add checksums to docker builds and fix align_vectors test

docker/builds/apt.bash

@@ -4,6 +4,8 @@ apt-get install -y --no-install-recommends blender openscad wget bzip2 superviso
 
 # get teigha converter for DWG to DXF conversion
 wget https://download.opendesign.com/guestfiles/ODAFileConverter/ODAFileConverter_QT5_lnxX64_4.7dll.deb --no-check-certificate --quiet -O teigha.deb
+echo "a9ca9c72e6303bc0a03b8b7f64a7300fec6092184f7efb2c8a89aca8d34ec32b  teigha.deb" | sha256sum --check
+
 dpkg -i teigha.deb
 rm teigha.deb
 

docker/builds/conda.bash

@@ -2,6 +2,9 @@ set -xe
 
 cd
 wget https://repo.anaconda.com/miniconda/Miniconda3-4.5.4-Linux-x86_64.sh --no-check-certificate --quiet -O miniconda.sh
+# we ignored certs look at a checksum
+echo "80ecc86f8c2f131c5170e43df489514f80e3971dd105c075935470bbf2476dea  miniconda.sh" | sha256sum --check
+
 bash miniconda.sh -b -p ~/conda
 rm miniconda.sh
 

docker/builds/vhacd.bash

@@ -2,6 +2,8 @@ set -xe
 
 # grab the VHACD (convex segmenter) binary
 wget --no-check-certificate https://github.com/mikedh/v-hacd-1/raw/master/bin/linux/testVHACD
+# check the hash of the downloaded file
+echo "e1e79b2c1b274a39950ffc48807ecb0c81a2192e7d0993c686da90bd33985130  testVHACD" | sha256sum --check
 # make it executable
 chmod +x testVHACD
 # move it into PATH

tests/test_vector.py

@@ -62,9 +62,11 @@ def test_align(self):
                                g.trimesh.util.generate_basis(target)))
         for vector in vectors:
             T, a = align(vector, target, return_angle=True)
-            result = g.np.dot(T, g.np.append(vector, 1))[:3]
-            aligned = g.np.linalg.norm(result - target) < 1e8
-            assert aligned
+            # rotate vector with transform
+            check = g.np.dot(T[:3, :3], vector)
+            # compare to target vector
+            norm = g.np.linalg.norm(check - target)
+            assert norm < 1e-8
 
         # these vectors should be perpendicular and zero
         angles = [align(i, target, return_angle=True)[1]
@@ -92,8 +94,9 @@ def test_align(self):
 
             # check to make sure returned transform is correct
             check = g.np.dot(T, g.np.append(vector, 1))[:3]
-            aligned = g.np.linalg.norm(check - vector[0]) < 1e8
-            assert aligned
+            norm = g.np.linalg.norm(check - vectors[0])
+
+            assert norm < 1e-8
 
 
 if __name__ == '__main__':

trimesh/inertia.py

@@ -4,8 +4,8 @@
 
 Functions for dealing with inertia tensors.
 
-Results validated against known geometries and for internal
-consistency.
+Results validated against known geometries and checked for
+internal consistency.
 """
 
 import numpy as np
@@ -23,14 +23,19 @@ def cylinder_inertia(mass, radius, height, transform=None):
 
     Parameters
     ------------
-    mass:      float, mass of cylinder
-    radius:    float, radius of cylinder
-    height:    float, height of cylinder
-    transform: (4,4) float, transformation of cylinder
+    mass : float
+      Mass of cylinder
+    radius : float
+      Radius of cylinder
+    height : float
+      Height of cylinder
+    transform : (4,4) float
+      Transformation of cylinder
 
     Returns
     ------------
-    inertia: (3,3) float, inertia tensor
+    inertia : (3,3) float
+      Inertia tensor
     """
     h2, r2 = height ** 2, radius ** 2
     diagonal = np.array([((mass * h2) / 12) + ((mass * r2) / 4),
@@ -50,12 +55,15 @@ def sphere_inertia(mass, radius):
 
     Parameters
     ------------
-    mass:      float, mass of sphere
-    radius:    float, radius of sphere
+    mass : float
+      Mass of sphere
+    radius : float
+      Radius of sphere
 
     Returns
     ------------
-    inertia: (3,3) float, inertia tensor
+    inertia : (3, 3) float
+      Inertia tensor
     """
     inertia = (2.0 / 5.0) * (radius ** 2) * mass * np.eye(3)
     return inertia
@@ -68,21 +76,28 @@ def principal_axis(inertia):
 
     Parameters
     ------------
-    inertia: (3,3) float, inertia tensor
+    inertia : (3,3) float
+      Inertia tensor
 
     Returns
     ------------
-    components: (3,) float, principal components of inertia
-    vectors:    (3,3) float, row vectors pointing along
-                             the principal axes of inertia
+    components : (3,) float
+      Principal components of inertia
+    vectors : (3,3) float
+      Row vectors pointing along the
+      principal axes of inertia
     """
     inertia = np.asanyarray(inertia, dtype=np.float64)
     if inertia.shape != (3, 3):
         raise ValueError('inertia tensor must be (3,3)!')
 
+    # you could any of the following to calculate this:
+    # np.linalg.svd, np.linalg.eig, np.linalg.eigh
+    # moment of inertia is square symmetric matrix
+    # eigh has the best numeric precision in tests
     components, vectors = np.linalg.eigh(inertia * negate_nondiagonal)
 
-    # eig returns them as column vectors, change them to row vectors
+    # eigh returns them as column vectors, change them to row vectors
     vectors = vectors.T
 
     return components, vectors
@@ -97,13 +112,17 @@ def transform_inertia(transform, inertia_tensor):
 
     Parameters
     ------------
-    transform:      (3,3) or (4,4) float, transformation matrix
-    inertia_tensor: (3,3) float, inertia tensor
+    transform : (3, 3) or (4, 4) float
+      Transformation matrix
+    inertia_tensor : (3, 3) float
+      Inertia tensor
 
     Returns
     ------------
-    transformed: (3,3) float, inertia tensor in new frame
+    transformed : (3, 3) float
+      Inertia tensor in new frame
     """
+    # check inputs and extract rotation
     transform = np.asanyarray(transform, dtype=np.float64)
     if transform.shape == (4, 4):
         rotation = transform[:3, :3]
@@ -129,12 +148,17 @@ def radial_symmetry(mesh):
 
     Returns
     -----------
-    symmetry: None         No rotational symmetry
-              'radial'     Symmetric around an axis
-              'spherical'  Symmetric around a point
-    axis:     None, or (3,)   float
-    section:  None, or (3, 2) float
+    symmetry : None or str
+         None         No rotational symmetry
+         'radial'     Symmetric around an axis
+         'spherical'  Symmetric around a point
+    axis : None or (3,) float
+      Rotation axis or point
+    section : None or (3, 2) float
+      If radial symmetry provide vectors
+      to get cross section
     """
+
     # if not a volume this is meaningless
     if not mesh.is_volume:
         return None, None, None

trimesh/version.py

@@ -1 +1 @@
-__version__ = '2.35.42'
+__version__ = '2.35.43'