PyPI - warp-lang - Versions diffs - 1.0.0b2__py3-none-win_amd64.whl → 1.0.0b6__py3-none-win_amd64.whl - Mend

warp-lang 1.0.0b2__py3-none-win_amd64.whl → 1.0.0b6__py3-none-win_amd64.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.

Potentially problematic release.

This version of warp-lang might be problematic. Click here for more details.

Files changed (271) hide show

docs/conf.py +17 -5
examples/env/env_ant.py +1 -1
examples/env/env_cartpole.py +1 -1
examples/env/env_humanoid.py +1 -1
examples/env/env_usd.py +4 -1
examples/env/environment.py +8 -9
examples/example_dem.py +34 -33
examples/example_diffray.py +364 -337
examples/example_fluid.py +32 -23
examples/example_jacobian_ik.py +97 -93
examples/example_marching_cubes.py +6 -16
examples/example_mesh.py +6 -16
examples/example_mesh_intersect.py +16 -14
examples/example_nvdb.py +14 -16
examples/example_raycast.py +14 -13
examples/example_raymarch.py +16 -23
examples/example_render_opengl.py +19 -10
examples/example_sim_cartpole.py +82 -78
examples/example_sim_cloth.py +45 -48
examples/example_sim_fk_grad.py +51 -44
examples/example_sim_fk_grad_torch.py +47 -40
examples/example_sim_grad_bounce.py +108 -133
examples/example_sim_grad_cloth.py +99 -113
examples/example_sim_granular.py +5 -6
examples/{example_sim_sdf_shape.py → example_sim_granular_collision_sdf.py} +37 -26
examples/example_sim_neo_hookean.py +51 -55
examples/example_sim_particle_chain.py +4 -4
examples/example_sim_quadruped.py +126 -81
examples/example_sim_rigid_chain.py +54 -61
examples/example_sim_rigid_contact.py +66 -70
examples/example_sim_rigid_fem.py +3 -3
examples/example_sim_rigid_force.py +1 -1
examples/example_sim_rigid_gyroscopic.py +3 -4
examples/example_sim_rigid_kinematics.py +28 -39
examples/example_sim_trajopt.py +112 -110
examples/example_sph.py +9 -8
examples/example_wave.py +7 -7
examples/fem/bsr_utils.py +30 -17
examples/fem/example_apic_fluid.py +85 -69
examples/fem/example_convection_diffusion.py +97 -93
examples/fem/example_convection_diffusion_dg.py +142 -149
examples/fem/example_convection_diffusion_dg0.py +141 -136
examples/fem/example_deformed_geometry.py +146 -0
examples/fem/example_diffusion.py +115 -84
examples/fem/example_diffusion_3d.py +116 -86
examples/fem/example_diffusion_mgpu.py +102 -79
examples/fem/example_mixed_elasticity.py +139 -100
examples/fem/example_navier_stokes.py +175 -162
examples/fem/example_stokes.py +143 -111
examples/fem/example_stokes_transfer.py +186 -157
examples/fem/mesh_utils.py +59 -97
examples/fem/plot_utils.py +138 -17
tools/ci/publishing/build_nodes_info.py +54 -0
warp/__init__.py +4 -3
warp/__init__.pyi +1 -0
warp/bin/warp-clang.dll +0 -0
warp/bin/warp.dll +0 -0
warp/build.py +5 -3
warp/build_dll.py +29 -9
warp/builtins.py +836 -492
warp/codegen.py +864 -553
warp/config.py +3 -1
warp/context.py +389 -172
warp/fem/__init__.py +24 -6
warp/fem/cache.py +318 -25
warp/fem/dirichlet.py +7 -3
warp/fem/domain.py +14 -0
warp/fem/field/__init__.py +30 -38
warp/fem/field/field.py +149 -0
warp/fem/field/nodal_field.py +244 -138
warp/fem/field/restriction.py +8 -6
warp/fem/field/test.py +127 -59
warp/fem/field/trial.py +117 -60
warp/fem/geometry/__init__.py +5 -1
warp/fem/geometry/deformed_geometry.py +271 -0
warp/fem/geometry/element.py +24 -1
warp/fem/geometry/geometry.py +86 -14
warp/fem/geometry/grid_2d.py +112 -54
warp/fem/geometry/grid_3d.py +134 -65
warp/fem/geometry/hexmesh.py +953 -0
warp/fem/geometry/partition.py +85 -33
warp/fem/geometry/quadmesh_2d.py +532 -0
warp/fem/geometry/tetmesh.py +451 -115
warp/fem/geometry/trimesh_2d.py +197 -92
warp/fem/integrate.py +534 -268
warp/fem/operator.py +58 -31
warp/fem/polynomial.py +11 -0
warp/fem/quadrature/__init__.py +1 -1
warp/fem/quadrature/pic_quadrature.py +150 -58
warp/fem/quadrature/quadrature.py +209 -57
warp/fem/space/__init__.py +230 -53
warp/fem/space/basis_space.py +489 -0
warp/fem/space/collocated_function_space.py +105 -0
warp/fem/space/dof_mapper.py +49 -2
warp/fem/space/function_space.py +90 -39
warp/fem/space/grid_2d_function_space.py +149 -496
warp/fem/space/grid_3d_function_space.py +173 -538
warp/fem/space/hexmesh_function_space.py +352 -0
warp/fem/space/partition.py +129 -76
warp/fem/space/quadmesh_2d_function_space.py +369 -0
warp/fem/space/restriction.py +46 -34
warp/fem/space/shape/__init__.py +15 -0
warp/fem/space/shape/cube_shape_function.py +738 -0
warp/fem/space/shape/shape_function.py +103 -0
warp/fem/space/shape/square_shape_function.py +611 -0
warp/fem/space/shape/tet_shape_function.py +567 -0
warp/fem/space/shape/triangle_shape_function.py +429 -0
warp/fem/space/tetmesh_function_space.py +132 -1039
warp/fem/space/topology.py +295 -0
warp/fem/space/trimesh_2d_function_space.py +104 -742
warp/fem/types.py +13 -11
warp/fem/utils.py +335 -60
warp/native/array.h +120 -34
warp/native/builtin.h +101 -72
warp/native/bvh.cpp +73 -325
warp/native/bvh.cu +406 -23
warp/native/bvh.h +22 -40
warp/native/clang/clang.cpp +1 -0
warp/native/crt.h +2 -0
warp/native/cuda_util.cpp +8 -3
warp/native/cuda_util.h +1 -0
warp/native/exports.h +1522 -1243
warp/native/intersect.h +19 -4
warp/native/intersect_adj.h +8 -8
warp/native/mat.h +76 -17
warp/native/mesh.cpp +33 -108
warp/native/mesh.cu +114 -18
warp/native/mesh.h +395 -40
warp/native/noise.h +272 -329
warp/native/quat.h +51 -8
warp/native/rand.h +44 -34
warp/native/reduce.cpp +1 -1
warp/native/sparse.cpp +4 -4
warp/native/sparse.cu +163 -155
warp/native/spatial.h +2 -2
warp/native/temp_buffer.h +18 -14
warp/native/vec.h +103 -21
warp/native/warp.cpp +2 -1
warp/native/warp.cu +28 -3
warp/native/warp.h +4 -3
warp/render/render_opengl.py +261 -109
warp/sim/__init__.py +1 -2
warp/sim/articulation.py +385 -185
warp/sim/import_mjcf.py +59 -48
warp/sim/import_urdf.py +15 -15
warp/sim/import_usd.py +174 -102
warp/sim/inertia.py +17 -18
warp/sim/integrator_xpbd.py +4 -3
warp/sim/model.py +330 -250
warp/sim/render.py +1 -1
warp/sparse.py +625 -152
warp/stubs.py +341 -309
warp/tape.py +9 -6
warp/tests/__main__.py +3 -6
warp/tests/assets/curlnoise_golden.npy +0 -0
warp/tests/assets/pnoise_golden.npy +0 -0
warp/tests/{test_class_kernel.py → aux_test_class_kernel.py} +9 -1
warp/tests/aux_test_conditional_unequal_types_kernels.py +21 -0
warp/tests/{test_dependent.py → aux_test_dependent.py} +2 -2
warp/tests/{test_reference.py → aux_test_reference.py} +1 -1
warp/tests/aux_test_unresolved_func.py +14 -0
warp/tests/aux_test_unresolved_symbol.py +14 -0
warp/tests/disabled_kinematics.py +239 -0
warp/tests/run_coverage_serial.py +31 -0
warp/tests/test_adam.py +103 -106
warp/tests/test_arithmetic.py +94 -74
warp/tests/test_array.py +82 -101
warp/tests/test_array_reduce.py +57 -23
warp/tests/test_atomic.py +64 -28
warp/tests/test_bool.py +22 -12
warp/tests/test_builtins_resolution.py +1292 -0
warp/tests/test_bvh.py +18 -18
warp/tests/test_closest_point_edge_edge.py +54 -57
warp/tests/test_codegen.py +165 -134
warp/tests/test_compile_consts.py +28 -20
warp/tests/test_conditional.py +108 -24
warp/tests/test_copy.py +10 -12
warp/tests/test_ctypes.py +112 -88
warp/tests/test_dense.py +21 -14
warp/tests/test_devices.py +98 -0
warp/tests/test_dlpack.py +75 -75
warp/tests/test_examples.py +237 -0
warp/tests/test_fabricarray.py +22 -24
warp/tests/test_fast_math.py +15 -11
warp/tests/test_fem.py +1034 -124
warp/tests/test_fp16.py +23 -16
warp/tests/test_func.py +187 -86
warp/tests/test_generics.py +194 -49
warp/tests/test_grad.py +123 -181
warp/tests/test_grad_customs.py +176 -0
warp/tests/test_hash_grid.py +35 -34
warp/tests/test_import.py +10 -23
warp/tests/test_indexedarray.py +24 -25
warp/tests/test_intersect.py +18 -9
warp/tests/test_large.py +141 -0
warp/tests/test_launch.py +14 -41
warp/tests/test_lerp.py +64 -65
warp/tests/test_lvalue.py +493 -0
warp/tests/test_marching_cubes.py +12 -13
warp/tests/test_mat.py +517 -2898
warp/tests/test_mat_lite.py +115 -0
warp/tests/test_mat_scalar_ops.py +2889 -0
warp/tests/test_math.py +103 -9
warp/tests/test_matmul.py +304 -69
warp/tests/test_matmul_lite.py +410 -0
warp/tests/test_mesh.py +60 -22
warp/tests/test_mesh_query_aabb.py +21 -25
warp/tests/test_mesh_query_point.py +111 -22
warp/tests/test_mesh_query_ray.py +12 -24
warp/tests/test_mlp.py +30 -22
warp/tests/test_model.py +92 -89
warp/tests/test_modules_lite.py +39 -0
warp/tests/test_multigpu.py +88 -114
warp/tests/test_noise.py +12 -11
warp/tests/test_operators.py +16 -20
warp/tests/test_options.py +11 -11
warp/tests/test_pinned.py +17 -18
warp/tests/test_print.py +32 -11
warp/tests/test_quat.py +275 -129
warp/tests/test_rand.py +18 -16
warp/tests/test_reload.py +38 -34
warp/tests/test_rounding.py +50 -43
warp/tests/test_runlength_encode.py +168 -20
warp/tests/test_smoothstep.py +9 -11
warp/tests/test_snippet.py +143 -0
warp/tests/test_sparse.py +261 -63
warp/tests/test_spatial.py +276 -243
warp/tests/test_streams.py +110 -85
warp/tests/test_struct.py +268 -63
warp/tests/test_tape.py +39 -21
warp/tests/test_torch.py +90 -86
warp/tests/test_transient_module.py +10 -12
warp/tests/test_types.py +363 -0
warp/tests/test_utils.py +451 -0
warp/tests/test_vec.py +354 -2050
warp/tests/test_vec_lite.py +73 -0
warp/tests/test_vec_scalar_ops.py +2099 -0
warp/tests/test_volume.py +418 -376
warp/tests/test_volume_write.py +124 -134
warp/tests/unittest_serial.py +35 -0
warp/tests/unittest_suites.py +291 -0
warp/tests/unittest_utils.py +342 -0
warp/tests/{test_misc.py → unused_test_misc.py} +13 -5
warp/tests/{test_debug.py → walkthough_debug.py} +3 -17
warp/thirdparty/appdirs.py +36 -45
warp/thirdparty/unittest_parallel.py +589 -0
warp/types.py +622 -211
warp/utils.py +54 -393
warp_lang-1.0.0b6.dist-info/METADATA +238 -0
warp_lang-1.0.0b6.dist-info/RECORD +409 -0
{warp_lang-1.0.0b2.dist-info → warp_lang-1.0.0b6.dist-info}/WHEEL +1 -1
examples/example_cache_management.py +0 -40
examples/example_multigpu.py +0 -54
examples/example_struct.py +0 -65
examples/fem/example_stokes_transfer_3d.py +0 -210
warp/bin/warp-clang.so +0 -0
warp/bin/warp.so +0 -0
warp/fem/field/discrete_field.py +0 -80
warp/fem/space/nodal_function_space.py +0 -233
warp/tests/test_all.py +0 -223
warp/tests/test_array_scan.py +0 -60
warp/tests/test_base.py +0 -208
warp/tests/test_unresolved_func.py +0 -7
warp/tests/test_unresolved_symbol.py +0 -7
warp_lang-1.0.0b2.dist-info/METADATA +0 -26
warp_lang-1.0.0b2.dist-info/RECORD +0 -380
/warp/tests/{test_compile_consts_dummy.py → aux_test_compile_consts_dummy.py} +0 -0
/warp/tests/{test_reference_reference.py → aux_test_reference_reference.py} +0 -0
/warp/tests/{test_square.py → aux_test_square.py} +0 -0
{warp_lang-1.0.0b2.dist-info → warp_lang-1.0.0b6.dist-info}/LICENSE.md +0 -0
{warp_lang-1.0.0b2.dist-info → warp_lang-1.0.0b6.dist-info}/top_level.txt +0 -0

warp/sim/inertia.py CHANGED Viewed

@@ -149,9 +149,9 @@ def compute_sphere_inertia(density: float, r: float) -> tuple:
     m = density * v
     Ia = 2.0 / 5.0 * m * r * r
-    I = np.array([[Ia, 0.0, 0.0], [0.0, Ia, 0.0], [0.0, 0.0, Ia]])
+    I = wp.mat33([[Ia, 0.0, 0.0], [0.0, Ia, 0.0], [0.0, 0.0, Ia]])
-    return (m, np.zeros(3), I)
+    return (m, wp.vec3(), I)
 def compute_capsule_inertia(density: float, r: float, h: float) -> tuple:
@@ -177,9 +177,9 @@ def compute_capsule_inertia(density: float, r: float, h: float) -> tuple:
     Ia = mc * (0.25 * r * r + (1.0 / 12.0) * h * h) + ms * (0.4 * r * r + 0.375 * r * h + 0.25 * h * h)
     Ib = (mc * 0.5 + ms * 0.4) * r * r
-    I = np.array([[Ia, 0.0, 0.0], [0.0, Ib, 0.0], [0.0, 0.0, Ia]])
+    I = wp.mat33([[Ia, 0.0, 0.0], [0.0, Ib, 0.0], [0.0, 0.0, Ia]])
-    return (m, np.zeros(3), I)
+    return (m, wp.vec3(), I)
 def compute_cylinder_inertia(density: float, r: float, h: float) -> tuple:
@@ -200,9 +200,9 @@ def compute_cylinder_inertia(density: float, r: float, h: float) -> tuple:
     Ia = 1 / 12 * m * (3 * r * r + h * h)
     Ib = 1 / 2 * m * r * r
-    I = np.array([[Ia, 0.0, 0.0], [0.0, Ib, 0.0], [0.0, 0.0, Ia]])
+    I = wp.mat33([[Ia, 0.0, 0.0], [0.0, Ib, 0.0], [0.0, 0.0, Ia]])
-    return (m, np.zeros(3), I)
+    return (m, wp.vec3(), I)
 def compute_cone_inertia(density: float, r: float, h: float) -> tuple:
@@ -223,9 +223,9 @@ def compute_cone_inertia(density: float, r: float, h: float) -> tuple:
     Ia = 1 / 20 * m * (3 * r * r + 2 * h * h)
     Ib = 3 / 10 * m * r * r
-    I = np.array([[Ia, 0.0, 0.0], [0.0, Ib, 0.0], [0.0, 0.0, Ia]])
+    I = wp.mat33([[Ia, 0.0, 0.0], [0.0, Ib, 0.0], [0.0, 0.0, Ia]])
-    return (m, np.zeros(3), I)
+    return (m, wp.vec3(), I)
 def compute_box_inertia(density: float, w: float, h: float, d: float) -> tuple:
@@ -249,17 +249,16 @@ def compute_box_inertia(density: float, w: float, h: float, d: float) -> tuple:
     Ib = 1.0 / 12.0 * m * (w * w + d * d)
     Ic = 1.0 / 12.0 * m * (w * w + h * h)
-    I = np.array([[Ia, 0.0, 0.0], [0.0, Ib, 0.0], [0.0, 0.0, Ic]])
+    I = wp.mat33([[Ia, 0.0, 0.0], [0.0, Ib, 0.0], [0.0, 0.0, Ic]])
-    return (m, np.zeros(3), I)
+    return (m, wp.vec3(), I)
 def compute_mesh_inertia(
     density: float, vertices: list, indices: list, is_solid: bool = True, thickness: Union[List[float], float] = 0.001
 ) -> tuple:
     """Computes mass, center of mass, 3x3 inertia matrix, and volume for a mesh."""
-    com = np.mean(vertices, 0)
-    com_warp = wp.vec3(com[0], com[1], com[2])
+    com = wp.vec3(np.mean(vertices, 0))
     num_tris = len(indices) // 3
@@ -279,7 +278,7 @@ def compute_mesh_inertia(
             kernel=compute_solid_mesh_inertia,
             dim=num_tris,
             inputs=[
-                com_warp,
+                com,
                 weight,
                 wp.array(indices, dtype=int),
                 wp.array(vertices, dtype=wp.vec3),
@@ -294,7 +293,7 @@ def compute_mesh_inertia(
             kernel=compute_hollow_mesh_inertia,
             dim=num_tris,
             inputs=[
-                com_warp,
+                com,
                 weight,
                 wp.array(indices, dtype=int),
                 wp.array(vertices, dtype=wp.vec3),
@@ -304,14 +303,14 @@ def compute_mesh_inertia(
         )
     # Extract mass and inertia and save to class attributes.
-    mass = mass_warp.numpy()[0] * density
-    I = I_warp.numpy()[0] * density
+    mass = float(mass_warp.numpy()[0] * density)
+    I = wp.mat33(*(I_warp.numpy()[0] * density))
     volume = vol_warp.numpy()[0]
     return mass, com, I, volume
 def transform_inertia(m, I, p, q):
-    R = np.array(wp.quat_to_matrix(q)).reshape(3, 3)
+    R = wp.quat_to_matrix(q)
     # Steiner's theorem
-    return R @ I @ R.T + m * (np.dot(p, p) * np.eye(3) - np.outer(p, p))
+    return R @ I @ wp.transpose(R) + m * (wp.dot(p, p) * wp.mat33(np.eye(3)) - wp.outer(p, p))

warp/sim/integrator_xpbd.py CHANGED Viewed

@@ -135,8 +135,6 @@ def solve_particle_shape_contacts(
     body_delta: wp.array(dtype=wp.spatial_vector),
 ):
     tid = wp.tid()
-    if (particle_flags[tid] & PARTICLE_FLAG_ACTIVE) == 0:
-        return
     count = min(contact_max, contact_count[0])
     if tid >= count:
@@ -146,6 +144,9 @@ def solve_particle_shape_contacts(
     body_index = shape_body[shape_index]
     particle_index = contact_particle[tid]
+    if (particle_flags[particle_index] & PARTICLE_FLAG_ACTIVE) == 0:
+        return
     px = particle_x[particle_index]
     pv = particle_v[particle_index]
@@ -161,7 +162,7 @@ def solve_particle_shape_contacts(
     r = bx - wp.transform_point(X_wb, X_com)
     n = contact_normal[tid]
-    c = wp.dot(n, px - bx) - particle_radius[tid]
+    c = wp.dot(n, px - bx) - particle_radius[particle_index]
     if c > particle_ka:
         return