mesh 爆炸效果
def explode_mesh(mesh, explosion_scale=0.4): if isinstance(mesh, trimesh.Scene): scene = mesh elif isinstance(mesh, trimesh.Trimesh): print("Warning: Single mesh provided, can't create exploded view") scene = trimesh.Scene(mesh) return scene else: print(f"Warning: Unexpected mesh type: {type(mesh)}") scene = mesh if len(scene.geometry) <= 1: print("Only one geometry found - nothing to explode") return scene print(f"[EXPLODE_MESH] Starting mesh explosion with scale {explosion_scale}") print(f"[EXPLODE_MESH] Processing {len(scene.geometry)} parts") exploded_scene = trimesh.Scene() part_centers = [] geometry_names = [] for geometry_name, geometry in scene.geometry.items(): if hasattr(geometry, "vertices"): transform = scene.graph[geometry_name][0] vertices_global = trimesh.transformations.transform_points( geometry.vertices, transform ) center = np.mean(vertices_global, axis=0) part_centers.append(center) geometry_names.append(geometry_name) print(f"[EXPLODE_MESH] Part {geometry_name}: center = {center}") if not part_centers: print("No valid geometries with vertices found") return scene part_centers = np.array(part_centers) global_center = np.mean(part_centers, axis=0) print(f"[EXPLODE_MESH] Global center: {global_center}") for i, (geometry_name, geometry) in enumerate(scene.geometry.items()): if hasattr(geometry, "vertices"): if i < len(part_centers): part_center = part_centers[i] direction = part_center - global_center direction_norm = np.linalg.norm(direction) if direction_norm > 1e-6: direction = direction / direction_norm else: direction = np.random.randn(3) direction = direction / np.linalg.norm(direction) offset = direction * explosion_scale else: offset = np.zeros(3) original_transform = scene.graph[geometry_name][0].copy() new_transform = original_transform.copy() new_transform[:3, 3] = new_transform[:3, 3] + offset exploded_scene.add_geometry( geometry, transform=new_transform, geom_name=geometry_name ) print( f"[EXPLODE_MESH] Part {geometry_name}: moved by" f" {np.linalg.norm(offset):.4f}" ) print("[EXPLODE_MESH] Mesh explosion complete") return exploded_scene