warp-lang 1.0.2__py3-none-macosx_10_13_universal2.whl → 1.1.0__py3-none-macosx_10_13_universal2.whl
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- warp/__init__.py +108 -97
- warp/__init__.pyi +1 -1
- warp/bin/libwarp-clang.dylib +0 -0
- warp/bin/libwarp.dylib +0 -0
- warp/build.py +115 -113
- warp/build_dll.py +383 -375
- warp/builtins.py +3425 -3354
- warp/codegen.py +2878 -2792
- warp/config.py +40 -36
- warp/constants.py +45 -45
- warp/context.py +5194 -5102
- warp/dlpack.py +442 -442
- warp/examples/__init__.py +16 -16
- warp/examples/assets/bear.usd +0 -0
- warp/examples/assets/bunny.usd +0 -0
- warp/examples/assets/cartpole.urdf +110 -110
- warp/examples/assets/crazyflie.usd +0 -0
- warp/examples/assets/cube.usd +0 -0
- warp/examples/assets/nv_ant.xml +92 -92
- warp/examples/assets/nv_humanoid.xml +183 -183
- warp/examples/assets/quadruped.urdf +267 -267
- warp/examples/assets/rocks.nvdb +0 -0
- warp/examples/assets/rocks.usd +0 -0
- warp/examples/assets/sphere.usd +0 -0
- warp/examples/benchmarks/benchmark_api.py +383 -383
- warp/examples/benchmarks/benchmark_cloth.py +278 -277
- warp/examples/benchmarks/benchmark_cloth_cupy.py +88 -88
- warp/examples/benchmarks/benchmark_cloth_jax.py +97 -100
- warp/examples/benchmarks/benchmark_cloth_numba.py +146 -142
- warp/examples/benchmarks/benchmark_cloth_numpy.py +77 -77
- warp/examples/benchmarks/benchmark_cloth_pytorch.py +86 -86
- warp/examples/benchmarks/benchmark_cloth_taichi.py +112 -112
- warp/examples/benchmarks/benchmark_cloth_warp.py +146 -146
- warp/examples/benchmarks/benchmark_launches.py +295 -295
- warp/examples/browse.py +29 -29
- warp/examples/core/example_dem.py +234 -219
- warp/examples/core/example_fluid.py +293 -267
- warp/examples/core/example_graph_capture.py +144 -126
- warp/examples/core/example_marching_cubes.py +188 -174
- warp/examples/core/example_mesh.py +174 -155
- warp/examples/core/example_mesh_intersect.py +205 -193
- warp/examples/core/example_nvdb.py +176 -170
- warp/examples/core/example_raycast.py +105 -90
- warp/examples/core/example_raymarch.py +199 -178
- warp/examples/core/example_render_opengl.py +185 -141
- warp/examples/core/example_sph.py +405 -387
- warp/examples/core/example_torch.py +222 -181
- warp/examples/core/example_wave.py +263 -248
- warp/examples/fem/bsr_utils.py +378 -380
- warp/examples/fem/example_apic_fluid.py +407 -389
- warp/examples/fem/example_convection_diffusion.py +182 -168
- warp/examples/fem/example_convection_diffusion_dg.py +219 -209
- warp/examples/fem/example_convection_diffusion_dg0.py +204 -194
- warp/examples/fem/example_deformed_geometry.py +177 -159
- warp/examples/fem/example_diffusion.py +201 -173
- warp/examples/fem/example_diffusion_3d.py +177 -152
- warp/examples/fem/example_diffusion_mgpu.py +221 -214
- warp/examples/fem/example_mixed_elasticity.py +244 -222
- warp/examples/fem/example_navier_stokes.py +259 -243
- warp/examples/fem/example_stokes.py +220 -192
- warp/examples/fem/example_stokes_transfer.py +265 -249
- warp/examples/fem/mesh_utils.py +133 -109
- warp/examples/fem/plot_utils.py +292 -287
- warp/examples/optim/example_bounce.py +260 -246
- warp/examples/optim/example_cloth_throw.py +222 -209
- warp/examples/optim/example_diffray.py +566 -536
- warp/examples/optim/example_drone.py +864 -835
- warp/examples/optim/example_inverse_kinematics.py +176 -168
- warp/examples/optim/example_inverse_kinematics_torch.py +185 -169
- warp/examples/optim/example_spring_cage.py +239 -231
- warp/examples/optim/example_trajectory.py +223 -199
- warp/examples/optim/example_walker.py +306 -293
- warp/examples/sim/example_cartpole.py +139 -129
- warp/examples/sim/example_cloth.py +196 -186
- warp/examples/sim/example_granular.py +124 -111
- warp/examples/sim/example_granular_collision_sdf.py +197 -186
- warp/examples/sim/example_jacobian_ik.py +236 -214
- warp/examples/sim/example_particle_chain.py +118 -105
- warp/examples/sim/example_quadruped.py +193 -180
- warp/examples/sim/example_rigid_chain.py +197 -187
- warp/examples/sim/example_rigid_contact.py +189 -177
- warp/examples/sim/example_rigid_force.py +127 -125
- warp/examples/sim/example_rigid_gyroscopic.py +109 -95
- warp/examples/sim/example_rigid_soft_contact.py +134 -122
- warp/examples/sim/example_soft_body.py +190 -177
- warp/fabric.py +337 -335
- warp/fem/__init__.py +60 -27
- warp/fem/cache.py +401 -388
- warp/fem/dirichlet.py +178 -179
- warp/fem/domain.py +262 -263
- warp/fem/field/__init__.py +100 -101
- warp/fem/field/field.py +148 -149
- warp/fem/field/nodal_field.py +298 -299
- warp/fem/field/restriction.py +22 -21
- warp/fem/field/test.py +180 -181
- warp/fem/field/trial.py +183 -183
- warp/fem/geometry/__init__.py +15 -19
- warp/fem/geometry/closest_point.py +69 -70
- warp/fem/geometry/deformed_geometry.py +270 -271
- warp/fem/geometry/element.py +744 -744
- warp/fem/geometry/geometry.py +184 -186
- warp/fem/geometry/grid_2d.py +380 -373
- warp/fem/geometry/grid_3d.py +441 -435
- warp/fem/geometry/hexmesh.py +953 -953
- warp/fem/geometry/partition.py +374 -376
- warp/fem/geometry/quadmesh_2d.py +532 -532
- warp/fem/geometry/tetmesh.py +840 -840
- warp/fem/geometry/trimesh_2d.py +577 -577
- warp/fem/integrate.py +1630 -1615
- warp/fem/operator.py +190 -191
- warp/fem/polynomial.py +214 -213
- warp/fem/quadrature/__init__.py +2 -2
- warp/fem/quadrature/pic_quadrature.py +243 -245
- warp/fem/quadrature/quadrature.py +295 -294
- warp/fem/space/__init__.py +294 -292
- warp/fem/space/basis_space.py +488 -489
- warp/fem/space/collocated_function_space.py +100 -105
- warp/fem/space/dof_mapper.py +236 -236
- warp/fem/space/function_space.py +148 -145
- warp/fem/space/grid_2d_function_space.py +267 -267
- warp/fem/space/grid_3d_function_space.py +305 -306
- warp/fem/space/hexmesh_function_space.py +350 -352
- warp/fem/space/partition.py +350 -350
- warp/fem/space/quadmesh_2d_function_space.py +368 -369
- warp/fem/space/restriction.py +158 -160
- warp/fem/space/shape/__init__.py +13 -15
- warp/fem/space/shape/cube_shape_function.py +738 -738
- warp/fem/space/shape/shape_function.py +102 -103
- warp/fem/space/shape/square_shape_function.py +611 -611
- warp/fem/space/shape/tet_shape_function.py +565 -567
- warp/fem/space/shape/triangle_shape_function.py +429 -429
- warp/fem/space/tetmesh_function_space.py +294 -292
- warp/fem/space/topology.py +297 -295
- warp/fem/space/trimesh_2d_function_space.py +223 -221
- warp/fem/types.py +77 -77
- warp/fem/utils.py +495 -495
- warp/jax.py +166 -141
- warp/jax_experimental.py +341 -339
- warp/native/array.h +1072 -1025
- warp/native/builtin.h +1560 -1560
- warp/native/bvh.cpp +398 -398
- warp/native/bvh.cu +525 -525
- warp/native/bvh.h +429 -429
- warp/native/clang/clang.cpp +495 -464
- warp/native/crt.cpp +31 -31
- warp/native/crt.h +334 -334
- warp/native/cuda_crt.h +1049 -1049
- warp/native/cuda_util.cpp +549 -540
- warp/native/cuda_util.h +288 -203
- warp/native/cutlass_gemm.cpp +34 -34
- warp/native/cutlass_gemm.cu +372 -372
- warp/native/error.cpp +66 -66
- warp/native/error.h +27 -27
- warp/native/fabric.h +228 -228
- warp/native/hashgrid.cpp +301 -278
- warp/native/hashgrid.cu +78 -77
- warp/native/hashgrid.h +227 -227
- warp/native/initializer_array.h +32 -32
- warp/native/intersect.h +1204 -1204
- warp/native/intersect_adj.h +365 -365
- warp/native/intersect_tri.h +322 -322
- warp/native/marching.cpp +2 -2
- warp/native/marching.cu +497 -497
- warp/native/marching.h +2 -2
- warp/native/mat.h +1498 -1498
- warp/native/matnn.h +333 -333
- warp/native/mesh.cpp +203 -203
- warp/native/mesh.cu +293 -293
- warp/native/mesh.h +1887 -1887
- warp/native/nanovdb/NanoVDB.h +4782 -4782
- warp/native/nanovdb/PNanoVDB.h +2553 -2553
- warp/native/nanovdb/PNanoVDBWrite.h +294 -294
- warp/native/noise.h +850 -850
- warp/native/quat.h +1084 -1084
- warp/native/rand.h +299 -299
- warp/native/range.h +108 -108
- warp/native/reduce.cpp +156 -156
- warp/native/reduce.cu +348 -348
- warp/native/runlength_encode.cpp +61 -61
- warp/native/runlength_encode.cu +46 -46
- warp/native/scan.cpp +30 -30
- warp/native/scan.cu +36 -36
- warp/native/scan.h +7 -7
- warp/native/solid_angle.h +442 -442
- warp/native/sort.cpp +94 -94
- warp/native/sort.cu +97 -97
- warp/native/sort.h +14 -14
- warp/native/sparse.cpp +337 -337
- warp/native/sparse.cu +544 -544
- warp/native/spatial.h +630 -630
- warp/native/svd.h +562 -562
- warp/native/temp_buffer.h +30 -30
- warp/native/vec.h +1132 -1132
- warp/native/volume.cpp +297 -297
- warp/native/volume.cu +32 -32
- warp/native/volume.h +538 -538
- warp/native/volume_builder.cu +425 -425
- warp/native/volume_builder.h +19 -19
- warp/native/warp.cpp +1057 -1052
- warp/native/warp.cu +2943 -2828
- warp/native/warp.h +313 -305
- warp/optim/__init__.py +9 -9
- warp/optim/adam.py +120 -120
- warp/optim/linear.py +1104 -939
- warp/optim/sgd.py +104 -92
- warp/render/__init__.py +10 -10
- warp/render/render_opengl.py +3217 -3204
- warp/render/render_usd.py +768 -749
- warp/render/utils.py +152 -150
- warp/sim/__init__.py +52 -59
- warp/sim/articulation.py +685 -685
- warp/sim/collide.py +1594 -1590
- warp/sim/import_mjcf.py +489 -481
- warp/sim/import_snu.py +220 -221
- warp/sim/import_urdf.py +536 -516
- warp/sim/import_usd.py +887 -881
- warp/sim/inertia.py +316 -317
- warp/sim/integrator.py +234 -233
- warp/sim/integrator_euler.py +1956 -1956
- warp/sim/integrator_featherstone.py +1910 -1991
- warp/sim/integrator_xpbd.py +3294 -3312
- warp/sim/model.py +4473 -4314
- warp/sim/particles.py +113 -112
- warp/sim/render.py +417 -403
- warp/sim/utils.py +413 -410
- warp/sparse.py +1227 -1227
- warp/stubs.py +2109 -2469
- warp/tape.py +1162 -225
- warp/tests/__init__.py +1 -1
- warp/tests/__main__.py +4 -4
- warp/tests/assets/torus.usda +105 -105
- warp/tests/aux_test_class_kernel.py +26 -26
- warp/tests/aux_test_compile_consts_dummy.py +10 -10
- warp/tests/aux_test_conditional_unequal_types_kernels.py +21 -21
- warp/tests/aux_test_dependent.py +22 -22
- warp/tests/aux_test_grad_customs.py +23 -23
- warp/tests/aux_test_reference.py +11 -11
- warp/tests/aux_test_reference_reference.py +10 -10
- warp/tests/aux_test_square.py +17 -17
- warp/tests/aux_test_unresolved_func.py +14 -14
- warp/tests/aux_test_unresolved_symbol.py +14 -14
- warp/tests/disabled_kinematics.py +239 -239
- warp/tests/run_coverage_serial.py +31 -31
- warp/tests/test_adam.py +157 -157
- warp/tests/test_arithmetic.py +1124 -1124
- warp/tests/test_array.py +2417 -2326
- warp/tests/test_array_reduce.py +150 -150
- warp/tests/test_async.py +668 -656
- warp/tests/test_atomic.py +141 -141
- warp/tests/test_bool.py +204 -149
- warp/tests/test_builtins_resolution.py +1292 -1292
- warp/tests/test_bvh.py +164 -171
- warp/tests/test_closest_point_edge_edge.py +228 -228
- warp/tests/test_codegen.py +566 -553
- warp/tests/test_compile_consts.py +97 -101
- warp/tests/test_conditional.py +246 -246
- warp/tests/test_copy.py +232 -215
- warp/tests/test_ctypes.py +632 -632
- warp/tests/test_dense.py +67 -67
- warp/tests/test_devices.py +91 -98
- warp/tests/test_dlpack.py +530 -529
- warp/tests/test_examples.py +400 -378
- warp/tests/test_fabricarray.py +955 -955
- warp/tests/test_fast_math.py +62 -54
- warp/tests/test_fem.py +1277 -1278
- warp/tests/test_fp16.py +130 -130
- warp/tests/test_func.py +338 -337
- warp/tests/test_generics.py +571 -571
- warp/tests/test_grad.py +746 -640
- warp/tests/test_grad_customs.py +333 -336
- warp/tests/test_hash_grid.py +210 -164
- warp/tests/test_import.py +39 -39
- warp/tests/test_indexedarray.py +1134 -1134
- warp/tests/test_intersect.py +67 -67
- warp/tests/test_jax.py +307 -307
- warp/tests/test_large.py +167 -164
- warp/tests/test_launch.py +354 -354
- warp/tests/test_lerp.py +261 -261
- warp/tests/test_linear_solvers.py +191 -171
- warp/tests/test_lvalue.py +421 -493
- warp/tests/test_marching_cubes.py +65 -65
- warp/tests/test_mat.py +1801 -1827
- warp/tests/test_mat_lite.py +115 -115
- warp/tests/test_mat_scalar_ops.py +2907 -2889
- warp/tests/test_math.py +126 -193
- warp/tests/test_matmul.py +500 -499
- warp/tests/test_matmul_lite.py +410 -410
- warp/tests/test_mempool.py +188 -190
- warp/tests/test_mesh.py +284 -324
- warp/tests/test_mesh_query_aabb.py +228 -241
- warp/tests/test_mesh_query_point.py +692 -702
- warp/tests/test_mesh_query_ray.py +292 -303
- warp/tests/test_mlp.py +276 -276
- warp/tests/test_model.py +110 -110
- warp/tests/test_modules_lite.py +39 -39
- warp/tests/test_multigpu.py +163 -163
- warp/tests/test_noise.py +248 -248
- warp/tests/test_operators.py +250 -250
- warp/tests/test_options.py +123 -125
- warp/tests/test_peer.py +133 -137
- warp/tests/test_pinned.py +78 -78
- warp/tests/test_print.py +54 -54
- warp/tests/test_quat.py +2086 -2086
- warp/tests/test_rand.py +288 -288
- warp/tests/test_reload.py +217 -217
- warp/tests/test_rounding.py +179 -179
- warp/tests/test_runlength_encode.py +190 -190
- warp/tests/test_sim_grad.py +243 -0
- warp/tests/test_sim_kinematics.py +91 -97
- warp/tests/test_smoothstep.py +168 -168
- warp/tests/test_snippet.py +305 -266
- warp/tests/test_sparse.py +468 -460
- warp/tests/test_spatial.py +2148 -2148
- warp/tests/test_streams.py +486 -473
- warp/tests/test_struct.py +710 -675
- warp/tests/test_tape.py +173 -148
- warp/tests/test_torch.py +743 -743
- warp/tests/test_transient_module.py +87 -87
- warp/tests/test_types.py +556 -659
- warp/tests/test_utils.py +490 -499
- warp/tests/test_vec.py +1264 -1268
- warp/tests/test_vec_lite.py +73 -73
- warp/tests/test_vec_scalar_ops.py +2099 -2099
- warp/tests/test_verify_fp.py +94 -94
- warp/tests/test_volume.py +737 -736
- warp/tests/test_volume_write.py +255 -265
- warp/tests/unittest_serial.py +37 -37
- warp/tests/unittest_suites.py +363 -359
- warp/tests/unittest_utils.py +603 -578
- warp/tests/unused_test_misc.py +71 -71
- warp/tests/walkthrough_debug.py +85 -85
- warp/thirdparty/appdirs.py +598 -598
- warp/thirdparty/dlpack.py +143 -143
- warp/thirdparty/unittest_parallel.py +566 -561
- warp/torch.py +321 -295
- warp/types.py +4504 -4450
- warp/utils.py +1008 -821
- {warp_lang-1.0.2.dist-info → warp_lang-1.1.0.dist-info}/LICENSE.md +126 -126
- {warp_lang-1.0.2.dist-info → warp_lang-1.1.0.dist-info}/METADATA +338 -400
- warp_lang-1.1.0.dist-info/RECORD +352 -0
- warp/examples/assets/cube.usda +0 -42
- warp/examples/assets/sphere.usda +0 -56
- warp/examples/assets/torus.usda +0 -105
- warp_lang-1.0.2.dist-info/RECORD +0 -352
- {warp_lang-1.0.2.dist-info → warp_lang-1.1.0.dist-info}/WHEEL +0 -0
- {warp_lang-1.0.2.dist-info → warp_lang-1.1.0.dist-info}/top_level.txt +0 -0
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class ShapeFunction:
|
|
8
|
+
"""Interface class for defining scalar-valued shape functions over a single element"""
|
|
9
|
+
|
|
10
|
+
ORDER: int
|
|
11
|
+
"""Maximum degree of the polynomials used to define the shape function"""
|
|
12
|
+
|
|
13
|
+
NODES_PER_ELEMENT: int
|
|
14
|
+
"""Number of shape function nodes"""
|
|
15
|
+
|
|
16
|
+
@property
|
|
17
|
+
def name(self) -> str:
|
|
18
|
+
"""Unique name encoding all parameters defining the shape function"""
|
|
19
|
+
raise NotImplementedError()
|
|
20
|
+
|
|
21
|
+
def make_node_coords_in_element(self):
|
|
22
|
+
"""Creates a device function returning the coordinates of each node"""
|
|
23
|
+
raise NotImplementedError()
|
|
24
|
+
|
|
25
|
+
def make_node_quadrature_weight(self):
|
|
26
|
+
"""Creates a device function returning the weight of each node when use as a quadrature point over the element"""
|
|
27
|
+
raise NotImplementedError()
|
|
28
|
+
|
|
29
|
+
def make_trace_node_quadrature_weight(self):
|
|
30
|
+
"""Creates a device function returning the weight of each node when use as a quadrature point over the element boundary"""
|
|
31
|
+
raise NotImplementedError()
|
|
32
|
+
|
|
33
|
+
def make_element_inner_weight(self):
|
|
34
|
+
"""Creates a device function returning the value of the shape function associated to a given node at given coordinates"""
|
|
35
|
+
raise NotImplementedError()
|
|
36
|
+
|
|
37
|
+
def make_element_inner_weight_gradient(self):
|
|
38
|
+
"""Creates a device function returning the gradient of the shape function associated to a given node at given coordinates"""
|
|
39
|
+
raise NotImplementedError()
|
|
40
|
+
|
|
41
|
+
|
|
42
|
+
class ConstantShapeFunction:
|
|
43
|
+
"""Shape function that is constant over the element"""
|
|
44
|
+
|
|
45
|
+
def __init__(self, element: Element, space_dimension: int):
|
|
46
|
+
self._element = element
|
|
47
|
+
self._dimension = space_dimension
|
|
48
|
+
|
|
49
|
+
self.ORDER = wp.constant(0)
|
|
50
|
+
self.NODES_PER_ELEMENT = wp.constant(1)
|
|
51
|
+
|
|
52
|
+
coords, _ = element.instantiate_quadrature(order=0, family=None)
|
|
53
|
+
self.COORDS = wp.constant(coords[0])
|
|
54
|
+
|
|
55
|
+
@property
|
|
56
|
+
def name(self) -> str:
|
|
57
|
+
return f"{self._element.__class__.__name__}{self._dimension}"
|
|
58
|
+
|
|
59
|
+
def make_node_coords_in_element(self):
|
|
60
|
+
COORDS = self.COORDS
|
|
61
|
+
|
|
62
|
+
@cache.dynamic_func(suffix=self.name)
|
|
63
|
+
def node_coords_in_element(
|
|
64
|
+
node_index_in_elt: int,
|
|
65
|
+
):
|
|
66
|
+
return COORDS
|
|
67
|
+
|
|
68
|
+
return node_coords_in_element
|
|
69
|
+
|
|
70
|
+
@wp.func
|
|
71
|
+
def _node_quadrature_weight(
|
|
72
|
+
node_index_in_elt: int,
|
|
73
|
+
):
|
|
74
|
+
return 1.0
|
|
75
|
+
|
|
76
|
+
def make_node_quadrature_weight(self):
|
|
77
|
+
return ConstantShapeFunction._node_quadrature_weight
|
|
78
|
+
|
|
79
|
+
def make_trace_node_quadrature_weight(self):
|
|
80
|
+
return ConstantShapeFunction._node_quadrature_weight
|
|
81
|
+
|
|
82
|
+
@wp.func
|
|
83
|
+
def _element_inner_weight(
|
|
84
|
+
coords: Coords,
|
|
85
|
+
node_index_in_elt: int,
|
|
86
|
+
):
|
|
87
|
+
return 1.0
|
|
88
|
+
|
|
89
|
+
def make_element_inner_weight(self):
|
|
90
|
+
return ConstantShapeFunction._element_inner_weight
|
|
91
|
+
|
|
92
|
+
def make_element_inner_weight_gradient(self):
|
|
93
|
+
grad_type = wp.vec(length=self._dimension, dtype=float)
|
|
94
|
+
|
|
95
|
+
@cache.dynamic_func(suffix=self.name)
|
|
96
|
+
def element_inner_weight_gradient(
|
|
97
|
+
coords: Coords,
|
|
98
|
+
node_index_in_elt: int,
|
|
99
|
+
):
|
|
100
|
+
return grad_type(0.0)
|
|
101
|
+
|
|
102
|
+
return element_inner_weight_gradient
|