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

warp/examples/fem/example_stokes_transfer.py

@@ -1,249 +1,265 @@
-# Copyright (c) 2022 NVIDIA CORPORATION.  All rights reserved.
-# NVIDIA CORPORATION and its licensors retain all intellectual property
-# and proprietary rights in and to this software, related documentation
-# and any modifications thereto.  Any use, reproduction, disclosure or
-# distribution of this software and related documentation without an express
-# license agreement from NVIDIA CORPORATION is strictly prohibited.
-
-###########################################################################
-# Example Stokes Transfer
-#
-# This example computes a 2D weakly-compressible Stokes flow around
-# a moving object, including:
-# - defining active cells from a mask, and restricting the computation domain to those
-# - utilizing the PicQuadrature to integrate over unstructured particles 
-###########################################################################
-
-import math
-import warp as wp
-import numpy as np
-
-import warp.fem as fem
-
-from warp.utils import array_cast
-from warp.fem.utils import array_axpy
-from warp.sparse import bsr_transposed, bsr_mm, bsr_axpy, bsr_mv
-
-# Import example utilities
-# Make sure that works both when imported as module and run as standalone file
-try:
-    from .bsr_utils import bsr_cg
-    from .plot_utils import Plot
-except ImportError:
-    from bsr_utils import bsr_cg
-    from plot_utils import Plot
-
-wp.init()
-
-
-@fem.integrand
-def vel_from_particles_form(s: fem.Sample, particle_vel: wp.array(dtype=wp.vec2), v: fem.Field):
-    vel = particle_vel[s.qp_index]
-    return wp.dot(vel, v(s))
-
-
-@fem.integrand
-def viscosity_form(s: fem.Sample, u: fem.Field, v: fem.Field, nu: float):
-    return nu * wp.ddot(fem.D(u, s), fem.D(v, s))
-
-
-@fem.integrand
-def mass_form(
-    s: fem.Sample,
-    u: fem.Field,
-    v: fem.Field,
-):
-    return wp.dot(u(s), v(s))
-
-
-@fem.integrand
-def scalar_mass_form(
-    s: fem.Sample,
-    p: fem.Field,
-    q: fem.Field,
-):
-    return p(s) * q(s)
-
-
-@fem.integrand
-def div_form(
-    s: fem.Sample,
-    u: fem.Field,
-    q: fem.Field,
-):
-    return q(s) * fem.div(u, s)
-
-
-@fem.integrand
-def cell_activity(s: fem.Sample, domain: fem.Domain, c1: wp.vec2, c2: wp.vec2, radius: float):
-    pos = domain(s)
-    if wp.length(pos - c1) < radius:
-        return 0.0
-    if wp.length(pos - c2) < radius:
-        return 0.0
-    return 1.0
-
-
-@wp.kernel
-def inverse_array_kernel(m: wp.array(dtype=wp.float64)):
-    m[wp.tid()] = wp.float64(1.0) / m[wp.tid()]
-
-
-class Example:
-    def __init__(self, stage=None, quiet=False):
-        self._quiet = quiet
-
-        self.res = 50
-        self.cell_size = 1.0 / self.res
-
-        self.vel = 1.0
-        self.viscosity = 100.0
-        self.compliance = 0.01
-        self.bd_strength = 100000.0
-
-        geo = fem.Grid2D(res=wp.vec2i(self.res))
-
-        # Displacement boundary conditions are defined by two circles going in opposite directions
-        # Sample particles along those
-        circle_radius = 0.15
-        c1_center = wp.vec2(0.25, 0.5)
-        c2_center = wp.vec2(0.75, 0.5)
-        particles, particle_areas, particle_velocities = self._gen_particles(circle_radius, c1_center, c2_center)
-
-        # Disable cells that are interior to the circles
-        cell_space = fem.make_polynomial_space(geo, degree=0)
-        activity = cell_space.make_field()
-        fem.interpolate(
-            cell_activity,
-            dest=activity,
-            values={"c1": c1_center, "c2": c2_center, "radius": circle_radius - self.cell_size},
-        )
-
-        # Explicitly define the active geometry partition from those cells
-        self._active_partition = fem.ExplicitGeometryPartition(geo, wp.array(activity.dof_values.numpy(), dtype=int))
-        if not self._quiet:
-            print("Active cells:", self._active_partition.cell_count())
-
-        # Function spaces -- Q1 for vel, Q0 for pressure
-        u_space = fem.make_polynomial_space(geo, degree=1, dtype=wp.vec2)
-        p_space = fem.make_polynomial_space(geo, degree=0)
-
-        self._active_space_partition = fem.make_space_partition(
-            space=u_space, geometry_partition=self._active_partition
-        )
-        self._active_p_space_partition = fem.make_space_partition(
-            space=p_space, geometry_partition=self._active_partition
-        )
-
-        self._u_field = u_space.make_field()
-        self._p_field = p_space.make_field()
-
-        # Particle-based quadrature rule over active cells
-        domain = fem.Cells(geometry=self._active_partition)
-        self._pic_quadrature = fem.PicQuadrature(domain, particles, particle_areas)
-        self._particle_velocities = particle_velocities
-
-        self.renderer = Plot(stage)
-
-    def step(self):
-        u_space = self._u_field.space
-        p_space = self._p_field.space
-
-        # Weakly-enforced boundary condition on particles
-        u_test = fem.make_test(space=u_space, space_partition=self._active_space_partition)
-        u_trial = fem.make_trial(space=u_space, space_partition=self._active_space_partition)
-
-        u_rhs = fem.integrate(
-            vel_from_particles_form,
-            quadrature=self._pic_quadrature,
-            fields={"v": u_test},
-            values={"particle_vel": self._particle_velocities},
-            output_dtype=wp.vec2d,
-        )
-        u_bd_matrix = fem.integrate(mass_form, quadrature=self._pic_quadrature, fields={"u": u_trial, "v": u_test})
-
-        # Viscosity
-        u_visc_matrix = fem.integrate(
-            viscosity_form,
-            fields={"u": u_trial, "v": u_test},
-            values={"nu": self.viscosity},
-        )
-
-        # Pressure-velocity coupling
-        p_test = fem.make_test(space=p_space, space_partition=self._active_p_space_partition)
-        p_trial = fem.make_trial(space=p_space, space_partition=self._active_p_space_partition)
-
-        div_matrix = fem.integrate(div_form, fields={"u": u_trial, "q": p_test})
-        inv_p_mass_matrix = fem.integrate(scalar_mass_form, fields={"p": p_trial, "q": p_test})
-        wp.launch(
-            kernel=inverse_array_kernel,
-            dim=inv_p_mass_matrix.values.shape,
-            device=inv_p_mass_matrix.values.device,
-            inputs=[inv_p_mass_matrix.values],
-        )
-
-        # Assemble linear system
-        u_matrix = u_visc_matrix
-        bsr_axpy(u_bd_matrix, u_matrix, alpha=self.bd_strength)
-
-        div_matrix_t = bsr_transposed(div_matrix)
-        gradient_matrix = bsr_mm(div_matrix_t, inv_p_mass_matrix)
-        bsr_mm(gradient_matrix, div_matrix, u_matrix, alpha=1.0 / self.compliance, beta=1.0)
-
-        array_axpy(u_rhs, u_rhs, alpha=0.0, beta=self.bd_strength)
-
-        # Solve for displacement
-        u_res = wp.zeros_like(u_rhs)
-        bsr_cg(u_matrix, x=u_res, b=u_rhs, quiet=self._quiet)
-
-        # Compute pressure from displacement
-        div_u = bsr_mv(A=div_matrix, x=u_res)
-        p_res = bsr_mv(A=inv_p_mass_matrix, x=div_u, alpha=-1)
-
-        # Copy to fields
-        u_nodes = wp.indexedarray(self._u_field.dof_values, indices=self._active_space_partition.space_node_indices())
-        p_nodes = wp.indexedarray(self._p_field.dof_values, indices=self._active_p_space_partition.space_node_indices())
-
-        array_cast(in_array=u_res, out_array=u_nodes)
-        array_cast(in_array=p_res, out_array=p_nodes)
-
-    def render(self):
-        self.renderer.add_surface("pressure", self._p_field)
-        self.renderer.add_surface_vector("velocity", self._u_field)
-
-    def _gen_particles(self, circle_radius, c1_center, c2_center):
-        """Generate some particles along two circles defining velocity boundary conditions"""
-
-        # Generate particles defining the transfer displacement
-        particles_per_circle = int(2.0 * math.pi * circle_radius * self.res)
-
-        angles = np.linspace(0, 2.0 * math.pi, particles_per_circle, endpoint=False)
-
-        n_particles = 2 * particles_per_circle
-        particles = np.empty((n_particles, 2), dtype=float)
-
-        particles[:particles_per_circle, 0] = c1_center[0] + circle_radius * np.cos(angles)
-        particles[:particles_per_circle, 1] = c1_center[1] + circle_radius * np.sin(angles)
-        particles[particles_per_circle:, 0] = c2_center[0] + circle_radius * np.cos(angles)
-        particles[particles_per_circle:, 1] = c2_center[1] + circle_radius * np.sin(angles)
-
-        particle_areas = np.ones(n_particles) * self.cell_size**2
-        particle_velocities = np.zeros_like(particles)
-        particle_velocities[:particles_per_circle, 0] = self.vel
-        particle_velocities[particles_per_circle:, 0] = -self.vel
-
-        particles = wp.array(particles, dtype=wp.vec2)
-        particle_areas = wp.array(particle_areas, dtype=float)
-        particle_velocities = wp.array(particle_velocities, dtype=wp.vec2)
-
-        return particles, particle_areas, particle_velocities
-
-
-if __name__ == "__main__":
-    wp.set_module_options({"enable_backward": False})
-
-    example = Example()
-    example.step()
-    example.render()
-
-    example.renderer.plot(streamlines=["velocity"])
+# Copyright (c) 2022 NVIDIA CORPORATION.  All rights reserved.
+# NVIDIA CORPORATION and its licensors retain all intellectual property
+# and proprietary rights in and to this software, related documentation
+# and any modifications thereto.  Any use, reproduction, disclosure or
+# distribution of this software and related documentation without an express
+# license agreement from NVIDIA CORPORATION is strictly prohibited.
+
+###########################################################################
+# Example Stokes Transfer
+#
+# This example computes a 2D weakly-compressible Stokes flow around
+# a moving object, including:
+# - defining active cells from a mask, and restricting the computation domain to those
+# - utilizing the PicQuadrature to integrate over unstructured particles
+###########################################################################
+
+import math
+
+import numpy as np
+
+import warp as wp
+import warp.fem as fem
+from warp.fem.utils import array_axpy
+from warp.sparse import bsr_axpy, bsr_mm, bsr_mv, bsr_transposed
+from warp.utils import array_cast
+
+# Import example utilities
+# Make sure that works both when imported as module and run as standalone file
+try:
+    from .bsr_utils import bsr_cg
+    from .plot_utils import Plot
+except ImportError:
+    from bsr_utils import bsr_cg
+    from plot_utils import Plot
+
+wp.init()
+
+
+@fem.integrand
+def vel_from_particles_form(s: fem.Sample, particle_vel: wp.array(dtype=wp.vec2), v: fem.Field):
+    vel = particle_vel[s.qp_index]
+    return wp.dot(vel, v(s))
+
+
+@fem.integrand
+def viscosity_form(s: fem.Sample, u: fem.Field, v: fem.Field, nu: float):
+    return nu * wp.ddot(fem.D(u, s), fem.D(v, s))
+
+
+@fem.integrand
+def mass_form(
+    s: fem.Sample,
+    u: fem.Field,
+    v: fem.Field,
+):
+    return wp.dot(u(s), v(s))
+
+
+@fem.integrand
+def scalar_mass_form(
+    s: fem.Sample,
+    p: fem.Field,
+    q: fem.Field,
+):
+    return p(s) * q(s)
+
+
+@fem.integrand
+def div_form(
+    s: fem.Sample,
+    u: fem.Field,
+    q: fem.Field,
+):
+    return q(s) * fem.div(u, s)
+
+
+@fem.integrand
+def cell_activity(s: fem.Sample, domain: fem.Domain, c1: wp.vec2, c2: wp.vec2, radius: float):
+    pos = domain(s)
+    if wp.length(pos - c1) < radius:
+        return 0.0
+    if wp.length(pos - c2) < radius:
+        return 0.0
+    return 1.0
+
+
+@wp.kernel
+def inverse_array_kernel(m: wp.array(dtype=wp.float64)):
+    m[wp.tid()] = wp.float64(1.0) / m[wp.tid()]
+
+
+class Example:
+    def __init__(self, quiet=False, resolution=50):
+        self._quiet = quiet
+
+        self.res = resolution
+        self.cell_size = 1.0 / self.res
+
+        self.vel = 1.0
+        self.viscosity = 100.0
+        self.compliance = 0.01
+        self.bd_strength = 100000.0
+
+        geo = fem.Grid2D(res=wp.vec2i(self.res))
+
+        # Displacement boundary conditions are defined by two circles going in opposite directions
+        # Sample particles along those
+        circle_radius = 0.15
+        c1_center = wp.vec2(0.25, 0.5)
+        c2_center = wp.vec2(0.75, 0.5)
+        particles, particle_areas, particle_velocities = self._gen_particles(circle_radius, c1_center, c2_center)
+
+        # Disable cells that are interior to the circles
+        cell_space = fem.make_polynomial_space(geo, degree=0)
+        activity = cell_space.make_field()
+        fem.interpolate(
+            cell_activity,
+            dest=activity,
+            values={"c1": c1_center, "c2": c2_center, "radius": circle_radius - self.cell_size},
+        )
+
+        # Explicitly define the active geometry partition from those cells
+        self._active_partition = fem.ExplicitGeometryPartition(geo, wp.array(activity.dof_values.numpy(), dtype=int))
+        if not self._quiet:
+            print("Active cells:", self._active_partition.cell_count())
+
+        # Function spaces -- Q1 for vel, Q0 for pressure
+        u_space = fem.make_polynomial_space(geo, degree=1, dtype=wp.vec2)
+        p_space = fem.make_polynomial_space(geo, degree=0)
+
+        self._active_space_partition = fem.make_space_partition(
+            space=u_space, geometry_partition=self._active_partition
+        )
+        self._active_p_space_partition = fem.make_space_partition(
+            space=p_space, geometry_partition=self._active_partition
+        )
+
+        self._u_field = u_space.make_field()
+        self._p_field = p_space.make_field()
+
+        # Particle-based quadrature rule over active cells
+        domain = fem.Cells(geometry=self._active_partition)
+        self._pic_quadrature = fem.PicQuadrature(domain, particles, particle_areas)
+        self._particle_velocities = particle_velocities
+
+        self.renderer = Plot()
+
+    def step(self):
+        u_space = self._u_field.space
+        p_space = self._p_field.space
+
+        # Weakly-enforced boundary condition on particles
+        u_test = fem.make_test(space=u_space, space_partition=self._active_space_partition)
+        u_trial = fem.make_trial(space=u_space, space_partition=self._active_space_partition)
+
+        u_rhs = fem.integrate(
+            vel_from_particles_form,
+            quadrature=self._pic_quadrature,
+            fields={"v": u_test},
+            values={"particle_vel": self._particle_velocities},
+            output_dtype=wp.vec2d,
+        )
+        u_bd_matrix = fem.integrate(mass_form, quadrature=self._pic_quadrature, fields={"u": u_trial, "v": u_test})
+
+        # Viscosity
+        u_visc_matrix = fem.integrate(
+            viscosity_form,
+            fields={"u": u_trial, "v": u_test},
+            values={"nu": self.viscosity},
+        )
+
+        # Pressure-velocity coupling
+        p_test = fem.make_test(space=p_space, space_partition=self._active_p_space_partition)
+        p_trial = fem.make_trial(space=p_space, space_partition=self._active_p_space_partition)
+
+        div_matrix = fem.integrate(div_form, fields={"u": u_trial, "q": p_test})
+        inv_p_mass_matrix = fem.integrate(scalar_mass_form, fields={"p": p_trial, "q": p_test})
+        wp.launch(
+            kernel=inverse_array_kernel,
+            dim=inv_p_mass_matrix.values.shape,
+            device=inv_p_mass_matrix.values.device,
+            inputs=[inv_p_mass_matrix.values],
+        )
+
+        # Assemble linear system
+        u_matrix = u_visc_matrix
+        bsr_axpy(u_bd_matrix, u_matrix, alpha=self.bd_strength)
+
+        div_matrix_t = bsr_transposed(div_matrix)
+        gradient_matrix = bsr_mm(div_matrix_t, inv_p_mass_matrix)
+        bsr_mm(gradient_matrix, div_matrix, u_matrix, alpha=1.0 / self.compliance, beta=1.0)
+
+        array_axpy(u_rhs, u_rhs, alpha=0.0, beta=self.bd_strength)
+
+        # Solve for displacement
+        u_res = wp.zeros_like(u_rhs)
+        bsr_cg(u_matrix, x=u_res, b=u_rhs, quiet=self._quiet)
+
+        # Compute pressure from displacement
+        div_u = bsr_mv(A=div_matrix, x=u_res)
+        p_res = bsr_mv(A=inv_p_mass_matrix, x=div_u, alpha=-1)
+
+        # Copy to fields
+        u_nodes = wp.indexedarray(self._u_field.dof_values, indices=self._active_space_partition.space_node_indices())
+        p_nodes = wp.indexedarray(self._p_field.dof_values, indices=self._active_p_space_partition.space_node_indices())
+
+        array_cast(in_array=u_res, out_array=u_nodes)
+        array_cast(in_array=p_res, out_array=p_nodes)
+
+    def render(self):
+        self.renderer.add_surface("pressure", self._p_field)
+        self.renderer.add_surface_vector("velocity", self._u_field)
+
+    def _gen_particles(self, circle_radius, c1_center, c2_center):
+        """Generate some particles along two circles defining velocity boundary conditions"""
+
+        # Generate particles defining the transfer displacement
+        particles_per_circle = int(2.0 * math.pi * circle_radius * self.res)
+
+        angles = np.linspace(0, 2.0 * math.pi, particles_per_circle, endpoint=False)
+
+        n_particles = 2 * particles_per_circle
+        particles = np.empty((n_particles, 2), dtype=float)
+
+        particles[:particles_per_circle, 0] = c1_center[0] + circle_radius * np.cos(angles)
+        particles[:particles_per_circle, 1] = c1_center[1] + circle_radius * np.sin(angles)
+        particles[particles_per_circle:, 0] = c2_center[0] + circle_radius * np.cos(angles)
+        particles[particles_per_circle:, 1] = c2_center[1] + circle_radius * np.sin(angles)
+
+        particle_areas = np.ones(n_particles) * self.cell_size**2
+        particle_velocities = np.zeros_like(particles)
+        particle_velocities[:particles_per_circle, 0] = self.vel
+        particle_velocities[particles_per_circle:, 0] = -self.vel
+
+        particles = wp.array(particles, dtype=wp.vec2)
+        particle_areas = wp.array(particle_areas, dtype=float)
+        particle_velocities = wp.array(particle_velocities, dtype=wp.vec2)
+
+        return particles, particle_areas, particle_velocities
+
+
+if __name__ == "__main__":
+    import argparse
+
+    wp.set_module_options({"enable_backward": False})
+
+    parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+    parser.add_argument("--device", type=str, default=None, help="Override the default Warp device.")
+    parser.add_argument("--resolution", type=int, default=50, help="Grid resolution.")
+    parser.add_argument(
+        "--headless",
+        action="store_true",
+        help="Run in headless mode, suppressing the opening of any graphical windows.",
+    )
+    parser.add_argument("--quiet", action="store_true", help="Suppresses the printing out of iteration residuals.")
+
+    args = parser.parse_known_args()[0]
+
+    with wp.ScopedDevice(args.device):
+        example = Example(quiet=args.quiet, resolution=args.resolution)
+        example.step()
+        example.render()
+
+        if not args.headless:
+            example.renderer.plot(streamlines=["velocity"])