Downgraded numpy

Downgraded from numpy 2.x to numy 1.x for compatibility

Raytrace/TriangleMesh.py

@@ -80,6 +80,7 @@ def triangle_ray_intersection(triangle, ray:Ray, epsilon = 1e-10) -> float:
             return -1
     @staticmethod
     def batch_triangle_ray_intersection(triangle_array, ray:Ray, epsilon = 1e-10) -> np.ndarray:
+        vecdot = lambda a, b : np.sum(a*b, axis=-1)
         # Translated from https://en.wikipedia.org/wiki/M%C3%B6ller%E2%80%93Trumbore_intersection_algorithm#C++_implementation
 
         triangle_array_comp = triangle_array.swapaxes(0, 1)
@@ -91,16 +92,16 @@ def batch_triangle_ray_intersection(triangle_array, ray:Ray, epsilon = 1e-10) ->
         v2 = v2 - v0
 
         ray_cross_e2 = np.cross(ray.direction, v2)
-        det = np.vecdot(v1, ray_cross_e2)
+        det = vecdot(v1, ray_cross_e2)
         # if -epsilon < det < epsilon:
         #     return None  # This ray is parallel to this triangle.
         old_error_state = np.seterr(divide='ignore', invalid='ignore')
         inv_det = 1.0 / det
         s = ray.origin - v0
-        u = inv_det * np.vecdot(s, ray_cross_e2)
+        u = inv_det * vecdot(s, ray_cross_e2)
 
         s_cross_e1 = np.cross(s, v1)
-        v = inv_det * np.vecdot(ray.direction, s_cross_e1)
+        v = inv_det * vecdot(ray.direction, s_cross_e1)
 
         valid = u < -epsilon
         np.logical_or(valid, 1 < u, out=valid)
@@ -111,7 +112,7 @@ def batch_triangle_ray_intersection(triangle_array, ray:Ray, epsilon = 1e-10) ->
         t = np.empty(triangle_array.shape[0], dtype=np.float64)
         t.fill(-1)
 
-        np.multiply(inv_det, np.vecdot(v2, s_cross_e1), out = t, where = valid)
+        np.multiply(inv_det, vecdot(v2, s_cross_e1), out = t, where = valid)
 
         np.seterr(**old_error_state)
         return t