fastdev.geom.warp_sdf_fns

Module Contents

fastdev.geom.warp_sdf_fns.get_rotation_matrix(tf_mat: warp.mat44) → warp.mat33

Parameters:

tf_mat (warp.mat44)

Return type:

warp.mat33

fastdev.geom.warp_sdf_fns.query_sdf_on_meshes(points: wp.array(dtype=wp.vec3), points_first_idx: wp.array(dtype=wp.int32), mesh_ids: wp.array(dtype=wp.uint64), mesh_ids_first_idx: wp.array(dtype=wp.int32), inv_mesh_poses: wp.array(dtype=wp.mat44), enable_inv_mesh_poses: bool, mesh_scales: wp.array(dtype=wp.float32), enable_mesh_scales: bool, max_dist: float, signed_dists: wp.array(dtype=wp.float32), normals: wp.array(dtype=wp.vec3), closest_points: wp.array(dtype=wp.vec3), closest_points_in_mesh_coord: wp.array(dtype=wp.vec3), closest_mesh_indices: wp.array(dtype=wp.int32))

Parameters:

• points (wp.array(dtype=wp.vec3))

• points_first_idx (wp.array(dtype=wp.int32))

• mesh_ids (wp.array(dtype=wp.uint64))

• mesh_ids_first_idx (wp.array(dtype=wp.int32))

• inv_mesh_poses (wp.array(dtype=wp.mat44))

• enable_inv_mesh_poses (bool)

• mesh_scales (wp.array(dtype=wp.float32))

• enable_mesh_scales (bool)

• max_dist (float)

• signed_dists (wp.array(dtype=wp.float32))

• normals (wp.array(dtype=wp.vec3))

• closest_points (wp.array(dtype=wp.vec3))

• closest_points_in_mesh_coord (wp.array(dtype=wp.vec3))

• closest_mesh_indices (wp.array(dtype=wp.int32))

fastdev.geom.warp_sdf_fns.query_sdf_in_scenes(points: wp.array(dtype=wp.vec3), points_first_idx: wp.array(dtype=wp.int32), mesh_ids: wp.array(dtype=wp.uint64), mesh_ids_first_idx: wp.array(dtype=wp.int32), mesh_poses: wp.array(dtype=wp.mat44), mesh_scales: wp.array(dtype=wp.float32), box_sizes: wp.array(dtype=wp.vec3), box_sizes_first_idx: wp.array(dtype=wp.int32), box_poses: wp.array(dtype=wp.mat44), box_scales: wp.array(dtype=wp.float32), max_dist: float, signed_dists: wp.array(dtype=wp.float32), normals: wp.array(dtype=wp.vec3), closest_points: wp.array(dtype=wp.vec3))

Parameters:

• points (wp.array(dtype=wp.vec3))

• points_first_idx (wp.array(dtype=wp.int32))

• mesh_ids (wp.array(dtype=wp.uint64))

• mesh_ids_first_idx (wp.array(dtype=wp.int32))

• mesh_poses (wp.array(dtype=wp.mat44))

• mesh_scales (wp.array(dtype=wp.float32))

• box_sizes (wp.array(dtype=wp.vec3))

• box_sizes_first_idx (wp.array(dtype=wp.int32))

• box_poses (wp.array(dtype=wp.mat44))

• box_scales (wp.array(dtype=wp.float32))

• max_dist (float)

• signed_dists (wp.array(dtype=wp.float32))

• normals (wp.array(dtype=wp.vec3))

• closest_points (wp.array(dtype=wp.vec3))