warp.mesh_query_point#

warp.mesh_query_point(
id: uint64,
point: vec3f,
max_dist: float32,
) → MeshQueryPoint#

  • Kernel

  • Differentiable

Compute the closest point on the warp.Mesh with identifier id to the given point in space.

Identifies the sign of the distance using additional ray-casts to determine if the point is inside or outside. This method is relatively robust, but does increase computational cost. See below for additional sign determination methods.

Parameters:

  • id – The mesh identifier

  • point – The point in space to query

  • max_dist – Mesh faces above this distance will not be considered by the query.