warp.tile\_bvh\_query\_aabb
===========================

.. currentmodule:: warp._src.lang

.. function:: tile_bvh_query_aabb(id: uint64, low: vec3f, high: vec3f) -> BvhQueryTiled

   .. wp-function-tags::
      :kernel: true
      :python: false
      :differentiable: false

   Construct an axis-aligned bounding box query against a :class:`warp.Bvh` for thread-block parallel traversal.
   
   The whole block traverses one query cooperatively. Advance it with
   :func:`~warp.tile_bvh_query_next`, which hands every thread one result index per step
   in unspecified order. Guard the traversal loop with :func:`~warp.tile_query_valid`.
   
   Only one BVH query may be active per block; exhaust it before constructing another.
   
   :param id: The BVH identifier (must be the same for all threads in the block)
   :param low: The lower bound of the query box, in BVH space (must be the same for all threads in the block)
   :param high: The upper bound of the query box, in BVH space (must be the same for all threads in the block)
   
   :returns: A :class:`warp.BvhQueryTiled` to advance with :func:`~warp.tile_bvh_query_next`.
   
   .. rubric:: Example
   
   .. testcode::
   
       @wp.kernel
       def overlapping_bounds(bvh_id: wp.uint64, lo: wp.vec3, hi: wp.vec3, counts: wp.array[wp.int32]):
           query = wp.tile_bvh_query_aabb(bvh_id, lo, hi)
           while wp.tile_query_valid(query):
               # one bound index per thread, negative where this thread has no result
               bound = wp.untile(wp.tile_bvh_query_next(query))
               if bound >= 0:
                   wp.atomic_add(counts, bound, 1)
   
       lowers = wp.array([[0, 0, 0], [2, 0, 0], [4, 0, 0]], dtype=wp.vec3)
       uppers = wp.array([[1, 1, 1], [3, 1, 1], [5, 1, 1]], dtype=wp.vec3)
       bvh = wp.Bvh(lowers=lowers, uppers=uppers)
   
       counts = wp.zeros(3, dtype=wp.int32)
       wp.launch_tiled(overlapping_bounds, dim=1,
                       inputs=[bvh.id, wp.vec3(-1.0, -1.0, -1.0), wp.vec3(2.5, 2.0, 2.0)],
                       outputs=[counts], block_dim=4)
       print("times each bound was reported:", counts.numpy().tolist())
   
   .. testoutput::
   
       times each bound was reported: [1, 1, 0]