fastsim.api.geometry

class GeometryPurpose(StrEnum)

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class GeometryRepresentation(StrEnum)

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class GeometryMotionClass(StrEnum)

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class GeometryStorageKind(StrEnum)

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class GeometryLocatorScheme(StrEnum)

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class GeometryAxis(StrEnum)

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class SignedGeometryAxis(StrEnum)

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class GeometryDType(StrEnum)

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class GeometryContentProfile(StrEnum)

Closed, versioned byte layouts supported by ``scene.geometry@2``. Every profile is headerless, C-contiguous, and little-endian. Consequently ``byte_size`` is both the encoded payload size and the decoded array size in version 1; compressed/container formats require a future profile or service version instead of being guessed from an arbitrary format string.

class GeometrySdfSignConvention(StrEnum)

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class GeometryVoxelValueSemantics(StrEnum)

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class GeometryAxisConvention(object)

Fully specified portable basis convention for one resolved resource.

class MeshResourceSchema(object)

Raw mesh arrays: vertices first, then triangle indices. Both arrays are headerless C-order arrays. Vertices have shape ``(N, 3)`` in metres and use a floating dtype. Triangle indices have shape ``(M, 3)`` and use an unsigned integer dtype. The profile fixes little-endian byte order; ``index_byte_offset`` is therefore the exact vertex byte count.

class SdfResourceSchema(object)

Dense SDF array with shape ``(X, Y, Z)`` and Z as the fastest axis.

class VoxelResourceSchema(object)

Dense uint8 occupancy grid shaped ``(X, Y, Z)``, Z fastest.

class HeightfieldResourceSchema(object)

Dense height samples shaped ``(Y, X)`` with X as the fastest axis.

class AxisAlignedBoundingBox(object)

A finite AABB expressed in one explicitly named frame.

class CollisionFilterMetadata(object)

Portable collision-layer membership and allow-list metadata.

class InlineBox(object)

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class InlineSphere(object)

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class InlineCapsule(object)

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class InlineCylinder(object)

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class InlineHalfspace(object)

Exact infinite half-space with local boundary ``z=0`` and solid ``z<=0``.

class GeometryLocalPose(object)

A frame-free geometry-local rigid transform. In ``InlineCompoundPart`` this value is exactly ``geometry_T_part``. It is intentionally not a :class:`Pose`: a geometry-local coordinate system is not a public FrameCatalog node and therefore must not masquerade as one.

class InlineCompoundPart(object)

One primitive child in a bounded inline compound collider. ``local_pose`` is exactly ``geometry_T_part``. It has no ``frame_id`` because the geometry-local coordinate system is not a FrameCatalog node.

class InlineCompound(object)

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aabb_intersects_halfspace(aabb: AxisAlignedBoundingBox, parent_frame_T_halfspace: Pose) -> bool

Return exact analytic intersection with an oriented infinite half-space. The AABB and pose must use the same frame. Local ``+Z`` is the outward normal, so a point is occupied exactly when ``normal · (point-origin) <= 0``.

class GeometryCatalogEntry(object)

One path-free collision, visual, or planning geometry fact. ``local_pose`` is ``parent_frame_T_geometry``; its ``frame_id`` is the owning entity/link frame selected by the provider. Compound child poses are frame-free ``geometry_T_part`` values.

class GeometryQuery(object)

Bounded deterministic intersection filter shared by geometry reads.

class GeometryCapabilities(object)

Exact service capabilities; callers must fail closed outside this set.

class GeometryCatalogSnapshot(object)

Path-free deterministic structural geometry for one generation.

class ScopedResourceLocator(object)

Opaque provider-scoped locator; never a filesystem path or native handle.

class GeometryResourceLeaseDescriptor(object)

Portable metadata for one digest-verified read-only resource lease. The v1 resource profiles deliberately support only closed raw little-endian encodings. ``byte_size`` is the encoded byte length and must exactly equal ``schema.decoded_byte_size``. A future compressed encoding must introduce another explicit profile with its own encoded/decoded relationship.

class GeometryResourceReadRequest(object)

One ordered, bounded byte-span request within a resolved batch.

class GeometryResourceReadResult(object)

One immutable payload result in the exact order requested by a caller.

class ResolvedGeometryResource(Protocol)

Live provider-owned lease around an immutable resource descriptor. ``read`` returns an exact immutable ``bytes`` chunk and must enforce :meth:`GeometryResourceLeaseDescriptor.read_span`. It never exposes a filesystem path, shared-memory object, mmap, file object, native handle, or mutable buffer. A provider invalidates every retained lease on service revocation or generation reset. ``descriptor`` and ``read`` after revocation or close must raise ``RESOURCE_LEASE_REVOKED``. ``closed`` and idempotent ``close`` remain available for lifecycle cleanup.

class ResolvedGeometryResourceBatch(Protocol)

Generation-scoped lease over ordered immutable geometry resources. ``descriptors`` is shared by lightweight aliases of the same compiled batch. ``read`` addresses one member by geometry ID without exposing a native handle or requiring one Python lease object per resource. ``read_many`` validates the complete request before one provider batch operation. Results preserve request order; exact duplicate spans retain duplicate logical results while providers may read their native bytes once. Logical result bytes, including duplicates, must fit ``max_total_bytes``; callers split larger worlds into bounded batches. High-rate callers should compile and retain one immutable request tuple per static catalog revision; providers may reuse its validated spans and immutable results by identity. Rebuilding an equivalent tuple is a new public-boundary request and may require O(N) validation again.

class GeometryTransform(object)

One geometry pose expressed in its enclosing snapshot's world frame.

class GeometryAttachmentRecord(object)

Compact attachment relation for planner collision-world mirrors.

class GeometryTransformSnapshot(object)

One committed transform/attachment view without geometry buffers.

class GeometryDeltaKind(StrEnum)

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class GeometryDelta(object)

Exactly one structural update, transform update, or terminal resync.

class SceneGeometryErrorCode(StrEnum)

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class SceneGeometryError(RuntimeError)

Typed bounded failure from ``fastsim.scene.geometry@2``.

validate_geometry_resource_binding(catalog: GeometryCatalogSnapshot, descriptor: GeometryResourceLeaseDescriptor, capabilities: GeometryCapabilities) -> GeometryCatalogEntry

Validate the exact catalog-to-resolved-resource join before publication. Providers call this after digest verification and before returning a live lease. No field is inferred and no representation fallback is permitted.

validate_geometry_projection(scene_catalog: object, scene_state: object, frame_catalog: object, geometry_catalog: GeometryCatalogSnapshot, transform_snapshot: GeometryTransformSnapshot, *, frame_transforms: tuple[TransformStamped, ...] | None=None) -> None

Validate one numerically coherent scene/frame/geometry projection. ``frame_transforms`` is the complete set of committed world-to-frame lookup results when arbitrary joint or named frames participate. For the compact base/link-only projection, the same values can be derived exactly from the scene state, which preserves the five-argument validation entry point.

validate_geometry_delta_against(catalog: GeometryCatalogSnapshot, attachments: tuple[GeometryAttachmentRecord, ...], delta: GeometryDelta) -> tuple[tuple[GeometryCatalogEntry, ...], tuple[GeometryAttachmentRecord, ...]]

Apply a delta to compact prior facts and validate resulting closure. This helper does not mutate inputs. It is the provider-side publication gate for relationships that cannot be checked from an isolated delta.

class GeometryDeltaSubscription(Protocol)

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class SceneGeometryService(Protocol)

Capability-scoped collision catalog, resources, transforms, and deltas.

class SceneGeometryBatchService(SceneGeometryService, Protocol)

Optional additive batch-resource extension for scene geometry.