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Add ParticleMeshCounter Warp utility for particle-in-mesh counting #6090

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Add ParticleMeshCounter Warp utility for particle-in-mesh counting #6090

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40c68eb
Add ParticleMeshCounter Warp utility for particle-in-mesh counting
maxkra15 Jun 9, 2026
24c2644
Address review feedback on ParticleMeshCounter
maxkra15 Jun 9, 2026
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11 changes: 11 additions & 0 deletions source/isaaclab/changelog.d/particle-mesh-counter.minor.rst
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Added
^^^^^

* Added :class:`~isaaclab.utils.warp.ParticleMeshCounter` for fast, training-time counting of
particles inside closed (watertight) region meshes via robust winding-number point queries.
The counter supports multiple, independently posed region meshes per environment, sanitizes
non-finite particle positions, and returns both per-region counts and the per-particle
containment mask.
* Added the :func:`~isaaclab.utils.warp.make_box_region_mesh` and
:func:`~isaaclab.utils.warp.make_frustum_region_mesh` helpers for building watertight,
outward-oriented region meshes (axis-aligned boxes and capped circular frusta / cup cavities).
4 changes: 4 additions & 0 deletions source/isaaclab/isaaclab/utils/warp/__init__.pyi
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# SPDX-License-Identifier: BSD-3-Clause

__all__ = [
"ParticleMeshCounter",
"ProxyArray",
"convert_to_warp_mesh",
"make_box_region_mesh",
"make_frustum_region_mesh",
"raycast_dynamic_meshes",
"raycast_mesh",
"raycast_single_mesh",
]

from .ops import convert_to_warp_mesh, raycast_dynamic_meshes, raycast_mesh, raycast_single_mesh
from .particle_mesh import ParticleMeshCounter, make_box_region_mesh, make_frustum_region_mesh
from .proxy_array import ProxyArray
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