warp-lang 1.0.2__py3-none-win_amd64.whl → 1.2.0__py3-none-win_amd64.whl

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Files changed (356) hide show
  1. warp/__init__.py +108 -97
  2. warp/__init__.pyi +1 -1
  3. warp/bin/warp-clang.dll +0 -0
  4. warp/bin/warp.dll +0 -0
  5. warp/build.py +88 -113
  6. warp/build_dll.py +383 -375
  7. warp/builtins.py +3693 -3354
  8. warp/codegen.py +2925 -2792
  9. warp/config.py +40 -36
  10. warp/constants.py +49 -45
  11. warp/context.py +5409 -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 +381 -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 +145 -146
  34. warp/examples/benchmarks/benchmark_launches.py +293 -295
  35. warp/examples/browse.py +29 -29
  36. warp/examples/core/example_dem.py +232 -219
  37. warp/examples/core/example_fluid.py +291 -267
  38. warp/examples/core/example_graph_capture.py +142 -126
  39. warp/examples/core/example_marching_cubes.py +186 -174
  40. warp/examples/core/example_mesh.py +172 -155
  41. warp/examples/core/example_mesh_intersect.py +203 -193
  42. warp/examples/core/example_nvdb.py +174 -170
  43. warp/examples/core/example_raycast.py +103 -90
  44. warp/examples/core/example_raymarch.py +197 -178
  45. warp/examples/core/example_render_opengl.py +183 -141
  46. warp/examples/core/example_sph.py +403 -387
  47. warp/examples/core/example_torch.py +219 -181
  48. warp/examples/core/example_wave.py +261 -248
  49. warp/examples/fem/bsr_utils.py +378 -380
  50. warp/examples/fem/example_apic_fluid.py +432 -389
  51. warp/examples/fem/example_burgers.py +262 -0
  52. warp/examples/fem/example_convection_diffusion.py +180 -168
  53. warp/examples/fem/example_convection_diffusion_dg.py +217 -209
  54. warp/examples/fem/example_deformed_geometry.py +175 -159
  55. warp/examples/fem/example_diffusion.py +199 -173
  56. warp/examples/fem/example_diffusion_3d.py +178 -152
  57. warp/examples/fem/example_diffusion_mgpu.py +219 -214
  58. warp/examples/fem/example_mixed_elasticity.py +242 -222
  59. warp/examples/fem/example_navier_stokes.py +257 -243
  60. warp/examples/fem/example_stokes.py +218 -192
  61. warp/examples/fem/example_stokes_transfer.py +263 -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 +258 -246
  65. warp/examples/optim/example_cloth_throw.py +220 -209
  66. warp/examples/optim/example_diffray.py +564 -536
  67. warp/examples/optim/example_drone.py +862 -835
  68. warp/examples/optim/example_inverse_kinematics.py +174 -168
  69. warp/examples/optim/example_inverse_kinematics_torch.py +183 -169
  70. warp/examples/optim/example_spring_cage.py +237 -231
  71. warp/examples/optim/example_trajectory.py +221 -199
  72. warp/examples/optim/example_walker.py +304 -293
  73. warp/examples/sim/example_cartpole.py +137 -129
  74. warp/examples/sim/example_cloth.py +194 -186
  75. warp/examples/sim/example_granular.py +122 -111
  76. warp/examples/sim/example_granular_collision_sdf.py +195 -186
  77. warp/examples/sim/example_jacobian_ik.py +234 -214
  78. warp/examples/sim/example_particle_chain.py +116 -105
  79. warp/examples/sim/example_quadruped.py +191 -180
  80. warp/examples/sim/example_rigid_chain.py +195 -187
  81. warp/examples/sim/example_rigid_contact.py +187 -177
  82. warp/examples/sim/example_rigid_force.py +125 -125
  83. warp/examples/sim/example_rigid_gyroscopic.py +107 -95
  84. warp/examples/sim/example_rigid_soft_contact.py +132 -122
  85. warp/examples/sim/example_soft_body.py +188 -177
  86. warp/fabric.py +337 -335
  87. warp/fem/__init__.py +61 -27
  88. warp/fem/cache.py +403 -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 +16 -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 +748 -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 +437 -435
  104. warp/fem/geometry/hexmesh.py +953 -953
  105. warp/fem/geometry/nanogrid.py +455 -0
  106. warp/fem/geometry/partition.py +374 -376
  107. warp/fem/geometry/quadmesh_2d.py +532 -532
  108. warp/fem/geometry/tetmesh.py +840 -840
  109. warp/fem/geometry/trimesh_2d.py +577 -577
  110. warp/fem/integrate.py +1684 -1615
  111. warp/fem/operator.py +190 -191
  112. warp/fem/polynomial.py +214 -213
  113. warp/fem/quadrature/__init__.py +2 -2
  114. warp/fem/quadrature/pic_quadrature.py +243 -245
  115. warp/fem/quadrature/quadrature.py +295 -294
  116. warp/fem/space/__init__.py +179 -292
  117. warp/fem/space/basis_space.py +522 -489
  118. warp/fem/space/collocated_function_space.py +100 -105
  119. warp/fem/space/dof_mapper.py +236 -236
  120. warp/fem/space/function_space.py +148 -145
  121. warp/fem/space/grid_2d_function_space.py +148 -267
  122. warp/fem/space/grid_3d_function_space.py +167 -306
  123. warp/fem/space/hexmesh_function_space.py +253 -352
  124. warp/fem/space/nanogrid_function_space.py +202 -0
  125. warp/fem/space/partition.py +350 -350
  126. warp/fem/space/quadmesh_2d_function_space.py +261 -369
  127. warp/fem/space/restriction.py +161 -160
  128. warp/fem/space/shape/__init__.py +90 -15
  129. warp/fem/space/shape/cube_shape_function.py +728 -738
  130. warp/fem/space/shape/shape_function.py +102 -103
  131. warp/fem/space/shape/square_shape_function.py +611 -611
  132. warp/fem/space/shape/tet_shape_function.py +565 -567
  133. warp/fem/space/shape/triangle_shape_function.py +429 -429
  134. warp/fem/space/tetmesh_function_space.py +224 -292
  135. warp/fem/space/topology.py +297 -295
  136. warp/fem/space/trimesh_2d_function_space.py +153 -221
  137. warp/fem/types.py +77 -77
  138. warp/fem/utils.py +495 -495
  139. warp/jax.py +166 -141
  140. warp/jax_experimental.py +341 -339
  141. warp/native/array.h +1081 -1025
  142. warp/native/builtin.h +1603 -1560
  143. warp/native/bvh.cpp +402 -398
  144. warp/native/bvh.cu +533 -525
  145. warp/native/bvh.h +430 -429
  146. warp/native/clang/clang.cpp +496 -464
  147. warp/native/crt.cpp +42 -32
  148. warp/native/crt.h +352 -335
  149. warp/native/cuda_crt.h +1049 -1049
  150. warp/native/cuda_util.cpp +549 -540
  151. warp/native/cuda_util.h +288 -203
  152. warp/native/cutlass_gemm.cpp +34 -34
  153. warp/native/cutlass_gemm.cu +372 -372
  154. warp/native/error.cpp +66 -66
  155. warp/native/error.h +27 -27
  156. warp/native/exports.h +187 -0
  157. warp/native/fabric.h +228 -228
  158. warp/native/hashgrid.cpp +301 -278
  159. warp/native/hashgrid.cu +78 -77
  160. warp/native/hashgrid.h +227 -227
  161. warp/native/initializer_array.h +32 -32
  162. warp/native/intersect.h +1204 -1204
  163. warp/native/intersect_adj.h +365 -365
  164. warp/native/intersect_tri.h +322 -322
  165. warp/native/marching.cpp +2 -2
  166. warp/native/marching.cu +497 -497
  167. warp/native/marching.h +2 -2
  168. warp/native/mat.h +1545 -1498
  169. warp/native/matnn.h +333 -333
  170. warp/native/mesh.cpp +203 -203
  171. warp/native/mesh.cu +292 -293
  172. warp/native/mesh.h +1887 -1887
  173. warp/native/nanovdb/GridHandle.h +366 -0
  174. warp/native/nanovdb/HostBuffer.h +590 -0
  175. warp/native/nanovdb/NanoVDB.h +6624 -4782
  176. warp/native/nanovdb/PNanoVDB.h +3390 -2553
  177. warp/native/noise.h +850 -850
  178. warp/native/quat.h +1112 -1085
  179. warp/native/rand.h +303 -299
  180. warp/native/range.h +108 -108
  181. warp/native/reduce.cpp +156 -156
  182. warp/native/reduce.cu +348 -348
  183. warp/native/runlength_encode.cpp +61 -61
  184. warp/native/runlength_encode.cu +46 -46
  185. warp/native/scan.cpp +30 -30
  186. warp/native/scan.cu +36 -36
  187. warp/native/scan.h +7 -7
  188. warp/native/solid_angle.h +442 -442
  189. warp/native/sort.cpp +94 -94
  190. warp/native/sort.cu +97 -97
  191. warp/native/sort.h +14 -14
  192. warp/native/sparse.cpp +337 -337
  193. warp/native/sparse.cu +544 -544
  194. warp/native/spatial.h +630 -630
  195. warp/native/svd.h +562 -562
  196. warp/native/temp_buffer.h +30 -30
  197. warp/native/vec.h +1177 -1133
  198. warp/native/volume.cpp +529 -297
  199. warp/native/volume.cu +58 -32
  200. warp/native/volume.h +960 -538
  201. warp/native/volume_builder.cu +446 -425
  202. warp/native/volume_builder.h +34 -19
  203. warp/native/volume_impl.h +61 -0
  204. warp/native/warp.cpp +1057 -1052
  205. warp/native/warp.cu +2949 -2828
  206. warp/native/warp.h +321 -305
  207. warp/optim/__init__.py +9 -9
  208. warp/optim/adam.py +120 -120
  209. warp/optim/linear.py +1104 -939
  210. warp/optim/sgd.py +104 -92
  211. warp/render/__init__.py +10 -10
  212. warp/render/render_opengl.py +3356 -3204
  213. warp/render/render_usd.py +768 -749
  214. warp/render/utils.py +152 -150
  215. warp/sim/__init__.py +52 -59
  216. warp/sim/articulation.py +685 -685
  217. warp/sim/collide.py +1594 -1590
  218. warp/sim/import_mjcf.py +489 -481
  219. warp/sim/import_snu.py +220 -221
  220. warp/sim/import_urdf.py +536 -516
  221. warp/sim/import_usd.py +887 -881
  222. warp/sim/inertia.py +316 -317
  223. warp/sim/integrator.py +234 -233
  224. warp/sim/integrator_euler.py +1956 -1956
  225. warp/sim/integrator_featherstone.py +1917 -1991
  226. warp/sim/integrator_xpbd.py +3288 -3312
  227. warp/sim/model.py +4473 -4314
  228. warp/sim/particles.py +113 -112
  229. warp/sim/render.py +417 -403
  230. warp/sim/utils.py +413 -410
  231. warp/sparse.py +1289 -1227
  232. warp/stubs.py +2192 -2469
  233. warp/tape.py +1162 -225
  234. warp/tests/__init__.py +1 -1
  235. warp/tests/__main__.py +4 -4
  236. warp/tests/assets/test_index_grid.nvdb +0 -0
  237. warp/tests/assets/torus.usda +105 -105
  238. warp/tests/aux_test_class_kernel.py +26 -26
  239. warp/tests/aux_test_compile_consts_dummy.py +10 -10
  240. warp/tests/aux_test_conditional_unequal_types_kernels.py +21 -21
  241. warp/tests/aux_test_dependent.py +20 -22
  242. warp/tests/aux_test_grad_customs.py +21 -23
  243. warp/tests/aux_test_reference.py +9 -11
  244. warp/tests/aux_test_reference_reference.py +8 -10
  245. warp/tests/aux_test_square.py +15 -17
  246. warp/tests/aux_test_unresolved_func.py +14 -14
  247. warp/tests/aux_test_unresolved_symbol.py +14 -14
  248. warp/tests/disabled_kinematics.py +237 -239
  249. warp/tests/run_coverage_serial.py +31 -31
  250. warp/tests/test_adam.py +155 -157
  251. warp/tests/test_arithmetic.py +1088 -1124
  252. warp/tests/test_array.py +2415 -2326
  253. warp/tests/test_array_reduce.py +148 -150
  254. warp/tests/test_async.py +666 -656
  255. warp/tests/test_atomic.py +139 -141
  256. warp/tests/test_bool.py +212 -149
  257. warp/tests/test_builtins_resolution.py +1290 -1292
  258. warp/tests/test_bvh.py +162 -171
  259. warp/tests/test_closest_point_edge_edge.py +227 -228
  260. warp/tests/test_codegen.py +562 -553
  261. warp/tests/test_compile_consts.py +217 -101
  262. warp/tests/test_conditional.py +244 -246
  263. warp/tests/test_copy.py +230 -215
  264. warp/tests/test_ctypes.py +630 -632
  265. warp/tests/test_dense.py +65 -67
  266. warp/tests/test_devices.py +89 -98
  267. warp/tests/test_dlpack.py +528 -529
  268. warp/tests/test_examples.py +403 -378
  269. warp/tests/test_fabricarray.py +952 -955
  270. warp/tests/test_fast_math.py +60 -54
  271. warp/tests/test_fem.py +1298 -1278
  272. warp/tests/test_fp16.py +128 -130
  273. warp/tests/test_func.py +336 -337
  274. warp/tests/test_generics.py +596 -571
  275. warp/tests/test_grad.py +885 -640
  276. warp/tests/test_grad_customs.py +331 -336
  277. warp/tests/test_hash_grid.py +208 -164
  278. warp/tests/test_import.py +37 -39
  279. warp/tests/test_indexedarray.py +1132 -1134
  280. warp/tests/test_intersect.py +65 -67
  281. warp/tests/test_jax.py +305 -307
  282. warp/tests/test_large.py +169 -164
  283. warp/tests/test_launch.py +352 -354
  284. warp/tests/test_lerp.py +217 -261
  285. warp/tests/test_linear_solvers.py +189 -171
  286. warp/tests/test_lvalue.py +419 -493
  287. warp/tests/test_marching_cubes.py +63 -65
  288. warp/tests/test_mat.py +1799 -1827
  289. warp/tests/test_mat_lite.py +113 -115
  290. warp/tests/test_mat_scalar_ops.py +2905 -2889
  291. warp/tests/test_math.py +124 -193
  292. warp/tests/test_matmul.py +498 -499
  293. warp/tests/test_matmul_lite.py +408 -410
  294. warp/tests/test_mempool.py +186 -190
  295. warp/tests/test_mesh.py +281 -324
  296. warp/tests/test_mesh_query_aabb.py +226 -241
  297. warp/tests/test_mesh_query_point.py +690 -702
  298. warp/tests/test_mesh_query_ray.py +290 -303
  299. warp/tests/test_mlp.py +274 -276
  300. warp/tests/test_model.py +108 -110
  301. warp/tests/test_module_hashing.py +111 -0
  302. warp/tests/test_modules_lite.py +36 -39
  303. warp/tests/test_multigpu.py +161 -163
  304. warp/tests/test_noise.py +244 -248
  305. warp/tests/test_operators.py +248 -250
  306. warp/tests/test_options.py +121 -125
  307. warp/tests/test_peer.py +131 -137
  308. warp/tests/test_pinned.py +76 -78
  309. warp/tests/test_print.py +52 -54
  310. warp/tests/test_quat.py +2084 -2086
  311. warp/tests/test_rand.py +324 -288
  312. warp/tests/test_reload.py +207 -217
  313. warp/tests/test_rounding.py +177 -179
  314. warp/tests/test_runlength_encode.py +188 -190
  315. warp/tests/test_sim_grad.py +241 -0
  316. warp/tests/test_sim_kinematics.py +89 -97
  317. warp/tests/test_smoothstep.py +166 -168
  318. warp/tests/test_snippet.py +303 -266
  319. warp/tests/test_sparse.py +466 -460
  320. warp/tests/test_spatial.py +2146 -2148
  321. warp/tests/test_special_values.py +362 -0
  322. warp/tests/test_streams.py +484 -473
  323. warp/tests/test_struct.py +708 -675
  324. warp/tests/test_tape.py +171 -148
  325. warp/tests/test_torch.py +741 -743
  326. warp/tests/test_transient_module.py +85 -87
  327. warp/tests/test_types.py +554 -659
  328. warp/tests/test_utils.py +488 -499
  329. warp/tests/test_vec.py +1262 -1268
  330. warp/tests/test_vec_lite.py +71 -73
  331. warp/tests/test_vec_scalar_ops.py +2097 -2099
  332. warp/tests/test_verify_fp.py +92 -94
  333. warp/tests/test_volume.py +961 -736
  334. warp/tests/test_volume_write.py +338 -265
  335. warp/tests/unittest_serial.py +38 -37
  336. warp/tests/unittest_suites.py +367 -359
  337. warp/tests/unittest_utils.py +434 -578
  338. warp/tests/unused_test_misc.py +69 -71
  339. warp/tests/walkthrough_debug.py +85 -85
  340. warp/thirdparty/appdirs.py +598 -598
  341. warp/thirdparty/dlpack.py +143 -143
  342. warp/thirdparty/unittest_parallel.py +563 -561
  343. warp/torch.py +321 -295
  344. warp/types.py +4941 -4450
  345. warp/utils.py +1008 -821
  346. {warp_lang-1.0.2.dist-info → warp_lang-1.2.0.dist-info}/LICENSE.md +126 -126
  347. {warp_lang-1.0.2.dist-info → warp_lang-1.2.0.dist-info}/METADATA +365 -400
  348. warp_lang-1.2.0.dist-info/RECORD +359 -0
  349. warp/examples/assets/cube.usda +0 -42
  350. warp/examples/assets/sphere.usda +0 -56
  351. warp/examples/assets/torus.usda +0 -105
  352. warp/examples/fem/example_convection_diffusion_dg0.py +0 -194
  353. warp/native/nanovdb/PNanoVDBWrite.h +0 -295
  354. warp_lang-1.0.2.dist-info/RECORD +0 -352
  355. {warp_lang-1.0.2.dist-info → warp_lang-1.2.0.dist-info}/WHEEL +0 -0
  356. {warp_lang-1.0.2.dist-info → warp_lang-1.2.0.dist-info}/top_level.txt +0 -0
warp/native/rand.h CHANGED
@@ -1,300 +1,304 @@
1
- /** Copyright (c) 2022 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
-
9
- # pragma once
10
- #include "array.h"
11
-
12
- #ifndef M_PI_F
13
- #define M_PI_F 3.14159265358979323846f
14
- #endif
15
-
16
- namespace wp
17
- {
18
-
19
- inline CUDA_CALLABLE uint32 rand_pcg(uint32 state)
20
- {
21
- uint32 b = state * 747796405u + 2891336453u;
22
- uint32 c = ((b >> ((b >> 28u) + 4u)) ^ b) * 277803737u;
23
- return (c >> 22u) ^ c;
24
- }
25
-
26
- inline CUDA_CALLABLE uint32 rand_init(int seed) { return rand_pcg(uint32(seed)); }
27
- inline CUDA_CALLABLE uint32 rand_init(int seed, int offset) { return rand_pcg(uint32(seed) + rand_pcg(uint32(offset))); }
28
-
29
- inline CUDA_CALLABLE int randi(uint32& state) { state = rand_pcg(state); return int(state); }
30
- inline CUDA_CALLABLE int randi(uint32& state, int min, int max) { state = rand_pcg(state); return state % (max - min) + min; }
31
-
32
- inline CUDA_CALLABLE float randf(uint32& state) { state = rand_pcg(state); return (state >> 8) * (1.0f / 16777216.0f); }
33
- inline CUDA_CALLABLE float randf(uint32& state, float min, float max) { return (max - min) * randf(state) + min; }
34
-
35
- // Box-Muller method
36
- inline CUDA_CALLABLE float randn(uint32& state) { return sqrt(-2.f * log(randf(state))) * cos(2.f * M_PI_F * randf(state)); }
37
-
38
- inline CUDA_CALLABLE void adj_rand_init(int seed, int& adj_seed, float adj_ret) {}
39
- inline CUDA_CALLABLE void adj_rand_init(int seed, int offset, int& adj_seed, int& adj_offset, float adj_ret) {}
40
-
41
- inline CUDA_CALLABLE void adj_randi(uint32& state, uint32& adj_state, float adj_ret) {}
42
- inline CUDA_CALLABLE void adj_randi(uint32& state, int min, int max, uint32& adj_state, int& adj_min, int& adj_max, float adj_ret) {}
43
-
44
- inline CUDA_CALLABLE void adj_randf(uint32& state, uint32& adj_state, float adj_ret) {}
45
- inline CUDA_CALLABLE void adj_randf(uint32& state, float min, float max, uint32& adj_state, float& adj_min, float& adj_max, float adj_ret) {}
46
-
47
- inline CUDA_CALLABLE void adj_randn(uint32& state, uint32& adj_state, float adj_ret) {}
48
-
49
- inline CUDA_CALLABLE int sample_cdf(uint32& state, const array_t<float>& cdf)
50
- {
51
- float u = randf(state);
52
- return lower_bound<float>(cdf, u);
53
- }
54
-
55
- inline CUDA_CALLABLE vec2 sample_triangle(uint32& state)
56
- {
57
- float r = sqrt(randf(state));
58
- float u = 1.f - r;
59
- float v = randf(state) * r;
60
- return vec2(u, v);
61
- }
62
-
63
- inline CUDA_CALLABLE vec2 sample_unit_ring(uint32& state)
64
- {
65
- float theta = randf(state, 0.f, 2.f*M_PI_F);
66
- float x = cos(theta);
67
- float y = sin(theta);
68
- return vec2(x, y);
69
- }
70
-
71
- inline CUDA_CALLABLE vec2 sample_unit_disk(uint32& state)
72
- {
73
- float r = sqrt(randf(state));
74
- float theta = randf(state, 0.f, 2.f*M_PI_F);
75
- float x = r * cos(theta);
76
- float y = r * sin(theta);
77
- return vec2(x, y);
78
- }
79
-
80
- inline CUDA_CALLABLE vec3 sample_unit_sphere_surface(uint32& state)
81
- {
82
- float phi = acos(1.f - 2.f * randf(state));
83
- float theta = randf(state, 0.f, 2.f*M_PI_F);
84
- float x = cos(theta) * sin(phi);
85
- float y = sin(theta) * sin(phi);
86
- float z = cos(phi);
87
- return vec3(x, y, z);
88
- }
89
-
90
- inline CUDA_CALLABLE vec3 sample_unit_sphere(uint32& state)
91
- {
92
- float phi = acos(1.f - 2.f * randf(state));
93
- float theta = randf(state, 0.f, 2.f*M_PI_F);
94
- float r = pow(randf(state), 1.f/3.f);
95
- float x = r * cos(theta) * sin(phi);
96
- float y = r * sin(theta) * sin(phi);
97
- float z = r * cos(phi);
98
- return vec3(x, y, z);
99
- }
100
-
101
- inline CUDA_CALLABLE vec3 sample_unit_hemisphere_surface(uint32& state)
102
- {
103
- float phi = acos(1.f - randf(state));
104
- float theta = randf(state, 0.f, 2.f*M_PI_F);
105
- float x = cos(theta) * sin(phi);
106
- float y = sin(theta) * sin(phi);
107
- float z = cos(phi);
108
- return vec3(x, y, z);
109
- }
110
-
111
- inline CUDA_CALLABLE vec3 sample_unit_hemisphere(uint32& state)
112
- {
113
- float phi = acos(1.f - randf(state));
114
- float theta = randf(state, 0.f, 2.f*M_PI_F);
115
- float r = pow(randf(state), 1.f/3.f);
116
- float x = r * cos(theta) * sin(phi);
117
- float y = r * sin(theta) * sin(phi);
118
- float z = r * cos(phi);
119
- return vec3(x, y, z);
120
- }
121
-
122
- inline CUDA_CALLABLE vec2 sample_unit_square(uint32& state)
123
- {
124
- float x = randf(state) - 0.5f;
125
- float y = randf(state) - 0.5f;
126
- return vec2(x, y);
127
- }
128
-
129
- inline CUDA_CALLABLE vec3 sample_unit_cube(uint32& state)
130
- {
131
- float x = randf(state) - 0.5f;
132
- float y = randf(state) - 0.5f;
133
- float z = randf(state) - 0.5f;
134
- return vec3(x, y, z);
135
- }
136
-
137
- inline CUDA_CALLABLE vec4 sample_unit_hypercube(uint32& state)
138
- {
139
- float a = randf(state) - 0.5f;
140
- float b = randf(state) - 0.5f;
141
- float c = randf(state) - 0.5f;
142
- float d = randf(state) - 0.5f;
143
- return vec4(a, b, c, d);
144
- }
145
-
146
- inline CUDA_CALLABLE void adj_sample_cdf(uint32& state, const array_t<float>& cdf, uint32& adj_state, array_t<float>& adj_cdf, const int& adj_ret) {}
147
- inline CUDA_CALLABLE void adj_sample_triangle(uint32& state, uint32& adj_state, const vec2& adj_ret) {}
148
- inline CUDA_CALLABLE void adj_sample_unit_ring(uint32& state, uint32& adj_state, const vec2& adj_ret) {}
149
- inline CUDA_CALLABLE void adj_sample_unit_disk(uint32& state, uint32& adj_state, const vec2& adj_ret) {}
150
- inline CUDA_CALLABLE void adj_sample_unit_sphere_surface(uint32& state, uint32& adj_state, const vec3& adj_ret) {}
151
- inline CUDA_CALLABLE void adj_sample_unit_sphere(uint32& state, uint32& adj_state, const vec3& adj_ret) {}
152
- inline CUDA_CALLABLE void adj_sample_unit_hemisphere_surface(uint32& state, uint32& adj_state, const vec3& adj_ret) {}
153
- inline CUDA_CALLABLE void adj_sample_unit_hemisphere(uint32& state, uint32& adj_state, const vec3& adj_ret) {}
154
- inline CUDA_CALLABLE void adj_sample_unit_square(uint32& state, uint32& adj_state, const vec2& adj_ret) {}
155
- inline CUDA_CALLABLE void adj_sample_unit_cube(uint32& state, uint32& adj_state, const vec3& adj_ret) {}
156
- inline CUDA_CALLABLE void adj_sample_unit_hypercube(uint32& state, uint32& adj_state, const vec3& adj_ret) {}
157
-
158
- /*
159
- * log-gamma function to support some of these distributions. The
160
- * algorithm comes from SPECFUN by Shanjie Zhang and Jianming Jin and their
161
- * book "Computation of Special Functions", 1996, John Wiley & Sons, Inc.
162
- *
163
- * If random_loggam(k+1) is being used to compute log(k!) for an integer k, consider
164
- * using logfactorial(k) instead.
165
- */
166
- inline CUDA_CALLABLE float random_loggam(float x)
167
- {
168
- float x0, x2, lg2pi, gl, gl0;
169
- uint32 n;
170
-
171
- const float a[10] = {8.333333333333333e-02f, -2.777777777777778e-03f,
172
- 7.936507936507937e-04f, -5.952380952380952e-04f,
173
- 8.417508417508418e-04f, -1.917526917526918e-03f,
174
- 6.410256410256410e-03f, -2.955065359477124e-02f,
175
- 1.796443723688307e-01f, -1.39243221690590e+00f};
176
-
177
- if ((x == 1.f) || (x == 2.f))
178
- {
179
- return 0.f;
180
- }
181
- else if (x < 7.f)
182
- {
183
- n = uint32((7 - x));
184
- }
185
- else
186
- {
187
- n = 0;
188
- }
189
-
190
- x0 = x + float(n);
191
- x2 = (1.f / x0) * (1.f / x0);
192
- // log(2 * M_PI_F)
193
- lg2pi = 1.8378770664093453f;
194
- gl0 = a[9];
195
- for (int i = 8; i >= 0; i--)
196
- {
197
- gl0 *= x2;
198
- gl0 += a[i];
199
- }
200
- gl = gl0 / x0 + 0.5f * lg2pi + (x0 - 0.5f) * log(x0) - x0;
201
- if (x < 7.f)
202
- {
203
- for (uint32 k = 1; k <= n; k++)
204
- {
205
- gl -= log(x0 - 1.f);
206
- x0 -= 1.f;
207
- }
208
- }
209
- return gl;
210
- }
211
-
212
- inline CUDA_CALLABLE uint32 random_poisson_mult(uint32& state, float lam) {
213
- uint32 X;
214
- float prod, U, enlam;
215
-
216
- enlam = exp(-lam);
217
- X = 0;
218
- prod = 1.f;
219
-
220
- while (1)
221
- {
222
- U = randf(state);
223
- prod *= U;
224
- if (prod > enlam)
225
- {
226
- X += 1;
227
- }
228
- else
229
- {
230
- return X;
231
- }
232
- }
233
- }
234
-
235
- /*
236
- * The transformed rejection method for generating Poisson random variables
237
- * W. Hoermann
238
- * Insurance: Mathematics and Economics 12, 39-45 (1993)
239
- */
240
- inline CUDA_CALLABLE uint32 random_poisson(uint32& state, float lam)
241
- {
242
- uint32 k;
243
- float U, V, slam, loglam, a, b, invalpha, vr, us;
244
-
245
- slam = sqrt(lam);
246
- loglam = log(lam);
247
- b = 0.931f + 2.53f * slam;
248
- a = -0.059f + 0.02483f * b;
249
- invalpha = 1.1239f + 1.1328f / (b - 3.4f);
250
- vr = 0.9277f - 3.6224f / (b - 2.f);
251
-
252
- while (1)
253
- {
254
- U = randf(state) - 0.5f;
255
- V = randf(state);
256
- us = 0.5f - abs(U);
257
- k = uint32(floor((2.f * a / us + b) * U + lam + 0.43f));
258
- if ((us >= 0.07f) && (V <= vr))
259
- {
260
- return k;
261
- }
262
- if ((us < 0.013f) && (V > us))
263
- {
264
- continue;
265
- }
266
- if ((log(V) + log(invalpha) - log(a / (us * us) + b)) <= (-lam + k * loglam - random_loggam(k + 1)))
267
- {
268
- return k;
269
- }
270
- }
271
- }
272
-
273
- /*
274
- * Adapted from NumPy's implementation
275
- * Warp's state variable is half the precision of NumPy's so
276
- * poisson implementation uses half the precision used in NumPy's implementation
277
- * both precisions appear to converge in the statistical limit
278
- */
279
- inline CUDA_CALLABLE uint32 poisson(uint32& state, float lam)
280
- {
281
- if (lam >= 10.f)
282
- {
283
- return random_poisson(state, lam);
284
- }
285
- else if (lam == 0.f)
286
- {
287
- return 0;
288
- }
289
- else
290
- {
291
- return random_poisson_mult(state, lam);
292
- }
293
- }
294
-
295
- inline CUDA_CALLABLE void adj_random_loggam(float x, float& adj_x, const float adj_ret) {}
296
- inline CUDA_CALLABLE void random_poisson_mult(uint32& state, float lam, uint32& adj_state, float& adj_lam, const uint32& adj_ret) {}
297
- inline CUDA_CALLABLE void adj_random_poisson(uint32& state, float lam, uint32& adj_state, float& adj_lam, const uint32& adj_ret) {}
298
- inline CUDA_CALLABLE void adj_poisson(uint32& state, float lam, uint32& adj_state, float& adj_lam, const uint32& adj_ret) {}
299
-
1
+ /** Copyright (c) 2022 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
+
9
+ # pragma once
10
+ #include "array.h"
11
+
12
+ #ifndef M_PI_F
13
+ #define M_PI_F 3.14159265358979323846f
14
+ #endif
15
+
16
+ #ifndef LOG_EPSILON
17
+ #define LOG_EPSILON 5.96e-8f
18
+ #endif
19
+
20
+ namespace wp
21
+ {
22
+
23
+ inline CUDA_CALLABLE uint32 rand_pcg(uint32 state)
24
+ {
25
+ uint32 b = state * 747796405u + 2891336453u;
26
+ uint32 c = ((b >> ((b >> 28u) + 4u)) ^ b) * 277803737u;
27
+ return (c >> 22u) ^ c;
28
+ }
29
+
30
+ inline CUDA_CALLABLE uint32 rand_init(int seed) { return rand_pcg(uint32(seed)); }
31
+ inline CUDA_CALLABLE uint32 rand_init(int seed, int offset) { return rand_pcg(uint32(seed) + rand_pcg(uint32(offset))); }
32
+
33
+ inline CUDA_CALLABLE int randi(uint32& state) { state = rand_pcg(state); return int(state); }
34
+ inline CUDA_CALLABLE int randi(uint32& state, int min, int max) { state = rand_pcg(state); return state % (max - min) + min; }
35
+
36
+ inline CUDA_CALLABLE float randf(uint32& state) { state = rand_pcg(state); return (state >> 8) * (1.0f / 16777216.0f); }
37
+ inline CUDA_CALLABLE float randf(uint32& state, float min, float max) { return (max - min) * randf(state) + min; }
38
+
39
+ // Box-Muller method
40
+ inline CUDA_CALLABLE float randn(uint32& state) { return sqrt(-2.f * log(randf(state) + LOG_EPSILON)) * cos(2.f * M_PI_F * randf(state)); }
41
+
42
+ inline CUDA_CALLABLE void adj_rand_init(int seed, int& adj_seed, float adj_ret) {}
43
+ inline CUDA_CALLABLE void adj_rand_init(int seed, int offset, int& adj_seed, int& adj_offset, float adj_ret) {}
44
+
45
+ inline CUDA_CALLABLE void adj_randi(uint32& state, uint32& adj_state, float adj_ret) {}
46
+ inline CUDA_CALLABLE void adj_randi(uint32& state, int min, int max, uint32& adj_state, int& adj_min, int& adj_max, float adj_ret) {}
47
+
48
+ inline CUDA_CALLABLE void adj_randf(uint32& state, uint32& adj_state, float adj_ret) {}
49
+ inline CUDA_CALLABLE void adj_randf(uint32& state, float min, float max, uint32& adj_state, float& adj_min, float& adj_max, float adj_ret) {}
50
+
51
+ inline CUDA_CALLABLE void adj_randn(uint32& state, uint32& adj_state, float adj_ret) {}
52
+
53
+ inline CUDA_CALLABLE int sample_cdf(uint32& state, const array_t<float>& cdf)
54
+ {
55
+ float u = randf(state);
56
+ return lower_bound<float>(cdf, u);
57
+ }
58
+
59
+ inline CUDA_CALLABLE vec2 sample_triangle(uint32& state)
60
+ {
61
+ float r = sqrt(randf(state));
62
+ float u = 1.f - r;
63
+ float v = randf(state) * r;
64
+ return vec2(u, v);
65
+ }
66
+
67
+ inline CUDA_CALLABLE vec2 sample_unit_ring(uint32& state)
68
+ {
69
+ float theta = randf(state, 0.f, 2.f*M_PI_F);
70
+ float x = cos(theta);
71
+ float y = sin(theta);
72
+ return vec2(x, y);
73
+ }
74
+
75
+ inline CUDA_CALLABLE vec2 sample_unit_disk(uint32& state)
76
+ {
77
+ float r = sqrt(randf(state));
78
+ float theta = randf(state, 0.f, 2.f*M_PI_F);
79
+ float x = r * cos(theta);
80
+ float y = r * sin(theta);
81
+ return vec2(x, y);
82
+ }
83
+
84
+ inline CUDA_CALLABLE vec3 sample_unit_sphere_surface(uint32& state)
85
+ {
86
+ float phi = acos(1.f - 2.f * randf(state));
87
+ float theta = randf(state, 0.f, 2.f*M_PI_F);
88
+ float x = cos(theta) * sin(phi);
89
+ float y = sin(theta) * sin(phi);
90
+ float z = cos(phi);
91
+ return vec3(x, y, z);
92
+ }
93
+
94
+ inline CUDA_CALLABLE vec3 sample_unit_sphere(uint32& state)
95
+ {
96
+ float phi = acos(1.f - 2.f * randf(state));
97
+ float theta = randf(state, 0.f, 2.f*M_PI_F);
98
+ float r = pow(randf(state), 1.f/3.f);
99
+ float x = r * cos(theta) * sin(phi);
100
+ float y = r * sin(theta) * sin(phi);
101
+ float z = r * cos(phi);
102
+ return vec3(x, y, z);
103
+ }
104
+
105
+ inline CUDA_CALLABLE vec3 sample_unit_hemisphere_surface(uint32& state)
106
+ {
107
+ float phi = acos(1.f - randf(state));
108
+ float theta = randf(state, 0.f, 2.f*M_PI_F);
109
+ float x = cos(theta) * sin(phi);
110
+ float y = sin(theta) * sin(phi);
111
+ float z = cos(phi);
112
+ return vec3(x, y, z);
113
+ }
114
+
115
+ inline CUDA_CALLABLE vec3 sample_unit_hemisphere(uint32& state)
116
+ {
117
+ float phi = acos(1.f - randf(state));
118
+ float theta = randf(state, 0.f, 2.f*M_PI_F);
119
+ float r = pow(randf(state), 1.f/3.f);
120
+ float x = r * cos(theta) * sin(phi);
121
+ float y = r * sin(theta) * sin(phi);
122
+ float z = r * cos(phi);
123
+ return vec3(x, y, z);
124
+ }
125
+
126
+ inline CUDA_CALLABLE vec2 sample_unit_square(uint32& state)
127
+ {
128
+ float x = randf(state) - 0.5f;
129
+ float y = randf(state) - 0.5f;
130
+ return vec2(x, y);
131
+ }
132
+
133
+ inline CUDA_CALLABLE vec3 sample_unit_cube(uint32& state)
134
+ {
135
+ float x = randf(state) - 0.5f;
136
+ float y = randf(state) - 0.5f;
137
+ float z = randf(state) - 0.5f;
138
+ return vec3(x, y, z);
139
+ }
140
+
141
+ inline CUDA_CALLABLE vec4 sample_unit_hypercube(uint32& state)
142
+ {
143
+ float a = randf(state) - 0.5f;
144
+ float b = randf(state) - 0.5f;
145
+ float c = randf(state) - 0.5f;
146
+ float d = randf(state) - 0.5f;
147
+ return vec4(a, b, c, d);
148
+ }
149
+
150
+ inline CUDA_CALLABLE void adj_sample_cdf(uint32& state, const array_t<float>& cdf, uint32& adj_state, array_t<float>& adj_cdf, const int& adj_ret) {}
151
+ inline CUDA_CALLABLE void adj_sample_triangle(uint32& state, uint32& adj_state, const vec2& adj_ret) {}
152
+ inline CUDA_CALLABLE void adj_sample_unit_ring(uint32& state, uint32& adj_state, const vec2& adj_ret) {}
153
+ inline CUDA_CALLABLE void adj_sample_unit_disk(uint32& state, uint32& adj_state, const vec2& adj_ret) {}
154
+ inline CUDA_CALLABLE void adj_sample_unit_sphere_surface(uint32& state, uint32& adj_state, const vec3& adj_ret) {}
155
+ inline CUDA_CALLABLE void adj_sample_unit_sphere(uint32& state, uint32& adj_state, const vec3& adj_ret) {}
156
+ inline CUDA_CALLABLE void adj_sample_unit_hemisphere_surface(uint32& state, uint32& adj_state, const vec3& adj_ret) {}
157
+ inline CUDA_CALLABLE void adj_sample_unit_hemisphere(uint32& state, uint32& adj_state, const vec3& adj_ret) {}
158
+ inline CUDA_CALLABLE void adj_sample_unit_square(uint32& state, uint32& adj_state, const vec2& adj_ret) {}
159
+ inline CUDA_CALLABLE void adj_sample_unit_cube(uint32& state, uint32& adj_state, const vec3& adj_ret) {}
160
+ inline CUDA_CALLABLE void adj_sample_unit_hypercube(uint32& state, uint32& adj_state, const vec3& adj_ret) {}
161
+
162
+ /*
163
+ * log-gamma function to support some of these distributions. The
164
+ * algorithm comes from SPECFUN by Shanjie Zhang and Jianming Jin and their
165
+ * book "Computation of Special Functions", 1996, John Wiley & Sons, Inc.
166
+ *
167
+ * If random_loggam(k+1) is being used to compute log(k!) for an integer k, consider
168
+ * using logfactorial(k) instead.
169
+ */
170
+ inline CUDA_CALLABLE float random_loggam(float x)
171
+ {
172
+ float x0, x2, lg2pi, gl, gl0;
173
+ uint32 n;
174
+
175
+ const float a[10] = {8.333333333333333e-02f, -2.777777777777778e-03f,
176
+ 7.936507936507937e-04f, -5.952380952380952e-04f,
177
+ 8.417508417508418e-04f, -1.917526917526918e-03f,
178
+ 6.410256410256410e-03f, -2.955065359477124e-02f,
179
+ 1.796443723688307e-01f, -1.39243221690590e+00f};
180
+
181
+ if ((x == 1.f) || (x == 2.f))
182
+ {
183
+ return 0.f;
184
+ }
185
+ else if (x < 7.f)
186
+ {
187
+ n = uint32((7 - x));
188
+ }
189
+ else
190
+ {
191
+ n = 0;
192
+ }
193
+
194
+ x0 = x + float(n);
195
+ x2 = (1.f / x0) * (1.f / x0);
196
+ // log(2 * M_PI_F)
197
+ lg2pi = 1.8378770664093453f;
198
+ gl0 = a[9];
199
+ for (int i = 8; i >= 0; i--)
200
+ {
201
+ gl0 *= x2;
202
+ gl0 += a[i];
203
+ }
204
+ gl = gl0 / x0 + 0.5f * lg2pi + (x0 - 0.5f) * log(x0) - x0;
205
+ if (x < 7.f)
206
+ {
207
+ for (uint32 k = 1; k <= n; k++)
208
+ {
209
+ gl -= log(x0 - 1.f);
210
+ x0 -= 1.f;
211
+ }
212
+ }
213
+ return gl;
214
+ }
215
+
216
+ inline CUDA_CALLABLE uint32 random_poisson_mult(uint32& state, float lam) {
217
+ uint32 X;
218
+ float prod, U, enlam;
219
+
220
+ enlam = exp(-lam);
221
+ X = 0;
222
+ prod = 1.f;
223
+
224
+ while (1)
225
+ {
226
+ U = randf(state);
227
+ prod *= U;
228
+ if (prod > enlam)
229
+ {
230
+ X += 1;
231
+ }
232
+ else
233
+ {
234
+ return X;
235
+ }
236
+ }
237
+ }
238
+
239
+ /*
240
+ * The transformed rejection method for generating Poisson random variables
241
+ * W. Hoermann
242
+ * Insurance: Mathematics and Economics 12, 39-45 (1993)
243
+ */
244
+ inline CUDA_CALLABLE uint32 random_poisson(uint32& state, float lam)
245
+ {
246
+ uint32 k;
247
+ float U, V, slam, loglam, a, b, invalpha, vr, us;
248
+
249
+ slam = sqrt(lam);
250
+ loglam = log(lam);
251
+ b = 0.931f + 2.53f * slam;
252
+ a = -0.059f + 0.02483f * b;
253
+ invalpha = 1.1239f + 1.1328f / (b - 3.4f);
254
+ vr = 0.9277f - 3.6224f / (b - 2.f);
255
+
256
+ while (1)
257
+ {
258
+ U = randf(state) - 0.5f;
259
+ V = randf(state);
260
+ us = 0.5f - abs(U);
261
+ k = uint32(floor((2.f * a / us + b) * U + lam + 0.43f));
262
+ if ((us >= 0.07f) && (V <= vr))
263
+ {
264
+ return k;
265
+ }
266
+ if ((us < 0.013f) && (V > us))
267
+ {
268
+ continue;
269
+ }
270
+ if ((log(V) + log(invalpha) - log(a / (us * us) + b)) <= (-lam + k * loglam - random_loggam(k + 1)))
271
+ {
272
+ return k;
273
+ }
274
+ }
275
+ }
276
+
277
+ /*
278
+ * Adapted from NumPy's implementation
279
+ * Warp's state variable is half the precision of NumPy's so
280
+ * poisson implementation uses half the precision used in NumPy's implementation
281
+ * both precisions appear to converge in the statistical limit
282
+ */
283
+ inline CUDA_CALLABLE uint32 poisson(uint32& state, float lam)
284
+ {
285
+ if (lam >= 10.f)
286
+ {
287
+ return random_poisson(state, lam);
288
+ }
289
+ else if (lam == 0.f)
290
+ {
291
+ return 0;
292
+ }
293
+ else
294
+ {
295
+ return random_poisson_mult(state, lam);
296
+ }
297
+ }
298
+
299
+ inline CUDA_CALLABLE void adj_random_loggam(float x, float& adj_x, const float adj_ret) {}
300
+ inline CUDA_CALLABLE void random_poisson_mult(uint32& state, float lam, uint32& adj_state, float& adj_lam, const uint32& adj_ret) {}
301
+ inline CUDA_CALLABLE void adj_random_poisson(uint32& state, float lam, uint32& adj_state, float& adj_lam, const uint32& adj_ret) {}
302
+ inline CUDA_CALLABLE void adj_poisson(uint32& state, float lam, uint32& adj_state, float& adj_lam, const uint32& adj_ret) {}
303
+
300
304
  } // namespace wp