warp.geometry#

Geometry processing operations.

This module provides functions to process 2D and 3D geometry and their associated topological data structures (e.g., meshes), and GPU-accelerated isosurface extraction.

IsoSurfaceBase defines the interface for dense-grid isosurface extraction. IsoSurfaceMarchingCubes implements it and extracts a triangular mesh from a 3-D warp.float32 field sampled at grid nodes.

Sparse extraction skips the dense grid entirely. sparse_marching_cubes() takes an implicit function and builds a Lipschitz octree around the level set, so cost scales with surface area rather than volume. lipschitz_octree() and sparse_marching_cubes_from_cells() expose its two stages separately.

The Python API includes array-level functions, such as swept_volume_mesh(), that launch kernels over a whole mesh or grid. The kernel API includes Warp functions, such as swept_volume_sdf(), that evaluate a single point and may be called from your own warp.kernel() definitions and other Warp functions.

Usage:

This module must be explicitly imported:

import warp.geometry

Python API#

`IsoSurfaceBase`	Abstract base class for isosurface extraction from dense 3D scalar fields.
`IsoSurfaceMarchingCubes`	A reusable context for marching cubes surface extraction.
`SweptVolumeSignMode`	Method used to classify inside/outside when evaluating the per-mesh SDF.
`delaunay_edge_flip`	Flip non-Delaunay interior edges in place until all are Delaunay or max passes is reached.
`lipschitz_octree`	Return max-depth octree cells that may intersect a level set of a Lipschitz-bounded implicit field.
`sparse_marching_cubes`	Extract an isosurface from an implicit function using a Lipschitz octree.
`sparse_marching_cubes_from_cells`	Extract an isosurface from an explicit set of occupied cells and corner values.
`swept_volume_bounds`	Return the world-space axis-aligned bounds of every mesh over every pose.
`swept_volume_field`	Compute a dense regular-grid discretization of the swept-volume pseudo signed-distance function.
`swept_volume_mesh`	Extract the swept volume (motion envelope) of animated rigid meshes.
`tri_tri_adjacency`	Build triangle-triangle adjacency for a triangle mesh.

Kernel API#

`find_triangle_neighbor_edge_index`	Return the local edge of `triangle` shared with `neighbor`.
`swept_volume_sdf`	Evaluate the swept-volume pseudo signed distance at a single point.