warp.tile\_mesh\_query\_aabb
============================

.. currentmodule:: warp._src.lang

.. function:: tile_mesh_query_aabb(id: uint64, low: vec3f, high: vec3f) -> MeshQueryAABBTiled

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

   Construct an axis-aligned bounding box query against a :class:`warp.Mesh` for thread-block parallel traversal.
   
   The whole block traverses one query cooperatively. Advance it with
   :func:`~warp.tile_mesh_query_aabb_next`, which hands every thread one face index per
   step in unspecified order. Guard the traversal loop with
   :func:`~warp.tile_query_valid`. This is a broad-phase test on bounding boxes: a
   reported face's triangle may not actually intersect the box, so perform an exact test
   yourself if required.
   
   Only one mesh query may be active per block; exhaust it before constructing another.
   
   :param id: The mesh identifier (must be the same for all threads in the block)
   :param low: The lower bound of the query box, in the mesh's local space (must be the same for all
               threads in the block)
   :param high: The upper bound of the query box, in the mesh's local space (must be the same for all
                threads in the block)
   
   :returns: A :class:`warp.MeshQueryAABBTiled` to advance with :func:`~warp.tile_mesh_query_aabb_next`.
   
   .. rubric:: Example
   
   .. testcode::
   
       @wp.kernel
       def overlapping_faces(mesh_id: wp.uint64, lo: wp.vec3, hi: wp.vec3, counts: wp.array[wp.int32]):
           query = wp.tile_mesh_query_aabb(mesh_id, lo, hi)
           while wp.tile_query_valid(query):
               # one face index per thread, negative where this thread has no result
               face = wp.untile(wp.tile_mesh_query_aabb_next(query))
               if face >= 0:
                   wp.atomic_add(counts, face, 1)
   
       points = wp.array([[0, 0, 0], [1, 0, 0], [0, 1, 0], [2, 0, 0], [3, 0, 0], [2, 1, 0]], dtype=wp.vec3)
       indices = wp.array([0, 1, 2, 3, 4, 5], dtype=wp.int32)
       mesh = wp.Mesh(points=points, indices=indices)
   
       counts = wp.zeros(2, dtype=wp.int32)
       wp.launch_tiled(overlapping_faces, dim=1,
                       inputs=[mesh.id, wp.vec3(-1.0, -1.0, -1.0), wp.vec3(0.5, 2.0, 1.0)],
                       outputs=[counts], block_dim=4)
       print("times each face was reported:", counts.numpy().tolist())
   
   .. testoutput::
   
       times each face was reported: [1, 0]