vispy 0.15.0__cp313-cp313-manylinux_2_17_aarch64.manylinux2014_aarch64.whl

vispy/geometry/triangulation.py

@@ -0,0 +1,876 @@
+# -*- coding: utf-8 -*-
+
+from __future__ import division, print_function
+
+from itertools import permutations
+import numpy as np
+
+from collections import OrderedDict
+
+from .calculations import _cross_2d
+
+
+class Triangulation(object):
+    """Constrained delaunay triangulation
+
+    Implementation based on [1]_.
+
+    Parameters
+    ----------
+    pts : array
+        Nx2 array of points.
+    edges : array
+        Nx2 array of edges (dtype=int).
+
+    Notes
+    -----
+    * Delaunay legalization is not yet implemented. This produces a proper
+      triangulation, but adding legalisation would produce fewer thin
+      triangles.
+    * The pts and edges arrays may be modified.
+
+    References
+    ----------
+    .. [1] Domiter, V. and Žalik, B. Sweep‐line algorithm for constrained
+       Delaunay triangulation
+    """
+
+    def __init__(self, pts, edges):
+        self.pts = pts[:, :2].astype(np.float32)
+        self.edges = edges
+        if self.pts.ndim != 2 or self.pts.shape[1] != 2:
+            raise TypeError('pts argument must be ndarray of shape (N, 2).')
+        if self.edges.ndim != 2 or self.edges.shape[1] != 2:
+            raise TypeError('edges argument must be ndarray of shape (N, 2).')
+
+        # described in initialize()
+        self._front = None
+        self.tris = OrderedDict()
+        self._edges_lookup = {}
+
+    def _normalize(self):
+        # Clean up data   (not discussed in original publication)
+
+        # (i) Split intersecting edges. Every edge that intersects another
+        #     edge or point is split. This extends self.pts and self.edges.
+        self._split_intersecting_edges()
+
+        # (ii) Merge identical points. If any two points are found to be equal,
+        #      the second is removed and the edge table is updated accordingly.
+        self._merge_duplicate_points()
+
+        # (iii) Remove duplicate edges
+        # TODO
+
+    def _initialize(self):
+        self._normalize()
+        # Initialization (sec. 3.3)
+
+        # sort points by y, then x
+        flat_shape = self.pts.shape[0] * self.pts.shape[1]
+        pts = self.pts.reshape(flat_shape).view([('x', np.float32),
+                                                 ('y', np.float32)])
+        order = np.argsort(pts, order=('y', 'x'))
+        pts = pts[order]
+        # update edges to match new point order
+        invorder = np.argsort(order)
+        self.edges = invorder[self.edges]
+        self.pts = pts.view(np.float32).reshape(len(pts), 2)
+
+        # make artificial points P-1 and P-2
+        xmax = self.pts[:, 0].max()
+        xmin = self.pts[:, 0].min()
+        ymax = self.pts[:, 1].max()
+        ymin = self.pts[:, 1].min()
+        xa = (xmax-xmin) * 0.3
+        ya = (ymax-ymin) * 0.3
+        p1 = (xmin - xa, ymin - ya)
+        p2 = (xmax + xa, ymin - ya)
+
+        # prepend artificial points to point list
+        newpts = np.empty((self.pts.shape[0]+2, 2), dtype=float)
+        newpts[0] = p1
+        newpts[1] = p2
+        newpts[2:] = self.pts
+        self.pts = newpts
+        self.edges += 2
+
+        # find topmost point in each edge
+        self._tops = self.edges.max(axis=1)
+        self._bottoms = self.edges.min(axis=1)
+
+        # initialize sweep front
+        # values in this list are indexes into self.pts
+        self._front = [0, 2, 1]
+
+        # empty triangle list.
+        # This will contain [(a, b, c), ...] where a,b,c are indexes into
+        # self.pts
+        self.tris = OrderedDict()
+
+        # For each triangle, maps (a, b): c
+        # This is used to look up the thrid point in a triangle, given any
+        # edge. Since each edge has two triangles, they are independently
+        # stored as (a, b): c and (b, a): d
+        self._edges_lookup = {}
+
+    def triangulate(self):
+        """Do the triangulation."""
+        self._initialize()
+
+        pts = self.pts
+        front = self._front
+
+        # Begin sweep (sec. 3.4)
+        for i in range(3, pts.shape[0]):
+            pi = pts[i]
+
+            # First, triangulate from front to new point
+            # This applies to both "point events" (3.4.1)
+            # and "edge events" (3.4.2).
+
+            # get index along front that intersects pts[i]
+            idx = 0
+            while pts[front[idx+1], 0] <= pi[0]:
+                idx += 1
+            pl = pts[front[idx]]
+
+            # "(i) middle case"
+            if pi[0] > pl[0]:
+                # Add a single triangle connecting pi,pl,pr
+                self._add_tri(front[idx], front[idx+1], i)
+                front.insert(idx+1, i)
+            # "(ii) left case"
+            else:
+                # Add triangles connecting pi,pl,ps and pi,pl,pr
+                self._add_tri(front[idx], front[idx+1], i)
+                self._add_tri(front[idx-1], front[idx], i)
+                front[idx] = i
+
+            # Continue adding triangles to smooth out front
+            # (heuristics shown in figs. 9, 10)
+            for direction in -1, 1:
+                while True:
+                    # Find point connected to pi
+                    ind0 = front.index(i)
+                    ind1 = ind0 + direction
+                    ind2 = ind1 + direction
+                    if ind2 < 0 or ind2 >= len(front):
+                        break
+
+                    # measure angle made with front
+                    p1 = pts[front[ind1]]
+                    p2 = pts[front[ind2]]
+                    err = np.geterr()
+                    np.seterr(invalid='ignore')
+                    try:
+                        angle = np.arccos(self._cosine(pi, p1, p2))
+                    finally:
+                        np.seterr(**err)
+
+                    # if angle is < pi/2, make new triangle
+                    if angle > np.pi/2. or np.isnan(angle):
+                        break
+
+                    assert (i != front[ind1] and
+                            front[ind1] != front[ind2] and
+                            front[ind2] != i)
+                    self._add_tri(i, front[ind1], front[ind2])
+                    front.pop(ind1)
+
+            # "edge event" (sec. 3.4.2)
+            # remove any triangles cut by completed edges and re-fill
+            # the holes.
+            if i in self._tops:
+                for j in self._bottoms[self._tops == i]:
+                    # Make sure edge (j, i) is present in mesh
+                    # because edge event may have created a new front list
+                    self._edge_event(i, int(j))
+                    front = self._front
+
+        self._finalize()
+
+        self.tris = np.array(list(self.tris.keys()), dtype=int)
+
+    def _finalize(self):
+        # Finalize (sec. 3.5)
+
+        # (i) Add bordering triangles to fill hull
+        front = list(OrderedDict.fromkeys(self._front))
+
+        idx = len(front) - 2
+        k = 1
+        while k < idx-1:
+            # if edges lie in counterclockwise direction, then signed area
+            # is positive
+            if self._orientation((front[k], front[k+1]), front[k+2]) < 0:
+                self._add_tri(front[k], front[k+1], front[k+2])
+                front.pop(k+1)
+                idx -= 1
+                continue
+            k += 1
+
+        # (ii) Remove all triangles not inside the hull
+        #      (not described in article)
+
+        tris = []  # triangles to check
+        tri_state = {}  # 0 for outside, 1 for inside
+
+        # find a starting triangle
+        for t in self.tris:
+            if 0 in t or 1 in t:
+                tri_state[t] = 0
+                tris.append(t)
+                break
+
+        while tris:
+            next_tris = []
+            for t in tris:
+                v = tri_state[t]
+                for i in (0, 1, 2):
+                    edge = (t[i], t[(i + 1) % 3])
+                    pt = t[(i + 2) % 3]
+                    t2 = self._adjacent_tri(edge, pt)
+                    if t2 is None:
+                        continue
+                    t2a = t2[1:3] + t2[0:1]
+                    t2b = t2[2:3] + t2[0:2]
+                    if t2 in tri_state or t2a in tri_state or t2b in tri_state:
+                        continue
+                    if self._is_constraining_edge(edge):
+                        tri_state[t2] = 1 - v
+                    else:
+                        tri_state[t2] = v
+                    next_tris.append(t2)
+            tris = next_tris
+
+        for t, v in tri_state.items():
+            if v == 0:
+                self._remove_tri(*t)
+
+    def _edge_event(self, i, j):
+        """Force edge (i, j) to be present in mesh.
+
+        This works by removing intersected triangles and filling holes up to
+        the cutting edge.
+        """
+        front_index = self._front.index(i)
+
+        front = self._front
+
+        # First just see whether this edge is already present
+        # (this is not in the published algorithm)
+        if (i, j) in self._edges_lookup or (j, i) in self._edges_lookup:
+            return
+
+        # traverse in two different modes:
+        #  1. If cutting edge is below front, traverse through triangles. These
+        #     must be removed and the resulting hole re-filled. (fig. 12)
+        #  2. If cutting edge is above the front, then follow the front until
+        #     crossing under again. (fig. 13)
+        # We must be able to switch back and forth between these
+        # modes (fig. 14)
+
+        # Collect points that draw the open polygons on either side of the
+        # cutting edge. Note that our use of 'upper' and 'lower' is not strict;
+        # in some cases the two may be swapped.
+        upper_polygon = [i]
+        lower_polygon = [i]
+
+        # Keep track of which section of the front must be replaced
+        # and with what it should be replaced
+        front_holes = []  # contains indexes for sections of front to remove
+
+        next_tri = None   # next triangle to cut (already set if in mode 1)
+        last_edge = None  # or last triangle edge crossed (if in mode 1)
+
+        # Which direction to traverse front
+        front_dir = 1 if self.pts[j][0] > self.pts[i][0] else -1
+
+        # Initialize search state
+        if self._edge_below_front((i, j), front_index):
+            mode = 1  # follow triangles
+            tri = self._find_cut_triangle((i, j))
+            last_edge = self._edge_opposite_point(tri, i)
+            next_tri = self._adjacent_tri(last_edge, i)
+            assert next_tri is not None
+            self._remove_tri(*tri)
+            # todo: does this work? can we count on last_edge to be clockwise
+            # around point i?
+            lower_polygon.append(last_edge[1])
+            upper_polygon.append(last_edge[0])
+        else:
+            mode = 2  # follow front
+
+        # Loop until we reach point j
+        while True:
+            if mode == 1:
+                # crossing from one triangle into another
+                if j in next_tri:
+                    # reached endpoint!
+                    # update front / polygons
+                    upper_polygon.append(j)
+                    lower_polygon.append(j)
+                    self._remove_tri(*next_tri)
+                    break
+                else:
+                    # next triangle does not contain the end point; we will
+                    # cut one of the two far edges.
+                    tri_edges = self._edges_in_tri_except(next_tri, last_edge)
+
+                    # select the edge that is cut
+                    last_edge = self._intersected_edge(tri_edges, (i, j))
+                    last_tri = next_tri
+                    next_tri = self._adjacent_tri(last_edge, last_tri)
+                    self._remove_tri(*last_tri)
+
+                    # Crossing an edge adds one point to one of the polygons
+                    if lower_polygon[-1] == last_edge[0]:
+                        upper_polygon.append(last_edge[1])
+                    elif lower_polygon[-1] == last_edge[1]:
+                        upper_polygon.append(last_edge[0])
+                    elif upper_polygon[-1] == last_edge[0]:
+                        lower_polygon.append(last_edge[1])
+                    elif upper_polygon[-1] == last_edge[1]:
+                        lower_polygon.append(last_edge[0])
+                    else:
+                        raise RuntimeError("Something went wrong..")
+
+                    # If we crossed the front, go to mode 2
+                    x = self._edge_in_front(last_edge)
+                    if x >= 0:  # crossing over front
+                        mode = 2
+                        next_tri = None
+
+                        # where did we cross the front?
+                        # nearest to new point
+                        front_index = x + (1 if front_dir == -1 else 0)
+
+                        # Select the correct polygon to be lower_polygon
+                        # (because mode 2 requires this).
+                        # We know that last_edge is in the front, and
+                        # front[front_index] is the point _above_ the front.
+                        # So if this point is currently the last element in
+                        # lower_polygon, then the polys must be swapped.
+                        if lower_polygon[-1] == front[front_index]:
+                            tmp = lower_polygon, upper_polygon
+                            upper_polygon, lower_polygon = tmp
+                        else:
+                            assert upper_polygon[-1] == front[front_index]
+
+                    else:
+                        assert next_tri is not None
+
+            else:  # mode == 2
+                # At each iteration, we require:
+                #   * front_index is the starting index of the edge _preceding_
+                #     the edge that will be handled in this iteration
+                #   * lower_polygon is the polygon to which points should be
+                #     added while traversing the front
+
+                front_index += front_dir
+                next_edge = (front[front_index], front[front_index+front_dir])
+
+                assert front_index >= 0
+                if front[front_index] == j:
+                    # found endpoint!
+                    lower_polygon.append(j)
+                    upper_polygon.append(j)
+                    break
+
+                # Add point to lower_polygon.
+                # The conditional is because there are cases where the
+                # point was already added if we just crossed from mode 1.
+                if lower_polygon[-1] != front[front_index]:
+                    lower_polygon.append(front[front_index])
+
+                front_holes.append(front_index)
+
+                if self._edges_intersect((i, j), next_edge):
+                    # crossing over front into triangle
+                    mode = 1
+
+                    last_edge = next_edge
+
+                    # we are crossing the front, so this edge only has one
+                    # triangle.
+                    next_tri = self._tri_from_edge(last_edge)
+
+                    upper_polygon.append(front[front_index+front_dir])
+
+        # (iii) triangulate empty areas
+
+        for polygon in [lower_polygon, upper_polygon]:
+            dist = self._distances_from_line((i, j), polygon)
+            while len(polygon) > 2:
+                ind = np.argmax(dist)
+                self._add_tri(polygon[ind], polygon[ind-1],
+                              polygon[ind+1])
+                polygon.pop(ind)
+                dist.pop(ind)
+
+        # update front by removing points in the holes (places where front
+        # passes below the cut edge)
+        front_holes.sort(reverse=True)
+        for i in front_holes:
+            front.pop(i)
+
+    def _find_cut_triangle(self, edge):
+        """
+        Return the triangle that has edge[0] as one of its vertices and is
+        bisected by edge.
+
+        Return None if no triangle is found.
+        """
+        edges = []  # opposite edge for each triangle attached to edge[0]
+        for tri in self.tris:
+            if edge[0] in tri:
+                edges.append(self._edge_opposite_point(tri, edge[0]))
+
+        for oedge in edges:
+            o1 = self._orientation(edge, oedge[0])
+            o2 = self._orientation(edge, oedge[1])
+            if o1 != o2:
+                return (edge[0], oedge[0], oedge[1])
+
+        return None
+
+    def _edge_in_front(self, edge):
+        """Return the index where *edge* appears in the current front.
+
+        If the edge is not in the front, return -1
+        """
+        e = (list(edge), list(edge)[::-1])
+        for i in range(len(self._front)-1):
+            if self._front[i:i+2] in e:
+                return i
+        return -1
+
+    def _edge_opposite_point(self, tri, i):
+        """Given a triangle, return the edge that is opposite point i.
+
+        Vertexes are returned in the same orientation as in tri.
+        """
+        ind = tri.index(i)
+        return (tri[(ind+1) % 3], tri[(ind+2) % 3])
+
+    def _adjacent_tri(self, edge, i):
+        """Given a triangle formed by edge and i, return the triangle that shares
+        edge. *i* may be either a point or the entire triangle.
+        """
+        if not np.isscalar(i):
+            i = [x for x in i if x not in edge][0]
+
+        try:
+            pt1 = self._edges_lookup[edge]
+            pt2 = self._edges_lookup[(edge[1], edge[0])]
+        except KeyError:
+            return None
+
+        if pt1 == i:
+            return (edge[1], edge[0], pt2)
+        elif pt2 == i:
+            return (edge[1], edge[0], pt1)
+        else:
+            raise RuntimeError("Edge %s and point %d do not form a triangle "
+                               "in this mesh." % (edge, i))
+
+    def _tri_from_edge(self, edge):
+        """Return the only tri that contains *edge*.
+
+        If two tris share this edge, raise an exception.
+        """
+        edge = tuple(edge)
+        p1 = self._edges_lookup.get(edge, None)
+        p2 = self._edges_lookup.get(edge[::-1], None)
+        if p1 is None:
+            if p2 is None:
+                raise RuntimeError("No tris connected to edge %r" % (edge,))
+            return edge + (p2,)
+        elif p2 is None:
+            return edge + (p1,)
+        else:
+            raise RuntimeError("Two triangles connected to edge %r" % (edge,))
+
+    def _edges_in_tri_except(self, tri, edge):
+        """Return the edges in *tri*, excluding *edge*."""
+        edges = [(tri[i], tri[(i+1) % 3]) for i in range(3)]
+        try:
+            edges.remove(tuple(edge))
+        except ValueError:
+            edges.remove(tuple(edge[::-1]))
+        return edges
+
+    def _edge_below_front(self, edge, front_index):
+        """Return True if *edge* is below the current front.
+
+        One of the points in *edge* must be _on_ the front, at *front_index*.
+        """
+        f0 = self._front[front_index-1]
+        f1 = self._front[front_index+1]
+        return (self._orientation(edge, f0) > 0 and
+                self._orientation(edge, f1) < 0)
+
+    def _is_constraining_edge(self, edge):
+        mask1 = self.edges == edge[0]
+        mask2 = self.edges == edge[1]
+        return (np.any(mask1[:, 0] & mask2[:, 1]) or
+                np.any(mask2[:, 0] & mask1[:, 1]))
+
+    def _intersected_edge(self, edges, cut_edge):
+        """Given a list of *edges*, return the first that is intersected by
+        *cut_edge*.
+        """
+        for edge in edges:
+            if self._edges_intersect(edge, cut_edge):
+                return edge
+
+    def _find_edge_intersections(self):
+        """Return a dictionary containing, for each edge in self.edges, a list
+        of the positions at which the edge should be split.
+        """
+        edges = self.pts[self.edges]
+        cuts = {}  # { edge: [(intercept, point), ...], ... }
+        for i in range(edges.shape[0]-1):
+            # intersection of edge i onto all others
+            int1 = self._intersect_edge_arrays(edges[i:i+1], edges[i+1:])
+            # intersection of all edges onto edge i
+            int2 = self._intersect_edge_arrays(edges[i+1:], edges[i:i+1])
+
+            # select for pairs that intersect
+            err = np.geterr()
+            np.seterr(divide='ignore', invalid='ignore')
+            try:
+                mask1 = (int1 >= 0) & (int1 <= 1)
+                mask2 = (int2 >= 0) & (int2 <= 1)
+                mask3 = mask1 & mask2  # all intersections
+            finally:
+                np.seterr(**err)
+
+            # compute points of intersection
+            inds = np.argwhere(mask3)[:, 0]
+            if len(inds) == 0:
+                continue
+            h = int2[inds][:, np.newaxis]
+            pts = (edges[i, 0][np.newaxis, :] * (1.0 - h) +
+                   edges[i, 1][np.newaxis, :] * h)
+
+            # record for all edges the location of cut points
+            edge_cuts = cuts.setdefault(i, [])
+            for j, ind in enumerate(inds):
+                if 0 < int2[ind] < 1:
+                    edge_cuts.append((int2[ind], pts[j]))
+                if 0 < int1[ind] < 1:
+                    other_cuts = cuts.setdefault(ind+i+1, [])
+                    other_cuts.append((int1[ind], pts[j]))
+
+        # sort all cut lists by intercept, remove duplicates
+        for k, v in cuts.items():
+            v.sort(key=lambda x: x[0])
+            for i in range(len(v)-2, -1, -1):
+                if v[i][0] == v[i+1][0]:
+                    v.pop(i+1)
+        return cuts
+
+    def _split_intersecting_edges(self):
+        # we can do all intersections at once, but this has excessive memory
+        # overhead.
+
+        # measure intersection point between all pairs of edges
+        all_cuts = self._find_edge_intersections()
+
+        # cut edges at each intersection
+        add_pts = []
+        add_edges = []
+        for edge, cuts in all_cuts.items():
+            if len(cuts) == 0:
+                continue
+
+            # add new points
+            pt_offset = self.pts.shape[0] + len(add_pts)
+            new_pts = [x[1] for x in cuts]
+            add_pts.extend(new_pts)
+
+            # list of point indexes for all new edges
+            pt_indexes = list(range(pt_offset, pt_offset + len(cuts)))
+            pt_indexes.append(self.edges[edge, 1])
+
+            # modify original edge
+            self.edges[edge, 1] = pt_indexes[0]
+
+            # add new edges
+            new_edges = [[pt_indexes[i-1], pt_indexes[i]]
+                         for i in range(1, len(pt_indexes))]
+            add_edges.extend(new_edges)
+
+        if add_pts:
+            add_pts = np.array(add_pts, dtype=self.pts.dtype)
+            self.pts = np.append(self.pts, add_pts, axis=0)
+        if add_edges:
+            add_edges = np.array(add_edges, dtype=self.edges.dtype)
+            self.edges = np.append(self.edges, add_edges, axis=0)
+
+    def _merge_duplicate_points(self):
+        # generate a list of all pairs (i,j) of identical points
+        dups = []
+        for i in range(self.pts.shape[0]-1):
+            test_pt = self.pts[i:i+1]
+            comp_pts = self.pts[i+1:]
+            eq = test_pt == comp_pts
+            eq = eq[:, 0] & eq[:, 1]
+            for j in np.argwhere(eq)[:, 0]:
+                dups.append((i, i+1+j))
+
+        dups_arr = np.array(dups)
+        # remove duplicate points
+        pt_mask = np.ones(self.pts.shape[0], dtype=bool)
+        for i, inds in enumerate(dups_arr):
+            # remove j from points
+            # (note we pull the index from the original dups instead of
+            # dups_arr because the indexes in pt_mask do not change)
+            pt_mask[dups[i][1]] = False
+
+            i, j = inds
+
+            # rewrite edges to use i instead of j
+            self.edges[self.edges == j] = i
+
+            # decrement all point indexes > j
+            self.edges[self.edges > j] -= 1
+            dups_arr[dups_arr > j] -= 1
+
+        self.pts = self.pts[pt_mask]
+
+        # remove zero-length edges
+        mask = self.edges[:, 0] != self.edges[:, 1]
+        self.edges = self.edges[mask]
+
+    def _distances_from_line(self, edge, points):
+        # Distance of a set of points from a given line
+        e1 = self.pts[edge[0]]
+        e2 = self.pts[edge[1]]
+        distances = []
+        for i in points:
+            p = self.pts[i]
+            proj = self._projection(e1, p, e2)
+            distances.append(((p - proj)**2).sum()**0.5)
+        assert distances[0] == 0 and distances[-1] == 0
+        return distances
+
+    def _projection(self, a, b, c):
+        """Return projection of (a,b) onto (a,c)
+        Arguments are point locations, not indexes.
+        """
+        ab = b - a
+        ac = c - a
+        return a + ((ab*ac).sum() / (ac*ac).sum()) * ac
+
+    def _cosine(self, A, B, C):
+        # Cosine of angle ABC
+        a = ((C - B)**2).sum()
+        b = ((C - A)**2).sum()
+        c = ((B - A)**2).sum()
+        d = (a + c - b) / ((4 * a * c)**0.5)
+        return d
+
+    def _edges_intersect(self, edge1, edge2):
+        """Return 1 if edges intersect completely (endpoints excluded)"""
+        h12 = self._intersect_edge_arrays(self.pts[np.array(edge1)],
+                                          self.pts[np.array(edge2)])
+        h21 = self._intersect_edge_arrays(self.pts[np.array(edge2)],
+                                          self.pts[np.array(edge1)])
+        err = np.geterr()
+        np.seterr(divide='ignore', invalid='ignore')
+        try:
+            out = (0 < h12 < 1) and (0 < h21 < 1)
+        finally:
+            np.seterr(**err)
+        return out
+
+    def _intersect_edge_arrays(self, lines1, lines2):
+        """Return the intercepts of all lines defined in *lines1* as they
+        intersect all lines in *lines2*.
+
+        Arguments are of shape (..., 2, 2), where axes are:
+
+        0: number of lines
+        1: two points per line
+        2: x,y pair per point
+
+        Lines are compared elementwise across the arrays (lines1[i] is compared
+        against lines2[i]). If one of the arrays has N=1, then that line is
+        compared against all lines in the other array.
+
+        Returns an array of shape (N,) where each value indicates the intercept
+        relative to the defined line segment. A value of 0 indicates
+        intersection at the first endpoint, and a value of 1 indicates
+        intersection at the second endpoint. Values between 1 and 0 are on the
+        segment, whereas values outside 1 and 0 are off of the segment.
+        """
+        # vector for each line in lines1
+        l1 = lines1[..., 1, :] - lines1[..., 0, :]
+        # vector for each line in lines2
+        l2 = lines2[..., 1, :] - lines2[..., 0, :]
+        # vector between first point of each line
+        diff = lines1[..., 0, :] - lines2[..., 0, :]
+
+        p = l1.copy()[..., ::-1]  # vectors perpendicular to l1
+        p[..., 0] *= -1
+
+        f = (l2 * p).sum(axis=-1)  # l2 dot p
+        # tempting, but bad idea!
+        err = np.geterr()
+        np.seterr(divide='ignore', invalid='ignore')
+        try:
+            h = (diff * p).sum(axis=-1) / f  # diff dot p / f
+        finally:
+            np.seterr(**err)
+
+        return h
+
+    def _orientation(self, edge, point):
+        """Returns +1 if edge[0]->point is clockwise from edge[0]->edge[1],
+        -1 if counterclockwise, and 0 if parallel.
+        """
+        v1 = self.pts[point] - self.pts[edge[0]]
+        v2 = self.pts[edge[1]] - self.pts[edge[0]]
+        c = _cross_2d(v1, v2)  # positive if v1 is CW from v2
+        return 1 if c > 0 else (-1 if c < 0 else 0)
+
+    def _add_tri(self, a, b, c):
+        # sanity check
+        assert a != b and b != c and c != a
+
+        # ignore tris with duplicate points
+        pa = self.pts[a]
+        pb = self.pts[b]
+        pc = self.pts[c]
+        if np.all(pa == pb) or np.all(pb == pc) or np.all(pc == pa):
+            return
+
+        # check this tri is unique
+        for t in permutations((a, b, c)):
+            if t in self.tris:
+                raise Exception("Cannot add %s; already have %s" %
+                                ((a, b, c), t))
+
+        # ignore lines
+        orientation = self._orientation((a, b), c)
+        if orientation == 0:
+            return
+
+        # TODO: should add to edges_lookup after legalization??
+        if orientation < 0:
+            assert (a, b) not in self._edges_lookup
+            assert (b, c) not in self._edges_lookup
+            assert (c, a) not in self._edges_lookup
+            self._edges_lookup[(a, b)] = c
+            self._edges_lookup[(b, c)] = a
+            self._edges_lookup[(c, a)] = b
+        else:
+            assert (b, a) not in self._edges_lookup
+            assert (c, b) not in self._edges_lookup
+            assert (a, c) not in self._edges_lookup
+            self._edges_lookup[(b, a)] = c
+            self._edges_lookup[(c, b)] = a
+            self._edges_lookup[(a, c)] = b
+
+        tri = (a, b, c)
+
+        self.tris[tri] = None
+
+    def _remove_tri(self, a, b, c):
+        for k in permutations((a, b, c)):
+            if k in self.tris:
+                break
+        del self.tris[k]
+        (a, b, c) = k
+
+        if self._edges_lookup.get((a, b), -1) == c:
+            del self._edges_lookup[(a, b)]
+            del self._edges_lookup[(b, c)]
+            del self._edges_lookup[(c, a)]
+        elif self._edges_lookup.get((b, a), -1) == c:
+            del self._edges_lookup[(b, a)]
+            del self._edges_lookup[(a, c)]
+            del self._edges_lookup[(c, b)]
+        else:
+            raise RuntimeError("Lost edges_lookup for tri (%d, %d, %d)" %
+                               (a, b, c))
+
+        return k
+
+
+def _triangulate_python(vertices_2d, segments):
+    segments = segments.reshape(len(segments) // 2, 2)
+    T = Triangulation(vertices_2d, segments)
+    T.triangulate()
+    vertices_2d = T.pts
+    triangles = T.tris.ravel()
+    return vertices_2d, triangles
+
+
+def _triangulate_cpp(vertices_2d, segments):
+    import triangle
+    T = triangle.triangulate({'vertices': vertices_2d,
+                              'segments': segments}, "p")
+    vertices_2d = T["vertices"]
+    triangles = T["triangles"]
+    return vertices_2d, triangles
+
+
+def triangulate(vertices):
+    """Triangulate a set of vertices.
+
+    This uses a pure Python implementation based on [1]_.
+
+    If `Triangle` by Jonathan R. Shewchuk [2]_ and the Python bindings `triangle` [3]_
+    are installed, this will be used instead. Users need to acknowledge and adhere to
+    the licensing terms of these packages.
+
+    In the VisPy `PolygonCollection Example` [4]_ a speedup of 97% using
+    `Triangle`/`triangle` can be achieved compared to the pure Python implementation.
+
+    Parameters
+    ----------
+    vertices : array-like
+        The vertices.
+
+    Returns
+    -------
+    vertices : array-like
+        The vertices.
+    triangles : array-like
+        The triangles.
+
+    References
+    ----------
+    .. [1] Domiter, V. and Žalik, B. Sweep‐line algorithm for constrained
+       Delaunay triangulation
+    .. [2] Shewchuk J.R. (1996) Triangle: Engineering a 2D quality mesh generator and
+       Delaunay triangulator. In: Lin M.C., Manocha D. (eds) Applied Computational
+       Geometry Towards Geometric Engineering. WACG 1996. Lecture Notes in Computer
+       Science, vol 1148. Springer, Berlin, Heidelberg.
+       https://doi.org/10.1007/BFb0014497
+    .. [3] https://rufat.be/triangle/
+    .. [4] https://github.com/vispy/vispy/blob/main/examples/collections/polygon_collection.py
+    """
+    n = len(vertices)
+    vertices = np.asarray(vertices)
+    zmean = vertices[:, 2].mean()
+    vertices_2d = vertices[:, :2]
+    segments = np.repeat(np.arange(n + 1), 2)[1:-1]
+    segments[-2:] = n - 1, 0
+
+    try:
+        import triangle  # noqa: F401
+    except (ImportError, AssertionError):
+        vertices_2d, triangles = _triangulate_python(vertices_2d, segments)
+    else:
+        segments_2d = segments.reshape((-1, 2))
+        vertices_2d, triangles = _triangulate_cpp(vertices_2d, segments_2d)
+
+    vertices = np.empty((len(vertices_2d), 3))
+    vertices[:, :2] = vertices_2d
+    vertices[:, 2] = zmean
+    return vertices, triangles