warp.mesh_query_next#

warp.mesh_query_next( query: MeshQueryAABB, index: int32, ) → bool#

Kernel

Advance a mesh query to the next matching triangle and report whether one was found.

Writes the face index of the current result to index and returns True; returns False once no more results remain (index is then left unchanged). The reported index is a 0-based face index into the mesh’s triangles, suitable for mesh_eval_position(), mesh_eval_face_normal(), and the other face-indexed functions.

What counts as a match depends on the query type:

mesh_query_aabb(): triangles whose bounding box overlaps the query box.
mesh_query_sphere(): triangles whose closest point to the sphere center is within the radius.

Parameters:

query – The query to advance, from mesh_query_aabb() or mesh_query_sphere()
index – Output; receives the face index of the current result

Returns:

True if another matching triangle was found (its face index written to index), False if the query is exhausted.

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_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

warp.mesh_query_next( query: _MeshQuerySphere, index: int32, ) → bool

Kernel

Advance a sphere mesh query to the next matching triangle.

Overload for queries created by mesh_query_sphere().

warp.mesh_query_next(query: MeshQuery, index: int32) → bool

Kernel

Advance a mesh query whose kind is selected at runtime to the next matching triangle.