warp-lang 0.11.0__py3-none-manylinux2014_x86_64.whl → 1.0.0__py3-none-manylinux2014_x86_64.whl

warp/examples/fem/example_apic_fluid.py

@@ -0,0 +1,391 @@
+# 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 APIC Fluid Simulation
+#
+# Shows how to implement a apic fluid simulation.
+###########################################################################
+
+import os
+
+import warp as wp
+import numpy as np
+
+from warp.sim import Model, State
+import warp.sim.render
+
+import warp.fem as fem
+
+from warp.fem import integrand, lookup, normal, grad, at_node, div
+from warp.fem import Field, Sample, Domain
+
+from warp.sparse import bsr_mv, bsr_copy, bsr_mm, bsr_transposed, bsr_zeros, BsrMatrix
+
+try:
+    from .bsr_utils import bsr_cg
+except ImportError:
+    from bsr_utils import bsr_cg
+
+wp.init()
+
+
+@integrand
+def integrate_fraction(s: Sample, phi: Field):
+    return phi(s)
+
+
+@integrand
+def integrate_velocity(
+    s: Sample,
+    domain: Domain,
+    u: Field,
+    velocities: wp.array(dtype=wp.vec3),
+    velocity_gradients: wp.array(dtype=wp.mat33),
+    dt: float,
+    gravity: wp.vec3,
+):
+    """Transfer particle velocities to grid"""
+    node_offset = domain(at_node(u, s)) - domain(s)
+    vel_apic = velocities[s.qp_index] + velocity_gradients[s.qp_index] * node_offset
+
+    vel_adv = vel_apic + dt * gravity
+    return wp.dot(u(s), vel_adv)
+
+
+@integrand
+def update_particles(
+    s: Sample,
+    domain: Domain,
+    grid_vel: Field,
+    dt: float,
+    pos: wp.array(dtype=wp.vec3),
+    pos_prev: wp.array(dtype=wp.vec3),
+    vel: wp.array(dtype=wp.vec3),
+    vel_grad: wp.array(dtype=wp.mat33),
+):
+    """Read particle velocity from grid and advect positions"""
+    vel[s.qp_index] = grid_vel(s)
+    vel_grad[s.qp_index] = grad(grid_vel, s)
+
+    pos_adv = pos_prev[s.qp_index] + dt * vel[s.qp_index]
+
+    # Project onto domain
+    pos_proj = domain(lookup(domain, pos_adv))
+    pos[s.qp_index] = pos_proj
+
+
+@integrand
+def velocity_boundary_projector_form(s: Sample, domain: Domain, u: Field, v: Field):
+    """Projector for velocity-Dirichlet boundary conditions"""
+
+    n = normal(domain, s)
+    if n[1] > 0.0:
+        # Neuman  on top
+        return 0.0
+
+    # Free-slip on other sides
+    return wp.dot(u(s), n) * wp.dot(v(s), n)
+
+
+@integrand
+def divergence_form(s: Sample, u: Field, psi: Field):
+    return div(u, s) * psi(s)
+
+
+@wp.kernel
+def invert_volume_kernel(values: wp.array(dtype=float)):
+    i = wp.tid()
+    m = values[i]
+    if m <= 1.0e-8:
+        values[i] = 0.0
+    else:
+        values[i] = 1.0 / m
+
+
+@wp.kernel
+def scalar_vector_multiply(
+    alpha: wp.array(dtype=float),
+    x: wp.array(dtype=wp.vec3),
+    y: wp.array(dtype=wp.vec3),
+):
+    i = wp.tid()
+    y[i] = alpha[i] * x[i]
+
+
+@wp.kernel
+def scale_transposed_divergence_mat(
+    tr_divergence_mat_offsets: wp.array(dtype=int),
+    tr_divergence_mat_values: wp.array(dtype=wp.mat(shape=(3, 1), dtype=float)),
+    inv_fraction_int: wp.array(dtype=float),
+):
+    u_i = wp.tid()
+    block_beg = tr_divergence_mat_offsets[u_i]
+    block_end = tr_divergence_mat_offsets[u_i + 1]
+
+    for b in range(block_beg, block_end):
+        tr_divergence_mat_values[b] = tr_divergence_mat_values[b] * inv_fraction_int[u_i]
+
+
+def solve_incompressibility(divergence_mat: BsrMatrix, inv_volume, pressure, velocity, quiet: bool = False):
+    """Solve for divergence-free velocity delta:
+
+    delta_velocity = inv_volume * transpose(divergence_mat) * pressure
+    divergence_mat * (velocity + delta_velocity) = 0
+    """
+
+    # Build transposed gradient matrix, scale with inverse fraction
+    transposed_divergence_mat = bsr_transposed(divergence_mat)
+    wp.launch(
+        kernel=scale_transposed_divergence_mat,
+        dim=inv_volume.shape[0],
+        inputs=[
+            transposed_divergence_mat.offsets,
+            transposed_divergence_mat.values,
+            inv_volume,
+        ],
+    )
+
+    # For simplicity, assemble schur complement and solve with CG
+    schur = bsr_mm(divergence_mat, transposed_divergence_mat)
+
+    rhs = wp.zeros_like(pressure)
+    bsr_mv(A=divergence_mat, x=velocity, y=rhs, alpha=-1.0, beta=0.0)
+    bsr_cg(schur, b=rhs, x=pressure, quiet=quiet)
+
+    # Apply pressure to velocity
+    bsr_mv(A=transposed_divergence_mat, x=pressure, y=velocity, alpha=1.0, beta=1.0)
+
+
+class Example:
+    def __init__(self, stage, num_frames=1000, res=[32, 64, 16], quiet=False):
+        self.frame_dt = 1.0 / 60
+        self.num_frames = num_frames
+        self.current_frame = 0
+
+        self.sim_substeps = 1
+        self.sim_dt = self.frame_dt / self.sim_substeps
+        self.sim_steps = self.num_frames * self.sim_substeps
+
+        self._quiet = quiet
+
+        # grid dimensions and particle emission
+        grid_res = np.array(res, dtype=int)
+        particle_fill_frac = np.array([0.5, 0.5, 1.0])
+        grid_lo = wp.vec3(0.0)
+        grid_hi = wp.vec3(50, 100, 25)
+
+        grid_cell_size = np.array(grid_hi - grid_lo) / grid_res
+        grid_cell_volume = np.prod(grid_cell_size)
+
+        PARTICLES_PER_CELL_DIM = 3
+        self.radius = float(np.max(grid_cell_size) / (2 * PARTICLES_PER_CELL_DIM))
+
+        particle_grid_res = np.array(particle_fill_frac * grid_res * PARTICLES_PER_CELL_DIM, dtype=int)
+        particle_grid_offset = wp.vec3(self.radius, self.radius, self.radius)
+
+        np.random.seed(0)
+        builder = wp.sim.ModelBuilder()
+        builder.add_particle_grid(
+            dim_x=particle_grid_res[0],
+            dim_y=particle_grid_res[1],
+            dim_z=particle_grid_res[2],
+            cell_x=self.radius * 2.0,
+            cell_y=self.radius * 2.0,
+            cell_z=self.radius * 2.0,
+            pos=wp.vec3(0.0, 0.0, 0.0) + particle_grid_offset,
+            rot=wp.quat_identity(),
+            vel=wp.vec3(0.0, 0.0, 0.0),
+            mass=grid_cell_volume / PARTICLES_PER_CELL_DIM**3,
+            jitter=self.radius * 1.0,
+            radius_mean=self.radius,
+        )
+
+        self.grid = fem.Grid3D(wp.vec3i(grid_res), grid_lo, grid_hi)
+
+        # Function spaces
+        self.velocity_space = fem.make_polynomial_space(self.grid, dtype=wp.vec3, degree=1)
+        self.fraction_space = fem.make_polynomial_space(self.grid, dtype=float, degree=1)
+        self.strain_space = fem.make_polynomial_space(
+            self.grid,
+            dtype=float,
+            degree=0,
+        )
+
+        self.pressure_field = self.strain_space.make_field()
+        self.velocity_field = self.velocity_space.make_field()
+
+        # Test and trial functions
+        self.domain = fem.Cells(self.grid)
+        self.velocity_test = fem.make_test(self.velocity_space, domain=self.domain)
+        self.velocity_trial = fem.make_trial(self.velocity_space, domain=self.domain)
+        self.fraction_test = fem.make_test(self.fraction_space, domain=self.domain)
+        self.strain_test = fem.make_test(self.strain_space, domain=self.domain)
+        self.strain_trial = fem.make_trial(self.strain_space, domain=self.domain)
+
+        # Enforcing the Dirichlet boundary condition the hard way;
+        # build projector for velocity left- and right-hand-sides
+        boundary = fem.BoundarySides(self.grid)
+        u_bd_test = fem.make_test(space=self.velocity_space, domain=boundary)
+        u_bd_trial = fem.make_trial(space=self.velocity_space, domain=boundary)
+        u_bd_projector = fem.integrate(
+            velocity_boundary_projector_form, fields={"u": u_bd_trial, "v": u_bd_test}, nodal=True, output_dtype=float
+        )
+
+        fem.normalize_dirichlet_projector(u_bd_projector)
+        self.vel_bd_projector = u_bd_projector
+
+        # Storage for temporary variables
+        self.temporary_store = fem.TemporaryStore()
+
+        self._divergence_matrix = bsr_zeros(
+            self.strain_space.node_count(),
+            self.velocity_space.node_count(),
+            block_type=wp.mat(shape=(1, 3), dtype=float),
+        )
+
+        # Warp.sim model
+        self.model: Model = builder.finalize()
+
+        if not self._quiet:
+            print("Particle count:", self.model.particle_count)
+
+        self.state_0: State = self.model.state()
+        self.state_0.particle_qd_grad = wp.zeros(shape=(self.model.particle_count), dtype=wp.mat33)
+
+        self.state_1: State = self.model.state()
+        self.state_1.particle_qd_grad = wp.zeros(shape=(self.model.particle_count), dtype=wp.mat33)
+
+        self.renderer = None
+        try:
+            self.renderer = warp.sim.render.SimRenderer(self.model, stage, scaling=20.0)
+        except Exception as err:
+            print(f"Could not initialize SimRenderer for stage '{stage}': {err}.")
+
+    def step(self):
+        fem.set_default_temporary_store(self.temporary_store)
+
+        self.current_frame = self.current_frame + 1
+        with wp.ScopedTimer(f"simulate frame {self.current_frame}", active=True):
+            for s in range(self.sim_substeps):
+                # Bin particles to grid cells
+                pic = fem.PicQuadrature(
+                    domain=fem.Cells(self.grid), positions=self.state_0.particle_q, measures=self.model.particle_mass
+                )
+
+                # Borrow some temporary arrays for storing integration results
+                inv_volume_temporary = fem.borrow_temporary(
+                    self.temporary_store, shape=(self.fraction_space.node_count()), dtype=float
+                )
+                velocity_int_temporary = fem.borrow_temporary(
+                    self.temporary_store, shape=(self.velocity_space.node_count()), dtype=wp.vec3
+                )
+                inv_volume = inv_volume_temporary.array
+                velocity_int = velocity_int_temporary.array
+
+                # Inverse volume fraction
+                fem.integrate(
+                    integrate_fraction,
+                    quadrature=pic,
+                    fields={"phi": self.fraction_test},
+                    accumulate_dtype=float,
+                    output=inv_volume,
+                )
+                wp.launch(kernel=invert_volume_kernel, dim=inv_volume.shape, inputs=[inv_volume])
+
+                # Velocity right-hand side
+                fem.integrate(
+                    integrate_velocity,
+                    quadrature=pic,
+                    fields={"u": self.velocity_test},
+                    values={
+                        "velocities": self.state_0.particle_qd,
+                        "velocity_gradients": self.state_0.particle_qd_grad,
+                        "dt": self.sim_dt,
+                        "gravity": self.model.gravity,
+                    },
+                    accumulate_dtype=float,
+                    output=velocity_int,
+                )
+
+                # Compute constraint-free velocity
+                wp.launch(
+                    kernel=scalar_vector_multiply,
+                    dim=inv_volume.shape[0],
+                    inputs=[inv_volume, velocity_int, self.velocity_field.dof_values],
+                )
+
+                # Apply velocity boundary conditions:
+                # velocity -= vel_bd_projector * velocity
+                wp.copy(src=self.velocity_field.dof_values, dest=velocity_int)
+                bsr_mv(A=self.vel_bd_projector, x=velocity_int, y=self.velocity_field.dof_values, alpha=-1.0, beta=1.0)
+
+                # Divergence matrix
+                fem.integrate(
+                    divergence_form,
+                    quadrature=pic,
+                    fields={"u": self.velocity_trial, "psi": self.strain_test},
+                    accumulate_dtype=float,
+                    output=self._divergence_matrix,
+                )
+
+                # Project matrix to enforce boundary conditions
+                divergence_mat_tmp = bsr_copy(self._divergence_matrix)
+                bsr_mm(alpha=-1.0, x=divergence_mat_tmp, y=self.vel_bd_projector, z=self._divergence_matrix, beta=1.0)
+
+                # Solve unilateral incompressibility
+                solve_incompressibility(
+                    self._divergence_matrix,
+                    inv_volume,
+                    self.pressure_field.dof_values,
+                    self.velocity_field.dof_values,
+                    quiet=self._quiet,
+                )
+
+                # (A)PIC advection
+                fem.interpolate(
+                    update_particles,
+                    quadrature=pic,
+                    values={
+                        "pos": self.state_1.particle_q,
+                        "pos_prev": self.state_0.particle_q,
+                        "vel": self.state_1.particle_qd,
+                        "vel_grad": self.state_1.particle_qd_grad,
+                        "dt": self.sim_dt,
+                    },
+                    fields={"grid_vel": self.velocity_field},
+                )
+
+                # swap states
+                (self.state_0, self.state_1) = (self.state_1, self.state_0)
+
+        fem.set_default_temporary_store(None)
+
+    def render(self, is_live=False):
+        if self.renderer is None:
+            return
+
+        with wp.ScopedTimer("render", active=True):
+            time = self.current_frame * self.frame_dt
+
+            self.renderer.begin_frame(time)
+            self.renderer.render(self.state_0)
+            self.renderer.end_frame()
+
+
+if __name__ == "__main__":
+    wp.set_module_options({"enable_backward": False})
+
+    stage_path = os.path.join(os.path.dirname(__file__), "example_apic_fluid.usd")
+
+    example = Example(stage_path)
+
+    for i in range(example.num_frames):
+        example.step()
+        example.render()
+
+    example.renderer.save()

warp/examples/fem/example_convection_diffusion.py

@@ -0,0 +1,168 @@
+# 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 Convection Diffusion
+#
+# This example simulates a convection-diffusion PDE using
+# semi-Lagrangian advection
+#
+# D phi / dt - nu d2 phi / dx^2 = 0
+###########################################################################
+
+import argparse
+
+import warp as wp
+import warp.fem as fem
+
+# Import example utilities
+# Make sure that works both when imported as module and run as standalone file
+try:
+    from .bsr_utils import bsr_cg
+    from .mesh_utils import gen_trimesh
+    from .plot_utils import Plot
+except ImportError:
+    from bsr_utils import bsr_cg
+    from mesh_utils import gen_trimesh
+    from plot_utils import Plot
+
+wp.init()
+
+
+@fem.integrand
+def initial_condition(domain: fem.Domain, s: fem.Sample):
+    """Initial condition: 1.0 in ]0.6, 0.4[ x ]0.2, 0.8[, 0.0 elsewhere"""
+    pos = domain(s)
+    if pos[0] > 0.4 and pos[0] < 0.6 and pos[1] > 0.2 and pos[1] < 0.8:
+        return 1.0
+    return 0.0
+
+
+@wp.func
+def velocity(pos: wp.vec2, ang_vel: float):
+    center = wp.vec2(0.5, 0.5)
+    offset = pos - center
+    return wp.vec2(offset[1], -offset[0]) * ang_vel
+
+
+@fem.integrand
+def inertia_form(s: fem.Sample, phi: fem.Field, psi: fem.Field, dt: float):
+    return phi(s) * psi(s) / dt
+
+
+@fem.integrand
+def transported_inertia_form(
+    s: fem.Sample, domain: fem.Domain, phi: fem.Field, psi: fem.Field, ang_vel: float, dt: float
+):
+    pos = domain(s)
+    vel = velocity(pos, ang_vel)
+
+    # semi-Lagrangian advection; evaluate phi upstream
+    conv_pos = pos - vel * dt
+    # lookup operator constructs a Sample from a world position.
+    # the optional last argument provides a initial guess for the lookup
+    conv_phi = phi(fem.lookup(domain, conv_pos, s))
+
+    return conv_phi * psi(s) / dt
+
+
+@fem.integrand
+def diffusion_form(
+    s: fem.Sample,
+    u: fem.Field,
+    v: fem.Field,
+):
+    return wp.dot(
+        fem.grad(u, s),
+        fem.grad(v, s),
+    )
+
+
+@fem.integrand
+def diffusion_and_inertia_form(s: fem.Sample, phi: fem.Field, psi: fem.Field, dt: float, nu: float):
+    return inertia_form(s, phi, psi, dt) + nu * diffusion_form(s, phi, psi)
+
+
+class Example:
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--resolution", type=int, default=50)
+    parser.add_argument("--degree", type=int, default=2)
+    parser.add_argument("--num_frames", type=int, default=250)
+    parser.add_argument("--viscosity", type=float, default=0.001)
+    parser.add_argument("--ang_vel", type=float, default=1.0)
+    parser.add_argument("--tri_mesh", action="store_true", help="Use a triangular mesh")
+
+    def __init__(self, stage=None, quiet=False, args=None, **kwargs):
+        if args is None:
+            # Read args from kwargs, add default arg values from parser
+            args = argparse.Namespace(**kwargs)
+            args = Example.parser.parse_args(args=[], namespace=args)
+        self._args = args
+        self._quiet = quiet
+
+        res = args.resolution
+        self.sim_dt = 1.0 / (args.ang_vel * res)
+        self.current_frame = 0
+
+        if args.tri_mesh:
+            positions, tri_vidx = gen_trimesh(res=wp.vec2i(res))
+            geo = fem.Trimesh2D(tri_vertex_indices=tri_vidx, positions=positions)
+        else:
+            geo = fem.Grid2D(res=wp.vec2i(res))
+
+        domain = fem.Cells(geometry=geo)
+        scalar_space = fem.make_polynomial_space(geo, degree=args.degree)
+
+        # Initial condition
+        self._phi_field = scalar_space.make_field()
+        fem.interpolate(initial_condition, dest=self._phi_field)
+
+        # Assemble diffusion and inertia matrix
+        self._test = fem.make_test(space=scalar_space, domain=domain)
+        self._trial = fem.make_trial(space=scalar_space, domain=domain)
+        self._matrix = fem.integrate(
+            diffusion_and_inertia_form,
+            fields={"phi": self._trial, "psi": self._test},
+            values={"nu": args.viscosity, "dt": self.sim_dt},
+            output_dtype=float,
+        )
+
+        self.renderer = Plot(stage)
+        self.renderer.add_surface("phi", self._phi_field)
+
+    def step(self):
+        self.current_frame += 1
+
+        # right-hand-side -- advected inertia
+        rhs = fem.integrate(
+            transported_inertia_form,
+            fields={"phi": self._phi_field, "psi": self._test},
+            values={"ang_vel": self._args.ang_vel, "dt": self.sim_dt},
+            output_dtype=float,
+        )
+
+        # Solve linear system
+        bsr_cg(self._matrix, x=self._phi_field.dof_values, b=rhs, quiet=self._quiet, tol=1.0e-12)
+
+    def render(self):
+        self.renderer.begin_frame(time = self.current_frame * self.sim_dt)
+        self.renderer.add_surface("phi", self._phi_field)
+        self.renderer.end_frame()
+
+
+if __name__ == "__main__":
+    wp.set_module_options({"enable_backward": False})
+
+    args = Example.parser.parse_args()
+
+    example = Example(args=args)
+    for k in range(args.num_frames):
+        print(f"Frame {k}:")
+        example.step()
+        example.render()
+
+    example.renderer.plot()