View page source

warp.mesh_query_aabb#

warp.mesh_query_aabb(
id: uint64,
low: vec3f,
high: vec3f,
) → MeshQueryAABB#

  • Kernel

Construct an axis-aligned bounding box (AABB) query against a 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 mesh_query_aabb_next().

Parameters:

  • id – The mesh identifier

  • low – The lower bound of the query box, in the mesh’s local space

  • high – The upper bound of the query box, in the mesh’s local space

Returns:

A warp.MeshQueryAABB. It is opaque; pass it to mesh_query_aabb_next(), which writes the index of each overlapping face to its index argument.

Example

@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])

overlapping faces: 12