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example_mesh_intersect.py
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# Copyright (c) 2022 NVIDIA CORPORATION. All rights reserved.
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
#############################################################################
# Example Mesh Intersection
#
# Show how to use built-in BVH query to test if two triangle meshes intersect.
#
##############################################################################
import warp as wp
import numpy as np
np.random.seed(42)
from pxr import Usd, UsdGeom
import os
wp.init()
@wp.func
def cw_min(a: wp.vec3, b: wp.vec3):
return wp.vec3(wp.min(a[0], b[0]),
wp.min(a[1], b[1]),
wp.min(a[2], b[2]))
@wp.func
def cw_max(a: wp.vec3, b: wp.vec3):
return wp.vec3(wp.max(a[0], b[0]),
wp.max(a[1], b[1]),
wp.max(a[2], b[2]))
@wp.kernel
def intersect(mesh_0: wp.uint64,
mesh_1: wp.uint64,
num_faces: int,
xforms: wp.array(dtype=wp.transform),
result: wp.array(dtype=int)):
tid = wp.tid()
# mesh_0 is assumed to be the query mesh, we launch one thread
# for each face in mesh_0 and test it against the opposing mesh's BVH
face = tid%num_faces
batch = tid//num_faces
# transforms from mesh_0 -> mesh_1 space
xform = xforms[batch]
# load query triangles points and transform to mesh_1's space
v0 = wp.transform_point(xform, wp.mesh_eval_position(mesh_0, face, 1.0, 0.0))
v1 = wp.transform_point(xform, wp.mesh_eval_position(mesh_0, face, 0.0, 1.0))
v2 = wp.transform_point(xform, wp.mesh_eval_position(mesh_0, face, 0.0, 0.0))
# compute bounds of the query triangle
lower = cw_min(cw_min(v0, v1), v2)
upper = cw_max(cw_max(v0, v1), v2)
query = wp.mesh_query_aabb(mesh_1, lower, upper)
for f in query:
u0 = wp.mesh_eval_position(mesh_1, f, 1.0, 0.0)
u1 = wp.mesh_eval_position(mesh_1, f, 0.0, 1.0)
u2 = wp.mesh_eval_position(mesh_1, f, 0.0, 0.0)
# test for triangle intersection
i = wp.intersect_tri_tri(v0, v1, v2,
u0, u1, u2)
if i > 0:
result[batch] = 1
return
# use if you want to count all intersections
#wp.atomic_add(result, batch, i)
class Example:
def __init__(self, stage):
self.query_count = 1024
self.has_queried = False
self.renderer = wp.render.UsdRenderer(stage)
self.path_0 = "assets/cube.usda"
self.path_1 = "assets/sphere.usda"
self.mesh_0 = self.load_mesh(self.path_0, "/Cube/Cube_001")
self.mesh_1 = self.load_mesh(self.path_1, "/Sphere/Sphere")
self.query_num_faces = int(len(self.mesh_0.indices)/3)
self.query_num_points = len(self.mesh_0.points)
# generate random relative transforms
self.xforms = []
for i in range(self.query_count):
# random offset
p = (np.random.rand(3)*0.5 - 0.5)*5.0
# random orientation
axis = wp.normalize(np.random.rand(3)*0.5 - 0.5)
angle = float(np.random.rand(1)[0])
q = wp.quat_from_axis_angle(wp.normalize(axis), angle)
self.xforms.append(wp.transform(p, q))
self.array_result = wp.zeros(self.query_count, dtype=int)
self.array_xforms = wp.array(self.xforms, dtype=wp.transform)
# force module load (for accurate profiling)
wp.force_load()
def update(self):
with wp.ScopedTimer("intersect", active=True):
wp.launch(kernel=intersect, dim=self.query_num_faces*self.query_count, inputs=[self.mesh_0.id, self.mesh_1.id, self.query_num_faces, self.array_xforms, self.array_result])
wp.synchronize()
def render(self, is_live=False):
# bring results back to host
result = self.array_result.numpy()
print(result)
with wp.ScopedTimer("render", active=True):
self.renderer.begin_frame(0.0)
for i in range(self.query_count):
spacing = 8.0
offset = i*spacing
xform = self.xforms[i]
self.renderer.render_ref(f"mesh_{i}_0", os.path.join(os.path.dirname(__file__), self.path_0), pos=wp.vec3(xform.p[0] + offset, xform.p[1], xform.p[2]), rot=xform.q, scale=(1.0, 1.0, 1.0))
self.renderer.render_ref(f"mesh_{i}_1", os.path.join(os.path.dirname(__file__), self.path_1), pos=(offset, 0.0, 0.0), rot=wp.quat_identity(), scale=(1.0, 1.0, 1.0))
# if pair intersects then draw a small box above the pair
if result[i] > 0:
self.renderer.render_box(f"result_{i}", pos=wp.vec3(xform.p[0] + offset, xform.p[1] + 5.0, xform.p[2]), rot=wp.quat_identity(), extents=(0.1, 0.1, 0.1))
self.renderer.end_frame()
# create collision meshes
def load_mesh(self, path, prim):
usd_path = os.path.join(os.path.dirname(__file__), path)
usd_stage = Usd.Stage.Open(usd_path)
usd_geom = UsdGeom.Mesh(usd_stage.GetPrimAtPath(prim))
mesh = wp.Mesh(
points=wp.array(usd_geom.GetPointsAttr().Get(), dtype=wp.vec3),
indices=wp.array(usd_geom.GetFaceVertexIndicesAttr().Get(), dtype=int))
return mesh
if __name__ == '__main__':
stage_path = os.path.join(os.path.dirname(__file__), "outputs/example_mesh_intersect.usd")
example = Example(stage_path)
example.update()
example.render()
example.renderer.save()