warp-lang 1.0.2__py3-none-manylinux2014_x86_64.whl → 1.1.0__py3-none-manylinux2014_x86_64.whl

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Files changed (346) hide show
  1. warp/__init__.py +108 -97
  2. warp/__init__.pyi +1 -1
  3. warp/bin/warp-clang.so +0 -0
  4. warp/bin/warp.so +0 -0
  5. warp/build.py +115 -113
  6. warp/build_dll.py +383 -375
  7. warp/builtins.py +3425 -3354
  8. warp/codegen.py +2878 -2792
  9. warp/config.py +40 -36
  10. warp/constants.py +45 -45
  11. warp/context.py +5194 -5102
  12. warp/dlpack.py +442 -442
  13. warp/examples/__init__.py +16 -16
  14. warp/examples/assets/bear.usd +0 -0
  15. warp/examples/assets/bunny.usd +0 -0
  16. warp/examples/assets/cartpole.urdf +110 -110
  17. warp/examples/assets/crazyflie.usd +0 -0
  18. warp/examples/assets/cube.usd +0 -0
  19. warp/examples/assets/nv_ant.xml +92 -92
  20. warp/examples/assets/nv_humanoid.xml +183 -183
  21. warp/examples/assets/quadruped.urdf +267 -267
  22. warp/examples/assets/rocks.nvdb +0 -0
  23. warp/examples/assets/rocks.usd +0 -0
  24. warp/examples/assets/sphere.usd +0 -0
  25. warp/examples/benchmarks/benchmark_api.py +383 -383
  26. warp/examples/benchmarks/benchmark_cloth.py +278 -277
  27. warp/examples/benchmarks/benchmark_cloth_cupy.py +88 -88
  28. warp/examples/benchmarks/benchmark_cloth_jax.py +97 -100
  29. warp/examples/benchmarks/benchmark_cloth_numba.py +146 -142
  30. warp/examples/benchmarks/benchmark_cloth_numpy.py +77 -77
  31. warp/examples/benchmarks/benchmark_cloth_pytorch.py +86 -86
  32. warp/examples/benchmarks/benchmark_cloth_taichi.py +112 -112
  33. warp/examples/benchmarks/benchmark_cloth_warp.py +146 -146
  34. warp/examples/benchmarks/benchmark_launches.py +295 -295
  35. warp/examples/browse.py +29 -29
  36. warp/examples/core/example_dem.py +234 -219
  37. warp/examples/core/example_fluid.py +293 -267
  38. warp/examples/core/example_graph_capture.py +144 -126
  39. warp/examples/core/example_marching_cubes.py +188 -174
  40. warp/examples/core/example_mesh.py +174 -155
  41. warp/examples/core/example_mesh_intersect.py +205 -193
  42. warp/examples/core/example_nvdb.py +176 -170
  43. warp/examples/core/example_raycast.py +105 -90
  44. warp/examples/core/example_raymarch.py +199 -178
  45. warp/examples/core/example_render_opengl.py +185 -141
  46. warp/examples/core/example_sph.py +405 -387
  47. warp/examples/core/example_torch.py +222 -181
  48. warp/examples/core/example_wave.py +263 -248
  49. warp/examples/fem/bsr_utils.py +378 -380
  50. warp/examples/fem/example_apic_fluid.py +407 -389
  51. warp/examples/fem/example_convection_diffusion.py +182 -168
  52. warp/examples/fem/example_convection_diffusion_dg.py +219 -209
  53. warp/examples/fem/example_convection_diffusion_dg0.py +204 -194
  54. warp/examples/fem/example_deformed_geometry.py +177 -159
  55. warp/examples/fem/example_diffusion.py +201 -173
  56. warp/examples/fem/example_diffusion_3d.py +177 -152
  57. warp/examples/fem/example_diffusion_mgpu.py +221 -214
  58. warp/examples/fem/example_mixed_elasticity.py +244 -222
  59. warp/examples/fem/example_navier_stokes.py +259 -243
  60. warp/examples/fem/example_stokes.py +220 -192
  61. warp/examples/fem/example_stokes_transfer.py +265 -249
  62. warp/examples/fem/mesh_utils.py +133 -109
  63. warp/examples/fem/plot_utils.py +292 -287
  64. warp/examples/optim/example_bounce.py +260 -246
  65. warp/examples/optim/example_cloth_throw.py +222 -209
  66. warp/examples/optim/example_diffray.py +566 -536
  67. warp/examples/optim/example_drone.py +864 -835
  68. warp/examples/optim/example_inverse_kinematics.py +176 -168
  69. warp/examples/optim/example_inverse_kinematics_torch.py +185 -169
  70. warp/examples/optim/example_spring_cage.py +239 -231
  71. warp/examples/optim/example_trajectory.py +223 -199
  72. warp/examples/optim/example_walker.py +306 -293
  73. warp/examples/sim/example_cartpole.py +139 -129
  74. warp/examples/sim/example_cloth.py +196 -186
  75. warp/examples/sim/example_granular.py +124 -111
  76. warp/examples/sim/example_granular_collision_sdf.py +197 -186
  77. warp/examples/sim/example_jacobian_ik.py +236 -214
  78. warp/examples/sim/example_particle_chain.py +118 -105
  79. warp/examples/sim/example_quadruped.py +193 -180
  80. warp/examples/sim/example_rigid_chain.py +197 -187
  81. warp/examples/sim/example_rigid_contact.py +189 -177
  82. warp/examples/sim/example_rigid_force.py +127 -125
  83. warp/examples/sim/example_rigid_gyroscopic.py +109 -95
  84. warp/examples/sim/example_rigid_soft_contact.py +134 -122
  85. warp/examples/sim/example_soft_body.py +190 -177
  86. warp/fabric.py +337 -335
  87. warp/fem/__init__.py +60 -27
  88. warp/fem/cache.py +401 -388
  89. warp/fem/dirichlet.py +178 -179
  90. warp/fem/domain.py +262 -263
  91. warp/fem/field/__init__.py +100 -101
  92. warp/fem/field/field.py +148 -149
  93. warp/fem/field/nodal_field.py +298 -299
  94. warp/fem/field/restriction.py +22 -21
  95. warp/fem/field/test.py +180 -181
  96. warp/fem/field/trial.py +183 -183
  97. warp/fem/geometry/__init__.py +15 -19
  98. warp/fem/geometry/closest_point.py +69 -70
  99. warp/fem/geometry/deformed_geometry.py +270 -271
  100. warp/fem/geometry/element.py +744 -744
  101. warp/fem/geometry/geometry.py +184 -186
  102. warp/fem/geometry/grid_2d.py +380 -373
  103. warp/fem/geometry/grid_3d.py +441 -435
  104. warp/fem/geometry/hexmesh.py +953 -953
  105. warp/fem/geometry/partition.py +374 -376
  106. warp/fem/geometry/quadmesh_2d.py +532 -532
  107. warp/fem/geometry/tetmesh.py +840 -840
  108. warp/fem/geometry/trimesh_2d.py +577 -577
  109. warp/fem/integrate.py +1630 -1615
  110. warp/fem/operator.py +190 -191
  111. warp/fem/polynomial.py +214 -213
  112. warp/fem/quadrature/__init__.py +2 -2
  113. warp/fem/quadrature/pic_quadrature.py +243 -245
  114. warp/fem/quadrature/quadrature.py +295 -294
  115. warp/fem/space/__init__.py +294 -292
  116. warp/fem/space/basis_space.py +488 -489
  117. warp/fem/space/collocated_function_space.py +100 -105
  118. warp/fem/space/dof_mapper.py +236 -236
  119. warp/fem/space/function_space.py +148 -145
  120. warp/fem/space/grid_2d_function_space.py +267 -267
  121. warp/fem/space/grid_3d_function_space.py +305 -306
  122. warp/fem/space/hexmesh_function_space.py +350 -352
  123. warp/fem/space/partition.py +350 -350
  124. warp/fem/space/quadmesh_2d_function_space.py +368 -369
  125. warp/fem/space/restriction.py +158 -160
  126. warp/fem/space/shape/__init__.py +13 -15
  127. warp/fem/space/shape/cube_shape_function.py +738 -738
  128. warp/fem/space/shape/shape_function.py +102 -103
  129. warp/fem/space/shape/square_shape_function.py +611 -611
  130. warp/fem/space/shape/tet_shape_function.py +565 -567
  131. warp/fem/space/shape/triangle_shape_function.py +429 -429
  132. warp/fem/space/tetmesh_function_space.py +294 -292
  133. warp/fem/space/topology.py +297 -295
  134. warp/fem/space/trimesh_2d_function_space.py +223 -221
  135. warp/fem/types.py +77 -77
  136. warp/fem/utils.py +495 -495
  137. warp/jax.py +166 -141
  138. warp/jax_experimental.py +341 -339
  139. warp/native/array.h +1072 -1025
  140. warp/native/builtin.h +1560 -1560
  141. warp/native/bvh.cpp +398 -398
  142. warp/native/bvh.cu +525 -525
  143. warp/native/bvh.h +429 -429
  144. warp/native/clang/clang.cpp +495 -464
  145. warp/native/crt.cpp +31 -31
  146. warp/native/crt.h +334 -334
  147. warp/native/cuda_crt.h +1049 -1049
  148. warp/native/cuda_util.cpp +549 -540
  149. warp/native/cuda_util.h +288 -203
  150. warp/native/cutlass_gemm.cpp +34 -34
  151. warp/native/cutlass_gemm.cu +372 -372
  152. warp/native/error.cpp +66 -66
  153. warp/native/error.h +27 -27
  154. warp/native/fabric.h +228 -228
  155. warp/native/hashgrid.cpp +301 -278
  156. warp/native/hashgrid.cu +78 -77
  157. warp/native/hashgrid.h +227 -227
  158. warp/native/initializer_array.h +32 -32
  159. warp/native/intersect.h +1204 -1204
  160. warp/native/intersect_adj.h +365 -365
  161. warp/native/intersect_tri.h +322 -322
  162. warp/native/marching.cpp +2 -2
  163. warp/native/marching.cu +497 -497
  164. warp/native/marching.h +2 -2
  165. warp/native/mat.h +1498 -1498
  166. warp/native/matnn.h +333 -333
  167. warp/native/mesh.cpp +203 -203
  168. warp/native/mesh.cu +293 -293
  169. warp/native/mesh.h +1887 -1887
  170. warp/native/nanovdb/NanoVDB.h +4782 -4782
  171. warp/native/nanovdb/PNanoVDB.h +2553 -2553
  172. warp/native/nanovdb/PNanoVDBWrite.h +294 -294
  173. warp/native/noise.h +850 -850
  174. warp/native/quat.h +1084 -1084
  175. warp/native/rand.h +299 -299
  176. warp/native/range.h +108 -108
  177. warp/native/reduce.cpp +156 -156
  178. warp/native/reduce.cu +348 -348
  179. warp/native/runlength_encode.cpp +61 -61
  180. warp/native/runlength_encode.cu +46 -46
  181. warp/native/scan.cpp +30 -30
  182. warp/native/scan.cu +36 -36
  183. warp/native/scan.h +7 -7
  184. warp/native/solid_angle.h +442 -442
  185. warp/native/sort.cpp +94 -94
  186. warp/native/sort.cu +97 -97
  187. warp/native/sort.h +14 -14
  188. warp/native/sparse.cpp +337 -337
  189. warp/native/sparse.cu +544 -544
  190. warp/native/spatial.h +630 -630
  191. warp/native/svd.h +562 -562
  192. warp/native/temp_buffer.h +30 -30
  193. warp/native/vec.h +1132 -1132
  194. warp/native/volume.cpp +297 -297
  195. warp/native/volume.cu +32 -32
  196. warp/native/volume.h +538 -538
  197. warp/native/volume_builder.cu +425 -425
  198. warp/native/volume_builder.h +19 -19
  199. warp/native/warp.cpp +1057 -1052
  200. warp/native/warp.cu +2943 -2828
  201. warp/native/warp.h +313 -305
  202. warp/optim/__init__.py +9 -9
  203. warp/optim/adam.py +120 -120
  204. warp/optim/linear.py +1104 -939
  205. warp/optim/sgd.py +104 -92
  206. warp/render/__init__.py +10 -10
  207. warp/render/render_opengl.py +3217 -3204
  208. warp/render/render_usd.py +768 -749
  209. warp/render/utils.py +152 -150
  210. warp/sim/__init__.py +52 -59
  211. warp/sim/articulation.py +685 -685
  212. warp/sim/collide.py +1594 -1590
  213. warp/sim/import_mjcf.py +489 -481
  214. warp/sim/import_snu.py +220 -221
  215. warp/sim/import_urdf.py +536 -516
  216. warp/sim/import_usd.py +887 -881
  217. warp/sim/inertia.py +316 -317
  218. warp/sim/integrator.py +234 -233
  219. warp/sim/integrator_euler.py +1956 -1956
  220. warp/sim/integrator_featherstone.py +1910 -1991
  221. warp/sim/integrator_xpbd.py +3294 -3312
  222. warp/sim/model.py +4473 -4314
  223. warp/sim/particles.py +113 -112
  224. warp/sim/render.py +417 -403
  225. warp/sim/utils.py +413 -410
  226. warp/sparse.py +1227 -1227
  227. warp/stubs.py +2109 -2469
  228. warp/tape.py +1162 -225
  229. warp/tests/__init__.py +1 -1
  230. warp/tests/__main__.py +4 -4
  231. warp/tests/assets/torus.usda +105 -105
  232. warp/tests/aux_test_class_kernel.py +26 -26
  233. warp/tests/aux_test_compile_consts_dummy.py +10 -10
  234. warp/tests/aux_test_conditional_unequal_types_kernels.py +21 -21
  235. warp/tests/aux_test_dependent.py +22 -22
  236. warp/tests/aux_test_grad_customs.py +23 -23
  237. warp/tests/aux_test_reference.py +11 -11
  238. warp/tests/aux_test_reference_reference.py +10 -10
  239. warp/tests/aux_test_square.py +17 -17
  240. warp/tests/aux_test_unresolved_func.py +14 -14
  241. warp/tests/aux_test_unresolved_symbol.py +14 -14
  242. warp/tests/disabled_kinematics.py +239 -239
  243. warp/tests/run_coverage_serial.py +31 -31
  244. warp/tests/test_adam.py +157 -157
  245. warp/tests/test_arithmetic.py +1124 -1124
  246. warp/tests/test_array.py +2417 -2326
  247. warp/tests/test_array_reduce.py +150 -150
  248. warp/tests/test_async.py +668 -656
  249. warp/tests/test_atomic.py +141 -141
  250. warp/tests/test_bool.py +204 -149
  251. warp/tests/test_builtins_resolution.py +1292 -1292
  252. warp/tests/test_bvh.py +164 -171
  253. warp/tests/test_closest_point_edge_edge.py +228 -228
  254. warp/tests/test_codegen.py +566 -553
  255. warp/tests/test_compile_consts.py +97 -101
  256. warp/tests/test_conditional.py +246 -246
  257. warp/tests/test_copy.py +232 -215
  258. warp/tests/test_ctypes.py +632 -632
  259. warp/tests/test_dense.py +67 -67
  260. warp/tests/test_devices.py +91 -98
  261. warp/tests/test_dlpack.py +530 -529
  262. warp/tests/test_examples.py +400 -378
  263. warp/tests/test_fabricarray.py +955 -955
  264. warp/tests/test_fast_math.py +62 -54
  265. warp/tests/test_fem.py +1277 -1278
  266. warp/tests/test_fp16.py +130 -130
  267. warp/tests/test_func.py +338 -337
  268. warp/tests/test_generics.py +571 -571
  269. warp/tests/test_grad.py +746 -640
  270. warp/tests/test_grad_customs.py +333 -336
  271. warp/tests/test_hash_grid.py +210 -164
  272. warp/tests/test_import.py +39 -39
  273. warp/tests/test_indexedarray.py +1134 -1134
  274. warp/tests/test_intersect.py +67 -67
  275. warp/tests/test_jax.py +307 -307
  276. warp/tests/test_large.py +167 -164
  277. warp/tests/test_launch.py +354 -354
  278. warp/tests/test_lerp.py +261 -261
  279. warp/tests/test_linear_solvers.py +191 -171
  280. warp/tests/test_lvalue.py +421 -493
  281. warp/tests/test_marching_cubes.py +65 -65
  282. warp/tests/test_mat.py +1801 -1827
  283. warp/tests/test_mat_lite.py +115 -115
  284. warp/tests/test_mat_scalar_ops.py +2907 -2889
  285. warp/tests/test_math.py +126 -193
  286. warp/tests/test_matmul.py +500 -499
  287. warp/tests/test_matmul_lite.py +410 -410
  288. warp/tests/test_mempool.py +188 -190
  289. warp/tests/test_mesh.py +284 -324
  290. warp/tests/test_mesh_query_aabb.py +228 -241
  291. warp/tests/test_mesh_query_point.py +692 -702
  292. warp/tests/test_mesh_query_ray.py +292 -303
  293. warp/tests/test_mlp.py +276 -276
  294. warp/tests/test_model.py +110 -110
  295. warp/tests/test_modules_lite.py +39 -39
  296. warp/tests/test_multigpu.py +163 -163
  297. warp/tests/test_noise.py +248 -248
  298. warp/tests/test_operators.py +250 -250
  299. warp/tests/test_options.py +123 -125
  300. warp/tests/test_peer.py +133 -137
  301. warp/tests/test_pinned.py +78 -78
  302. warp/tests/test_print.py +54 -54
  303. warp/tests/test_quat.py +2086 -2086
  304. warp/tests/test_rand.py +288 -288
  305. warp/tests/test_reload.py +217 -217
  306. warp/tests/test_rounding.py +179 -179
  307. warp/tests/test_runlength_encode.py +190 -190
  308. warp/tests/test_sim_grad.py +243 -0
  309. warp/tests/test_sim_kinematics.py +91 -97
  310. warp/tests/test_smoothstep.py +168 -168
  311. warp/tests/test_snippet.py +305 -266
  312. warp/tests/test_sparse.py +468 -460
  313. warp/tests/test_spatial.py +2148 -2148
  314. warp/tests/test_streams.py +486 -473
  315. warp/tests/test_struct.py +710 -675
  316. warp/tests/test_tape.py +173 -148
  317. warp/tests/test_torch.py +743 -743
  318. warp/tests/test_transient_module.py +87 -87
  319. warp/tests/test_types.py +556 -659
  320. warp/tests/test_utils.py +490 -499
  321. warp/tests/test_vec.py +1264 -1268
  322. warp/tests/test_vec_lite.py +73 -73
  323. warp/tests/test_vec_scalar_ops.py +2099 -2099
  324. warp/tests/test_verify_fp.py +94 -94
  325. warp/tests/test_volume.py +737 -736
  326. warp/tests/test_volume_write.py +255 -265
  327. warp/tests/unittest_serial.py +37 -37
  328. warp/tests/unittest_suites.py +363 -359
  329. warp/tests/unittest_utils.py +603 -578
  330. warp/tests/unused_test_misc.py +71 -71
  331. warp/tests/walkthrough_debug.py +85 -85
  332. warp/thirdparty/appdirs.py +598 -598
  333. warp/thirdparty/dlpack.py +143 -143
  334. warp/thirdparty/unittest_parallel.py +566 -561
  335. warp/torch.py +321 -295
  336. warp/types.py +4504 -4450
  337. warp/utils.py +1008 -821
  338. {warp_lang-1.0.2.dist-info → warp_lang-1.1.0.dist-info}/LICENSE.md +126 -126
  339. {warp_lang-1.0.2.dist-info → warp_lang-1.1.0.dist-info}/METADATA +338 -400
  340. warp_lang-1.1.0.dist-info/RECORD +352 -0
  341. warp/examples/assets/cube.usda +0 -42
  342. warp/examples/assets/sphere.usda +0 -56
  343. warp/examples/assets/torus.usda +0 -105
  344. warp_lang-1.0.2.dist-info/RECORD +0 -352
  345. {warp_lang-1.0.2.dist-info → warp_lang-1.1.0.dist-info}/WHEEL +0 -0
  346. {warp_lang-1.0.2.dist-info → warp_lang-1.1.0.dist-info}/top_level.txt +0 -0
warp/jax.py CHANGED
@@ -1,141 +1,166 @@
1
- # Copyright (c) 2023 NVIDIA CORPORATION. All rights reserved.
2
- # NVIDIA CORPORATION and its licensors retain all intellectual property
3
- # and proprietary rights in and to this software, related documentation
4
- # and any modifications thereto. Any use, reproduction, disclosure or
5
- # distribution of this software and related documentation without an express
6
- # license agreement from NVIDIA CORPORATION is strictly prohibited.
7
-
8
- import warp
9
-
10
-
11
- def device_to_jax(warp_device):
12
- """Return the Jax device corresponding to a Warp device."""
13
- import jax
14
-
15
- d = warp.get_device(warp_device)
16
-
17
- if d.is_cuda:
18
- cuda_devices = jax.devices("cuda")
19
- if d.ordinal >= len(cuda_devices):
20
- raise RuntimeError(f"Jax device corresponding to '{warp_device}' is not available")
21
- return cuda_devices[d.ordinal]
22
- else:
23
- cpu_devices = jax.devices("cpu")
24
- if not cpu_devices:
25
- raise RuntimeError(f"Jax device corresponding to '{warp_device}' is not available")
26
- return cpu_devices[0]
27
-
28
-
29
- def device_from_jax(jax_device):
30
- """Return the Warp device corresponding to a Jax device."""
31
- if jax_device.platform == "cpu":
32
- return warp.get_device("cpu")
33
- elif jax_device.platform == "gpu":
34
- return warp.get_cuda_device(jax_device.id)
35
- else:
36
- raise RuntimeError(f"Unsupported Jax device platform '{jax_device.platform}'")
37
-
38
-
39
- def dtype_to_jax(warp_dtype):
40
- """Return the Jax dtype corresponding to a Warp dtype."""
41
- # initialize lookup table on first call to defer jax import
42
- if dtype_to_jax.type_map is None:
43
- import jax.numpy as jp
44
-
45
- dtype_to_jax.type_map = {
46
- warp.float16: jp.float16,
47
- warp.float32: jp.float32,
48
- warp.float64: jp.float64,
49
- warp.int8: jp.int8,
50
- warp.int16: jp.int16,
51
- warp.int32: jp.int32,
52
- warp.int64: jp.int64,
53
- warp.uint8: jp.uint8,
54
- warp.uint16: jp.uint16,
55
- warp.uint32: jp.uint32,
56
- warp.uint64: jp.uint64,
57
- warp.bool: jp.bool_,
58
- }
59
-
60
- jax_dtype = dtype_to_jax.type_map.get(warp_dtype)
61
- if jax_dtype is not None:
62
- return jax_dtype
63
- else:
64
- raise TypeError(f"Cannot convert {warp_dtype} to a Jax type")
65
-
66
-
67
- def dtype_from_jax(jax_dtype):
68
- """Return the Warp dtype corresponding to a Jax dtype."""
69
- # initialize lookup table on first call to defer jax import
70
- if dtype_from_jax.type_map is None:
71
- import jax.numpy as jp
72
-
73
- dtype_from_jax.type_map = {
74
- # Jax scalar types
75
- jp.float16: warp.float16,
76
- jp.float32: warp.float32,
77
- jp.float64: warp.float64,
78
- jp.int8: warp.int8,
79
- jp.int16: warp.int16,
80
- jp.int32: warp.int32,
81
- jp.int64: warp.int64,
82
- jp.uint8: warp.uint8,
83
- jp.uint16: warp.uint16,
84
- jp.uint32: warp.uint32,
85
- jp.uint64: warp.uint64,
86
- jp.bool_: warp.bool,
87
- # Jax dtype objects
88
- jp.dtype(jp.float16): warp.float16,
89
- jp.dtype(jp.float32): warp.float32,
90
- jp.dtype(jp.float64): warp.float64,
91
- jp.dtype(jp.int8): warp.int8,
92
- jp.dtype(jp.int16): warp.int16,
93
- jp.dtype(jp.int32): warp.int32,
94
- jp.dtype(jp.int64): warp.int64,
95
- jp.dtype(jp.uint8): warp.uint8,
96
- jp.dtype(jp.uint16): warp.uint16,
97
- jp.dtype(jp.uint32): warp.uint32,
98
- jp.dtype(jp.uint64): warp.uint64,
99
- jp.dtype(jp.bool_): warp.bool,
100
- }
101
-
102
- wp_dtype = dtype_from_jax.type_map.get(jax_dtype)
103
- if wp_dtype is not None:
104
- return wp_dtype
105
- else:
106
- raise TypeError(f"Cannot convert {jax_dtype} to a Warp type")
107
-
108
-
109
- # lookup tables initialized when needed
110
- dtype_from_jax.type_map = None
111
- dtype_to_jax.type_map = None
112
-
113
-
114
- def to_jax(warp_array):
115
- """
116
- Convert a Warp array to a Jax array without copying the data.
117
-
118
- Args:
119
- warp_array (warp.array): The Warp array to convert.
120
-
121
- Returns:
122
- The converted Jax array.
123
- """
124
- import jax.dlpack
125
-
126
- return jax.dlpack.from_dlpack(warp.to_dlpack(warp_array))
127
-
128
-
129
- def from_jax(jax_array, dtype=None):
130
- """Convert a Jax array to a Warp array without copying the data.
131
-
132
- Args:
133
- jax_array: The Jax array to convert.
134
- dtype (optional): The target data type of the resulting Warp array. Defaults to the Jax array's data type mapped to a Warp data type.
135
-
136
- Returns:
137
- warp.array: The converted Warp array.
138
- """
139
- import jax.dlpack
140
-
141
- return warp.from_dlpack(jax.dlpack.to_dlpack(jax_array), dtype=dtype)
1
+ # Copyright (c) 2023 NVIDIA CORPORATION. All rights reserved.
2
+ # NVIDIA CORPORATION and its licensors retain all intellectual property
3
+ # and proprietary rights in and to this software, related documentation
4
+ # and any modifications thereto. Any use, reproduction, disclosure or
5
+ # distribution of this software and related documentation without an express
6
+ # license agreement from NVIDIA CORPORATION is strictly prohibited.
7
+
8
+ import warp
9
+
10
+
11
+ def device_to_jax(warp_device: warp.context.Devicelike):
12
+ """Return the Jax device corresponding to a Warp device.
13
+
14
+ Returns:
15
+ :class:`jax.Device`
16
+
17
+ Raises:
18
+ RuntimeError: Failed to find the corresponding Jax device.
19
+ """
20
+ import jax
21
+
22
+ d = warp.get_device(warp_device)
23
+
24
+ if d.is_cuda:
25
+ cuda_devices = jax.devices("cuda")
26
+ if d.ordinal >= len(cuda_devices):
27
+ raise RuntimeError(f"Jax device corresponding to '{warp_device}' is not available")
28
+ return cuda_devices[d.ordinal]
29
+ else:
30
+ cpu_devices = jax.devices("cpu")
31
+ if not cpu_devices:
32
+ raise RuntimeError(f"Jax device corresponding to '{warp_device}' is not available")
33
+ return cpu_devices[0]
34
+
35
+
36
+ def device_from_jax(jax_device) -> warp.context.Device:
37
+ """Return the Warp device corresponding to a Jax device.
38
+
39
+ Args:
40
+ jax_device (jax.Device): A Jax device descriptor.
41
+
42
+ Raises:
43
+ RuntimeError: The Jax device is neither a CPU nor GPU device.
44
+ """
45
+ if jax_device.platform == "cpu":
46
+ return warp.get_device("cpu")
47
+ elif jax_device.platform == "gpu":
48
+ return warp.get_cuda_device(jax_device.id)
49
+ else:
50
+ raise RuntimeError(f"Unsupported Jax device platform '{jax_device.platform}'")
51
+
52
+
53
+ def dtype_to_jax(warp_dtype):
54
+ """Return the Jax dtype corresponding to a Warp dtype.
55
+
56
+ Args:
57
+ warp_dtype: A Warp data type that has a corresponding Jax data type.
58
+
59
+ Raises:
60
+ TypeError: Unable to find a corresponding Jax data type.
61
+ """
62
+ # initialize lookup table on first call to defer jax import
63
+ if dtype_to_jax.type_map is None:
64
+ import jax.numpy as jp
65
+
66
+ dtype_to_jax.type_map = {
67
+ warp.float16: jp.float16,
68
+ warp.float32: jp.float32,
69
+ warp.float64: jp.float64,
70
+ warp.int8: jp.int8,
71
+ warp.int16: jp.int16,
72
+ warp.int32: jp.int32,
73
+ warp.int64: jp.int64,
74
+ warp.uint8: jp.uint8,
75
+ warp.uint16: jp.uint16,
76
+ warp.uint32: jp.uint32,
77
+ warp.uint64: jp.uint64,
78
+ warp.bool: jp.bool_,
79
+ }
80
+
81
+ jax_dtype = dtype_to_jax.type_map.get(warp_dtype)
82
+ if jax_dtype is not None:
83
+ return jax_dtype
84
+ else:
85
+ raise TypeError(f"Cannot convert {warp_dtype} to a Jax type")
86
+
87
+
88
+ def dtype_from_jax(jax_dtype):
89
+ """Return the Warp dtype corresponding to a Jax dtype.
90
+
91
+ Raises:
92
+ TypeError: Unable to find a corresponding Warp data type.
93
+ """
94
+ # initialize lookup table on first call to defer jax import
95
+ if dtype_from_jax.type_map is None:
96
+ import jax.numpy as jp
97
+
98
+ dtype_from_jax.type_map = {
99
+ # Jax scalar types
100
+ jp.float16: warp.float16,
101
+ jp.float32: warp.float32,
102
+ jp.float64: warp.float64,
103
+ jp.int8: warp.int8,
104
+ jp.int16: warp.int16,
105
+ jp.int32: warp.int32,
106
+ jp.int64: warp.int64,
107
+ jp.uint8: warp.uint8,
108
+ jp.uint16: warp.uint16,
109
+ jp.uint32: warp.uint32,
110
+ jp.uint64: warp.uint64,
111
+ jp.bool_: warp.bool,
112
+ # Jax dtype objects
113
+ jp.dtype(jp.float16): warp.float16,
114
+ jp.dtype(jp.float32): warp.float32,
115
+ jp.dtype(jp.float64): warp.float64,
116
+ jp.dtype(jp.int8): warp.int8,
117
+ jp.dtype(jp.int16): warp.int16,
118
+ jp.dtype(jp.int32): warp.int32,
119
+ jp.dtype(jp.int64): warp.int64,
120
+ jp.dtype(jp.uint8): warp.uint8,
121
+ jp.dtype(jp.uint16): warp.uint16,
122
+ jp.dtype(jp.uint32): warp.uint32,
123
+ jp.dtype(jp.uint64): warp.uint64,
124
+ jp.dtype(jp.bool_): warp.bool,
125
+ }
126
+
127
+ wp_dtype = dtype_from_jax.type_map.get(jax_dtype)
128
+ if wp_dtype is not None:
129
+ return wp_dtype
130
+ else:
131
+ raise TypeError(f"Cannot convert {jax_dtype} to a Warp type")
132
+
133
+
134
+ # lookup tables initialized when needed
135
+ dtype_from_jax.type_map = None
136
+ dtype_to_jax.type_map = None
137
+
138
+
139
+ def to_jax(warp_array):
140
+ """
141
+ Convert a Warp array to a Jax array without copying the data.
142
+
143
+ Args:
144
+ warp_array (warp.array): The Warp array to convert.
145
+
146
+ Returns:
147
+ jax.Array: The converted Jax array.
148
+ """
149
+ import jax.dlpack
150
+
151
+ return jax.dlpack.from_dlpack(warp.to_dlpack(warp_array))
152
+
153
+
154
+ def from_jax(jax_array, dtype=None) -> warp.array:
155
+ """Convert a Jax array to a Warp array without copying the data.
156
+
157
+ Args:
158
+ jax_array (jax.Array): The Jax array to convert.
159
+ dtype (optional): The target data type of the resulting Warp array. Defaults to the Jax array's data type mapped to a Warp data type.
160
+
161
+ Returns:
162
+ warp.array: The converted Warp array.
163
+ """
164
+ import jax.dlpack
165
+
166
+ return warp.from_dlpack(jax.dlpack.to_dlpack(jax_array), dtype=dtype)