warp-lang 1.0.0b2__py3-none-manylinux2014_x86_64.whl → 1.0.0b6__py3-none-manylinux2014_x86_64.whl

warp/fem/geometry/grid_3d.py

@@ -1,7 +1,8 @@
+from typing import Any
 import warp as wp
 
-from warp.fem.types import ElementIndex, Coords, Sample, NULL_QP_INDEX, NULL_DOF_INDEX
-from warp.fem.types import vec2i, vec3i
+from warp.fem.types import ElementIndex, Coords, Sample, make_free_sample, OUTSIDE
+from warp.fem.cache import cached_arg_value
 
 from .geometry import Geometry
 from .element import Square, Cube
@@ -9,19 +10,24 @@ from .element import Square, Cube
 
 @wp.struct
 class Grid3DCellArg:
-    res: vec3i
+    res: wp.vec3i
     cell_size: wp.vec3
     origin: wp.vec3
 
 
+_mat32 = wp.mat(shape=(3, 2), dtype=float)
+
+
 class Grid3D(Geometry):
     """Three-dimensional regular grid geometry"""
 
+    dimension = 3
+
     Permutation = wp.types.matrix(shape=(3, 3), dtype=int)
     LOC_TO_WORLD = wp.constant(Permutation(0, 1, 2, 1, 2, 0, 2, 0, 1))
     WORLD_TO_LOC = wp.constant(Permutation(0, 1, 2, 2, 0, 1, 1, 2, 0))
 
-    def __init__(self, res: vec3i, bounds_lo: wp.vec3 = wp.vec3(0.0), bounds_hi: wp.vec3 = wp.vec3(1.0)):
+    def __init__(self, res: wp.vec3i, bounds_lo: wp.vec3 = wp.vec3(0.0), bounds_hi: wp.vec3 = wp.vec3(1.0)):
         """Constructs a dense 3D grid
 
         Args:
@@ -30,7 +36,6 @@ class Grid3D(Geometry):
             bounds_up: Position of the upper bound of the axis-aligned grid
         """
 
-        self.dimension = 3
         self.bounds_lo = bounds_lo
         self.bounds_hi = bounds_hi
 
@@ -38,7 +43,12 @@ class Grid3D(Geometry):
 
     @property
     def extents(self) -> wp.vec3:
-        return self.bounds_hi - self.bounds_lo
+        # Avoid using native sub due to higher over of calling builtins from Python
+        return wp.vec3(
+            self.bounds_hi[0] - self.bounds_lo[0],
+            self.bounds_hi[1] - self.bounds_lo[1],
+            self.bounds_hi[2] - self.bounds_lo[2],
+        )
 
     @property
     def cell_size(self) -> wp.vec3:
@@ -62,6 +72,13 @@ class Grid3D(Geometry):
             + (self.res[0]) * (self.res[1]) * (self.res[2] + 1)
         )
 
+    def edge_count(self):
+        return (
+            (self.res[0] + 1) * (self.res[1] + 1) * (self.res[2])
+            + (self.res[0]) * (self.res[1] + 1) * (self.res[2] + 1)
+            + (self.res[0] + 1) * (self.res[1]) * (self.res[2] + 1)
+        )
+
     def boundary_side_count(self):
         return 2 * (self.res[1]) * (self.res[2]) + (self.res[0]) * 2 * (self.res[2]) + (self.res[0]) * (self.res[1]) * 2
 
@@ -81,66 +98,58 @@ class Grid3D(Geometry):
 
     @property
     def strides(self):
-        return vec3i(self.res[1] * self.res[2], self.res[2], 1)
+        return wp.vec3i(self.res[1] * self.res[2], self.res[2], 1)
 
     # Utility device functions
 
     CellArg = Grid3DCellArg
-    Cell = vec3i
+    Cell = wp.vec3i
 
     @wp.func
-    def _to_3d_index(strides: vec2i, index: int):
+    def _to_3d_index(strides: wp.vec2i, index: int):
         x = index // strides[0]
         y = (index - strides[0] * x) // strides[1]
         z = index - strides[0] * x - strides[1] * y
-        return vec3i(x, y, z)
+        return wp.vec3i(x, y, z)
 
     @wp.func
-    def _from_3d_index(strides: vec2i, index: vec3i):
+    def _from_3d_index(strides: wp.vec2i, index: wp.vec3i):
         return strides[0] * index[0] + strides[1] * index[1] + index[2]
 
     @wp.func
-    def cell_index(res: vec3i, cell: Cell):
-        strides = vec2i(res[1] * res[2], res[2])
+    def cell_index(res: wp.vec3i, cell: Cell):
+        strides = wp.vec2i(res[1] * res[2], res[2])
         return Grid3D._from_3d_index(strides, cell)
 
     @wp.func
-    def get_cell(res: vec3i, cell_index: ElementIndex):
-        strides = vec2i(res[1] * res[2], res[2])
+    def get_cell(res: wp.vec3i, cell_index: ElementIndex):
+        strides = wp.vec2i(res[1] * res[2], res[2])
         return Grid3D._to_3d_index(strides, cell_index)
 
     @wp.struct
     class Side:
         axis: int  # normal
-        origin: vec3i  # index of vertex at corner (0,0,0)
+        origin: wp.vec3i  # index of vertex at corner (0,0,0)
 
     @wp.struct
     class SideArg:
         cell_count: int
-        axis_offsets: vec3i
+        axis_offsets: wp.vec3i
         cell_arg: Grid3DCellArg
 
     SideIndexArg = SideArg
 
     @wp.func
-    def _world_to_local(axis: int, vec: vec3i):
-        return vec3i(
+    def _world_to_local(axis: int, vec: Any):
+        return type(vec)(
             vec[Grid3D.LOC_TO_WORLD[axis, 0]],
             vec[Grid3D.LOC_TO_WORLD[axis, 1]],
             vec[Grid3D.LOC_TO_WORLD[axis, 2]],
         )
 
     @wp.func
-    def _local_to_world(axis: int, vec: vec3i):
-        return vec3i(
-            vec[Grid3D.WORLD_TO_LOC[axis, 0]],
-            vec[Grid3D.WORLD_TO_LOC[axis, 1]],
-            vec[Grid3D.WORLD_TO_LOC[axis, 2]],
-        )
-
-    @wp.func
-    def _local_to_world(axis: int, vec: wp.vec3):
-        return wp.vec3(
+    def _local_to_world(axis: int, vec: Any):
+        return type(vec)(
             vec[Grid3D.WORLD_TO_LOC[axis, 0]],
             vec[Grid3D.WORLD_TO_LOC[axis, 1]],
             vec[Grid3D.WORLD_TO_LOC[axis, 2]],
@@ -186,17 +195,18 @@ class Grid3D(Geometry):
         longitude = lat_long // latitude_res
         latitude = lat_long - longitude * latitude_res
 
-        origin_loc = vec3i(altitude, longitude, latitude)
+        origin_loc = wp.vec3i(altitude, longitude, latitude)
 
         return Grid3D.Side(axis, origin_loc)
 
     # Geometry device interface
 
+    @cached_arg_value
     def cell_arg_value(self, device) -> CellArg:
         args = self.CellArg()
         args.res = self.res
-        args.cell_size = self.cell_size
         args.origin = self.bounds_lo
+        args.cell_size = self.cell_size
         return args
 
     @wp.func
@@ -211,6 +221,14 @@ class Grid3D(Geometry):
             + args.origin
         )
 
+    @wp.func
+    def cell_deformation_gradient(args: CellArg, s: Sample):
+        return wp.diag(args.cell_size)
+
+    @wp.func
+    def cell_inverse_deformation_gradient(args: CellArg, s: Sample):
+        return wp.diag(wp.cw_div(wp.vec3(1.0), args.cell_size))
+
     @wp.func
     def cell_lookup(args: CellArg, pos: wp.vec3):
         loc_pos = wp.cw_div(pos - args.origin, args.cell_size)
@@ -225,37 +243,34 @@ class Grid3D(Geometry):
         coords = Coords(x - x_cell, y - y_cell, z - z_cell)
         cell_index = Grid3D.cell_index(args.res, Grid3D.Cell(int(x_cell), int(y_cell), int(z_cell)))
 
-        return Sample(cell_index, coords, NULL_QP_INDEX, 0.0, NULL_DOF_INDEX, NULL_DOF_INDEX)
+        return make_free_sample(cell_index, coords)
 
     @wp.func
     def cell_lookup(args: CellArg, pos: wp.vec3, guess: Sample):
         return Grid3D.cell_lookup(args, pos)
 
-    @wp.func
-    def cell_measure(args: CellArg, cell_index: ElementIndex, coords: Coords):
-        return args.cell_size[0] * args.cell_size[1] * args.cell_size[2]
-
     @wp.func
     def cell_measure(args: CellArg, s: Sample):
-        return Grid3D.cell_measure(args, s.element_index, s.element_coords)
-
-    @wp.func
-    def cell_measure_ratio(args: CellArg, s: Sample):
-        return 1.0
+        return args.cell_size[0] * args.cell_size[1] * args.cell_size[2]
 
     @wp.func
     def cell_normal(args: CellArg, s: Sample):
         return wp.vec3(0.0)
 
+    @wp.func
+    def cell_transform_reference_gradient(args: CellArg, cell_index: ElementIndex, coords: Coords, ref_grad: wp.vec3):
+        return wp.cw_div(ref_grad, args.cell_size)
+
+    @cached_arg_value
     def side_arg_value(self, device) -> SideArg:
         args = self.SideArg()
 
-        axis_dims = vec3i(
+        axis_dims = wp.vec3i(
             self.res[1] * self.res[2],
             self.res[2] * self.res[0],
             self.res[0] * self.res[1],
         )
-        args.axis_offsets = vec3i(
+        args.axis_offsets = wp.vec3i(
             0,
             axis_dims[0],
             axis_dims[0] + axis_dims[1],
@@ -289,16 +304,18 @@ class Grid3D(Geometry):
 
         altitude = border * args.cell_arg.res[axis]
 
-        side = Grid3D.Side(axis, vec3i(altitude, longitude, latitude))
+        side = Grid3D.Side(axis, wp.vec3i(altitude, longitude, latitude))
         return Grid3D.side_index(args, side)
 
     @wp.func
     def side_position(args: SideArg, s: Sample):
         side = Grid3D.get_side(args, s.element_index)
 
+        coord0 = wp.select(side.origin[0] == 0, s.element_coords[0], 1.0 - s.element_coords[0])
+
         local_pos = wp.vec3(
             float(side.origin[0]),
-            float(side.origin[1]) + s.element_coords[0],
+            float(side.origin[1]) + coord0,
             float(side.origin[2]) + s.element_coords[1],
         )
 
@@ -307,15 +324,30 @@ class Grid3D(Geometry):
         return pos
 
     @wp.func
-    def side_measure(args: SideArg, side_index: ElementIndex, coords: Coords):
-        side = Grid3D.get_side(args, side_index)
-        long_axis = Grid3D.LOC_TO_WORLD[side.axis, 1]
-        lat_axis = Grid3D.LOC_TO_WORLD[side.axis, 2]
-        return args.cell_arg.cell_size[long_axis] * args.cell_arg.cell_size[lat_axis]
+    def side_deformation_gradient(args: SideArg, s: Sample):
+        side = Grid3D.get_side(args, s.element_index)
+
+        sign = wp.select(side.origin[0] == 0, 1.0, -1.0)
+
+        return _mat32(
+            wp.cw_mul(Grid3D._local_to_world(side.axis, wp.vec3(0.0, sign, 0.0)), args.cell_arg.cell_size),
+            wp.cw_mul(Grid3D._local_to_world(side.axis, wp.vec3(0.0, 0.0, 1.0)), args.cell_arg.cell_size),
+        )
+
+    @wp.func
+    def side_inner_inverse_deformation_gradient(args: SideArg, s: Sample):
+        return Grid3D.cell_inverse_deformation_gradient(args.cell_arg, s)
+
+    @wp.func
+    def side_outer_inverse_deformation_gradient(args: SideArg, s: Sample):
+        return Grid3D.cell_inverse_deformation_gradient(args.cell_arg, s)
 
     @wp.func
     def side_measure(args: SideArg, s: Sample):
-        return Grid3D.side_measure(args, s.element_index, s.element_coords)
+        side = Grid3D.get_side(args, s.element_index)
+        long_axis = Grid3D.LOC_TO_WORLD[side.axis, 1]
+        lat_axis = Grid3D.LOC_TO_WORLD[side.axis, 2]
+        return args.cell_arg.cell_size[long_axis] * args.cell_arg.cell_size[lat_axis]
 
     @wp.func
     def side_measure_ratio(args: SideArg, s: Sample):
@@ -327,10 +359,7 @@ class Grid3D(Geometry):
     def side_normal(args: SideArg, s: Sample):
         side = Grid3D.get_side(args, s.element_index)
 
-        if side.origin[0] == 0:
-            sign = -1.0
-        else:
-            sign = 1.0
+        sign = wp.select(side.origin[0] == 0, 1.0, -1.0)
 
         local_n = wp.vec3(sign, 0.0, 0.0)
         return Grid3D._local_to_world(side.axis, local_n)
@@ -339,12 +368,9 @@ class Grid3D(Geometry):
     def side_inner_cell_index(arg: SideArg, side_index: ElementIndex):
         side = Grid3D.get_side(arg, side_index)
 
-        if side.origin[0] == 0:
-            inner_alt = 0
-        else:
-            inner_alt = side.origin[0] - 1
+        inner_alt = wp.select(side.origin[0] == 0, side.origin[0] - 1, 0)
 
-        inner_origin = vec3i(inner_alt, side.origin[1], side.origin[2])
+        inner_origin = wp.vec3i(inner_alt, side.origin[1], side.origin[2])
 
         cell = Grid3D._local_to_world(side.axis, inner_origin)
         return Grid3D.cell_index(arg.cell_arg.res, cell)
@@ -355,12 +381,55 @@ class Grid3D(Geometry):
 
         alt_axis = Grid3D.LOC_TO_WORLD[side.axis, 0]
 
-        if side.origin[0] == arg.cell_arg.res[alt_axis]:
-            outer_alt = arg.cell_arg.res[alt_axis] - 1
-        else:
-            outer_alt = side.origin[0]
+        outer_alt = wp.select(
+            side.origin[0] == arg.cell_arg.res[alt_axis], side.origin[0], arg.cell_arg.res[alt_axis] - 1
+        )
 
-        outer_origin = vec3i(outer_alt, side.origin[1], side.origin[2])
+        outer_origin = wp.vec3i(outer_alt, side.origin[1], side.origin[2])
 
         cell = Grid3D._local_to_world(side.axis, outer_origin)
         return Grid3D.cell_index(arg.cell_arg.res, cell)
+
+    @wp.func
+    def side_inner_cell_coords(args: SideArg, side_index: ElementIndex, side_coords: Coords):
+        side = Grid3D.get_side(args, side_index)
+
+        inner_alt = wp.select(side.origin[0] == 0, 1.0, 0.0)
+
+        side_coord0 = wp.select(side.origin[0] == 0, side_coords[0], 1.0 - side_coords[0])
+
+        return Grid3D._local_to_world(side.axis, wp.vec3(inner_alt, side_coord0, side_coords[1]))
+
+    @wp.func
+    def side_outer_cell_coords(args: SideArg, side_index: ElementIndex, side_coords: Coords):
+        side = Grid3D.get_side(args, side_index)
+
+        alt_axis = Grid3D.LOC_TO_WORLD[side.axis, 0]
+        outer_alt = wp.select(side.origin[0] == args.cell_arg.res[alt_axis], 0.0, 1.0)
+
+        side_coord0 = wp.select(side.origin[0] == 0, side_coords[0], 1.0 - side_coords[0])
+
+        return Grid3D._local_to_world(side.axis, wp.vec3(outer_alt, side_coord0, side_coords[1]))
+
+    @wp.func
+    def side_from_cell_coords(
+        args: SideArg,
+        side_index: ElementIndex,
+        element_index: ElementIndex,
+        element_coords: Coords,
+    ):
+        side = Grid3D.get_side(args, side_index)
+        cell = Grid3D.get_cell(args.cell_arg.res, element_index)
+
+        if float(side.origin[0] - cell[side.axis]) == element_coords[side.axis]:
+            long_axis = Grid3D.LOC_TO_WORLD[side.axis, 1]
+            lat_axis = Grid3D.LOC_TO_WORLD[side.axis, 2]
+            long_coord = element_coords[long_axis]
+            long_coord = wp.select(side.origin[0] == 0, long_coord, 1.0 - long_coord)
+            return Coords(long_coord, element_coords[lat_axis], 0.0)
+
+        return Coords(OUTSIDE)
+
+    @wp.func
+    def side_to_cell_arg(side_arg: SideArg):
+        return side_arg.cell_arg