Rerun

Mesh3D

A 3D triangle mesh as specified by its per-mesh and per-vertex properties.

See also archetypes.Asset3D.

If there are multiple archetypes.InstancePoses3D instances logged to the same entity as a mesh, an instance of the mesh will be drawn for each transform.

Fields fields

Required required

Optional optional

Can be shown in can-be-shown-in

Examples examples

Simple indexed 3D mesh simple-indexed-3d-mesh

"""Log a simple colored triangle."""

import rerun as rr

rr.init("rerun_example_mesh3d_indexed", spawn=True)

rr.log(
    "triangle",
    rr.Mesh3D(
        vertex_positions=[[0.0, 1.0, 0.0], [1.0, 0.0, 0.0], [0.0, 0.0, 0.0]],
        vertex_normals=[0.0, 0.0, 1.0],
        vertex_colors=[[0, 0, 255], [0, 255, 0], [255, 0, 0]],
        triangle_indices=[2, 1, 0],
    ),
)
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3D mesh with instancing 3d-mesh-with-instancing

"""Log a simple 3D mesh with several instance pose transforms which instantiate the mesh several times and will not affect its children (known as mesh instancing)."""

import rerun as rr

rr.init("rerun_example_mesh3d_instancing", spawn=True)
rr.set_time("frame", sequence=0)

rr.log(
    "shape",
    rr.Mesh3D(
        vertex_positions=[[1, 1, 1], [-1, -1, 1], [-1, 1, -1], [1, -1, -1]],
        triangle_indices=[[0, 1, 2], [0, 1, 3], [0, 2, 3], [1, 2, 3]],
        vertex_colors=[[255, 0, 0], [0, 255, 0], [0, 0, 255], [255, 255, 0]],
    ),
)
# This box will not be affected by its parent's instance poses!
rr.log(
    "shape/box",
    rr.Boxes3D(half_sizes=[[5.0, 5.0, 5.0]]),
)

for i in range(100):
    rr.set_time("frame", sequence=i)
    rr.log(
        "shape",
        rr.InstancePoses3D(
            translations=[[2, 0, 0], [0, 2, 0], [0, -2, 0], [-2, 0, 0]],
            rotation_axis_angles=rr.RotationAxisAngle([0, 0, 1], rr.Angle(deg=i * 2)),
        ),
    )
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Update specific parts of a 3D mesh over time update-specific-parts-of-a-3d-mesh-over-time

"""Log a simple colored triangle, then update its vertices' positions each frame."""

import numpy as np
import rerun as rr

rr.init("rerun_example_mesh3d_partial_updates", spawn=True)

vertex_positions = np.array([[-1.0, 0.0, 0.0], [1.0, 0.0, 0.0], [0.0, 1.0, 0.0]], dtype=np.float32)

# Log the initial state of our triangle
rr.set_time("frame", sequence=0)
rr.log(
    "triangle",
    rr.Mesh3D(
        vertex_positions=vertex_positions,
        vertex_normals=[0.0, 0.0, 1.0],
        vertex_colors=[[255, 0, 0], [0, 255, 0], [0, 0, 255]],
    ),
)

# Only update its vertices' positions each frame:
for i in range(1, 300):
    factor = np.abs(np.sin(i * 0.04))
    rr.set_time("frame", sequence=i)
    rr.log("triangle", rr.Mesh3D.from_fields(vertex_positions=vertex_positions * factor))
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