warp-lang 1.0.0b5__py3-none-manylinux2014_x86_64.whl → 1.0.0b6__py3-none-manylinux2014_x86_64.whl

warp/builtins.py

@@ -116,6 +116,7 @@ add_builtin(
     value_func=sametype_value_func(Float),
     doc="Return the square root of ``x``, where ``x`` is positive.",
     group="Scalar Math",
+    require_original_output_arg=True,
 )
 add_builtin(
     "cbrt",
@@ -123,6 +124,7 @@ add_builtin(
     value_func=sametype_value_func(Float),
     doc="Return the cube root of ``x``.",
     group="Scalar Math",
+    require_original_output_arg=True,
 )
 add_builtin(
     "tan",
@@ -165,6 +167,7 @@ add_builtin(
     value_func=sametype_value_func(Float),
     doc="Return the tanh of ``x``.",
     group="Scalar Math",
+    require_original_output_arg=True,
 )
 add_builtin(
     "degrees",
@@ -208,6 +211,7 @@ add_builtin(
     value_func=sametype_value_func(Float),
     doc="Return the value of the exponential function :math:`e^x`.",
     group="Scalar Math",
+    require_original_output_arg=True,
 )
 add_builtin(
     "pow",
@@ -215,6 +219,7 @@ add_builtin(
     value_func=sametype_value_func(Float),
     doc="Return the result of ``x`` raised to power of ``y``.",
     group="Scalar Math",
+    require_original_output_arg=True,
 )
 
 add_builtin(
@@ -405,6 +410,7 @@ add_builtin(
     value_func=sametype_scalar_value_func,
     group="Vector Math",
     doc="Compute the length of a vector ``x``.",
+    require_original_output_arg=True,
 )
 add_builtin(
     "length",
@@ -412,6 +418,7 @@ add_builtin(
     value_func=sametype_scalar_value_func,
     group="Vector Math",
     doc="Compute the length of a quaternion ``x``.",
+    require_original_output_arg=True,
 )
 add_builtin(
     "length_sq",
@@ -433,6 +440,7 @@ add_builtin(
     value_func=sametype_value_func(vector(length=Any, dtype=Scalar)),
     group="Vector Math",
     doc="Compute the normalized value of ``x``. If ``length(x)`` is 0 then the zero vector is returned.",
+    require_original_output_arg=True,
 )
 add_builtin(
     "normalize",
@@ -465,6 +473,7 @@ add_builtin(
     value_func=value_func_mat_inv,
     group="Vector Math",
     doc="Return the inverse of a 2x2 matrix ``m``.",
+    require_original_output_arg=True,
 )
 
 add_builtin(
@@ -473,6 +482,7 @@ add_builtin(
     value_func=value_func_mat_inv,
     group="Vector Math",
     doc="Return the inverse of a 3x3 matrix ``m``.",
+    require_original_output_arg=True,
 )
 
 add_builtin(
@@ -481,6 +491,7 @@ add_builtin(
     value_func=value_func_mat_inv,
     group="Vector Math",
     doc="Return the inverse of a 4x4 matrix ``m``.",
+    require_original_output_arg=True,
 )
 
 
@@ -580,6 +591,7 @@ add_builtin(
     value_func=sametype_value_func(vector(length=Any, dtype=Scalar)),
     group="Vector Math",
     doc="Component-wise division of two 2D vectors.",
+    require_original_output_arg=True,
 )
 
 add_builtin(
@@ -595,6 +607,7 @@ add_builtin(
     value_func=sametype_value_func(matrix(shape=(Any, Any), dtype=Scalar)),
     group="Vector Math",
     doc="Component-wise division of two 2D vectors.",
+    require_original_output_arg=True,
 )
 
 
@@ -1082,6 +1095,7 @@ add_builtin(
     value_func=lambda arg_types, kwds, _: quaternion(dtype=infer_scalar_type(arg_types)),
     group="Quaternion Math",
     doc="Linearly interpolate between two quaternions.",
+    require_original_output_arg=True,
 )
 add_builtin(
     "quat_to_matrix",
@@ -1469,7 +1483,7 @@ add_builtin(
     value_type=bvh_query_t,
     group="Geometry",
     doc="""Construct an axis-aligned bounding box query against a BVH object. This query can be used to iterate over all bounds
-   inside a BVH. Returns an object that is used to track state during BVH traversal.
+   inside a BVH.
 
    :param id: The BVH identifier
    :param lower: The lower bound of the bounding box in BVH space
@@ -1482,7 +1496,7 @@ add_builtin(
     value_type=bvh_query_t,
     group="Geometry",
     doc="""Construct a ray query against a BVH object. This query can be used to iterate over all bounds
-   that intersect the ray. Returns an object that is used to track state during BVH traversal.
+   that intersect the ray.
 
    :param id: The BVH identifier
    :param start: The start of the ray in BVH space
@@ -1525,6 +1539,28 @@ add_builtin(
    :param face: Returns the index of the closest face
    :param bary_u: Returns the barycentric u coordinate of the closest point
    :param bary_v: Returns the barycentric v coordinate of the closest point""",
+    hidden=True,
+)
+
+add_builtin(
+    "mesh_query_point",
+    input_types={
+        "id": uint64,
+        "point": vec3,
+        "max_dist": float,
+    },
+    value_type=mesh_query_point_t,
+    group="Geometry",
+    doc="""Computes the closest point on the :class:`Mesh` with identifier ``id`` to the given ``point`` in space.
+
+   Identifies the sign of the distance using additional ray-casts to determine if the point is inside or outside.
+   This method is relatively robust, but does increase computational cost.
+   See below for additional sign determination methods.
+
+   :param id: The mesh identifier
+   :param point: The point in space to query
+   :param max_dist: Mesh faces above this distance will not be considered by the query""",
+    require_original_output_arg=True,
 )
 
 add_builtin(
@@ -1549,6 +1585,26 @@ add_builtin(
    :param face: Returns the index of the closest face
    :param bary_u: Returns the barycentric u coordinate of the closest point
    :param bary_v: Returns the barycentric v coordinate of the closest point""",
+    hidden=True,
+)
+
+add_builtin(
+    "mesh_query_point_no_sign",
+    input_types={
+        "id": uint64,
+        "point": vec3,
+        "max_dist": float,
+    },
+    value_type=mesh_query_point_t,
+    group="Geometry",
+    doc="""Computes the closest point on the :class:`Mesh` with identifier ``id`` to the given ``point`` in space.
+
+   This method does not compute the sign of the point (inside/outside) which makes it faster than other point query methods.
+
+   :param id: The mesh identifier
+   :param point: The point in space to query
+   :param max_dist: Mesh faces above this distance will not be considered by the query""",
+    require_original_output_arg=True,
 )
 
 add_builtin(
@@ -1573,6 +1629,26 @@ add_builtin(
    :param face: Returns the index of the furthest face
    :param bary_u: Returns the barycentric u coordinate of the furthest point
    :param bary_v: Returns the barycentric v coordinate of the furthest point""",
+    hidden=True,
+)
+
+add_builtin(
+    "mesh_query_furthest_point_no_sign",
+    input_types={
+        "id": uint64,
+        "point": vec3,
+        "min_dist": float,
+    },
+    value_type=mesh_query_point_t,
+    group="Geometry",
+    doc="""Computes the furthest point on the mesh with identifier `id` to the given point in space.
+
+   This method does not compute the sign of the point (inside/outside).
+
+   :param id: The mesh identifier
+   :param point: The point in space to query
+   :param min_dist: Mesh faces below this distance will not be considered by the query""",
+    require_original_output_arg=True,
 )
 
 add_builtin(
@@ -1606,6 +1682,32 @@ add_builtin(
    :param bary_v: Returns the barycentric v coordinate of the closest point
    :param epsilon: Epsilon treating distance values as equal, when locating the minimum distance vertex/face/edge, as a
                    fraction of the average edge length, also for treating closest point as being on edge/vertex default 1e-3""",
+    hidden=True,
+)
+
+add_builtin(
+    "mesh_query_point_sign_normal",
+    input_types={
+        "id": uint64,
+        "point": vec3,
+        "max_dist": float,
+        "epsilon": float,
+    },
+    defaults={"epsilon": 1.0e-3},
+    value_type=mesh_query_point_t,
+    group="Geometry",
+    doc="""Computes the closest point on the :class:`Mesh` with identifier ``id`` to the given ``point`` in space.
+
+   Identifies the sign of the distance (inside/outside) using the angle-weighted pseudo normal.
+   This approach to sign determination is robust for well conditioned meshes that are watertight and non-self intersecting.
+   It is also comparatively fast to compute.
+
+   :param id: The mesh identifier
+   :param point: The point in space to query
+   :param max_dist: Mesh faces above this distance will not be considered by the query
+   :param epsilon: Epsilon treating distance values as equal, when locating the minimum distance vertex/face/edge, as a
+                   fraction of the average edge length, also for treating closest point as being on edge/vertex default 1e-3""",
+    require_original_output_arg=True,
 )
 
 add_builtin(
@@ -1642,6 +1744,35 @@ add_builtin(
    :param bary_v: Returns the barycentric v coordinate of the closest point
    :param accuracy: Accuracy for computing the winding number with fast winding number method utilizing second-order dipole approximation, default 2.0
    :param threshold: The threshold of the winding number to be considered inside, default 0.5""",
+    hidden=True,
+)
+
+add_builtin(
+    "mesh_query_point_sign_winding_number",
+    input_types={
+        "id": uint64,
+        "point": vec3,
+        "max_dist": float,
+        "accuracy": float,
+        "threshold": float,
+    },
+    defaults={"accuracy": 2.0, "threshold": 0.5},
+    value_type=mesh_query_point_t,
+    group="Geometry",
+    doc="""Computes the closest point on the :class:`Mesh` with identifier ``id`` to the given point in space.
+
+   Identifies the sign using the winding number of the mesh relative to the query point. This method of sign determination is robust for poorly conditioned meshes
+   and provides a smooth approximation to sign even when the mesh is not watertight. This method is the most robust and accurate of the sign determination meshes
+   but also the most expensive.
+
+   .. note:: The :class:`Mesh` object must be constructed with ``support_winding_number=True`` for this method to return correct results.
+
+   :param id: The mesh identifier
+   :param point: The point in space to query
+   :param max_dist: Mesh faces above this distance will not be considered by the query
+   :param accuracy: Accuracy for computing the winding number with fast winding number method utilizing second-order dipole approximation, default 2.0
+   :param threshold: The threshold of the winding number to be considered inside, default 0.5""",
+    require_original_output_arg=True,
 )
 
 add_builtin(
@@ -1660,7 +1791,7 @@ add_builtin(
     },
     value_type=builtins.bool,
     group="Geometry",
-    doc="""Computes the closest ray hit on the :class:`Mesh` with identifier ``id``, returns ``True`` if a point < ``max_t`` is found.
+    doc="""Computes the closest ray hit on the :class:`Mesh` with identifier ``id``, returns ``True`` if a hit < ``max_t`` is found.
 
    :param id: The mesh identifier
    :param start: The start point of the ray
@@ -1669,9 +1800,29 @@ add_builtin(
    :param t: Returns the distance of the closest hit along the ray
    :param bary_u: Returns the barycentric u coordinate of the closest hit
    :param bary_v: Returns the barycentric v coordinate of the closest hit
-   :param sign: Returns a value > 0 if the hit ray hit front of the face, returns < 0 otherwise
+   :param sign: Returns a value > 0 if the ray hit in front of the face, returns < 0 otherwise
    :param normal: Returns the face normal
    :param face: Returns the index of the hit face""",
+    hidden=True,
+)
+
+add_builtin(
+    "mesh_query_ray",
+    input_types={
+        "id": uint64,
+        "start": vec3,
+        "dir": vec3,
+        "max_t": float,
+    },
+    value_type=mesh_query_ray_t,
+    group="Geometry",
+    doc="""Computes the closest ray hit on the :class:`Mesh` with identifier ``id``.
+
+   :param id: The mesh identifier
+   :param start: The start point of the ray
+   :param dir: The ray direction (should be normalized)
+   :param max_t: The maximum distance along the ray to check for intersections""",
+    require_original_output_arg=True,
 )
 
 add_builtin(
@@ -1681,7 +1832,6 @@ add_builtin(
     group="Geometry",
     doc="""Construct an axis-aligned bounding box query against a :class:`Mesh`.
    This query can be used to iterate over all triangles inside a volume.
-   Returns an object that is used to track state during mesh traversal.
 
    :param id: The mesh identifier
    :param lower: The lower bound of the bounding box in mesh space
@@ -1719,7 +1869,7 @@ add_builtin(
     value_type=hash_grid_query_t,
     group="Geometry",
     doc="Construct a point query against a :class:`HashGrid`. This query can be used to iterate over all neighboring points "
-    "within a fixed radius from the query point. Returns an object that is used to track state during neighbor traversal.",
+    "within a fixed radius from the query point.",
 )
 
 add_builtin(
@@ -2956,6 +3106,23 @@ def mul_matvec_value_func(arg_types, kwds, _):
     return vector(length=arg_types[0]._shape_[0], dtype=arg_types[0]._wp_scalar_type_)
 
 
+def mul_vecmat_value_func(arg_types, kwds, _):
+    if arg_types is None:
+        return vector(length=Any, dtype=Scalar)
+
+    if arg_types[1]._wp_scalar_type_ != arg_types[0]._wp_scalar_type_:
+        raise RuntimeError(
+            f"Can't multiply vector and matrix with different types {arg_types[1]._wp_scalar_type_}, {arg_types[0]._wp_scalar_type_}"
+        )
+
+    if arg_types[1]._shape_[0] != arg_types[0]._length_:
+        raise RuntimeError(
+            f"Can't multiply vector with length {arg_types[0]._length_} and matrix of shape {arg_types[1]._shape_}"
+        )
+
+    return vector(length=arg_types[1]._shape_[1], dtype=arg_types[1]._wp_scalar_type_)
+
+
 def mul_matmat_value_func(arg_types, kwds, _):
     if arg_types is None:
         return matrix(length=Any, dtype=Scalar)
@@ -3030,6 +3197,13 @@ add_builtin(
     doc="",
     group="Operators",
 )
+add_builtin(
+    "mul",
+    input_types={"x": vector(length=Any, dtype=Scalar), "y": matrix(shape=(Any, Any), dtype=Scalar)},
+    value_func=mul_vecmat_value_func,
+    doc="",
+    group="Operators",
+)
 add_builtin(
     "mul",
     input_types={"x": matrix(shape=(Any, Any), dtype=Scalar), "y": matrix(shape=(Any, Any), dtype=Scalar)},
@@ -3065,7 +3239,11 @@ add_builtin(
 )
 
 add_builtin(
-    "div", input_types={"x": Scalar, "y": Scalar}, value_func=sametype_value_func(Scalar), doc="", group="Operators"
+    "div",
+    input_types={"x": Scalar, "y": Scalar},
+    value_func=sametype_value_func(Scalar),
+    doc="", group="Operators",
+    require_original_output_arg=True,
 )
 add_builtin(
     "div",
@@ -3074,6 +3252,13 @@ add_builtin(
     doc="",
     group="Operators",
 )
+add_builtin(
+    "div",
+    input_types={"x": Scalar, "y": vector(length=Any, dtype=Scalar)},
+    value_func=scalar_mul_value_func(vector(length=Any, dtype=Scalar)),
+    doc="",
+    group="Operators",
+)
 add_builtin(
     "div",
     input_types={"x": matrix(shape=(Any, Any), dtype=Scalar), "y": Scalar},
@@ -3081,6 +3266,13 @@ add_builtin(
     doc="",
     group="Operators",
 )
+add_builtin(
+    "div",
+    input_types={"x": Scalar, "y": matrix(shape=(Any, Any), dtype=Scalar)},
+    value_func=scalar_mul_value_func(matrix(shape=(Any, Any), dtype=Scalar)),
+    doc="",
+    group="Operators",
+)
 add_builtin(
     "div",
     input_types={"x": quaternion(dtype=Scalar), "y": Scalar},
@@ -3088,6 +3280,13 @@ add_builtin(
     doc="",
     group="Operators",
 )
+add_builtin(
+    "div",
+    input_types={"x": Scalar, "y": quaternion(dtype=Scalar)},
+    value_func=scalar_mul_value_func(quaternion(dtype=Scalar)),
+    doc="",
+    group="Operators",
+)
 
 add_builtin(
     "floordiv",