warp-lang 1.0.2__py3-none-manylinux2014_x86_64.whl → 1.2.0__py3-none-manylinux2014_x86_64.whl

warp/examples/fem/example_burgers.py

@@ -0,0 +1,262 @@
+# 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 Burgers
+#
+# This example simulates an inviscid non-conservative Burgers PDE using
+# Discontinuous Galerkin with minmod slope limiter
+#
+# d u /dt + (u . grad) u = 0
+#
+###########################################################################
+
+import warp as wp
+import warp.fem as fem
+import warp.sparse as sp
+
+# Import example utilities
+# Make sure that works both when imported as module and run as standalone file
+try:
+    from .bsr_utils import invert_diagonal_bsr_mass_matrix
+    from .plot_utils import Plot
+except ImportError:
+    from bsr_utils import invert_diagonal_bsr_mass_matrix
+    from plot_utils import Plot
+
+
+@fem.integrand
+def vel_mass_form(
+    s: fem.Sample,
+    u: fem.Field,
+    v: fem.Field,
+):
+    return wp.dot(v(s), u(s))
+
+
+@fem.integrand
+def upwind_transport_form(s: fem.Sample, domain: fem.Domain, u: fem.Field, v: fem.Field, w: fem.Field):
+    # Upwinding transport with discontinuous convection velocity,
+    # using jump(w v) = jump(w) avg(v) + avg(w) jump(w)
+
+    nor = fem.normal(domain, s)
+    w_avg_n = wp.dot(fem.average(w, s), nor)
+    w_jump_n = wp.dot(fem.jump(w, s), nor)
+
+    x = domain(s)
+    v_avg = fem.average(v, s)
+    if x[0] <= 0.0 or x[0] >= 1.0:  # out
+        # if x[0] >= 1.0:  # out
+        v_jump = v(s)
+    else:
+        v_jump = fem.jump(v, s)
+
+    u_avg = fem.average(u, s)
+    u_jump = fem.jump(u, s)
+
+    return wp.dot(u_avg, v_jump * w_avg_n + v_avg * w_jump_n) + 0.5 * wp.dot(v_jump, u_jump) * (
+        wp.abs(w_avg_n) + 0.5 * wp.abs(w_jump_n)
+    )
+
+
+@fem.integrand
+def cell_transport_form(s: fem.Sample, domain: fem.Domain, u: fem.Field, v: fem.Field, w: fem.Field):
+    # ((w . grad) u) . v = v^T (grad u) w =  grad(u) : (v w^T)
+    # with integration by parts
+    # u . Div (w v^T) = u^T grad(v) w  + u^T v div (w)
+
+    return -wp.dot(fem.div(w, s) * v(s) + fem.grad(v, s) * w(s), u(s))
+
+
+@fem.integrand
+def initial_condition(s: fem.Sample, domain: fem.Domain):
+    x = domain(s)[0] * 2.0
+    wave = wp.sin(x * wp.pi)
+    return wp.vec2(wp.select(x <= 1.0, 0.0, wave), 0.0)
+
+
+@fem.integrand
+def velocity_norm(s: fem.Sample, u: fem.Field):
+    return wp.length(u(s))
+
+
+@wp.func
+def minmod(a: float, b: float):
+    sa = wp.sign(a)
+    sb = wp.sign(b)
+    return wp.select(sa == sb, 0.0, sa * wp.min(wp.abs(a), wp.abs(b)))
+
+
+@fem.integrand
+def slope_limiter(domain: fem.Domain, s: fem.Sample, u: fem.Field, dx: wp.vec2):
+    # Minmod slope limiter against P0 discretization (evaluation at cell centers)
+    # Assumes regular grid topology
+
+    center_coords = fem.Coords(0.5, 0.5, 0.0)
+    cell_center = fem.types.make_free_sample(s.element_index, center_coords)
+    center_pos = domain(cell_center)
+
+    u_center = u(cell_center)
+
+    delta_coords = s.element_coords - center_coords
+
+    neighbour_xp = fem.lookup(domain, center_pos + wp.vec2(dx[0], 0.0))
+    neighbour_yp = fem.lookup(domain, center_pos + wp.vec2(0.0, dx[1]))
+    neighbour_xm = fem.lookup(domain, center_pos - wp.vec2(dx[0], 0.0))
+    neighbour_ym = fem.lookup(domain, center_pos - wp.vec2(0.0, dx[1]))
+
+    u_nxp = u(neighbour_xp)
+    u_nyp = u(neighbour_yp)
+    u_nxm = u(neighbour_xm)
+    u_nym = u(neighbour_ym)
+
+    gx = minmod(u_nxp[0] - u_center[0], u_center[0] - u_nxm[0]) * delta_coords[0]
+    gy = minmod(u_nyp[1] - u_center[1], u_center[1] - u_nym[1]) * delta_coords[1]
+
+    delta_u = u(s) - u_center
+    return u_center + wp.vec2(minmod(gx, delta_u[0]), minmod(gy, delta_u[1]))
+
+
+class Example:
+    def __init__(self, quiet=False, resolution=50, degree=1):
+        self._quiet = quiet
+
+        res = resolution
+        self.sim_dt = 1.0 / res
+        self.current_frame = 0
+
+        geo = fem.Grid2D(res=wp.vec2i(resolution))
+
+        domain = fem.Cells(geometry=geo)
+        sides = fem.Sides(geo)
+
+        basis_space = fem.make_polynomial_basis_space(geo, degree=degree, discontinuous=True)
+        vector_space = fem.make_collocated_function_space(basis_space, dtype=wp.vec2)
+        scalar_space = fem.make_collocated_function_space(basis_space, dtype=float)
+
+        # Test function for ou vector space
+        self._test = fem.make_test(space=vector_space, domain=domain)
+        # Test function for integration on sides
+        self._side_test = fem.make_test(space=vector_space, domain=sides)
+
+        # Inertia matrix
+        # For simplicity, use nodal integration so that inertia matrix is diagonal
+        trial = fem.make_trial(space=vector_space, domain=domain)
+        matrix_inertia = fem.integrate(
+            vel_mass_form, fields={"u": trial, "v": self._test}, output_dtype=wp.float32, nodal=True
+        )
+        self._inv_mass_matrix = sp.bsr_copy(matrix_inertia)
+        invert_diagonal_bsr_mass_matrix(self._inv_mass_matrix)
+
+        # Initial condition
+        self.velocity_field = vector_space.make_field()
+        fem.interpolate(initial_condition, dest=self.velocity_field)
+
+        # Velocity nor field -- for visualization purposes
+        self.velocity_norm_field = scalar_space.make_field()
+        fem.interpolate(velocity_norm, dest=self.velocity_norm_field, fields={"u": self.velocity_field})
+
+        self.renderer = Plot()
+        self.renderer.add_surface("u_norm", self.velocity_norm_field)
+
+    def _velocity_delta(self, trial_velocity):
+        # Integration on sides
+        rhs = fem.integrate(
+            upwind_transport_form,
+            fields={"u": trial_velocity.trace(), "v": self._side_test, "w": trial_velocity.trace()},
+            output_dtype=wp.vec2,
+        )
+
+        if self.velocity_field.space.degree > 0:
+            # Integration on cells (if not piecewise-constant)
+            fem.utils.array_axpy(
+                x=fem.integrate(
+                    cell_transport_form,
+                    fields={"u": trial_velocity, "v": self._test, "w": trial_velocity},
+                    output_dtype=wp.vec2,
+                    quadrature=fem.RegularQuadrature(
+                        order=3, domain=self._test.domain, family=fem.Polynomial.LOBATTO_GAUSS_LEGENDRE
+                    ),
+                ),
+                y=rhs,
+                alpha=1.0,
+                beta=1.0,
+            )
+        return sp.bsr_mv(self._inv_mass_matrix, rhs)
+
+    def step(self):
+        self.current_frame += 1
+
+        # Third-order Strong Stability Preserving Runge-Kutta (SSPRK3)
+
+        k1 = self._velocity_delta(self.velocity_field)
+
+        # tmp = v0 - dt * k1
+        tmp = self.velocity_field.space.make_field()
+        fem.utils.array_axpy(y=tmp.dof_values, x=self.velocity_field.dof_values, alpha=1.0, beta=0.0)
+        fem.utils.array_axpy(y=tmp.dof_values, x=k1, alpha=-self.sim_dt, beta=1.0)
+        k2 = self._velocity_delta(tmp)
+
+        # tmp = v0 - dt * (0.25 * k1 + 0.25 * k2)
+        fem.utils.array_axpy(y=tmp.dof_values, x=k1, alpha=0.75 * self.sim_dt, beta=1.0)
+        fem.utils.array_axpy(y=tmp.dof_values, x=k2, alpha=-0.25 * self.sim_dt, beta=1.0)
+        k3 = self._velocity_delta(tmp)
+
+        # v = v0 - dt * (1/6 * k1 + 1/6 * k2 + 2/3 * k3)
+        fem.utils.array_axpy(y=self.velocity_field.dof_values, x=k1, alpha=-1.0 / 6.0 * self.sim_dt, beta=1.0)
+        fem.utils.array_axpy(y=self.velocity_field.dof_values, x=k2, alpha=-1.0 / 6.0 * self.sim_dt, beta=1.0)
+        fem.utils.array_axpy(y=self.velocity_field.dof_values, x=k3, alpha=-2.0 / 3.0 * self.sim_dt, beta=1.0)
+
+        # Apply slope limiter
+        if self.velocity_field.space.degree > 0:
+            res = self.velocity_field.space.geometry.res
+            dx = wp.vec2(1.0 / res[0], 1.0 / res[1])
+            fem.interpolate(slope_limiter, dest=tmp, fields={"u": self.velocity_field}, values={"dx": dx})
+            wp.copy(src=tmp.dof_values, dest=self.velocity_field.dof_values)
+
+        # Update velocity norm (for visualization)
+        fem.interpolate(velocity_norm, dest=self.velocity_norm_field, fields={"u": self.velocity_field})
+
+    def render(self):
+        self.renderer.begin_frame(time=self.current_frame * self.sim_dt)
+        self.renderer.add_surface("u_norm", self.velocity_norm_field)
+        self.renderer.end_frame()
+
+
+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("--num_frames", type=int, default=250, help="Total number of frames.")
+    parser.add_argument("--degree", choices=(0, 1), type=int, default=1, help="Discretization order.")
+    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")
+
+    args = parser.parse_known_args()[0]
+
+    with wp.ScopedDevice(args.device):
+        example = Example(
+            quiet=args.quiet,
+            resolution=args.resolution,
+            degree=args.degree,
+        )
+
+        for k in range(args.num_frames):
+            print(f"Frame {k}:")
+            example.step()
+            example.render()
+
+        if not args.headless:
+            example.renderer.plot()

warp/examples/fem/example_convection_diffusion.py

@@ -1,168 +1,180 @@
-# 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 Convection Diffusion
-#
-# This example simulates a convection-diffusion PDE using
-# semi-Lagrangian advection
-#
-# D phi / dt - nu d2 phi / dx^2 = 0
-###########################################################################
-
-import argparse
-
-import warp as wp
-import warp.fem as fem
-
-# 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 .mesh_utils import gen_trimesh
-    from .plot_utils import Plot
-except ImportError:
-    from bsr_utils import bsr_cg
-    from mesh_utils import gen_trimesh
-    from plot_utils import Plot
-
-wp.init()
-
-
-@fem.integrand
-def initial_condition(domain: fem.Domain, s: fem.Sample):
-    """Initial condition: 1.0 in ]0.6, 0.4[ x ]0.2, 0.8[, 0.0 elsewhere"""
-    pos = domain(s)
-    if pos[0] > 0.4 and pos[0] < 0.6 and pos[1] > 0.2 and pos[1] < 0.8:
-        return 1.0
-    return 0.0
-
-
-@wp.func
-def velocity(pos: wp.vec2, ang_vel: float):
-    center = wp.vec2(0.5, 0.5)
-    offset = pos - center
-    return wp.vec2(offset[1], -offset[0]) * ang_vel
-
-
-@fem.integrand
-def inertia_form(s: fem.Sample, phi: fem.Field, psi: fem.Field, dt: float):
-    return phi(s) * psi(s) / dt
-
-
-@fem.integrand
-def transported_inertia_form(
-    s: fem.Sample, domain: fem.Domain, phi: fem.Field, psi: fem.Field, ang_vel: float, dt: float
-):
-    pos = domain(s)
-    vel = velocity(pos, ang_vel)
-
-    # semi-Lagrangian advection; evaluate phi upstream
-    conv_pos = pos - vel * dt
-    # lookup operator constructs a Sample from a world position.
-    # the optional last argument provides a initial guess for the lookup
-    conv_phi = phi(fem.lookup(domain, conv_pos, s))
-
-    return conv_phi * psi(s) / dt
-
-
-@fem.integrand
-def diffusion_form(
-    s: fem.Sample,
-    u: fem.Field,
-    v: fem.Field,
-):
-    return wp.dot(
-        fem.grad(u, s),
-        fem.grad(v, s),
-    )
-
-
-@fem.integrand
-def diffusion_and_inertia_form(s: fem.Sample, phi: fem.Field, psi: fem.Field, dt: float, nu: float):
-    return inertia_form(s, phi, psi, dt) + nu * diffusion_form(s, phi, psi)
-
-
-class Example:
-    parser = argparse.ArgumentParser()
-    parser.add_argument("--resolution", type=int, default=50)
-    parser.add_argument("--degree", type=int, default=2)
-    parser.add_argument("--num_frames", type=int, default=250)
-    parser.add_argument("--viscosity", type=float, default=0.001)
-    parser.add_argument("--ang_vel", type=float, default=1.0)
-    parser.add_argument("--tri_mesh", action="store_true", help="Use a triangular mesh")
-
-    def __init__(self, stage=None, quiet=False, args=None, **kwargs):
-        if args is None:
-            # Read args from kwargs, add default arg values from parser
-            args = argparse.Namespace(**kwargs)
-            args = Example.parser.parse_args(args=[], namespace=args)
-        self._args = args
-        self._quiet = quiet
-
-        res = args.resolution
-        self.sim_dt = 1.0 / (args.ang_vel * res)
-        self.current_frame = 0
-
-        if args.tri_mesh:
-            positions, tri_vidx = gen_trimesh(res=wp.vec2i(res))
-            geo = fem.Trimesh2D(tri_vertex_indices=tri_vidx, positions=positions)
-        else:
-            geo = fem.Grid2D(res=wp.vec2i(res))
-
-        domain = fem.Cells(geometry=geo)
-        scalar_space = fem.make_polynomial_space(geo, degree=args.degree)
-
-        # Initial condition
-        self._phi_field = scalar_space.make_field()
-        fem.interpolate(initial_condition, dest=self._phi_field)
-
-        # Assemble diffusion and inertia matrix
-        self._test = fem.make_test(space=scalar_space, domain=domain)
-        self._trial = fem.make_trial(space=scalar_space, domain=domain)
-        self._matrix = fem.integrate(
-            diffusion_and_inertia_form,
-            fields={"phi": self._trial, "psi": self._test},
-            values={"nu": args.viscosity, "dt": self.sim_dt},
-            output_dtype=float,
-        )
-
-        self.renderer = Plot(stage)
-        self.renderer.add_surface("phi", self._phi_field)
-
-    def step(self):
-        self.current_frame += 1
-
-        # right-hand-side -- advected inertia
-        rhs = fem.integrate(
-            transported_inertia_form,
-            fields={"phi": self._phi_field, "psi": self._test},
-            values={"ang_vel": self._args.ang_vel, "dt": self.sim_dt},
-            output_dtype=float,
-        )
-
-        # Solve linear system
-        bsr_cg(self._matrix, x=self._phi_field.dof_values, b=rhs, quiet=self._quiet, tol=1.0e-12)
-
-    def render(self):
-        self.renderer.begin_frame(time = self.current_frame * self.sim_dt)
-        self.renderer.add_surface("phi", self._phi_field)
-        self.renderer.end_frame()
-
-
-if __name__ == "__main__":
-    wp.set_module_options({"enable_backward": False})
-
-    args = Example.parser.parse_args()
-
-    example = Example(args=args)
-    for k in range(args.num_frames):
-        print(f"Frame {k}:")
-        example.step()
-        example.render()
-
-    example.renderer.plot()
+# 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 Convection Diffusion
+#
+# This example simulates a convection-diffusion PDE using
+# semi-Lagrangian advection
+#
+# D phi / dt - nu d2 phi / dx^2 = 0
+###########################################################################
+
+import warp as wp
+import warp.fem as fem
+
+# 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 .mesh_utils import gen_trimesh
+    from .plot_utils import Plot
+except ImportError:
+    from bsr_utils import bsr_cg
+    from mesh_utils import gen_trimesh
+    from plot_utils import Plot
+
+
+@fem.integrand
+def initial_condition(domain: fem.Domain, s: fem.Sample):
+    """Initial condition: 1.0 in ]0.6, 0.4[ x ]0.2, 0.8[, 0.0 elsewhere"""
+    pos = domain(s)
+    if pos[0] > 0.4 and pos[0] < 0.6 and pos[1] > 0.2 and pos[1] < 0.8:
+        return 1.0
+    return 0.0
+
+
+@wp.func
+def velocity(pos: wp.vec2, ang_vel: float):
+    center = wp.vec2(0.5, 0.5)
+    offset = pos - center
+    return wp.vec2(offset[1], -offset[0]) * ang_vel
+
+
+@fem.integrand
+def inertia_form(s: fem.Sample, phi: fem.Field, psi: fem.Field, dt: float):
+    return phi(s) * psi(s) / dt
+
+
+@fem.integrand
+def transported_inertia_form(
+    s: fem.Sample, domain: fem.Domain, phi: fem.Field, psi: fem.Field, ang_vel: float, dt: float
+):
+    pos = domain(s)
+    vel = velocity(pos, ang_vel)
+
+    # semi-Lagrangian advection; evaluate phi upstream
+    conv_pos = pos - vel * dt
+    # lookup operator constructs a Sample from a world position.
+    # the optional last argument provides a initial guess for the lookup
+    conv_phi = phi(fem.lookup(domain, conv_pos, s))
+
+    return conv_phi * psi(s) / dt
+
+
+@fem.integrand
+def diffusion_form(
+    s: fem.Sample,
+    u: fem.Field,
+    v: fem.Field,
+):
+    return wp.dot(
+        fem.grad(u, s),
+        fem.grad(v, s),
+    )
+
+
+@fem.integrand
+def diffusion_and_inertia_form(s: fem.Sample, phi: fem.Field, psi: fem.Field, dt: float, nu: float):
+    return inertia_form(s, phi, psi, dt) + nu * diffusion_form(s, phi, psi)
+
+
+class Example:
+    def __init__(self, quiet=False, degree=2, resolution=50, tri_mesh=False, viscosity=0.001, ang_vel=1.0):
+        self._quiet = quiet
+
+        self._ang_vel = ang_vel
+
+        res = resolution
+        self.sim_dt = 1.0 / (ang_vel * res)
+        self.current_frame = 0
+
+        if tri_mesh:
+            positions, tri_vidx = gen_trimesh(res=wp.vec2i(res))
+            geo = fem.Trimesh2D(tri_vertex_indices=tri_vidx, positions=positions)
+        else:
+            geo = fem.Grid2D(res=wp.vec2i(res))
+
+        domain = fem.Cells(geometry=geo)
+        scalar_space = fem.make_polynomial_space(geo, degree=degree)
+
+        # Initial condition
+        self._phi_field = scalar_space.make_field()
+        fem.interpolate(initial_condition, dest=self._phi_field)
+
+        # Assemble diffusion and inertia matrix
+        self._test = fem.make_test(space=scalar_space, domain=domain)
+        self._trial = fem.make_trial(space=scalar_space, domain=domain)
+        self._matrix = fem.integrate(
+            diffusion_and_inertia_form,
+            fields={"phi": self._trial, "psi": self._test},
+            values={"nu": viscosity, "dt": self.sim_dt},
+            output_dtype=float,
+        )
+
+        self.renderer = Plot()
+        self.renderer.add_surface("phi", self._phi_field)
+
+    def step(self):
+        self.current_frame += 1
+
+        # right-hand-side -- advected inertia
+        rhs = fem.integrate(
+            transported_inertia_form,
+            fields={"phi": self._phi_field, "psi": self._test},
+            values={"ang_vel": self._ang_vel, "dt": self.sim_dt},
+            output_dtype=float,
+        )
+
+        # Solve linear system
+        bsr_cg(self._matrix, x=self._phi_field.dof_values, b=rhs, quiet=self._quiet, tol=1.0e-12)
+
+    def render(self):
+        self.renderer.begin_frame(time=self.current_frame * self.sim_dt)
+        self.renderer.add_surface("phi", self._phi_field)
+        self.renderer.end_frame()
+
+
+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("--degree", type=int, default=2, help="Polynomial degree of shape functions.")
+    parser.add_argument("--num_frames", type=int, default=250, help="Total number of frames.")
+    parser.add_argument("--viscosity", type=float, default=0.001, help="Fluid viscosity parameter.")
+    parser.add_argument("--ang_vel", type=float, default=1.0, help="Angular velocity.")
+    parser.add_argument("--tri_mesh", action="store_true", help="Use a triangular mesh.")
+    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,
+            degree=args.degree,
+            resolution=args.resolution,
+            tri_mesh=args.tri_mesh,
+            viscosity=args.viscosity,
+            ang_vel=args.ang_vel,
+        )
+
+        for k in range(args.num_frames):
+            print(f"Frame {k}:")
+            example.step()
+            example.render()
+
+        if not args.headless:
+            example.renderer.plot()