitat_sim.geo module

Encapsulates global geometry utilities.

Classes

class BBox
class OBB
This is an OBB.
class Ray

Functions

def build_catmull_rom_spline(key_points: typing.List[magnum.Vector3], num_interpolations: int, alpha: float = 0.5) -> typing.List[magnum.Vector3]
def compute_gravity_aligned_MOBB(arg0: numpy.ndarray[numpy.float32[3, 1]], arg1: typing.List[numpy.ndarray[numpy.float32[3, 1]]], /) -> OBB
Compute a minimum area OBB containing given points, and constrained to have -Z axis along given gravity orientation.
def get_transformed_bb(range: magnum.Range3D, xform: magnum.Matrix4) -> magnum.Range3D
Compute the axis-aligned bounding box which results from applying a transform to an existing bounding box.

Data

UP = array([0., 1., 0.], dtype=float32)
GRAVITY = array([-0., -1., -0.], dtype=float32)
FRONT = array([-0., -0., -1.], dtype=float32)
BACK = array([0., 0., 1.], dtype=float32)
LEFT = array([-1., 0., 0.], dtype=float32)