warp-lang 0.9.0__py3-none-win_amd64.whl → 0.11.0__py3-none-win_amd64.whl

warp/fem/space/shape/cube_shape_function.py

@@ -0,0 +1,738 @@
+import math
+
+import warp as wp
+import numpy as np
+
+from warp.fem.geometry import Grid3D
+from warp.fem.polynomial import Polynomial, quadrature_1d, lagrange_scales, is_closed
+from warp.fem.types import Coords
+from warp.fem import cache
+
+from .tet_shape_function import TetrahedronPolynomialShapeFunctions
+
+_CUBE_EDGE_INDICES = wp.constant(
+    wp.mat(shape=(3, 4), dtype=int)(
+        [
+            [0, 4, 2, 6],
+            [3, 1, 7, 5],
+            [8, 11, 9, 10],
+        ]
+    )
+)
+
+
+class CubeTripolynomialShapeFunctions:
+    VERTEX = 0
+    EDGE = 1
+    FACE = 2
+    INTERIOR = 3
+
+    def __init__(self, degree: int, family: Polynomial):
+        self.family = family
+
+        self.ORDER = wp.constant(degree)
+        self.NODES_PER_ELEMENT = wp.constant((degree + 1) ** 3)
+        self.NODES_PER_EDGE = wp.constant(degree + 1)
+
+        lobatto_coords, lobatto_weight = quadrature_1d(point_count=degree + 1, family=family)
+        lagrange_scale = lagrange_scales(lobatto_coords)
+
+        NodeVec = wp.types.vector(length=degree + 1, dtype=wp.float32)
+        self.LOBATTO_COORDS = wp.constant(NodeVec(lobatto_coords))
+        self.LOBATTO_WEIGHT = wp.constant(NodeVec(lobatto_weight))
+        self.LAGRANGE_SCALE = wp.constant(NodeVec(lagrange_scale))
+        self.ORDER_PLUS_ONE = wp.constant(self.ORDER + 1)
+
+        self._node_ijk = self._make_node_ijk()
+        self.node_type_and_type_index = self._make_node_type_and_type_index()
+
+    @property
+    def name(self) -> str:
+        return f"Cube_Q{self.ORDER}_{self.family}"
+
+    @wp.func
+    def _vertex_coords_f(vidx_in_cell: int):
+        x = vidx_in_cell // 4
+        y = (vidx_in_cell - 4 * x) // 2
+        z = vidx_in_cell - 4 * x - 2 * y
+        return wp.vec3(float(x), float(y), float(z))
+
+    def _make_node_ijk(self):
+        ORDER_PLUS_ONE = self.ORDER_PLUS_ONE
+
+        def node_ijk(
+            node_index_in_elt: int,
+        ):
+            node_i = node_index_in_elt // (ORDER_PLUS_ONE * ORDER_PLUS_ONE)
+            node_jk = node_index_in_elt - ORDER_PLUS_ONE * ORDER_PLUS_ONE * node_i
+            node_j = node_jk // ORDER_PLUS_ONE
+            node_k = node_jk - ORDER_PLUS_ONE * node_j
+            return node_i, node_j, node_k
+
+        return cache.get_func(node_ijk, self.name)
+
+    def _make_node_type_and_type_index(self):
+        ORDER = self.ORDER
+
+        @cache.dynamic_func(suffix=self.name)
+        def node_type_and_type_index(
+            node_index_in_elt: int,
+        ):
+            i, j, k = self._node_ijk(node_index_in_elt)
+
+            zi = wp.select(i == 0, 0, 1)
+            zj = wp.select(j == 0, 0, 1)
+            zk = wp.select(k == 0, 0, 1)
+
+            mi = wp.select(i == ORDER, 0, 1)
+            mj = wp.select(j == ORDER, 0, 1)
+            mk = wp.select(k == ORDER, 0, 1)
+
+            if zi + mi == 1:
+                if zj + mj == 1:
+                    if zk + mk == 1:
+                        # vertex
+                        type_instance = mi * 4 + mj * 2 + mk
+                        return CubeTripolynomialShapeFunctions.VERTEX, type_instance, 0
+
+                    # z edge
+                    type_instance = _CUBE_EDGE_INDICES[2, mi * 2 + mj]
+                    type_index = k - 1
+                    return CubeTripolynomialShapeFunctions.EDGE, type_instance, type_index
+
+                if zk + mk == 1:
+                    # y edge
+                    type_instance = _CUBE_EDGE_INDICES[1, mk * 2 + mi]
+                    type_index = j - 1
+                    return CubeTripolynomialShapeFunctions.EDGE, type_instance, type_index
+
+                # x face
+                type_instance = mi
+                type_index = wp.select(mi == 1, (j - 1) * (ORDER - 1) + k - 1, (k - 1) * (ORDER - 1) + j - 1)
+                return CubeTripolynomialShapeFunctions.FACE, type_instance, type_index
+
+            if zj + mj == 1:
+                if zk + mk == 1:
+                    # x edge
+                    type_instance = _CUBE_EDGE_INDICES[0, mj * 2 + mk]
+                    type_index = i - 1
+                    return CubeTripolynomialShapeFunctions.EDGE, type_instance, type_index
+
+                # y face
+                type_instance = 2 + mj
+                type_index = wp.select(mj == 1, (i - 1) * (ORDER - 1) + k - 1, (k - 1) * (ORDER - 1) + i - 1)
+                return CubeTripolynomialShapeFunctions.FACE, type_instance, type_index
+
+            if zk + mk == 1:
+                # z face
+                type_instance = 4 + mk
+                type_index = wp.select(mk == 1, (j - 1) * (ORDER - 1) + i - 1, (i - 1) * (ORDER - 1) + j - 1)
+                return CubeTripolynomialShapeFunctions.FACE, type_instance, type_index
+
+            type_index = ((i - 1) * (ORDER - 1) + (j - 1)) * (ORDER - 1) + k - 1
+            return CubeTripolynomialShapeFunctions.INTERIOR, 0, type_index
+
+        return node_type_and_type_index
+
+    def make_node_coords_in_element(self):
+        LOBATTO_COORDS = self.LOBATTO_COORDS
+
+        @cache.dynamic_func(suffix=self.name)
+        def node_coords_in_element(
+            node_index_in_elt: int,
+        ):
+            node_i, node_j, node_k = self._node_ijk(node_index_in_elt)
+            return Coords(LOBATTO_COORDS[node_i], LOBATTO_COORDS[node_j], LOBATTO_COORDS[node_k])
+
+        return node_coords_in_element
+
+    def make_node_quadrature_weight(self):
+        ORDER = self.ORDER
+        LOBATTO_WEIGHT = self.LOBATTO_WEIGHT
+
+        def node_quadrature_weight(
+            node_index_in_elt: int,
+        ):
+            node_i, node_j, node_k = self._node_ijk(node_index_in_elt)
+            return LOBATTO_WEIGHT[node_i] * LOBATTO_WEIGHT[node_j] * LOBATTO_WEIGHT[node_k]
+
+        def node_quadrature_weight_linear(
+            node_index_in_elt: int,
+        ):
+            return 0.125
+
+        if ORDER == 1:
+            return cache.get_func(node_quadrature_weight_linear, self.name)
+
+        return cache.get_func(node_quadrature_weight, self.name)
+
+    def make_trace_node_quadrature_weight(self):
+        ORDER = self.ORDER
+        LOBATTO_WEIGHT = self.LOBATTO_WEIGHT
+
+        def trace_node_quadrature_weight(
+            node_index_in_elt: int,
+        ):
+            # We're either on a side interior or at a vertex
+            # If we find one index at extremum, pick the two other
+
+            node_i, node_j, node_k = self._node_ijk(node_index_in_elt)
+
+            if node_i == 0 or node_i == ORDER:
+                return LOBATTO_WEIGHT[node_j] * LOBATTO_WEIGHT[node_k]
+
+            if node_j == 0 or node_j == ORDER:
+                return LOBATTO_WEIGHT[node_i] * LOBATTO_WEIGHT[node_k]
+
+            return LOBATTO_WEIGHT[node_i] * LOBATTO_WEIGHT[node_j]
+
+        def trace_node_quadrature_weight_linear(
+            node_index_in_elt: int,
+        ):
+            return 0.25
+
+        def trace_node_quadrature_weight_open(
+            node_index_in_elt: int,
+        ):
+            return 0.0
+
+        if not is_closed(self.family):
+            return cache.get_func(trace_node_quadrature_weight_open, self.name)
+
+        if ORDER == 1:
+            return cache.get_func(trace_node_quadrature_weight_linear, self.name)
+
+        return cache.get_func(trace_node_quadrature_weight, self.name)
+
+    def make_element_inner_weight(self):
+        ORDER_PLUS_ONE = self.ORDER_PLUS_ONE
+        LOBATTO_COORDS = self.LOBATTO_COORDS
+        LAGRANGE_SCALE = self.LAGRANGE_SCALE
+
+        def element_inner_weight(
+            coords: Coords,
+            node_index_in_elt: int,
+        ):
+            node_i, node_j, node_k = self._node_ijk(node_index_in_elt)
+
+            w = float(1.0)
+            for k in range(ORDER_PLUS_ONE):
+                if k != node_i:
+                    w *= coords[0] - LOBATTO_COORDS[k]
+                if k != node_j:
+                    w *= coords[1] - LOBATTO_COORDS[k]
+                if k != node_k:
+                    w *= coords[2] - LOBATTO_COORDS[k]
+
+            w *= LAGRANGE_SCALE[node_i] * LAGRANGE_SCALE[node_j] * LAGRANGE_SCALE[node_k]
+
+            return w
+
+        def element_inner_weight_linear(
+            coords: Coords,
+            node_index_in_elt: int,
+        ):
+            v = CubeTripolynomialShapeFunctions._vertex_coords_f(node_index_in_elt)
+
+            wx = (1.0 - coords[0]) * (1.0 - v[0]) + v[0] * coords[0]
+            wy = (1.0 - coords[1]) * (1.0 - v[1]) + v[1] * coords[1]
+            wz = (1.0 - coords[2]) * (1.0 - v[2]) + v[2] * coords[2]
+            return wx * wy * wz
+
+        if self.ORDER == 1 and is_closed(self.family):
+            return cache.get_func(element_inner_weight_linear, self.name)
+
+        return cache.get_func(element_inner_weight, self.name)
+
+    def make_element_inner_weight_gradient(self):
+        ORDER_PLUS_ONE = self.ORDER_PLUS_ONE
+        LOBATTO_COORDS = self.LOBATTO_COORDS
+        LAGRANGE_SCALE = self.LAGRANGE_SCALE
+
+        def element_inner_weight_gradient(
+            coords: Coords,
+            node_index_in_elt: int,
+        ):
+            node_i, node_j, node_k = self._node_ijk(node_index_in_elt)
+
+            prefix_xy = float(1.0)
+            prefix_yz = float(1.0)
+            prefix_zx = float(1.0)
+            for k in range(ORDER_PLUS_ONE):
+                if k != node_i:
+                    prefix_yz *= coords[0] - LOBATTO_COORDS[k]
+                if k != node_j:
+                    prefix_zx *= coords[1] - LOBATTO_COORDS[k]
+                if k != node_k:
+                    prefix_xy *= coords[2] - LOBATTO_COORDS[k]
+
+            prefix_x = prefix_zx * prefix_xy
+            prefix_y = prefix_yz * prefix_xy
+            prefix_z = prefix_zx * prefix_yz
+
+            grad_x = float(0.0)
+            grad_y = float(0.0)
+            grad_z = float(0.0)
+
+            for k in range(ORDER_PLUS_ONE):
+                if k != node_i:
+                    delta_x = coords[0] - LOBATTO_COORDS[k]
+                    grad_x = grad_x * delta_x + prefix_x
+                    prefix_x *= delta_x
+                if k != node_j:
+                    delta_y = coords[1] - LOBATTO_COORDS[k]
+                    grad_y = grad_y * delta_y + prefix_y
+                    prefix_y *= delta_y
+                if k != node_k:
+                    delta_z = coords[2] - LOBATTO_COORDS[k]
+                    grad_z = grad_z * delta_z + prefix_z
+                    prefix_z *= delta_z
+
+            grad = (
+                LAGRANGE_SCALE[node_i]
+                * LAGRANGE_SCALE[node_j]
+                * LAGRANGE_SCALE[node_k]
+                * wp.vec3(
+                    grad_x,
+                    grad_y,
+                    grad_z,
+                )
+            )
+
+            return grad
+
+        def element_inner_weight_gradient_linear(
+            coords: Coords,
+            node_index_in_elt: int,
+        ):
+            v = CubeTripolynomialShapeFunctions._vertex_coords_f(node_index_in_elt)
+
+            wx = (1.0 - coords[0]) * (1.0 - v[0]) + v[0] * coords[0]
+            wy = (1.0 - coords[1]) * (1.0 - v[1]) + v[1] * coords[1]
+            wz = (1.0 - coords[2]) * (1.0 - v[2]) + v[2] * coords[2]
+
+            dx = 2.0 * v[0] - 1.0
+            dy = 2.0 * v[1] - 1.0
+            dz = 2.0 * v[2] - 1.0
+
+            return wp.vec3(dx * wy * wz, dy * wz * wx, dz * wx * wy)
+
+        if self.ORDER == 1 and is_closed(self.family):
+            return cache.get_func(element_inner_weight_gradient_linear, self.name)
+
+        return cache.get_func(element_inner_weight_gradient, self.name)
+
+    def element_node_hexes(self):
+        from warp.fem.utils import grid_to_hexes
+
+        return grid_to_hexes(self.ORDER, self.ORDER, self.ORDER)
+
+    def element_node_tets(self):
+        from warp.fem.utils import grid_to_tets
+
+        return grid_to_tets(self.ORDER, self.ORDER, self.ORDER)
+
+
+class CubeSerendipityShapeFunctions:
+    """
+    Serendipity element ~ tensor product space without interior nodes
+    Edge shape functions are usual Lagrange shape functions times a bilinear function in the normal directions
+    Corner shape functions are trilinear shape functions times a function of (x^{d-1} + y^{d-1})
+    """
+
+    # Node categories
+    VERTEX = wp.constant(0)
+    EDGE_X = wp.constant(1)
+    EDGE_Y = wp.constant(2)
+
+    def __init__(self, degree: int, family: Polynomial):
+        if not is_closed(family):
+            raise ValueError("A closed polynomial family is required to define serendipity elements")
+
+        if degree not in [2, 3]:
+            raise NotImplementedError("Serendipity element only implemented for order 2 or 3")
+
+        self.family = family
+
+        self.ORDER = wp.constant(degree)
+        self.NODES_PER_ELEMENT = wp.constant(8 + 12 * (degree - 1))
+        self.NODES_PER_EDGE = wp.constant(degree + 1)
+
+        lobatto_coords, lobatto_weight = quadrature_1d(point_count=degree + 1, family=family)
+        lagrange_scale = lagrange_scales(lobatto_coords)
+
+        NodeVec = wp.types.vector(length=degree + 1, dtype=wp.float32)
+        self.LOBATTO_COORDS = wp.constant(NodeVec(lobatto_coords))
+        self.LOBATTO_WEIGHT = wp.constant(NodeVec(lobatto_weight))
+        self.LAGRANGE_SCALE = wp.constant(NodeVec(lagrange_scale))
+        self.ORDER_PLUS_ONE = wp.constant(self.ORDER + 1)
+
+        self.node_type_and_type_index = self._get_node_type_and_type_index()
+        self._node_lobatto_indices = self._get_node_lobatto_indices()
+
+    @property
+    def name(self) -> str:
+        return f"Cube_S{self.ORDER}_{self.family}"
+
+    def _get_node_type_and_type_index(self):
+        @cache.dynamic_func(suffix=self.name)
+        def node_type_and_index(
+            node_index_in_elt: int,
+        ):
+            if node_index_in_elt < 8:
+                return CubeSerendipityShapeFunctions.VERTEX, node_index_in_elt
+
+            type_index = (node_index_in_elt - 8) // 3
+            side = node_index_in_elt - 8 - 3 * type_index
+            return CubeSerendipityShapeFunctions.EDGE_X + side, type_index
+
+        return node_type_and_index
+
+    @wp.func
+    def _vertex_coords(vidx_in_cell: int):
+        x = vidx_in_cell // 4
+        y = (vidx_in_cell - 4 * x) // 2
+        z = vidx_in_cell - 4 * x - 2 * y
+        return wp.vec3i(x, y, z)
+
+    @wp.func
+    def _edge_coords(type_index: int):
+        index_in_side = type_index // 4
+        side_offset = type_index - 4 * index_in_side
+        return (wp.vec3i(index_in_side + 1, side_offset // 2, side_offset % 2),)
+
+    @wp.func
+    def _edge_axis(node_type: int):
+        return node_type - CubeSerendipityShapeFunctions.EDGE_X
+
+    @wp.func
+    def _cube_edge_index(node_type: int, type_index: int):
+        index_in_side = type_index // 4
+        side_offset = type_index - 4 * index_in_side
+
+        return _CUBE_EDGE_INDICES[node_type - CubeSerendipityShapeFunctions.EDGE_X, side_offset], index_in_side
+
+    def _get_node_lobatto_indices(self):
+        ORDER = self.ORDER
+
+        @cache.dynamic_func(suffix=self.name)
+        def node_lobatto_indices(node_type: int, type_index: int):
+            if node_type == CubeSerendipityShapeFunctions.VERTEX:
+                return CubeSerendipityShapeFunctions._vertex_coords(type_index) * ORDER
+
+            axis = CubeSerendipityShapeFunctions._edge_axis(node_type)
+            local_coords = CubeSerendipityShapeFunctions._edge_coords(type_index)
+
+            local_indices = wp.vec3i(local_coords[0], local_coords[1] * ORDER, local_coords[2] * ORDER)
+
+            return Grid3D._local_to_world(axis, local_indices)
+
+        return node_lobatto_indices
+
+    def make_node_coords_in_element(self):
+        LOBATTO_COORDS = self.LOBATTO_COORDS
+
+        @cache.dynamic_func(suffix=self.name)
+        def node_coords_in_element(
+            node_index_in_elt: int,
+        ):
+            node_type, type_index = self.node_type_and_type_index(node_index_in_elt)
+            node_coords = self._node_lobatto_indices(node_type, type_index)
+            return Coords(
+                LOBATTO_COORDS[node_coords[0]], LOBATTO_COORDS[node_coords[1]], LOBATTO_COORDS[node_coords[2]]
+            )
+
+        return node_coords_in_element
+
+    def make_node_quadrature_weight(self):
+        ORDER = self.ORDER
+
+        @cache.dynamic_func(suffix=self.name)
+        def node_quadrature_weight(
+            node_index_in_elt: int,
+        ):
+            node_type, type_index = self.node_type_and_type_index(node_index_in_elt)
+            if node_type == CubeSerendipityShapeFunctions.VERTEX:
+                return 1.0 / float(8 * ORDER * ORDER * ORDER)
+
+            return (1.0 - 1.0 / float(ORDER * ORDER * ORDER)) / float(12 * (ORDER - 1))
+
+        return node_quadrature_weight
+
+    def make_trace_node_quadrature_weight(self):
+        ORDER = self.ORDER
+
+        @cache.dynamic_func(suffix=self.name)
+        def trace_node_quadrature_weight(
+            node_index_in_elt: int,
+        ):
+            node_type, type_index = self.node_type_and_type_index(node_index_in_elt)
+            if node_type == CubeSerendipityShapeFunctions.VERTEX:
+                return 0.25 / float(ORDER * ORDER)
+
+            return (0.25 - 0.25 / float(ORDER * ORDER)) / float(ORDER - 1)
+
+        return trace_node_quadrature_weight
+
+    def make_element_inner_weight(self):
+        ORDER = self.ORDER
+        ORDER_PLUS_ONE = self.ORDER_PLUS_ONE
+
+        LOBATTO_COORDS = self.LOBATTO_COORDS
+        LAGRANGE_SCALE = self.LAGRANGE_SCALE
+
+        DEGREE_3_SPHERE_RAD = wp.constant(2 * 0.5**2 + (0.5 - LOBATTO_COORDS[1]) ** 2)
+        DEGREE_3_SPHERE_SCALE = 1.0 / (0.75 - DEGREE_3_SPHERE_RAD)
+
+        @cache.dynamic_func(suffix=self.name)
+        def element_inner_weight(
+            coords: Coords,
+            node_index_in_elt: int,
+        ):
+            node_type, type_index = self.node_type_and_type_index(node_index_in_elt)
+
+            if node_type == CubeSerendipityShapeFunctions.VERTEX:
+                node_ijk = CubeSerendipityShapeFunctions._vertex_coords(type_index)
+
+                cx = wp.select(node_ijk[0] == 0, coords[0], 1.0 - coords[0])
+                cy = wp.select(node_ijk[1] == 0, coords[1], 1.0 - coords[1])
+                cz = wp.select(node_ijk[2] == 0, coords[2], 1.0 - coords[2])
+
+                w = cx * cy * cz
+
+                if ORDER == 2:
+                    w *= cx + cy + cz - 3.0 + LOBATTO_COORDS[1]
+                    return w * LAGRANGE_SCALE[0]
+                if ORDER == 3:
+                    w *= (
+                        (cx - 0.5) * (cx - 0.5)
+                        + (cy - 0.5) * (cy - 0.5)
+                        + (cz - 0.5) * (cz - 0.5)
+                        - DEGREE_3_SPHERE_RAD
+                    )
+                    return w * DEGREE_3_SPHERE_SCALE
+
+            axis = CubeSerendipityShapeFunctions._edge_axis(node_type)
+
+            node_all = CubeSerendipityShapeFunctions._edge_coords(type_index)
+
+            local_coords = Grid3D._world_to_local(axis, coords)
+
+            w = float(1.0)
+            w *= wp.select(node_all[1] == 0, local_coords[1], 1.0 - local_coords[1])
+            w *= wp.select(node_all[2] == 0, local_coords[2], 1.0 - local_coords[2])
+
+            for k in range(ORDER_PLUS_ONE):
+                if k != node_all[0]:
+                    w *= local_coords[0] - LOBATTO_COORDS[k]
+            w *= LAGRANGE_SCALE[node_all[0]]
+
+            return w
+
+        return element_inner_weight
+
+    def make_element_inner_weight_gradient(self):
+        ORDER = self.ORDER
+        ORDER_PLUS_ONE = self.ORDER_PLUS_ONE
+        LOBATTO_COORDS = self.LOBATTO_COORDS
+        LAGRANGE_SCALE = self.LAGRANGE_SCALE
+
+        DEGREE_3_SPHERE_RAD = wp.constant(2 * 0.5**2 + (0.5 - LOBATTO_COORDS[1]) ** 2)
+        DEGREE_3_SPHERE_SCALE = 1.0 / (0.75 - DEGREE_3_SPHERE_RAD)
+
+        @cache.dynamic_func(suffix=self.name)
+        def element_inner_weight_gradient(
+            coords: Coords,
+            node_index_in_elt: int,
+        ):
+            node_type, type_index = self.node_type_and_type_index(node_index_in_elt)
+
+            if node_type == CubeSerendipityShapeFunctions.VERTEX:
+                node_ijk = CubeSerendipityShapeFunctions._vertex_coords(type_index)
+
+                cx = wp.select(node_ijk[0] == 0, coords[0], 1.0 - coords[0])
+                cy = wp.select(node_ijk[1] == 0, coords[1], 1.0 - coords[1])
+                cz = wp.select(node_ijk[2] == 0, coords[2], 1.0 - coords[2])
+
+                gx = wp.select(node_ijk[0] == 0, 1.0, -1.0)
+                gy = wp.select(node_ijk[1] == 0, 1.0, -1.0)
+                gz = wp.select(node_ijk[2] == 0, 1.0, -1.0)
+
+                if ORDER == 2:
+                    w = cx + cy + cz - 3.0 + LOBATTO_COORDS[1]
+                    grad_x = cy * cz * gx * (w + cx)
+                    grad_y = cz * cx * gy * (w + cy)
+                    grad_z = cx * cy * gz * (w + cz)
+
+                    return wp.vec3(grad_x, grad_y, grad_z) * LAGRANGE_SCALE[0]
+
+                if ORDER == 3:
+                    w = (
+                        (cx - 0.5) * (cx - 0.5)
+                        + (cy - 0.5) * (cy - 0.5)
+                        + (cz - 0.5) * (cz - 0.5)
+                        - DEGREE_3_SPHERE_RAD
+                    )
+
+                    dw_dcx = 2.0 * cx - 1.0
+                    dw_dcy = 2.0 * cy - 1.0
+                    dw_dcz = 2.0 * cz - 1.0
+                    grad_x = cy * cz * gx * (w + dw_dcx * cx)
+                    grad_y = cz * cx * gy * (w + dw_dcy * cy)
+                    grad_z = cx * cy * gz * (w + dw_dcz * cz)
+
+                    return wp.vec3(grad_x, grad_y, grad_z) * DEGREE_3_SPHERE_SCALE
+
+            axis = CubeSerendipityShapeFunctions._edge_axis(node_type)
+            node_all = CubeSerendipityShapeFunctions._edge_coords(type_index)
+
+            local_coords = Grid3D._world_to_local(axis, coords)
+
+            w_long = wp.select(node_all[1] == 0, local_coords[1], 1.0 - local_coords[1])
+            w_lat = wp.select(node_all[2] == 0, local_coords[2], 1.0 - local_coords[2])
+
+            g_long = wp.select(node_all[1] == 0, 1.0, -1.0)
+            g_lat = wp.select(node_all[2] == 0, 1.0, -1.0)
+
+            w_alt = LAGRANGE_SCALE[node_all[0]]
+            g_alt = float(0.0)
+            prefix_alt = LAGRANGE_SCALE[node_all[0]]
+            for k in range(ORDER_PLUS_ONE):
+                if k != node_all[0]:
+                    delta_alt = local_coords[0] - LOBATTO_COORDS[k]
+                    w_alt *= delta_alt
+                    g_alt = g_alt * delta_alt + prefix_alt
+                    prefix_alt *= delta_alt
+
+            local_grad = wp.vec3(g_alt * w_long * w_lat, w_alt * g_long * w_lat, w_alt * w_long * g_lat)
+
+            return Grid3D._local_to_world(axis, local_grad)
+
+        return element_inner_weight_gradient
+
+    def element_node_tets(self):
+        from warp.fem.utils import grid_to_tets
+
+        if self.ORDER == 2:
+            element_tets = np.array(
+                [
+                    [0, 8, 9, 10],
+                    [1, 11, 10, 15],
+                    [2, 9, 14, 13],
+                    [3, 15, 13, 17],
+                    [4, 12, 8, 16],
+                    [5, 18, 16, 11],
+                    [6, 14, 12, 19],
+                    [7, 19, 18, 17],
+                    [16, 12, 18, 11],
+                    [8, 16, 12, 11],
+                    [12, 19, 18, 14],
+                    [14, 19, 17, 18],
+                    [10, 9, 15, 8],
+                    [10, 8, 11, 15],
+                    [9, 13, 15, 14],
+                    [13, 14, 17, 15],
+                ]
+            )
+
+            middle_hex = np.array([8, 11, 9, 15, 12, 18, 14, 17])
+            middle_tets = middle_hex[grid_to_tets(1, 1, 1)]
+
+            return np.concatenate((element_tets, middle_tets))
+
+        raise NotImplementedError()
+
+
+class CubeNonConformingPolynomialShapeFunctions:
+    # embeds the largest regular tet centered at (0.5, 0.5, 0.5) into the reference cube
+
+    _tet_height = 2.0 / 3.0
+    _tet_side = math.sqrt(3.0 / 2.0) * _tet_height
+    _tet_face_height = math.sqrt(3.0) / 2.0 * _tet_side
+
+    _tet_to_cube = np.array(
+        [
+            [_tet_side, _tet_side / 2.0, _tet_side / 2.0],
+            [0.0, _tet_face_height, _tet_face_height / 3.0],
+            [0.0, 0.0, _tet_height],
+        ]
+    )
+
+    _TET_OFFSET = wp.constant(wp.vec3(0.5 - 0.5 * _tet_side, 0.5 - _tet_face_height / 3.0, 0.5 - 0.25 * _tet_height))
+
+    def __init__(self, degree: int):
+        self._tet_shape = TetrahedronPolynomialShapeFunctions(degree=degree)
+        self.ORDER = self._tet_shape.ORDER
+        self.NODES_PER_ELEMENT = self._tet_shape.NODES_PER_ELEMENT
+
+        self.element_node_tets = self._tet_shape.element_node_tets
+
+    @property
+    def name(self) -> str:
+        return f"Cube_P{self.ORDER}d"
+
+    def make_node_coords_in_element(self):
+        node_coords_in_tet = self._tet_shape.make_node_coords_in_element()
+
+        TET_TO_CUBE = wp.constant(wp.mat33(self._tet_to_cube))
+
+        @cache.dynamic_func(suffix=self.name)
+        def node_coords_in_element(
+            node_index_in_elt: int,
+        ):
+            tet_coords = node_coords_in_tet(node_index_in_elt)
+            return TET_TO_CUBE * tet_coords + CubeNonConformingPolynomialShapeFunctions._TET_OFFSET
+
+        return node_coords_in_element
+
+    def make_node_quadrature_weight(self):
+        NODES_PER_ELEMENT = self.NODES_PER_ELEMENT
+
+        @cache.dynamic_func(suffix=self.name)
+        def node_uniform_quadrature_weight(
+            node_index_in_elt: int,
+        ):
+            return 1.0 / float(NODES_PER_ELEMENT)
+
+        return node_uniform_quadrature_weight
+
+    def make_trace_node_quadrature_weight(self):
+        # Non-conforming, zero measure on sides
+
+        @wp.func
+        def zero(node_index_in_elt: int):
+            return 0.0
+
+        return zero
+
+    def make_element_inner_weight(self):
+        tet_inner_weight = self._tet_shape.make_element_inner_weight()
+
+        CUBE_TO_TET = wp.constant(wp.mat33(np.linalg.inv(self._tet_to_cube)))
+
+        @cache.dynamic_func(suffix=self.name)
+        def element_inner_weight(
+            coords: Coords,
+            node_index_in_elt: int,
+        ):
+            tet_coords = CUBE_TO_TET * (coords - CubeNonConformingPolynomialShapeFunctions._TET_OFFSET)
+
+            return tet_inner_weight(tet_coords, node_index_in_elt)
+
+        return element_inner_weight
+
+    def make_element_inner_weight_gradient(self):
+        tet_inner_weight_gradient = self._tet_shape.make_element_inner_weight_gradient()
+
+        CUBE_TO_TET = wp.constant(wp.mat33(np.linalg.inv(self._tet_to_cube)))
+
+        @cache.dynamic_func(suffix=self.name)
+        def element_inner_weight_gradient(
+            coords: Coords,
+            node_index_in_elt: int,
+        ):
+            tet_coords = CUBE_TO_TET * (coords - CubeNonConformingPolynomialShapeFunctions._TET_OFFSET)
+            grad = tet_inner_weight_gradient(tet_coords, node_index_in_elt)
+            return wp.transpose(CUBE_TO_TET) * grad
+
+        return element_inner_weight_gradient