habitat_sim.geo module

Encapsulates global geometry utilities.

Classes

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: magnum.Vector3, arg1: typing.List[magnum.Vector3], /) -> 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 = Vector(0, 1, 0)

GRAVITY = Vector(-0, -1, -0)

FRONT = Vector(-0, -0, -1)

BACK = Vector(0, 0, 1)

LEFT = Vector(-1, 0, 0)

RIGHT = Vector(1, 0, 0)