warp-lang 1.0.1__py3-none-manylinux2014_aarch64.whl → 1.1.0__py3-none-manylinux2014_aarch64.whl

warp/fem/geometry/quadmesh_2d.py

@@ -1,532 +1,532 @@
-from typing import Optional
-
-import warp as wp
-from warp.fem.cache import (
-    TemporaryStore,
-    borrow_temporary,
-    borrow_temporary_like,
-    cached_arg_value,
-)
-from warp.fem.types import OUTSIDE, Coords, ElementIndex, Sample, make_free_sample
-
-from .element import LinearEdge, Square
-from .geometry import Geometry
-
-# from .closest_point import project_on_tet_at_origin
-
-
-@wp.struct
-class Quadmesh2DCellArg:
-    quad_vertex_indices: wp.array2d(dtype=int)
-    positions: wp.array(dtype=wp.vec2)
-
-    # for neighbor cell lookup
-    vertex_quad_offsets: wp.array(dtype=int)
-    vertex_quad_indices: wp.array(dtype=int)
-
-
-@wp.struct
-class Quadmesh2DSideArg:
-    cell_arg: Quadmesh2DCellArg
-    edge_vertex_indices: wp.array(dtype=wp.vec2i)
-    edge_quad_indices: wp.array(dtype=wp.vec2i)
-
-
-class Quadmesh2D(Geometry):
-    """Two-dimensional quadrilateral mesh geometry"""
-
-    dimension = 2
-
-    def __init__(
-        self, quad_vertex_indices: wp.array, positions: wp.array, temporary_store: Optional[TemporaryStore] = None
-    ):
-        """
-        Constructs a two-dimensional quadrilateral mesh.
-
-        Args:
-            quad_vertex_indices: warp array of shape (num_tris, 4) containing vertex indices for each quad, in counter-clockwise order
-            positions: warp array of shape (num_vertices, 2) containing 2d position for each vertex
-            temporary_store: shared pool from which to allocate temporary arrays
-        """
-
-        self.quad_vertex_indices = quad_vertex_indices
-        self.positions = positions
-
-        self._edge_vertex_indices: wp.array = None
-        self._edge_quad_indices: wp.array = None
-        self._vertex_quad_offsets: wp.array = None
-        self._vertex_quad_indices: wp.array = None
-        self._build_topology(temporary_store)
-
-    def cell_count(self):
-        return self.quad_vertex_indices.shape[0]
-
-    def vertex_count(self):
-        return self.positions.shape[0]
-
-    def side_count(self):
-        return self._edge_vertex_indices.shape[0]
-
-    def boundary_side_count(self):
-        return self._boundary_edge_indices.shape[0]
-
-    def reference_cell(self) -> Square:
-        return Square()
-
-    def reference_side(self) -> LinearEdge:
-        return LinearEdge()
-
-    @property
-    def edge_quad_indices(self) -> wp.array:
-        return self._edge_quad_indices
-
-    @property
-    def edge_vertex_indices(self) -> wp.array:
-        return self._edge_vertex_indices
-
-    CellArg = Quadmesh2DCellArg
-    SideArg = Quadmesh2DSideArg
-
-    @wp.struct
-    class SideIndexArg:
-        boundary_edge_indices: wp.array(dtype=int)
-
-    # Geometry device interface
-
-    @cached_arg_value
-    def cell_arg_value(self, device) -> CellArg:
-        args = self.CellArg()
-
-        args.quad_vertex_indices = self.quad_vertex_indices.to(device)
-        args.positions = self.positions.to(device)
-        args.vertex_quad_offsets = self._vertex_quad_offsets.to(device)
-        args.vertex_quad_indices = self._vertex_quad_indices.to(device)
-
-        return args
-
-    @wp.func
-    def cell_position(args: CellArg, s: Sample):
-        quad_idx = args.quad_vertex_indices[s.element_index]
-
-        w_p = s.element_coords
-        w_m = Coords(1.0) - s.element_coords
-
-        # 0 : m m
-        # 1 : p m
-        # 2 : p p
-        # 3 : m p
-
-        return (
-            w_m[0] * w_m[1] * args.positions[quad_idx[0]]
-            + w_p[0] * w_m[1] * args.positions[quad_idx[1]]
-            + w_p[0] * w_p[1] * args.positions[quad_idx[2]]
-            + w_m[0] * w_p[1] * args.positions[quad_idx[3]]
-        )
-
-    @wp.func
-    def cell_deformation_gradient(cell_arg: CellArg, s: Sample):
-        """Deformation gradient at `coords`"""
-        quad_idx = cell_arg.quad_vertex_indices[s.element_index]
-
-        w_p = s.element_coords
-        w_m = Coords(1.0) - s.element_coords
-
-        return (
-            wp.outer(cell_arg.positions[quad_idx[0]], wp.vec2(-w_m[1], -w_m[0]))
-            + wp.outer(cell_arg.positions[quad_idx[1]], wp.vec2(w_m[1], -w_p[0]))
-            + wp.outer(cell_arg.positions[quad_idx[2]], wp.vec2(w_p[1], w_p[0]))
-            + wp.outer(cell_arg.positions[quad_idx[3]], wp.vec2(-w_p[1], w_m[0]))
-        )
-
-    @wp.func
-    def cell_inverse_deformation_gradient(cell_arg: CellArg, s: Sample):
-        return wp.inverse(Quadmesh2D.cell_deformation_gradient(cell_arg, s))
-
-    @wp.func
-    def cell_measure(args: CellArg, s: Sample):
-        return wp.abs(wp.determinant(Quadmesh2D.cell_deformation_gradient(args, s)))
-
-    @wp.func
-    def cell_normal(args: CellArg, s: Sample):
-        return wp.vec2(0.0)
-
-    @cached_arg_value
-    def side_index_arg_value(self, device) -> SideIndexArg:
-        args = self.SideIndexArg()
-
-        args.boundary_edge_indices = self._boundary_edge_indices.to(device)
-
-        return args
-
-    @wp.func
-    def boundary_side_index(args: SideIndexArg, boundary_side_index: int):
-        """Boundary side to side index"""
-
-        return args.boundary_edge_indices[boundary_side_index]
-
-    @cached_arg_value
-    def side_arg_value(self, device) -> CellArg:
-        args = self.SideArg()
-
-        args.cell_arg = self.cell_arg_value(device)
-        args.edge_vertex_indices = self._edge_vertex_indices.to(device)
-        args.edge_quad_indices = self._edge_quad_indices.to(device)
-
-        return args
-
-    @wp.func
-    def side_position(args: SideArg, s: Sample):
-        edge_idx = args.edge_vertex_indices[s.element_index]
-        return (1.0 - s.element_coords[0]) * args.cell_arg.positions[edge_idx[0]] + s.element_coords[
-            0
-        ] * args.cell_arg.positions[edge_idx[1]]
-
-    @wp.func
-    def side_deformation_gradient(args: SideArg, s: Sample):
-        edge_idx = args.edge_vertex_indices[s.element_index]
-        v0 = args.cell_arg.positions[edge_idx[0]]
-        v1 = args.cell_arg.positions[edge_idx[1]]
-        return v1 - v0
-
-    @wp.func
-    def side_inner_inverse_deformation_gradient(args: SideArg, s: Sample):
-        cell_index = Quadmesh2D.side_inner_cell_index(args, s.element_index)
-        cell_coords = Quadmesh2D.side_inner_cell_coords(args, s.element_index, s.element_coords)
-        return Quadmesh2D.cell_inverse_deformation_gradient(args.cell_arg, make_free_sample(cell_index, cell_coords))
-
-    @wp.func
-    def side_outer_inverse_deformation_gradient(args: SideArg, s: Sample):
-        cell_index = Quadmesh2D.side_outer_cell_index(args, s.element_index)
-        cell_coords = Quadmesh2D.side_outer_cell_coords(args, s.element_index, s.element_coords)
-        return Quadmesh2D.cell_inverse_deformation_gradient(args.cell_arg, make_free_sample(cell_index, cell_coords))
-
-    @wp.func
-    def side_measure(args: SideArg, s: Sample):
-        edge_idx = args.edge_vertex_indices[s.element_index]
-        v0 = args.cell_arg.positions[edge_idx[0]]
-        v1 = args.cell_arg.positions[edge_idx[1]]
-        return wp.length(v1 - v0)
-
-    @wp.func
-    def side_measure_ratio(args: SideArg, s: Sample):
-        inner = Quadmesh2D.side_inner_cell_index(args, s.element_index)
-        outer = Quadmesh2D.side_outer_cell_index(args, s.element_index)
-        inner_coords = Quadmesh2D.side_inner_cell_coords(args, s.element_index, s.element_coords)
-        outer_coords = Quadmesh2D.side_outer_cell_coords(args, s.element_index, s.element_coords)
-        return Quadmesh2D.side_measure(args, s) / wp.min(
-            Quadmesh2D.cell_measure(args.cell_arg, make_free_sample(inner, inner_coords)),
-            Quadmesh2D.cell_measure(args.cell_arg, make_free_sample(outer, outer_coords)),
-        )
-
-    @wp.func
-    def side_normal(args: SideArg, s: Sample):
-        edge_idx = args.edge_vertex_indices[s.element_index]
-        v0 = args.cell_arg.positions[edge_idx[0]]
-        v1 = args.cell_arg.positions[edge_idx[1]]
-        e = v1 - v0
-
-        return wp.normalize(wp.vec2(-e[1], e[0]))
-
-    @wp.func
-    def side_inner_cell_index(arg: SideArg, side_index: ElementIndex):
-        return arg.edge_quad_indices[side_index][0]
-
-    @wp.func
-    def side_outer_cell_index(arg: SideArg, side_index: ElementIndex):
-        return arg.edge_quad_indices[side_index][1]
-
-    @wp.func
-    def edge_to_quad_coords(args: SideArg, side_index: ElementIndex, quad_index: ElementIndex, side_coords: Coords):
-        edge_vidx = args.edge_vertex_indices[side_index]
-        quad_vidx = args.cell_arg.quad_vertex_indices[quad_index]
-
-        vs = edge_vidx[0]
-        ve = edge_vidx[1]
-
-        s = side_coords[0]
-
-        if vs == quad_vidx[0]:
-            return wp.select(ve == quad_vidx[1], Coords(0.0, s, 0.0), Coords(s, 0.0, 0.0))
-        elif vs == quad_vidx[1]:
-            return wp.select(ve == quad_vidx[2], Coords(1.0 - s, 0.0, 0.0), Coords(1.0, s, 0.0))
-        elif vs == quad_vidx[2]:
-            return wp.select(ve == quad_vidx[3], Coords(1.0, 1.0 - s, 0.0), Coords(1.0 - s, 1.0, 0.0))
-
-        return wp.select(ve == quad_vidx[0], Coords(s, 1.0, 0.0), Coords(0.0, 1.0 - s, 0.0))
-
-    @wp.func
-    def side_inner_cell_coords(args: SideArg, side_index: ElementIndex, side_coords: Coords):
-        inner_cell_index = Quadmesh2D.side_inner_cell_index(args, side_index)
-        return Quadmesh2D.edge_to_quad_coords(args, side_index, inner_cell_index, side_coords)
-
-    @wp.func
-    def side_outer_cell_coords(args: SideArg, side_index: ElementIndex, side_coords: Coords):
-        outer_cell_index = Quadmesh2D.side_outer_cell_index(args, side_index)
-        return Quadmesh2D.edge_to_quad_coords(args, side_index, outer_cell_index, side_coords)
-
-    @wp.func
-    def side_from_cell_coords(
-        args: SideArg,
-        side_index: ElementIndex,
-        quad_index: ElementIndex,
-        quad_coords: Coords,
-    ):
-        edge_vidx = args.edge_vertex_indices[side_index]
-        quad_vidx = args.cell_arg.quad_vertex_indices[quad_index]
-
-        vs = edge_vidx[0]
-        ve = edge_vidx[1]
-
-        cx = quad_coords[0]
-        cy = quad_coords[1]
-
-        if vs == quad_vidx[0]:
-            oc = wp.select(ve == quad_vidx[1], cx, cy)
-            ec = wp.select(ve == quad_vidx[1], cy, cx)
-        elif vs == quad_vidx[1]:
-            oc = wp.select(ve == quad_vidx[2], cy, 1.0 - cx)
-            ec = wp.select(ve == quad_vidx[2], 1.0 - cx, cy)
-        elif vs == quad_vidx[2]:
-            oc = wp.select(ve == quad_vidx[3], 1.0 - cx, 1.0 - cy)
-            ec = wp.select(ve == quad_vidx[3], 1.0 - cy, 1.0 - cx)
-        else:
-            oc = wp.select(ve == quad_vidx[0], 1.0 - cy, cx)
-            ec = wp.select(ve == quad_vidx[0], cx, 1.0 - cy)
-        return wp.select(oc == 0.0, Coords(OUTSIDE), Coords(ec, 0.0, 0.0))
-
-    @wp.func
-    def side_to_cell_arg(side_arg: SideArg):
-        return side_arg.cell_arg
-
-    def _build_topology(self, temporary_store: TemporaryStore):
-        from warp.fem.utils import compress_node_indices, masked_indices
-        from warp.utils import array_scan
-
-        device = self.quad_vertex_indices.device
-
-        vertex_quad_offsets, vertex_quad_indices, _, __ = compress_node_indices(
-            self.vertex_count(), self.quad_vertex_indices, temporary_store=temporary_store
-        )
-        self._vertex_quad_offsets = vertex_quad_offsets.detach()
-        self._vertex_quad_indices = vertex_quad_indices.detach()
-
-        vertex_start_edge_count = borrow_temporary(temporary_store, dtype=int, device=device, shape=self.vertex_count())
-        vertex_start_edge_count.array.zero_()
-        vertex_start_edge_offsets = borrow_temporary_like(vertex_start_edge_count, temporary_store=temporary_store)
-
-        vertex_edge_ends = borrow_temporary(temporary_store, dtype=int, device=device, shape=(4 * self.cell_count()))
-        vertex_edge_quads = borrow_temporary(
-            temporary_store, dtype=int, device=device, shape=(4 * self.cell_count(), 2)
-        )
-
-        # Count face edges starting at each vertex
-        wp.launch(
-            kernel=Quadmesh2D._count_starting_edges_kernel,
-            device=device,
-            dim=self.cell_count(),
-            inputs=[self.quad_vertex_indices, vertex_start_edge_count.array],
-        )
-
-        array_scan(in_array=vertex_start_edge_count.array, out_array=vertex_start_edge_offsets.array, inclusive=False)
-
-        # Count number of unique edges (deduplicate across faces)
-        vertex_unique_edge_count = vertex_start_edge_count
-        wp.launch(
-            kernel=Quadmesh2D._count_unique_starting_edges_kernel,
-            device=device,
-            dim=self.vertex_count(),
-            inputs=[
-                self._vertex_quad_offsets,
-                self._vertex_quad_indices,
-                self.quad_vertex_indices,
-                vertex_start_edge_offsets.array,
-                vertex_unique_edge_count.array,
-                vertex_edge_ends.array,
-                vertex_edge_quads.array,
-            ],
-        )
-
-        vertex_unique_edge_offsets = borrow_temporary_like(vertex_start_edge_offsets, temporary_store=temporary_store)
-        array_scan(in_array=vertex_start_edge_count.array, out_array=vertex_unique_edge_offsets.array, inclusive=False)
-
-        # Get back edge count to host
-        if device.is_cuda:
-            edge_count = borrow_temporary(temporary_store, shape=(1,), dtype=int, device="cpu", pinned=True)
-            # Last vertex will not own any edge, so its count will be zero; just fetching last prefix count is ok
-            wp.copy(
-                dest=edge_count.array, src=vertex_unique_edge_offsets.array, src_offset=self.vertex_count() - 1, count=1
-            )
-            wp.synchronize_stream(wp.get_stream(device))
-            edge_count = int(edge_count.array.numpy()[0])
-        else:
-            edge_count = int(vertex_unique_edge_offsets.array.numpy()[self.vertex_count() - 1])
-
-        self._edge_vertex_indices = wp.empty(shape=(edge_count,), dtype=wp.vec2i, device=device)
-        self._edge_quad_indices = wp.empty(shape=(edge_count,), dtype=wp.vec2i, device=device)
-
-        boundary_mask = borrow_temporary(temporary_store=temporary_store, shape=(edge_count,), dtype=int, device=device)
-
-        # Compress edge data
-        wp.launch(
-            kernel=Quadmesh2D._compress_edges_kernel,
-            device=device,
-            dim=self.vertex_count(),
-            inputs=[
-                vertex_start_edge_offsets.array,
-                vertex_unique_edge_offsets.array,
-                vertex_unique_edge_count.array,
-                vertex_edge_ends.array,
-                vertex_edge_quads.array,
-                self._edge_vertex_indices,
-                self._edge_quad_indices,
-                boundary_mask.array,
-            ],
-        )
-
-        vertex_start_edge_offsets.release()
-        vertex_unique_edge_offsets.release()
-        vertex_unique_edge_count.release()
-        vertex_edge_ends.release()
-        vertex_edge_quads.release()
-
-        # Flip normals if necessary
-        wp.launch(
-            kernel=Quadmesh2D._flip_edge_normals,
-            device=device,
-            dim=self.side_count(),
-            inputs=[self._edge_vertex_indices, self._edge_quad_indices, self.quad_vertex_indices, self.positions],
-        )
-
-        boundary_edge_indices, _ = masked_indices(boundary_mask.array, temporary_store=temporary_store)
-        self._boundary_edge_indices = boundary_edge_indices.detach()
-
-        boundary_mask.release()
-
-    @wp.kernel
-    def _count_starting_edges_kernel(
-        quad_vertex_indices: wp.array2d(dtype=int), vertex_start_edge_count: wp.array(dtype=int)
-    ):
-        t = wp.tid()
-        for k in range(4):
-            v0 = quad_vertex_indices[t, k]
-            v1 = quad_vertex_indices[t, (k + 1) % 4]
-
-            if v0 < v1:
-                wp.atomic_add(vertex_start_edge_count, v0, 1)
-            else:
-                wp.atomic_add(vertex_start_edge_count, v1, 1)
-
-    @wp.func
-    def _find(
-        needle: int,
-        values: wp.array(dtype=int),
-        beg: int,
-        end: int,
-    ):
-        for i in range(beg, end):
-            if values[i] == needle:
-                return i
-
-        return -1
-
-    @wp.kernel
-    def _count_unique_starting_edges_kernel(
-        vertex_quad_offsets: wp.array(dtype=int),
-        vertex_quad_indices: wp.array(dtype=int),
-        quad_vertex_indices: wp.array2d(dtype=int),
-        vertex_start_edge_offsets: wp.array(dtype=int),
-        vertex_start_edge_count: wp.array(dtype=int),
-        edge_ends: wp.array(dtype=int),
-        edge_quads: wp.array2d(dtype=int),
-    ):
-        v = wp.tid()
-
-        edge_beg = vertex_start_edge_offsets[v]
-
-        quad_beg = vertex_quad_offsets[v]
-        quad_end = vertex_quad_offsets[v + 1]
-
-        edge_cur = edge_beg
-
-        for quad in range(quad_beg, quad_end):
-            q = vertex_quad_indices[quad]
-
-            for k in range(4):
-                v0 = quad_vertex_indices[q, k]
-                v1 = quad_vertex_indices[q, (k + 1) % 4]
-
-                if v == wp.min(v0, v1):
-                    other_v = wp.max(v0, v1)
-
-                    # Check if other_v has been seen
-                    seen_idx = Quadmesh2D._find(other_v, edge_ends, edge_beg, edge_cur)
-
-                    if seen_idx == -1:
-                        edge_ends[edge_cur] = other_v
-                        edge_quads[edge_cur, 0] = q
-                        edge_quads[edge_cur, 1] = q
-                        edge_cur += 1
-                    else:
-                        edge_quads[seen_idx, 1] = q
-
-        vertex_start_edge_count[v] = edge_cur - edge_beg
-
-    @wp.kernel
-    def _compress_edges_kernel(
-        vertex_start_edge_offsets: wp.array(dtype=int),
-        vertex_unique_edge_offsets: wp.array(dtype=int),
-        vertex_unique_edge_count: wp.array(dtype=int),
-        uncompressed_edge_ends: wp.array(dtype=int),
-        uncompressed_edge_quads: wp.array2d(dtype=int),
-        edge_vertex_indices: wp.array(dtype=wp.vec2i),
-        edge_quad_indices: wp.array(dtype=wp.vec2i),
-        boundary_mask: wp.array(dtype=int),
-    ):
-        v = wp.tid()
-
-        start_beg = vertex_start_edge_offsets[v]
-        unique_beg = vertex_unique_edge_offsets[v]
-        unique_count = vertex_unique_edge_count[v]
-
-        for e in range(unique_count):
-            src_index = start_beg + e
-            edge_index = unique_beg + e
-
-            edge_vertex_indices[edge_index] = wp.vec2i(v, uncompressed_edge_ends[src_index])
-
-            q0 = uncompressed_edge_quads[src_index, 0]
-            q1 = uncompressed_edge_quads[src_index, 1]
-            edge_quad_indices[edge_index] = wp.vec2i(q0, q1)
-            if q0 == q1:
-                boundary_mask[edge_index] = 1
-            else:
-                boundary_mask[edge_index] = 0
-
-    @wp.kernel
-    def _flip_edge_normals(
-        edge_vertex_indices: wp.array(dtype=wp.vec2i),
-        edge_quad_indices: wp.array(dtype=wp.vec2i),
-        quad_vertex_indices: wp.array2d(dtype=int),
-        positions: wp.array(dtype=wp.vec2),
-    ):
-        e = wp.tid()
-
-        tri = edge_quad_indices[e][0]
-
-        quad_vidx = quad_vertex_indices[tri]
-        edge_vidx = edge_vertex_indices[e]
-
-        quad_centroid = (
-            positions[quad_vidx[0]] + positions[quad_vidx[1]] + positions[quad_vidx[2]] + positions[quad_vidx[3]]
-        ) / 4.0
-
-        v0 = positions[edge_vidx[0]]
-        v1 = positions[edge_vidx[1]]
-
-        edge_center = 0.5 * (v1 + v0)
-        edge_vec = v1 - v0
-        edge_normal = wp.vec2(-edge_vec[1], edge_vec[0])
-
-        # if edge normal points toward first triangle centroid, flip indices
-        if wp.dot(quad_centroid - edge_center, edge_normal) > 0.0:
-            edge_vertex_indices[e] = wp.vec2i(edge_vidx[1], edge_vidx[0])
+from typing import Optional
+
+import warp as wp
+from warp.fem.cache import (
+    TemporaryStore,
+    borrow_temporary,
+    borrow_temporary_like,
+    cached_arg_value,
+)
+from warp.fem.types import OUTSIDE, Coords, ElementIndex, Sample, make_free_sample
+
+from .element import LinearEdge, Square
+from .geometry import Geometry
+
+# from .closest_point import project_on_tet_at_origin
+
+
+@wp.struct
+class Quadmesh2DCellArg:
+    quad_vertex_indices: wp.array2d(dtype=int)
+    positions: wp.array(dtype=wp.vec2)
+
+    # for neighbor cell lookup
+    vertex_quad_offsets: wp.array(dtype=int)
+    vertex_quad_indices: wp.array(dtype=int)
+
+
+@wp.struct
+class Quadmesh2DSideArg:
+    cell_arg: Quadmesh2DCellArg
+    edge_vertex_indices: wp.array(dtype=wp.vec2i)
+    edge_quad_indices: wp.array(dtype=wp.vec2i)
+
+
+class Quadmesh2D(Geometry):
+    """Two-dimensional quadrilateral mesh geometry"""
+
+    dimension = 2
+
+    def __init__(
+        self, quad_vertex_indices: wp.array, positions: wp.array, temporary_store: Optional[TemporaryStore] = None
+    ):
+        """
+        Constructs a two-dimensional quadrilateral mesh.
+
+        Args:
+            quad_vertex_indices: warp array of shape (num_tris, 4) containing vertex indices for each quad, in counter-clockwise order
+            positions: warp array of shape (num_vertices, 2) containing 2d position for each vertex
+            temporary_store: shared pool from which to allocate temporary arrays
+        """
+
+        self.quad_vertex_indices = quad_vertex_indices
+        self.positions = positions
+
+        self._edge_vertex_indices: wp.array = None
+        self._edge_quad_indices: wp.array = None
+        self._vertex_quad_offsets: wp.array = None
+        self._vertex_quad_indices: wp.array = None
+        self._build_topology(temporary_store)
+
+    def cell_count(self):
+        return self.quad_vertex_indices.shape[0]
+
+    def vertex_count(self):
+        return self.positions.shape[0]
+
+    def side_count(self):
+        return self._edge_vertex_indices.shape[0]
+
+    def boundary_side_count(self):
+        return self._boundary_edge_indices.shape[0]
+
+    def reference_cell(self) -> Square:
+        return Square()
+
+    def reference_side(self) -> LinearEdge:
+        return LinearEdge()
+
+    @property
+    def edge_quad_indices(self) -> wp.array:
+        return self._edge_quad_indices
+
+    @property
+    def edge_vertex_indices(self) -> wp.array:
+        return self._edge_vertex_indices
+
+    CellArg = Quadmesh2DCellArg
+    SideArg = Quadmesh2DSideArg
+
+    @wp.struct
+    class SideIndexArg:
+        boundary_edge_indices: wp.array(dtype=int)
+
+    # Geometry device interface
+
+    @cached_arg_value
+    def cell_arg_value(self, device) -> CellArg:
+        args = self.CellArg()
+
+        args.quad_vertex_indices = self.quad_vertex_indices.to(device)
+        args.positions = self.positions.to(device)
+        args.vertex_quad_offsets = self._vertex_quad_offsets.to(device)
+        args.vertex_quad_indices = self._vertex_quad_indices.to(device)
+
+        return args
+
+    @wp.func
+    def cell_position(args: CellArg, s: Sample):
+        quad_idx = args.quad_vertex_indices[s.element_index]
+
+        w_p = s.element_coords
+        w_m = Coords(1.0) - s.element_coords
+
+        # 0 : m m
+        # 1 : p m
+        # 2 : p p
+        # 3 : m p
+
+        return (
+            w_m[0] * w_m[1] * args.positions[quad_idx[0]]
+            + w_p[0] * w_m[1] * args.positions[quad_idx[1]]
+            + w_p[0] * w_p[1] * args.positions[quad_idx[2]]
+            + w_m[0] * w_p[1] * args.positions[quad_idx[3]]
+        )
+
+    @wp.func
+    def cell_deformation_gradient(cell_arg: CellArg, s: Sample):
+        """Deformation gradient at `coords`"""
+        quad_idx = cell_arg.quad_vertex_indices[s.element_index]
+
+        w_p = s.element_coords
+        w_m = Coords(1.0) - s.element_coords
+
+        return (
+            wp.outer(cell_arg.positions[quad_idx[0]], wp.vec2(-w_m[1], -w_m[0]))
+            + wp.outer(cell_arg.positions[quad_idx[1]], wp.vec2(w_m[1], -w_p[0]))
+            + wp.outer(cell_arg.positions[quad_idx[2]], wp.vec2(w_p[1], w_p[0]))
+            + wp.outer(cell_arg.positions[quad_idx[3]], wp.vec2(-w_p[1], w_m[0]))
+        )
+
+    @wp.func
+    def cell_inverse_deformation_gradient(cell_arg: CellArg, s: Sample):
+        return wp.inverse(Quadmesh2D.cell_deformation_gradient(cell_arg, s))
+
+    @wp.func
+    def cell_measure(args: CellArg, s: Sample):
+        return wp.abs(wp.determinant(Quadmesh2D.cell_deformation_gradient(args, s)))
+
+    @wp.func
+    def cell_normal(args: CellArg, s: Sample):
+        return wp.vec2(0.0)
+
+    @cached_arg_value
+    def side_index_arg_value(self, device) -> SideIndexArg:
+        args = self.SideIndexArg()
+
+        args.boundary_edge_indices = self._boundary_edge_indices.to(device)
+
+        return args
+
+    @wp.func
+    def boundary_side_index(args: SideIndexArg, boundary_side_index: int):
+        """Boundary side to side index"""
+
+        return args.boundary_edge_indices[boundary_side_index]
+
+    @cached_arg_value
+    def side_arg_value(self, device) -> CellArg:
+        args = self.SideArg()
+
+        args.cell_arg = self.cell_arg_value(device)
+        args.edge_vertex_indices = self._edge_vertex_indices.to(device)
+        args.edge_quad_indices = self._edge_quad_indices.to(device)
+
+        return args
+
+    @wp.func
+    def side_position(args: SideArg, s: Sample):
+        edge_idx = args.edge_vertex_indices[s.element_index]
+        return (1.0 - s.element_coords[0]) * args.cell_arg.positions[edge_idx[0]] + s.element_coords[
+            0
+        ] * args.cell_arg.positions[edge_idx[1]]
+
+    @wp.func
+    def side_deformation_gradient(args: SideArg, s: Sample):
+        edge_idx = args.edge_vertex_indices[s.element_index]
+        v0 = args.cell_arg.positions[edge_idx[0]]
+        v1 = args.cell_arg.positions[edge_idx[1]]
+        return v1 - v0
+
+    @wp.func
+    def side_inner_inverse_deformation_gradient(args: SideArg, s: Sample):
+        cell_index = Quadmesh2D.side_inner_cell_index(args, s.element_index)
+        cell_coords = Quadmesh2D.side_inner_cell_coords(args, s.element_index, s.element_coords)
+        return Quadmesh2D.cell_inverse_deformation_gradient(args.cell_arg, make_free_sample(cell_index, cell_coords))
+
+    @wp.func
+    def side_outer_inverse_deformation_gradient(args: SideArg, s: Sample):
+        cell_index = Quadmesh2D.side_outer_cell_index(args, s.element_index)
+        cell_coords = Quadmesh2D.side_outer_cell_coords(args, s.element_index, s.element_coords)
+        return Quadmesh2D.cell_inverse_deformation_gradient(args.cell_arg, make_free_sample(cell_index, cell_coords))
+
+    @wp.func
+    def side_measure(args: SideArg, s: Sample):
+        edge_idx = args.edge_vertex_indices[s.element_index]
+        v0 = args.cell_arg.positions[edge_idx[0]]
+        v1 = args.cell_arg.positions[edge_idx[1]]
+        return wp.length(v1 - v0)
+
+    @wp.func
+    def side_measure_ratio(args: SideArg, s: Sample):
+        inner = Quadmesh2D.side_inner_cell_index(args, s.element_index)
+        outer = Quadmesh2D.side_outer_cell_index(args, s.element_index)
+        inner_coords = Quadmesh2D.side_inner_cell_coords(args, s.element_index, s.element_coords)
+        outer_coords = Quadmesh2D.side_outer_cell_coords(args, s.element_index, s.element_coords)
+        return Quadmesh2D.side_measure(args, s) / wp.min(
+            Quadmesh2D.cell_measure(args.cell_arg, make_free_sample(inner, inner_coords)),
+            Quadmesh2D.cell_measure(args.cell_arg, make_free_sample(outer, outer_coords)),
+        )
+
+    @wp.func
+    def side_normal(args: SideArg, s: Sample):
+        edge_idx = args.edge_vertex_indices[s.element_index]
+        v0 = args.cell_arg.positions[edge_idx[0]]
+        v1 = args.cell_arg.positions[edge_idx[1]]
+        e = v1 - v0
+
+        return wp.normalize(wp.vec2(-e[1], e[0]))
+
+    @wp.func
+    def side_inner_cell_index(arg: SideArg, side_index: ElementIndex):
+        return arg.edge_quad_indices[side_index][0]
+
+    @wp.func
+    def side_outer_cell_index(arg: SideArg, side_index: ElementIndex):
+        return arg.edge_quad_indices[side_index][1]
+
+    @wp.func
+    def edge_to_quad_coords(args: SideArg, side_index: ElementIndex, quad_index: ElementIndex, side_coords: Coords):
+        edge_vidx = args.edge_vertex_indices[side_index]
+        quad_vidx = args.cell_arg.quad_vertex_indices[quad_index]
+
+        vs = edge_vidx[0]
+        ve = edge_vidx[1]
+
+        s = side_coords[0]
+
+        if vs == quad_vidx[0]:
+            return wp.select(ve == quad_vidx[1], Coords(0.0, s, 0.0), Coords(s, 0.0, 0.0))
+        elif vs == quad_vidx[1]:
+            return wp.select(ve == quad_vidx[2], Coords(1.0 - s, 0.0, 0.0), Coords(1.0, s, 0.0))
+        elif vs == quad_vidx[2]:
+            return wp.select(ve == quad_vidx[3], Coords(1.0, 1.0 - s, 0.0), Coords(1.0 - s, 1.0, 0.0))
+
+        return wp.select(ve == quad_vidx[0], Coords(s, 1.0, 0.0), Coords(0.0, 1.0 - s, 0.0))
+
+    @wp.func
+    def side_inner_cell_coords(args: SideArg, side_index: ElementIndex, side_coords: Coords):
+        inner_cell_index = Quadmesh2D.side_inner_cell_index(args, side_index)
+        return Quadmesh2D.edge_to_quad_coords(args, side_index, inner_cell_index, side_coords)
+
+    @wp.func
+    def side_outer_cell_coords(args: SideArg, side_index: ElementIndex, side_coords: Coords):
+        outer_cell_index = Quadmesh2D.side_outer_cell_index(args, side_index)
+        return Quadmesh2D.edge_to_quad_coords(args, side_index, outer_cell_index, side_coords)
+
+    @wp.func
+    def side_from_cell_coords(
+        args: SideArg,
+        side_index: ElementIndex,
+        quad_index: ElementIndex,
+        quad_coords: Coords,
+    ):
+        edge_vidx = args.edge_vertex_indices[side_index]
+        quad_vidx = args.cell_arg.quad_vertex_indices[quad_index]
+
+        vs = edge_vidx[0]
+        ve = edge_vidx[1]
+
+        cx = quad_coords[0]
+        cy = quad_coords[1]
+
+        if vs == quad_vidx[0]:
+            oc = wp.select(ve == quad_vidx[1], cx, cy)
+            ec = wp.select(ve == quad_vidx[1], cy, cx)
+        elif vs == quad_vidx[1]:
+            oc = wp.select(ve == quad_vidx[2], cy, 1.0 - cx)
+            ec = wp.select(ve == quad_vidx[2], 1.0 - cx, cy)
+        elif vs == quad_vidx[2]:
+            oc = wp.select(ve == quad_vidx[3], 1.0 - cx, 1.0 - cy)
+            ec = wp.select(ve == quad_vidx[3], 1.0 - cy, 1.0 - cx)
+        else:
+            oc = wp.select(ve == quad_vidx[0], 1.0 - cy, cx)
+            ec = wp.select(ve == quad_vidx[0], cx, 1.0 - cy)
+        return wp.select(oc == 0.0, Coords(OUTSIDE), Coords(ec, 0.0, 0.0))
+
+    @wp.func
+    def side_to_cell_arg(side_arg: SideArg):
+        return side_arg.cell_arg
+
+    def _build_topology(self, temporary_store: TemporaryStore):
+        from warp.fem.utils import compress_node_indices, masked_indices
+        from warp.utils import array_scan
+
+        device = self.quad_vertex_indices.device
+
+        vertex_quad_offsets, vertex_quad_indices, _, __ = compress_node_indices(
+            self.vertex_count(), self.quad_vertex_indices, temporary_store=temporary_store
+        )
+        self._vertex_quad_offsets = vertex_quad_offsets.detach()
+        self._vertex_quad_indices = vertex_quad_indices.detach()
+
+        vertex_start_edge_count = borrow_temporary(temporary_store, dtype=int, device=device, shape=self.vertex_count())
+        vertex_start_edge_count.array.zero_()
+        vertex_start_edge_offsets = borrow_temporary_like(vertex_start_edge_count, temporary_store=temporary_store)
+
+        vertex_edge_ends = borrow_temporary(temporary_store, dtype=int, device=device, shape=(4 * self.cell_count()))
+        vertex_edge_quads = borrow_temporary(
+            temporary_store, dtype=int, device=device, shape=(4 * self.cell_count(), 2)
+        )
+
+        # Count face edges starting at each vertex
+        wp.launch(
+            kernel=Quadmesh2D._count_starting_edges_kernel,
+            device=device,
+            dim=self.cell_count(),
+            inputs=[self.quad_vertex_indices, vertex_start_edge_count.array],
+        )
+
+        array_scan(in_array=vertex_start_edge_count.array, out_array=vertex_start_edge_offsets.array, inclusive=False)
+
+        # Count number of unique edges (deduplicate across faces)
+        vertex_unique_edge_count = vertex_start_edge_count
+        wp.launch(
+            kernel=Quadmesh2D._count_unique_starting_edges_kernel,
+            device=device,
+            dim=self.vertex_count(),
+            inputs=[
+                self._vertex_quad_offsets,
+                self._vertex_quad_indices,
+                self.quad_vertex_indices,
+                vertex_start_edge_offsets.array,
+                vertex_unique_edge_count.array,
+                vertex_edge_ends.array,
+                vertex_edge_quads.array,
+            ],
+        )
+
+        vertex_unique_edge_offsets = borrow_temporary_like(vertex_start_edge_offsets, temporary_store=temporary_store)
+        array_scan(in_array=vertex_start_edge_count.array, out_array=vertex_unique_edge_offsets.array, inclusive=False)
+
+        # Get back edge count to host
+        if device.is_cuda:
+            edge_count = borrow_temporary(temporary_store, shape=(1,), dtype=int, device="cpu", pinned=True)
+            # Last vertex will not own any edge, so its count will be zero; just fetching last prefix count is ok
+            wp.copy(
+                dest=edge_count.array, src=vertex_unique_edge_offsets.array, src_offset=self.vertex_count() - 1, count=1
+            )
+            wp.synchronize_stream(wp.get_stream(device))
+            edge_count = int(edge_count.array.numpy()[0])
+        else:
+            edge_count = int(vertex_unique_edge_offsets.array.numpy()[self.vertex_count() - 1])
+
+        self._edge_vertex_indices = wp.empty(shape=(edge_count,), dtype=wp.vec2i, device=device)
+        self._edge_quad_indices = wp.empty(shape=(edge_count,), dtype=wp.vec2i, device=device)
+
+        boundary_mask = borrow_temporary(temporary_store=temporary_store, shape=(edge_count,), dtype=int, device=device)
+
+        # Compress edge data
+        wp.launch(
+            kernel=Quadmesh2D._compress_edges_kernel,
+            device=device,
+            dim=self.vertex_count(),
+            inputs=[
+                vertex_start_edge_offsets.array,
+                vertex_unique_edge_offsets.array,
+                vertex_unique_edge_count.array,
+                vertex_edge_ends.array,
+                vertex_edge_quads.array,
+                self._edge_vertex_indices,
+                self._edge_quad_indices,
+                boundary_mask.array,
+            ],
+        )
+
+        vertex_start_edge_offsets.release()
+        vertex_unique_edge_offsets.release()
+        vertex_unique_edge_count.release()
+        vertex_edge_ends.release()
+        vertex_edge_quads.release()
+
+        # Flip normals if necessary
+        wp.launch(
+            kernel=Quadmesh2D._flip_edge_normals,
+            device=device,
+            dim=self.side_count(),
+            inputs=[self._edge_vertex_indices, self._edge_quad_indices, self.quad_vertex_indices, self.positions],
+        )
+
+        boundary_edge_indices, _ = masked_indices(boundary_mask.array, temporary_store=temporary_store)
+        self._boundary_edge_indices = boundary_edge_indices.detach()
+
+        boundary_mask.release()
+
+    @wp.kernel
+    def _count_starting_edges_kernel(
+        quad_vertex_indices: wp.array2d(dtype=int), vertex_start_edge_count: wp.array(dtype=int)
+    ):
+        t = wp.tid()
+        for k in range(4):
+            v0 = quad_vertex_indices[t, k]
+            v1 = quad_vertex_indices[t, (k + 1) % 4]
+
+            if v0 < v1:
+                wp.atomic_add(vertex_start_edge_count, v0, 1)
+            else:
+                wp.atomic_add(vertex_start_edge_count, v1, 1)
+
+    @wp.func
+    def _find(
+        needle: int,
+        values: wp.array(dtype=int),
+        beg: int,
+        end: int,
+    ):
+        for i in range(beg, end):
+            if values[i] == needle:
+                return i
+
+        return -1
+
+    @wp.kernel
+    def _count_unique_starting_edges_kernel(
+        vertex_quad_offsets: wp.array(dtype=int),
+        vertex_quad_indices: wp.array(dtype=int),
+        quad_vertex_indices: wp.array2d(dtype=int),
+        vertex_start_edge_offsets: wp.array(dtype=int),
+        vertex_start_edge_count: wp.array(dtype=int),
+        edge_ends: wp.array(dtype=int),
+        edge_quads: wp.array2d(dtype=int),
+    ):
+        v = wp.tid()
+
+        edge_beg = vertex_start_edge_offsets[v]
+
+        quad_beg = vertex_quad_offsets[v]
+        quad_end = vertex_quad_offsets[v + 1]
+
+        edge_cur = edge_beg
+
+        for quad in range(quad_beg, quad_end):
+            q = vertex_quad_indices[quad]
+
+            for k in range(4):
+                v0 = quad_vertex_indices[q, k]
+                v1 = quad_vertex_indices[q, (k + 1) % 4]
+
+                if v == wp.min(v0, v1):
+                    other_v = wp.max(v0, v1)
+
+                    # Check if other_v has been seen
+                    seen_idx = Quadmesh2D._find(other_v, edge_ends, edge_beg, edge_cur)
+
+                    if seen_idx == -1:
+                        edge_ends[edge_cur] = other_v
+                        edge_quads[edge_cur, 0] = q
+                        edge_quads[edge_cur, 1] = q
+                        edge_cur += 1
+                    else:
+                        edge_quads[seen_idx, 1] = q
+
+        vertex_start_edge_count[v] = edge_cur - edge_beg
+
+    @wp.kernel
+    def _compress_edges_kernel(
+        vertex_start_edge_offsets: wp.array(dtype=int),
+        vertex_unique_edge_offsets: wp.array(dtype=int),
+        vertex_unique_edge_count: wp.array(dtype=int),
+        uncompressed_edge_ends: wp.array(dtype=int),
+        uncompressed_edge_quads: wp.array2d(dtype=int),
+        edge_vertex_indices: wp.array(dtype=wp.vec2i),
+        edge_quad_indices: wp.array(dtype=wp.vec2i),
+        boundary_mask: wp.array(dtype=int),
+    ):
+        v = wp.tid()
+
+        start_beg = vertex_start_edge_offsets[v]
+        unique_beg = vertex_unique_edge_offsets[v]
+        unique_count = vertex_unique_edge_count[v]
+
+        for e in range(unique_count):
+            src_index = start_beg + e
+            edge_index = unique_beg + e
+
+            edge_vertex_indices[edge_index] = wp.vec2i(v, uncompressed_edge_ends[src_index])
+
+            q0 = uncompressed_edge_quads[src_index, 0]
+            q1 = uncompressed_edge_quads[src_index, 1]
+            edge_quad_indices[edge_index] = wp.vec2i(q0, q1)
+            if q0 == q1:
+                boundary_mask[edge_index] = 1
+            else:
+                boundary_mask[edge_index] = 0
+
+    @wp.kernel
+    def _flip_edge_normals(
+        edge_vertex_indices: wp.array(dtype=wp.vec2i),
+        edge_quad_indices: wp.array(dtype=wp.vec2i),
+        quad_vertex_indices: wp.array2d(dtype=int),
+        positions: wp.array(dtype=wp.vec2),
+    ):
+        e = wp.tid()
+
+        tri = edge_quad_indices[e][0]
+
+        quad_vidx = quad_vertex_indices[tri]
+        edge_vidx = edge_vertex_indices[e]
+
+        quad_centroid = (
+            positions[quad_vidx[0]] + positions[quad_vidx[1]] + positions[quad_vidx[2]] + positions[quad_vidx[3]]
+        ) / 4.0
+
+        v0 = positions[edge_vidx[0]]
+        v1 = positions[edge_vidx[1]]
+
+        edge_center = 0.5 * (v1 + v0)
+        edge_vec = v1 - v0
+        edge_normal = wp.vec2(-edge_vec[1], edge_vec[0])
+
+        # if edge normal points toward first triangle centroid, flip indices
+        if wp.dot(quad_centroid - edge_center, edge_normal) > 0.0:
+            edge_vertex_indices[e] = wp.vec2i(edge_vidx[1], edge_vidx[0])