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

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
Files changed (269) hide show
  1. docs/conf.py +17 -5
  2. examples/env/env_ant.py +1 -1
  3. examples/env/env_cartpole.py +1 -1
  4. examples/env/env_humanoid.py +1 -1
  5. examples/env/env_usd.py +4 -1
  6. examples/env/environment.py +8 -9
  7. examples/example_dem.py +34 -33
  8. examples/example_diffray.py +364 -337
  9. examples/example_fluid.py +32 -23
  10. examples/example_jacobian_ik.py +97 -93
  11. examples/example_marching_cubes.py +6 -16
  12. examples/example_mesh.py +6 -16
  13. examples/example_mesh_intersect.py +16 -14
  14. examples/example_nvdb.py +14 -16
  15. examples/example_raycast.py +14 -13
  16. examples/example_raymarch.py +16 -23
  17. examples/example_render_opengl.py +19 -10
  18. examples/example_sim_cartpole.py +82 -78
  19. examples/example_sim_cloth.py +45 -48
  20. examples/example_sim_fk_grad.py +51 -44
  21. examples/example_sim_fk_grad_torch.py +47 -40
  22. examples/example_sim_grad_bounce.py +108 -133
  23. examples/example_sim_grad_cloth.py +99 -113
  24. examples/example_sim_granular.py +5 -6
  25. examples/{example_sim_sdf_shape.py → example_sim_granular_collision_sdf.py} +37 -26
  26. examples/example_sim_neo_hookean.py +51 -55
  27. examples/example_sim_particle_chain.py +4 -4
  28. examples/example_sim_quadruped.py +126 -81
  29. examples/example_sim_rigid_chain.py +54 -61
  30. examples/example_sim_rigid_contact.py +66 -70
  31. examples/example_sim_rigid_fem.py +3 -3
  32. examples/example_sim_rigid_force.py +1 -1
  33. examples/example_sim_rigid_gyroscopic.py +3 -4
  34. examples/example_sim_rigid_kinematics.py +28 -39
  35. examples/example_sim_trajopt.py +112 -110
  36. examples/example_sph.py +9 -8
  37. examples/example_wave.py +7 -7
  38. examples/fem/bsr_utils.py +30 -17
  39. examples/fem/example_apic_fluid.py +85 -69
  40. examples/fem/example_convection_diffusion.py +97 -93
  41. examples/fem/example_convection_diffusion_dg.py +142 -149
  42. examples/fem/example_convection_diffusion_dg0.py +141 -136
  43. examples/fem/example_deformed_geometry.py +146 -0
  44. examples/fem/example_diffusion.py +115 -84
  45. examples/fem/example_diffusion_3d.py +116 -86
  46. examples/fem/example_diffusion_mgpu.py +102 -79
  47. examples/fem/example_mixed_elasticity.py +139 -100
  48. examples/fem/example_navier_stokes.py +175 -162
  49. examples/fem/example_stokes.py +143 -111
  50. examples/fem/example_stokes_transfer.py +186 -157
  51. examples/fem/mesh_utils.py +59 -97
  52. examples/fem/plot_utils.py +138 -17
  53. tools/ci/publishing/build_nodes_info.py +54 -0
  54. warp/__init__.py +4 -3
  55. warp/__init__.pyi +1 -0
  56. warp/bin/warp-clang.so +0 -0
  57. warp/bin/warp.so +0 -0
  58. warp/build.py +5 -3
  59. warp/build_dll.py +29 -9
  60. warp/builtins.py +836 -492
  61. warp/codegen.py +864 -553
  62. warp/config.py +3 -1
  63. warp/context.py +389 -172
  64. warp/fem/__init__.py +24 -6
  65. warp/fem/cache.py +318 -25
  66. warp/fem/dirichlet.py +7 -3
  67. warp/fem/domain.py +14 -0
  68. warp/fem/field/__init__.py +30 -38
  69. warp/fem/field/field.py +149 -0
  70. warp/fem/field/nodal_field.py +244 -138
  71. warp/fem/field/restriction.py +8 -6
  72. warp/fem/field/test.py +127 -59
  73. warp/fem/field/trial.py +117 -60
  74. warp/fem/geometry/__init__.py +5 -1
  75. warp/fem/geometry/deformed_geometry.py +271 -0
  76. warp/fem/geometry/element.py +24 -1
  77. warp/fem/geometry/geometry.py +86 -14
  78. warp/fem/geometry/grid_2d.py +112 -54
  79. warp/fem/geometry/grid_3d.py +134 -65
  80. warp/fem/geometry/hexmesh.py +953 -0
  81. warp/fem/geometry/partition.py +85 -33
  82. warp/fem/geometry/quadmesh_2d.py +532 -0
  83. warp/fem/geometry/tetmesh.py +451 -115
  84. warp/fem/geometry/trimesh_2d.py +197 -92
  85. warp/fem/integrate.py +534 -268
  86. warp/fem/operator.py +58 -31
  87. warp/fem/polynomial.py +11 -0
  88. warp/fem/quadrature/__init__.py +1 -1
  89. warp/fem/quadrature/pic_quadrature.py +150 -58
  90. warp/fem/quadrature/quadrature.py +209 -57
  91. warp/fem/space/__init__.py +230 -53
  92. warp/fem/space/basis_space.py +489 -0
  93. warp/fem/space/collocated_function_space.py +105 -0
  94. warp/fem/space/dof_mapper.py +49 -2
  95. warp/fem/space/function_space.py +90 -39
  96. warp/fem/space/grid_2d_function_space.py +149 -496
  97. warp/fem/space/grid_3d_function_space.py +173 -538
  98. warp/fem/space/hexmesh_function_space.py +352 -0
  99. warp/fem/space/partition.py +129 -76
  100. warp/fem/space/quadmesh_2d_function_space.py +369 -0
  101. warp/fem/space/restriction.py +46 -34
  102. warp/fem/space/shape/__init__.py +15 -0
  103. warp/fem/space/shape/cube_shape_function.py +738 -0
  104. warp/fem/space/shape/shape_function.py +103 -0
  105. warp/fem/space/shape/square_shape_function.py +611 -0
  106. warp/fem/space/shape/tet_shape_function.py +567 -0
  107. warp/fem/space/shape/triangle_shape_function.py +429 -0
  108. warp/fem/space/tetmesh_function_space.py +132 -1039
  109. warp/fem/space/topology.py +295 -0
  110. warp/fem/space/trimesh_2d_function_space.py +104 -742
  111. warp/fem/types.py +13 -11
  112. warp/fem/utils.py +335 -60
  113. warp/native/array.h +120 -34
  114. warp/native/builtin.h +101 -72
  115. warp/native/bvh.cpp +73 -325
  116. warp/native/bvh.cu +406 -23
  117. warp/native/bvh.h +22 -40
  118. warp/native/clang/clang.cpp +1 -0
  119. warp/native/crt.h +2 -0
  120. warp/native/cuda_util.cpp +8 -3
  121. warp/native/cuda_util.h +1 -0
  122. warp/native/exports.h +1522 -1243
  123. warp/native/intersect.h +19 -4
  124. warp/native/intersect_adj.h +8 -8
  125. warp/native/mat.h +76 -17
  126. warp/native/mesh.cpp +33 -108
  127. warp/native/mesh.cu +114 -18
  128. warp/native/mesh.h +395 -40
  129. warp/native/noise.h +272 -329
  130. warp/native/quat.h +51 -8
  131. warp/native/rand.h +44 -34
  132. warp/native/reduce.cpp +1 -1
  133. warp/native/sparse.cpp +4 -4
  134. warp/native/sparse.cu +163 -155
  135. warp/native/spatial.h +2 -2
  136. warp/native/temp_buffer.h +18 -14
  137. warp/native/vec.h +103 -21
  138. warp/native/warp.cpp +2 -1
  139. warp/native/warp.cu +28 -3
  140. warp/native/warp.h +4 -3
  141. warp/render/render_opengl.py +261 -109
  142. warp/sim/__init__.py +1 -2
  143. warp/sim/articulation.py +385 -185
  144. warp/sim/import_mjcf.py +59 -48
  145. warp/sim/import_urdf.py +15 -15
  146. warp/sim/import_usd.py +174 -102
  147. warp/sim/inertia.py +17 -18
  148. warp/sim/integrator_xpbd.py +4 -3
  149. warp/sim/model.py +330 -250
  150. warp/sim/render.py +1 -1
  151. warp/sparse.py +625 -152
  152. warp/stubs.py +341 -309
  153. warp/tape.py +9 -6
  154. warp/tests/__main__.py +3 -6
  155. warp/tests/assets/curlnoise_golden.npy +0 -0
  156. warp/tests/assets/pnoise_golden.npy +0 -0
  157. warp/tests/{test_class_kernel.py → aux_test_class_kernel.py} +9 -1
  158. warp/tests/aux_test_conditional_unequal_types_kernels.py +21 -0
  159. warp/tests/{test_dependent.py → aux_test_dependent.py} +2 -2
  160. warp/tests/{test_reference.py → aux_test_reference.py} +1 -1
  161. warp/tests/aux_test_unresolved_func.py +14 -0
  162. warp/tests/aux_test_unresolved_symbol.py +14 -0
  163. warp/tests/disabled_kinematics.py +239 -0
  164. warp/tests/run_coverage_serial.py +31 -0
  165. warp/tests/test_adam.py +103 -106
  166. warp/tests/test_arithmetic.py +94 -74
  167. warp/tests/test_array.py +82 -101
  168. warp/tests/test_array_reduce.py +57 -23
  169. warp/tests/test_atomic.py +64 -28
  170. warp/tests/test_bool.py +22 -12
  171. warp/tests/test_builtins_resolution.py +1292 -0
  172. warp/tests/test_bvh.py +18 -18
  173. warp/tests/test_closest_point_edge_edge.py +54 -57
  174. warp/tests/test_codegen.py +165 -134
  175. warp/tests/test_compile_consts.py +28 -20
  176. warp/tests/test_conditional.py +108 -24
  177. warp/tests/test_copy.py +10 -12
  178. warp/tests/test_ctypes.py +112 -88
  179. warp/tests/test_dense.py +21 -14
  180. warp/tests/test_devices.py +98 -0
  181. warp/tests/test_dlpack.py +75 -75
  182. warp/tests/test_examples.py +237 -0
  183. warp/tests/test_fabricarray.py +22 -24
  184. warp/tests/test_fast_math.py +15 -11
  185. warp/tests/test_fem.py +1034 -124
  186. warp/tests/test_fp16.py +23 -16
  187. warp/tests/test_func.py +187 -86
  188. warp/tests/test_generics.py +194 -49
  189. warp/tests/test_grad.py +123 -181
  190. warp/tests/test_grad_customs.py +176 -0
  191. warp/tests/test_hash_grid.py +35 -34
  192. warp/tests/test_import.py +10 -23
  193. warp/tests/test_indexedarray.py +24 -25
  194. warp/tests/test_intersect.py +18 -9
  195. warp/tests/test_large.py +141 -0
  196. warp/tests/test_launch.py +14 -41
  197. warp/tests/test_lerp.py +64 -65
  198. warp/tests/test_lvalue.py +493 -0
  199. warp/tests/test_marching_cubes.py +12 -13
  200. warp/tests/test_mat.py +517 -2898
  201. warp/tests/test_mat_lite.py +115 -0
  202. warp/tests/test_mat_scalar_ops.py +2889 -0
  203. warp/tests/test_math.py +103 -9
  204. warp/tests/test_matmul.py +304 -69
  205. warp/tests/test_matmul_lite.py +410 -0
  206. warp/tests/test_mesh.py +60 -22
  207. warp/tests/test_mesh_query_aabb.py +21 -25
  208. warp/tests/test_mesh_query_point.py +111 -22
  209. warp/tests/test_mesh_query_ray.py +12 -24
  210. warp/tests/test_mlp.py +30 -22
  211. warp/tests/test_model.py +92 -89
  212. warp/tests/test_modules_lite.py +39 -0
  213. warp/tests/test_multigpu.py +88 -114
  214. warp/tests/test_noise.py +12 -11
  215. warp/tests/test_operators.py +16 -20
  216. warp/tests/test_options.py +11 -11
  217. warp/tests/test_pinned.py +17 -18
  218. warp/tests/test_print.py +32 -11
  219. warp/tests/test_quat.py +275 -129
  220. warp/tests/test_rand.py +18 -16
  221. warp/tests/test_reload.py +38 -34
  222. warp/tests/test_rounding.py +50 -43
  223. warp/tests/test_runlength_encode.py +168 -20
  224. warp/tests/test_smoothstep.py +9 -11
  225. warp/tests/test_snippet.py +143 -0
  226. warp/tests/test_sparse.py +261 -63
  227. warp/tests/test_spatial.py +276 -243
  228. warp/tests/test_streams.py +110 -85
  229. warp/tests/test_struct.py +268 -63
  230. warp/tests/test_tape.py +39 -21
  231. warp/tests/test_torch.py +90 -86
  232. warp/tests/test_transient_module.py +10 -12
  233. warp/tests/test_types.py +363 -0
  234. warp/tests/test_utils.py +451 -0
  235. warp/tests/test_vec.py +354 -2050
  236. warp/tests/test_vec_lite.py +73 -0
  237. warp/tests/test_vec_scalar_ops.py +2099 -0
  238. warp/tests/test_volume.py +418 -376
  239. warp/tests/test_volume_write.py +124 -134
  240. warp/tests/unittest_serial.py +35 -0
  241. warp/tests/unittest_suites.py +291 -0
  242. warp/tests/unittest_utils.py +342 -0
  243. warp/tests/{test_misc.py → unused_test_misc.py} +13 -5
  244. warp/tests/{test_debug.py → walkthough_debug.py} +3 -17
  245. warp/thirdparty/appdirs.py +36 -45
  246. warp/thirdparty/unittest_parallel.py +589 -0
  247. warp/types.py +622 -211
  248. warp/utils.py +54 -393
  249. warp_lang-1.0.0b6.dist-info/METADATA +238 -0
  250. warp_lang-1.0.0b6.dist-info/RECORD +409 -0
  251. {warp_lang-1.0.0b2.dist-info → warp_lang-1.0.0b6.dist-info}/WHEEL +1 -1
  252. examples/example_cache_management.py +0 -40
  253. examples/example_multigpu.py +0 -54
  254. examples/example_struct.py +0 -65
  255. examples/fem/example_stokes_transfer_3d.py +0 -210
  256. warp/fem/field/discrete_field.py +0 -80
  257. warp/fem/space/nodal_function_space.py +0 -233
  258. warp/tests/test_all.py +0 -223
  259. warp/tests/test_array_scan.py +0 -60
  260. warp/tests/test_base.py +0 -208
  261. warp/tests/test_unresolved_func.py +0 -7
  262. warp/tests/test_unresolved_symbol.py +0 -7
  263. warp_lang-1.0.0b2.dist-info/METADATA +0 -26
  264. warp_lang-1.0.0b2.dist-info/RECORD +0 -378
  265. /warp/tests/{test_compile_consts_dummy.py → aux_test_compile_consts_dummy.py} +0 -0
  266. /warp/tests/{test_reference_reference.py → aux_test_reference_reference.py} +0 -0
  267. /warp/tests/{test_square.py → aux_test_square.py} +0 -0
  268. {warp_lang-1.0.0b2.dist-info → warp_lang-1.0.0b6.dist-info}/LICENSE.md +0 -0
  269. {warp_lang-1.0.0b2.dist-info → warp_lang-1.0.0b6.dist-info}/top_level.txt +0 -0
warp/sim/render.py CHANGED
@@ -268,7 +268,7 @@ def CreateSimRenderer(renderer):
268
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  q = wp.quat(tf[3:])
269
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  # compute rotation between axis and y
270
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  axis = axis / np.linalg.norm(axis)
271
- q = q * wp.quat_between_vectors(wp.vec3(*axis), y_axis)
271
+ q = q * wp.quat_between_vectors(wp.vec3(axis), y_axis)
272
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  name = f"joint_{i}_{a}"
273
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  self.add_shape_instance(name, shape, body, p, q, scale, color1=color, color2=color)
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  self.instance_count += 1