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warp.mesh_query_ray_anyhit#

warp.mesh_query_ray_anyhit(
id: uint64,
start: vec3f,
dir: vec3f,
max_t: float32,
root: int32,
) → bool#

  • Kernel

Check whether a ray hits the warp.Mesh with identifier id, without computing the closest hit.

Returns as soon as any intersecting face within max_t is found, so it is cheaper than mesh_query_ray() when only the yes/no answer is needed. start and dir are given in the mesh’s local space; max_t is measured in multiples of dir’s length, so normalize dir for it to be a distance in mesh-space units.

The root parameter can be obtained using the mesh_get_group_root() function when creating a grouped mesh. When root is a valid (>=0) value, the traversal will be confined to the subtree starting from the root. If root is -1 (default), traversal starts at the mesh’s global root.

Parameters:

  • id – The mesh identifier

  • start – The ray origin, in the mesh’s local space

  • dir – The ray direction, in the mesh’s local space

  • max_t – The maximum distance along the ray to check for intersections (in multiples of dir’s length)

  • root – The root node index for grouped BVH queries, or -1 for global root (optional, default: -1)

Returns:

True if the ray intersects any face within max_t, False otherwise.

Example

@wp.kernel
def occluded(mesh_id: wp.uint64, origin: wp.vec3, dir: wp.vec3, out_hit: wp.array[wp.int32]):
    out_hit[0] = wp.where(wp.mesh_query_ray_anyhit(mesh_id, origin, dir, 1.0e6), 1, 0)

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_hit = wp.zeros(1, dtype=wp.int32)
wp.launch(occluded, dim=1, inputs=[mesh.id, wp.vec3(0.5, 0.5, -2.0), wp.vec3(0.0, 0.0, 1.0)], outputs=[out_hit])
print("hit:", bool(out_hit.numpy()[0]))

hit: True