concepts.simulator.sapien2.manipulation_utils.contact_samplers.mesh_line_intersect

mesh_line_intersect(t_mesh, ray_origin, ray_direction)

Intersects a ray with a mesh.

Parameters:

• t_mesh (open3d.t.geometry.TriangleMesh) – the mesh to intersect with.

• ray_origin (ndarray) – the origin of the ray.

• ray_direction (ndarray) – the direction of the ray.

Returns:

A tuple of (point, normal) if an intersection is found, None otherwise.

Return type:

tuple[ndarray, ndarray] | None