warp.mesh_query_sphere#

warp.mesh_query_sphere(
id: uint64,
center: vec3f,
radius: float32,
) → _MeshQuerySphere#

  • Kernel

Construct a sphere query against a warp.Mesh.

Iterates over mesh triangles that intersect a sphere. A broad phase uses an exact sphere-AABB test to find candidate triangles; a narrow phase keeps only those whose closest point on the triangle is within radius of center. Tangential contact (closest point exactly on the sphere surface) is included. A negative radius is clamped to zero. Degenerate (zero-area) faces are handled by falling back to a closest-point-on-longest-edge test. Advance the query with mesh_query_next().

Parameters:

  • id – The mesh identifier

  • center – The center of the sphere in mesh space

  • radius – The radius of the sphere; negative values are clamped to zero

Example

@wp.kernel
def find_tris_in_sphere(mesh_id: wp.uint64, center: wp.vec3, radius: float,
                        hits: wp.array[wp.int32]):
    query = wp.mesh_query_sphere(mesh_id, center, radius)
    face = int(0)
    while wp.mesh_query_next(query, face):
        hits[face] = wp.int32(1)

points = wp.array([[0,0,0],[1,0,0],[0,1,0]], dtype=wp.vec3)
indices = wp.array([0,1,2], dtype=wp.int32)
mesh = wp.Mesh(points=points, indices=indices)
hits = wp.zeros(1, dtype=wp.int32)
wp.launch(find_tris_in_sphere, dim=1,
          inputs=[mesh.id, wp.vec3(0.1, 0.1, 0.0), 0.5, hits])
print("hit:", hits.numpy()[0])

hit: 1