warp.Mesh#

class warp.Mesh(*args, **kwargs)[source]#
__init__(
points,
indices,
velocities=None,
support_winding_number=False,
bvh_constructor=None,
bvh_leaf_size=4,
groups=None,
)[source]#

Class representing a triangle mesh.

id#

Unique identifier for this mesh object, can be passed to kernels.

device#

Device this object lives on, all buffers must live on the same device.

Parameters:

  • points (array) – Array of vertex positions of data type warp.vec3.

  • indices (array) – Array of triangle indices of data type warp.int32. Should be a 1D array with shape (num_tris * 3).

  • velocities (array | None) – Optional array of vertex velocities of data type warp.vec3.

  • support_winding_number (bool) – If True, the mesh will build additional data structures to support wp.mesh_query_point_sign_winding_number() queries.

  • bvh_constructor (str | None) – The construction algorithm for the underlying BVH (see the docstring of Bvh for explanation). Valid choices are "sah", "median", "lbvh", or None.

  • bvh_leaf_size (int) – The number of primitives (AABBs) stored in each leaf node (see the docstring of Bvh for more details).

  • groups (array | None) – Optional array of triangle group indices of data type warp.int32. Should be a 1D array with shape (num_tris).

Methods

__init__(points, indices[, velocities, ...])

Class representing a triangle mesh.

refit()

Refit the BVH to points.

Attributes

points

The array of mesh's vertex positions of type warp.vec3.

vars

velocities

The array of mesh's velocities of type warp.vec3.
vars: ClassVar[dict[str, _Var]] = {'indices': <warp._src.codegen.Var object>, 'points': <warp._src.codegen.Var object>, 'velocities': <warp._src.codegen.Var object>}#
refit()[source]#

Refit the BVH to points.

This should be called after users modify the points data.

property points[source]#

The array of mesh’s vertex positions of type warp.vec3.

The Mesh.points property has a custom setter method. Users can modify the vertex positions in-place, but refit() must be called manually after such modifications. Alternatively, assigning a new array to this property is also supported. The new array must have the same shape as the original, and once assigned, The Mesh will automatically perform a refit operation based on the new vertex positions.

property velocities[source]#

The array of mesh’s velocities of type warp.vec3.

This is a property with a custom setter method. Users can modify the velocities in-place, or assign a new array to this property. No refitting is needed for changing velocities.