warp.mesh\_query\_aabb
======================

.. function:: warp._src.lang.mesh_query_aabb(id: uint64, low: vec3f, high: vec3f) -> MeshQueryAABB

   .. hlist::
      :columns: 8

      * Kernel

   Construct an axis-aligned bounding box (AABB) query against a :class:`warp.Mesh`.
   
   Returns a query that iterates over every triangle (face) whose own axis-aligned bounding box
   overlaps the query box ``[low, high]``, given in the mesh's local space. This is a broad-phase
   test on bounding boxes: a reported face's triangle may not actually intersect the box, so
   perform an exact test yourself if required. Advance the query and read each result with
   :func:`mesh_query_aabb_next`.
   
   :param id: The mesh identifier
   :param low: The lower bound of the query box, in the mesh's local space
   :param high: The upper bound of the query box, in the mesh's local space
   
   :returns: A :class:`warp.MeshQueryAABB`. It is opaque; pass it to :func:`mesh_query_aabb_next`, which
             writes the index of each overlapping face to its ``index`` argument.
   
   .. rubric:: Example
   
   .. testcode::
   
       @wp.kernel
       def count_faces(mesh_id: wp.uint64, lo: wp.vec3, hi: wp.vec3, out_count: wp.array[wp.int32]):
           query = wp.mesh_query_aabb(mesh_id, lo, hi)
           face = int(0)
           while wp.mesh_query_aabb_next(query, face):
               wp.atomic_add(out_count, 0, 1)
   
       points = wp.array([[0,0,0],[1,0,0],[1,1,0],[0,1,0],[0,0,1],[1,0,1],[1,1,1],[0,1,1]], dtype=wp.vec3)
       indices = wp.array([0,3,2, 0,2,1,  4,5,6, 4,6,7,  0,1,5, 0,5,4,
                           2,3,7, 2,7,6,  0,4,7, 0,7,3,  1,2,6, 1,6,5], dtype=wp.int32)
       mesh = wp.Mesh(points=points, indices=indices)
   
       out_count = wp.zeros(1, dtype=wp.int32)
       wp.launch(count_faces, dim=1, inputs=[mesh.id, wp.vec3(-1.0, -1.0, -1.0), wp.vec3(2.0, 2.0, 2.0)], outputs=[out_count])
       print("overlapping faces:", out_count.numpy()[0])
   
   .. testoutput::
   
       overlapping faces: 12