Repository: mikedh/trimesh (language: python)

Issue:
Fail to open ctm file in 4.1.8
File "/usr/local/lib/python3.8/dist-packages/trimesh/exchange/load.py", line 139, in load
    raise ValueError("File type: %s not supported" % file_type)
ValueError: File type: ctm not supported

Working fine in 4.1.7 when loading CTM files.


Discussion / hints:
Ah yeah `trimesh.exchange.openctm` was deprecated as the packaging was pretty busted for most platforms. I just did a quick re-packing as wheels which I'd love some testing on if you want to give it a shot:

[pip install openctm](https://github.com/trimesh/openctm)
``` 
In [1]: import trimesh

In [2]: import openctm

In [8]: trimesh.exchange.load.mesh_loaders['ctm'] = openctm.load_ctm

In [9]: m = trimesh.load('headless.ctm')
```

Fix patch:
diff --git a/docs/content/install.md b/docs/content/install.md
index 8a37604a3..06e028f6f 100644
--- a/docs/content/install.md
+++ b/docs/content/install.md
@@ -71,6 +71,8 @@ Trimesh has a lot of soft-required upstream packages, and we try to make sure th
 |`pyinstrument`| A sampling based profiler for performance tweaking. | | `test`|
 |`vhacdx`| A binding for VHACD which provides convex decompositions | | `recommend`|
 |`manifold3d`| A binding for the Manifold mesh boolean engine | | `recommend`|
+|`openctm`| A binding for OpenCTM loaders enabling `.ctm` loading | | `recommend`|
+|`cascadio`| A binding for OpenCASCADE enabling `.STEP` loading | | `recommend`|
 
 ## Adding A Dependency
 
diff --git a/models/box_sides.STEP b/models/box_sides.STEP
new file mode 100644
index 000000000..e40000283
--- /dev/null
+++ b/models/box_sides.STEP
@@ -0,0 +1,10542 @@
+ISO-10303-21;
+HEADER;
+FILE_DESCRIPTION (( 'STEP AP214' ),
+    '1' );
+FILE_NAME ('box_sides.STEP',
+    '2015-10-25T22:20:26',
+    ( '' ),
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+    'SwSTEP 2.0',
+    'SolidWorks 2015',
+    '' );
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diff --git a/pyproject.toml b/pyproject.toml
index 3506426c4..bc7eb0af6 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -5,7 +5,7 @@ requires = ["setuptools >= 61.0", "wheel"]
 [project]
 name = "trimesh"
 requires-python = ">=3.7"
-version = "4.1.8"
+version = "4.2.0"
 authors = [{name = "Michael Dawson-Haggerty", email = "mikedh@kerfed.com"}]
 license = {file = "LICENSE.md"}
 description = "Import, export, process, analyze and view triangular meshes."
@@ -88,7 +88,9 @@ recommend = [
     "pyglet<2",
     "psutil",
     "scikit-image",
-    "python-fcl",
+    "python-fcl", # do collision checks
+    "openctm", # load `CTM` compressed models
+    "cascadio", # load `STEP` files
     "manifold3d>=2.3.0"
 ]
 
diff --git a/trimesh/base.py b/trimesh/base.py
index a2fae3b0e..d6a7c716b 100644
--- a/trimesh/base.py
+++ b/trimesh/base.py
@@ -225,8 +225,8 @@ def process(
                of their 2D oriented bounding box
                shorter than tol.merge
             4) remove duplicated triangles
-            5) ensure triangles are consistently wound
-               and normals face outwards
+            5) Attempt to ensure triangles are consistently wound
+               and normals face outwards.
 
         Parameters
         ------------
@@ -249,8 +249,8 @@ def process(
             if validate:
                 # get a mask with only unique and non-degenerate faces
                 mask = self.unique_faces() & self.nondegenerate_faces()
-                self.fix_normals()
                 self.update_faces(mask)
+                self.fix_normals()
 
             # since none of our process operations moved vertices or faces
             # we can keep face and vertex normals in the cache without recomputing
diff --git a/trimesh/exchange/cascade.py b/trimesh/exchange/cascade.py
new file mode 100644
index 000000000..d343b2ef9
--- /dev/null
+++ b/trimesh/exchange/cascade.py
@@ -0,0 +1,72 @@
+import os
+import tempfile
+
+from ..typed import BinaryIO, Dict, Optional
+
+# used as an intermediate format
+from .gltf import load_glb
+
+
+def load_step(
+    file_obj: BinaryIO,
+    file_type,
+    tol_linear: Optional[float] = None,
+    tol_angular: Optional[float] = None,
+    tol_relative: Optional[bool] = False,
+    merge_primitives: bool = True,
+    **kwargs,
+) -> Dict:
+    """
+    Use `cascadio` a packaged version of OpenCASCADE
+    to load a STEP file using GLB as an intermediate.
+
+    Parameters
+    -----------
+    file_obj
+      STEP file to load.
+    **kwargs
+      Passed to `cascadio.step_to_glb`
+
+    Returns
+    ----------
+    kwargs
+      Keyword arguments for a Scene.
+    """
+    # TODO : update upstream `cascadio` to accept bytes objects
+    # so that we don't need to write a temporary file to disc!
+    with tempfile.TemporaryDirectory() as F:
+        # temporarily copy the STEP
+        stepfile = os.path.join(F, "data.step")
+        with open(stepfile, "wb") as f:
+            f.write(file_obj.read())
+
+        # where to save the converted GLB
+        glbfile = os.path.join(F, "converted.glb")
+
+        # the arguments for cascadio are not optional so
+        # filter out any `None` value arguments here
+        cascadio_kwargs = {
+            "merge_primitives": bool(merge_primitives),
+            "tol_linear": tol_linear,
+            "tol_angular": tol_angular,
+            "tol_relative": tol_relative,
+        }
+        # run the conversion
+        cascadio.step_to_glb(
+            stepfile,
+            glbfile,
+            **{k: v for k, v in cascadio_kwargs.items() if v is not None},
+        )
+
+        with open(glbfile, "rb") as f:
+            # return the parsed intermediate file
+            return load_glb(file_obj=f, merge_primitives=merge_primitives, **kwargs)
+
+
+try:
+    # wheels for most platforms: `pip install cascadio`
+    import cascadio
+
+    _cascade_loaders = {"stp": load_step, "step": load_step}
+except BaseException:
+    _cascade_loaders = {}
diff --git a/trimesh/exchange/load.py b/trimesh/exchange/load.py
index 69591a8b7..3daf81413 100644
--- a/trimesh/exchange/load.py
+++ b/trimesh/exchange/load.py
@@ -13,6 +13,7 @@
 from ..util import log, now
 from . import misc
 from .binvox import _binvox_loaders
+from .cascade import _cascade_loaders
 from .dae import _collada_loaders
 from .gltf import _gltf_loaders
 from .misc import _misc_loaders
@@ -655,6 +656,7 @@ def _parse_file_args(
 mesh_loaders.update(_threedxml_loaders)
 mesh_loaders.update(_three_loaders)
 mesh_loaders.update(_xyz_loaders)
+mesh_loaders.update(_cascade_loaders)
 
 # collect loaders which return voxel types
 voxel_loaders = {}
diff --git a/trimesh/exchange/misc.py b/trimesh/exchange/misc.py
index f74d1ffaa..89e7e82c6 100644
--- a/trimesh/exchange/misc.py
+++ b/trimesh/exchange/misc.py
@@ -133,3 +133,10 @@ def load_meshio(file_obj, file_type=None, **kwargs):
     _misc_loaders.update(_meshio_loaders)
 except BaseException:
     _meshio_loaders = {}
+
+try:
+    import openctm
+
+    _misc_loaders["ctm"] = openctm.load_ctm
+except BaseException:
+    pass
diff --git a/trimesh/exchange/openctm.py b/trimesh/exchange/openctm.py
deleted file mode 100644
index 36e96c8d0..000000000
--- a/trimesh/exchange/openctm.py
+++ /dev/null
@@ -1,182 +0,0 @@
-# DEPRECATED AND WILL BE REMOVED MAY 2024!
-# This should be built into wheels separately if someone
-# wants to maintain a ctypes binding of openctm, e.g.
-# https://github.com/trimesh/vhacdx
-
-
-# Modified from the original OpenCTM python binding
-# for inclusion in the `trimesh` package:
-# https://github.com/mikedh/trimesh
-#
-# To get shared library this binding imports, you can download
-# and install it on Linux using this bash script:
-#  https://github.com/mikedh/trimesh/blob/master/docker/builds/openctm.bash
-# ------------------------------------------------------------------------------
-# Copyright (c) 2009-2010 Marcus Geelnard
-#
-# This software is provided 'as-is', without any express or implied
-# warranty. In no event will the authors be held liable for any damages
-# arising from the use of this software.
-#
-# Permission is granted to anyone to use this software for any purpose,
-# including commercial applications, and to alter it and redistribute it
-# freely, subject to the following restrictions:
-#
-#     1. The origin of this software must not be misrepresented; you must not
-#     claim that you wrote the original software. If you use this software
-#     in a product, an acknowledgment in the product documentation would be
-#     appreciated but is not required.
-#
-#     2. Altered source versions must be plainly marked as such, and must not
-#     be misrepresented as being the original software.
-#
-#     3. This notice may not be removed or altered from any source
-#     distribution.
-# ------------------------------------------------------------------------------
-
-import ctypes
-import ctypes.util
-import os
-import warnings
-
-import numpy as np
-
-warnings.warn(
-    "trimesh.exchange.openctm is deprecated "
-    + " and will be removed May 2025! Copy `openctm.py`"
-    + " into your own project!",
-    category=DeprecationWarning,
-    stacklevel=2,
-)
-
-
-_ctm_loaders = {}
-
-try:
-    # try to find the shared library
-    _ctm_lib_name = ctypes.util.find_library("openctm")
-    if os.name == "nt":
-        _ctm_loader = ctypes.WinDLL
-    else:
-        _ctm_loader = ctypes.CDLL
-    if _ctm_lib_name is None or len(_ctm_lib_name) == 0:
-        raise ImportError("libopenctm library not found!")
-except BaseException as E:
-    from ..exceptions import ExceptionWrapper
-
-    _ctm_lib_name = None
-    _ctm_loader = ExceptionWrapper(E)
-
-
-def load_ctm(file_obj, file_type=None, **kwargs):
-    """
-    Load OpenCTM files from a file object.
-
-    Parameters
-    ----------
-    file_obj : file object
-      Open file-like object with CTM data.
-
-    Returns
-    ----------
-    loaded : dict
-     Keyword arguments for the Trimesh constructor
-    """
-    # actually load the library here
-    _ctm_lib = _ctm_loader(_ctm_lib_name)
-
-    # Types
-    CTMfloat = ctypes.c_float
-    CTMint = ctypes.c_int32
-    CTMuint = ctypes.c_uint32
-    CTMcontext = ctypes.c_void_p
-    CTMenum = ctypes.c_uint32
-
-    # boolean
-    CTM_TRUE = 1
-    # CTM_FALSE = 0
-
-    # CTMenum
-    CTM_NONE = 0x0000
-    CTM_IMPORT = 0x0101
-    # CTM_EXPORT = 0x0102
-    CTM_VERTEX_COUNT = 0x0301
-    CTM_TRIANGLE_COUNT = 0x0302
-    CTM_HAS_NORMALS = 0x0303
-    CTM_INDICES = 0x0601
-    CTM_VERTICES = 0x0602
-    CTM_NORMALS = 0x0603
-
-    # Functions
-    ctmNewContext = _ctm_lib.ctmNewContext
-    ctmNewContext.argtypes = [CTMenum]
-    ctmNewContext.restype = CTMcontext
-    ctmFreeContext = _ctm_lib.ctmFreeContext
-    ctmFreeContext.argtypes = [CTMcontext]
-    ctmGetError = _ctm_lib.ctmGetError
-    ctmGetError.argtypes = [CTMcontext]
-    ctmGetError.restype = CTMenum
-    ctmErrorString = _ctm_lib.ctmErrorString
-    ctmErrorString.argtypes = [CTMenum]
-    ctmErrorString.restype = ctypes.c_char_p
-    ctmGetInteger = _ctm_lib.ctmGetInteger
-    ctmGetInteger.argtypes = [CTMcontext, CTMenum]
-    ctmGetInteger.restype = CTMint
-    ctmGetFloat = _ctm_lib.ctmGetFloat
-    ctmGetFloat.argtypes = [CTMcontext, CTMenum]
-    ctmGetFloat.restype = CTMfloat
-    ctmGetIntegerArray = _ctm_lib.ctmGetIntegerArray
-    ctmGetIntegerArray.argtypes = [CTMcontext, CTMenum]
-    ctmGetIntegerArray.restype = ctypes.POINTER(CTMuint)
-    ctmGetFloatArray = _ctm_lib.ctmGetFloatArray
-    ctmGetFloatArray.argtypes = [CTMcontext, CTMenum]
-    ctmGetFloatArray.restype = ctypes.POINTER(CTMfloat)
-    ctmLoad = _ctm_lib.ctmLoad
-    ctmLoad.argtypes = [CTMcontext, ctypes.c_char_p]
-    ctmSave = _ctm_lib.ctmSave
-    ctmSave.argtypes = [CTMcontext, ctypes.c_char_p]
-
-    ctm = ctmNewContext(CTM_IMPORT)
-
-    # !!load file from name
-    # this should be replaced with something that
-    # actually uses the file object data to support streams
-    name = str(file_obj.name).encode("utf-8")
-    ctmLoad(ctm, name)
-
-    err = ctmGetError(ctm)
-    if err != CTM_NONE:
-        raise OSError("Error loading file: " + str(ctmErrorString(err)))
-
-    # get vertices
-    vertex_count = ctmGetInteger(ctm, CTM_VERTEX_COUNT)
-    vertex_ctm = ctmGetFloatArray(ctm, CTM_VERTICES)
-    # use fromiter to avoid loop
-    vertices = np.fromiter(vertex_ctm, dtype=np.float64, count=vertex_count * 3).reshape(
-        (-1, 3)
-    )
-    # get faces
-    face_count = ctmGetInteger(ctm, CTM_TRIANGLE_COUNT)
-    face_ctm = ctmGetIntegerArray(ctm, CTM_INDICES)
-    faces = np.fromiter(face_ctm, dtype=np.int64, count=face_count * 3).reshape((-1, 3))
-
-    # create kwargs for trimesh constructor
-    result = {"vertices": vertices, "faces": faces}
-
-    # get face normals if available
-    if ctmGetInteger(ctm, CTM_HAS_NORMALS) == CTM_TRUE:
-        normals_ctm = ctmGetFloatArray(ctm, CTM_NORMALS)
-        normals = np.fromiter(
-            normals_ctm, dtype=np.float64, count=face_count * 3
-        ).reshape((-1, 3))
-        result["face_normals"] = normals
-
-    # free context
-    ctmFreeContext(ctm)
-
-    return result
-
-
-if _ctm_lib_name is not None:
-    # we have a library so add load_ctm
-    _ctm_loaders = {"ctm": load_ctm}
diff --git a/trimesh/exchange/urdf.py b/trimesh/exchange/urdf.py
index df9e8f6dd..542e1a6f5 100644
--- a/trimesh/exchange/urdf.py
+++ b/trimesh/exchange/urdf.py
@@ -27,8 +27,6 @@ def export_urdf(mesh, directory, scale=1.0, color=None, **kwargs):
 
     import lxml.etree as et
 
-    from ..resources import get
-
     # TODO: fix circular import
     from .export import export_mesh
 
@@ -153,8 +151,10 @@ def export_urdf(mesh, directory, scale=1.0, color=None, **kwargs):
     tree = et.ElementTree(root)
 
     if tol.strict:
+        from ..resources import get_stream
+
         # todo : we don't pass the URDF schema validation
-        schema = et.XMLSchema(file=get("schema/urdf.xsd", as_stream=True))
+        schema = et.XMLSchema(file=get_stream("schema/urdf.xsd"))
         if not schema.validate(tree):
             # actual error isn't raised by validate
             log.debug(schema.error_log)
diff --git a/trimesh/parent.py b/trimesh/parent.py
index 126d6f2df..11149eac1 100644
--- a/trimesh/parent.py
+++ b/trimesh/parent.py
@@ -25,11 +25,13 @@ class Geometry(ABC):
     those methods.
     """
 
-    @abc.abstractproperty
+    @property
+    @abc.abstractmethod
     def bounds(self):
         pass
 
-    @abc.abstractproperty
+    @property
+    @abc.abstractmethod
     def extents(self):
         pass
 
diff --git a/trimesh/path/segments.py b/trimesh/path/segments.py
index 52ad5a68d..3224214ab 100644
--- a/trimesh/path/segments.py
+++ b/trimesh/path/segments.py
@@ -142,11 +142,21 @@ def colinear_pairs(segments, radius=0.01, angle=0.01, length=None):
 
     # if length is specified check endpoint proximity
     if length is not None:
-        a, b = param[colinear.T]
-        distance = np.abs(np.column_stack([a[:, :1] - b, a[:, 1:] - b])).min(axis=1)
-        identical = distance < length
-        # remove non- identical pairs
-        colinear = colinear[identical]
+        # `segments` index of colinear pairs
+        a, b = colinear.T
+
+        # we want the minimum distance of any of these pairs:
+        # a[0] - b[0]
+        # a[1] - b[0]
+        # a[0] - b[1]
+        # a[1] - b[1]
+        # do it in the most confusing possible vectorized way
+        min_vertex = np.linalg.norm(
+            segments[a][:, [0, 1, 0, 1], :] - segments[b][:, [0, 0, 1, 1], :], axis=2
+        ).min(axis=1)
+
+        # remove pairs that don't meet the distance metric
+        colinear = colinear[min_vertex < length]
 
     return colinear
 
diff --git a/trimesh/repair.py b/trimesh/repair.py
index 935a2ddc0..b2a6c69da 100644
--- a/trimesh/repair.py
+++ b/trimesh/repair.py
@@ -97,6 +97,11 @@ def fix_inversion(mesh, multibody=False):
     multibody : bool
       If True will try to fix normals on every body
     """
+    if not mesh.is_watertight:
+        # this will make things worse for non-watertight meshes
+        return
+
+
     if multibody:
         groups = graph.connected_components(mesh.face_adjacency)
         # escape early for single body
diff --git a/trimesh/typed.py b/trimesh/typed.py
index d5049deb8..63d91abd3 100644
--- a/trimesh/typed.py
+++ b/trimesh/typed.py
@@ -1,5 +1,16 @@
 from pathlib import Path
-from typing import IO, Any, Dict, Iterable, List, Optional, Sequence, Tuple, Union
+from typing import (
+    IO,
+    Any,
+    BinaryIO,
+    Dict,
+    Iterable,
+    List,
+    Optional,
+    Sequence,
+    Tuple,
+    Union,
+)
 
 # our default integer and floating point types
 from numpy import float64, int64
@@ -22,6 +33,7 @@
     "Iterable",
     "Loadable",
     "IO",
+    "BinaryIO",
     "List",
     "Dict",
     "Any",


Test patch:
diff --git a/tests/test_step.py b/tests/test_step.py
new file mode 100644
index 000000000..0138d75de
--- /dev/null
+++ b/tests/test_step.py
@@ -0,0 +1,21 @@
+try:
+    import generic as g
+except BaseException:
+    from . import generic as g
+
+
+class STEPTests(g.unittest.TestCase):
+    def test_basic(self):
+        try:
+            import cascadio  # noqa
+        except BaseException:
+            g.log.error("failed to get cascadio!", exc_info=True)
+            return
+
+        s = g.get_mesh("box_sides.STEP")
+        assert len(s.geometry) == 10
+
+
+if __name__ == "__main__":
+    g.trimesh.util.attach_to_log()
+    g.unittest.main()