add exception closure for error message

trimesh/creation.py

@@ -30,6 +30,12 @@
     Polygon = exceptions.closure(E)
     load_wkb = exceptions.closure(E)
 
+try:
+    from triangle import triangulate
+except BaseException as E:
+    from . import exceptions
+    triangulate = exceptions.closure(E)
+
 
 def revolve(linestring,
             angle=None,
@@ -455,8 +461,6 @@ def triangulate_polygon(polygon,
 
         return vertices, faces
 
-    # do the import here for soft requirement
-    from triangle import triangulate
     # set default triangulation arguments if not specified
     if triangle_args is None:
         triangle_args = 'p'

trimesh/curvature.py

@@ -10,8 +10,9 @@
 
 try:
     from scipy.sparse import coo_matrix
-except ImportError:
-    pass
+except ImportError as E:
+    from . import exceptions
+    coo_matrix = exceptions.closure(E)
 
 
 def face_angles_sparse(mesh):

trimesh/rendering.py

@@ -359,9 +359,9 @@ def matrix_to_gl(matrix):
       Transform in pyglet format
     """
     from pyglet import gl
-
+        
     # convert to GLfloat, switch to column major and flatten to (16,)
-    return (gl.GLfloat * 16)(*np.asanyarray(
+    return (gl.GLfloat * 16)(*np.array(
         matrix, dtype=np.float32).T.ravel())
 
 

trimesh/scene/transforms.py

@@ -8,6 +8,9 @@
 from .. import caching
 from .. import transformations
 
+# we compare to identity a lot
+_identity = np.eye(4)
+_identity.flags['WRITEABLE'] = False
 
 class SceneGraph(object):
     """
@@ -265,7 +268,7 @@ def to_gltf(self, scene, mesh_index=None):
                 # get the matrix from this edge
                 matrix = edge_data[(parent, node)]['matrix']
                 # only include if it's not an identify matrix
-                if np.abs(matrix - np.eye(4)).max() > 1e-5:
+                if not util.allclose(matrix, _identity):
                     info['matrix'] = matrix.T.reshape(-1).tolist()
 
                 # if an extra was stored on this edge
@@ -523,8 +526,9 @@ def add_edge(self, u, v, **kwargs):
         else:
             # check to see if matrix and geometry are identical
             edge = self.edge_data[(u, v)]
-            if (np.allclose(kwargs.get('matrix', np.eye(4)),
-                            edge.get('matrix', np.eye(4)))
+            if (util.allclose(kwargs.get('matrix', _identity),
+                              edge.get('matrix', _identity),
+                              1e-8)
                 and (edge.get('geometry') ==
                      kwargs.get('geometry'))):
                 return False

trimesh/util.py

@@ -2250,7 +2250,7 @@ def isclose(a, b, atol):
     return close
 
 
-def allclose(a, b, atol):
+def allclose(a, b, atol=1e-8):
     """
     A replacement for np.allclose that does few checks
     and validation and as a result is faster.
@@ -2268,7 +2268,7 @@ def allclose(a, b, atol):
     -----------
     bool indicating if all elements are within `atol`.
     """
-    return np.all(np.abs(a - b).max() < atol)
+    return (a - b).ptp() < atol
 
 
 class FunctionRegistry(Mapping):