warp-lang 1.10.0__py3-none-macosx_11_0_arm64.whl

warp/_src/fem/geometry/grid_3d.py

@@ -0,0 +1,539 @@
+# SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from functools import cached_property
+from typing import Any, Optional
+
+import warp as wp
+from warp._src.fem.cache import cached_arg_value, dynamic_func
+from warp._src.fem.types import NULL_ELEMENT_INDEX, OUTSIDE, Coords, ElementIndex, Sample, make_free_sample
+
+from .closest_point import project_on_box_at_origin
+from .element import Element
+from .geometry import Geometry
+
+_wp_module_name_ = "warp.fem.geometry.grid_3d"
+
+
+@wp.struct
+class Grid3DCellArg:
+    res: wp.vec3i
+    cell_size: wp.vec3
+    origin: wp.vec3
+
+
+class Grid3D(Geometry):
+    """Three-dimensional regular grid geometry"""
+
+    dimension = 3
+
+    def __init__(self, res: wp.vec3i, bounds_lo: Optional[wp.vec3] = None, bounds_hi: Optional[wp.vec3] = None):
+        """Constructs a dense 3D grid
+
+        Args:
+            res: Resolution of the grid along each dimension
+            bounds_lo: Position of the lower bound of the axis-aligned grid
+            bounds_hi: Position of the upper bound of the axis-aligned grid
+        """
+
+        if bounds_lo is None:
+            bounds_lo = wp.vec3(0.0)
+
+        if bounds_hi is None:
+            bounds_hi = wp.vec3(1.0)
+
+        self.bounds_lo = bounds_lo
+        self.bounds_hi = bounds_hi
+
+        self._res = res
+
+    @cached_property
+    def extents(self) -> wp.vec3:
+        # Avoid using native sub due to higher over of calling builtins from Python
+        return wp.vec3(
+            self.bounds_hi[0] - self.bounds_lo[0],
+            self.bounds_hi[1] - self.bounds_lo[1],
+            self.bounds_hi[2] - self.bounds_lo[2],
+        )
+
+    @cached_property
+    def cell_size(self) -> wp.vec3:
+        ex = self.extents
+        return wp.vec3(
+            ex[0] / self.res[0],
+            ex[1] / self.res[1],
+            ex[2] / self.res[2],
+        )
+
+    def cell_count(self):
+        return self.res[0] * self.res[1] * self.res[2]
+
+    def vertex_count(self):
+        return (self.res[0] + 1) * (self.res[1] + 1) * (self.res[2] + 1)
+
+    def side_count(self):
+        return (
+            (self.res[0] + 1) * (self.res[1]) * (self.res[2])
+            + (self.res[0]) * (self.res[1] + 1) * (self.res[2])
+            + (self.res[0]) * (self.res[1]) * (self.res[2] + 1)
+        )
+
+    def edge_count(self):
+        return (
+            (self.res[0] + 1) * (self.res[1] + 1) * (self.res[2])
+            + (self.res[0]) * (self.res[1] + 1) * (self.res[2] + 1)
+            + (self.res[0] + 1) * (self.res[1]) * (self.res[2] + 1)
+        )
+
+    def boundary_side_count(self):
+        return 2 * (self.res[1]) * (self.res[2]) + (self.res[0]) * 2 * (self.res[2]) + (self.res[0]) * (self.res[1]) * 2
+
+    def reference_cell(self) -> Element:
+        return Element.CUBE
+
+    def reference_side(self) -> Element:
+        return Element.SQUARE
+
+    @property
+    def res(self):
+        return self._res
+
+    @property
+    def origin(self):
+        return self.bounds_lo
+
+    @cached_property
+    def strides(self):
+        return wp.vec3i(self.res[1] * self.res[2], self.res[2], 1)
+
+    # Utility device functions
+
+    CellArg = Grid3DCellArg
+    Cell = wp.vec3i
+
+    @wp.func
+    def _to_3d_index(strides: wp.vec2i, index: int):
+        x = index // strides[0]
+        y = (index - strides[0] * x) // strides[1]
+        z = index - strides[0] * x - strides[1] * y
+        return wp.vec3i(x, y, z)
+
+    @wp.func
+    def _from_3d_index(strides: wp.vec2i, index: wp.vec3i):
+        return strides[0] * index[0] + strides[1] * index[1] + index[2]
+
+    @wp.func
+    def cell_index(res: wp.vec3i, cell: Cell):
+        strides = wp.vec2i(res[1] * res[2], res[2])
+        return Grid3D._from_3d_index(strides, cell)
+
+    @wp.func
+    def get_cell(res: wp.vec3i, cell_index: ElementIndex):
+        strides = wp.vec2i(res[1] * res[2], res[2])
+        return Grid3D._to_3d_index(strides, cell_index)
+
+    @wp.struct
+    class Side:
+        axis: int  # normal
+        origin: wp.vec3i  # index of vertex at corner (0,0,0)
+
+    @wp.struct
+    class SideArg:
+        cell_count: int
+        axis_offsets: wp.vec3i
+        cell_arg: Grid3DCellArg
+
+    SideIndexArg = SideArg
+
+    @wp.func
+    def _world_to_local(axis: int, vec: Any):
+        return type(vec)(
+            vec[axis],
+            vec[(axis + 1) % 3],
+            vec[(axis + 2) % 3],
+        )
+
+    @wp.func
+    def _local_to_world(axis: int, vec: Any):
+        return type(vec)(
+            vec[(2 * axis) % 3],
+            vec[(2 * axis + 1) % 3],
+            vec[(2 * axis + 2) % 3],
+        )
+
+    @wp.func
+    def _local_to_world_axis(axis: int, loc_index: Any):
+        return (axis + loc_index) % 3
+
+    @wp.func
+    def side_index(arg: SideArg, side: Side):
+        alt_axis = Grid3D._local_to_world_axis(side.axis, 0)
+        if side.origin[0] == arg.cell_arg.res[alt_axis]:
+            # Upper-boundary side
+            longitude = side.origin[1]
+            latitude = side.origin[2]
+
+            latitude_res = arg.cell_arg.res[Grid3D._local_to_world_axis(side.axis, 2)]
+            lat_long = latitude_res * longitude + latitude
+
+            return 3 * arg.cell_count + arg.axis_offsets[side.axis] + lat_long
+
+        cell_index = Grid3D.cell_index(arg.cell_arg.res, Grid3D._local_to_world(side.axis, side.origin))
+        return side.axis * arg.cell_count + cell_index
+
+    @wp.func
+    def get_side(arg: SideArg, side_index: ElementIndex):
+        res = arg.cell_arg.res
+
+        if side_index < 3 * arg.cell_count:
+            axis = side_index // arg.cell_count
+            cell_index = side_index - axis * arg.cell_count
+            origin_loc = Grid3D._world_to_local(axis, Grid3D.get_cell(res, cell_index))
+            return Grid3D.Side(axis, origin_loc)
+
+        axis_offsets = arg.axis_offsets
+        axis_side_index = side_index - 3 * arg.cell_count
+        if axis_side_index < axis_offsets[1]:
+            axis = 0
+        elif axis_side_index < axis_offsets[2]:
+            axis = 1
+        else:
+            axis = 2
+
+        altitude = res[Grid3D._local_to_world_axis(axis, 0)]
+
+        lat_long = axis_side_index - axis_offsets[axis]
+        latitude_res = res[Grid3D._local_to_world_axis(axis, 2)]
+
+        longitude = lat_long // latitude_res
+        latitude = lat_long - longitude * latitude_res
+
+        origin_loc = wp.vec3i(altitude, longitude, latitude)
+
+        return Grid3D.Side(axis, origin_loc)
+
+    # Geometry device interface
+
+    def fill_cell_arg(self, args: CellArg, device):
+        args.res = self.res
+        args.origin = self.bounds_lo
+        args.cell_size = self.cell_size
+
+    @wp.func
+    def cell_position(args: CellArg, s: Sample):
+        cell = Grid3D.get_cell(args.res, s.element_index)
+        return (
+            wp.vec3(
+                (float(cell[0]) + s.element_coords[0]) * args.cell_size[0],
+                (float(cell[1]) + s.element_coords[1]) * args.cell_size[1],
+                (float(cell[2]) + s.element_coords[2]) * args.cell_size[2],
+            )
+            + args.origin
+        )
+
+    @wp.func
+    def cell_deformation_gradient(args: CellArg, s: Sample):
+        return wp.diag(args.cell_size)
+
+    @wp.func
+    def cell_inverse_deformation_gradient(args: CellArg, s: Sample):
+        return wp.diag(wp.cw_div(wp.vec3(1.0), args.cell_size))
+
+    @wp.func
+    def cell_coordinates(args: Grid3DCellArg, cell_index: int, pos: wp.vec3):
+        uvw = wp.cw_div(pos - args.origin, args.cell_size)
+        ijk = Grid3D.get_cell(args.res, cell_index)
+        return uvw - wp.vec3(ijk)
+
+    @wp.func
+    def cell_closest_point(args: Grid3DCellArg, cell_index: int, pos: wp.vec3):
+        ijk_world = wp.cw_mul(wp.vec3(Grid3D.get_cell(args.res, cell_index)), args.cell_size) + args.origin
+        dist_sq, coords = project_on_box_at_origin(pos - ijk_world, args.cell_size)
+        return coords, dist_sq
+
+    def supports_cell_lookup(self, device):
+        return True
+
+    def make_filtered_cell_lookup(self, filter_func: wp.Function = None):
+        suffix = f"{self.name}{filter_func.key if filter_func is not None else ''}"
+
+        @dynamic_func(suffix=suffix)
+        def cell_lookup(args: self.CellArg, pos: wp.vec3, max_dist: float, filter_data: Any, filter_target: Any):
+            cell_size = args.cell_size
+            res = args.res
+
+            # Start at closest point on grid
+            loc_pos = wp.cw_div(pos - args.origin, cell_size)
+            x = wp.clamp(loc_pos[0], 0.0, float(res[0]))
+            y = wp.clamp(loc_pos[1], 0.0, float(res[1]))
+            z = wp.clamp(loc_pos[2], 0.0, float(res[2]))
+
+            x_cell = wp.min(wp.floor(x), float(res[0]) - 1.0)
+            y_cell = wp.min(wp.floor(y), float(res[1]) - 1.0)
+            z_cell = wp.min(wp.floor(z), float(res[2]) - 1.0)
+
+            coords = Coords(x - x_cell, y - y_cell, z - z_cell)
+            cell_index = Grid3D.cell_index(res, Grid3D.Cell(int(x_cell), int(y_cell), int(z_cell)))
+
+            if wp.static(filter_func is None):
+                return make_free_sample(cell_index, coords)
+            else:
+                if filter_func(filter_data, cell_index) == filter_target:
+                    return make_free_sample(cell_index, coords)
+
+                offset = float(0.5)
+                min_cell_size = wp.min(cell_size)
+                max_offset = wp.ceil(max_dist / min_cell_size)
+                scales = wp.cw_div(wp.vec3(min_cell_size), cell_size)
+
+                closest_cell = NULL_ELEMENT_INDEX
+                closest_coords = Coords()
+
+                # Iterate over increasingly larger neighborhoods
+                while closest_cell == NULL_ELEMENT_INDEX:
+                    i_min = wp.max(0, int(wp.floor(x - offset * scales[0])))
+                    i_max = wp.min(res[0], int(wp.floor(x + offset * scales[0])) + 1)
+                    j_min = wp.max(0, int(wp.floor(y - offset * scales[1])))
+                    j_max = wp.min(res[1], int(wp.floor(y + offset * scales[1])) + 1)
+                    k_min = wp.max(0, int(wp.floor(z - offset * scales[2])))
+                    k_max = wp.min(res[2], int(wp.floor(z + offset * scales[2])) + 1)
+
+                    closest_dist = min_cell_size * min_cell_size * float(offset * offset)
+
+                    for i in range(i_min, i_max):
+                        for j in range(j_min, j_max):
+                            for k in range(k_min, k_max):
+                                ijk = Grid3D.Cell(i, j, k)
+                                cell_index = Grid3D.cell_index(res, ijk)
+                                if filter_func(filter_data, cell_index) == filter_target:
+                                    rel_pos = wp.cw_mul(loc_pos - wp.vec3(ijk), cell_size)
+                                    dist, coords = project_on_box_at_origin(rel_pos, cell_size)
+
+                                    if dist <= closest_dist:
+                                        closest_dist = dist
+                                        closest_coords = coords
+                                        closest_cell = cell_index
+
+                    if offset >= max_offset:
+                        break
+                    offset = wp.min(3.0 * offset, max_offset)
+
+                return make_free_sample(closest_cell, closest_coords)
+
+        return cell_lookup
+
+    @wp.func
+    def cell_measure(args: CellArg, s: Sample):
+        return args.cell_size[0] * args.cell_size[1] * args.cell_size[2]
+
+    @wp.func
+    def cell_normal(args: CellArg, s: Sample):
+        return wp.vec3(0.0)
+
+    @cached_arg_value
+    def side_arg_value(self, device) -> SideArg:
+        args = self.SideArg()
+        axis_dims = wp.vec3i(
+            self.res[1] * self.res[2],
+            self.res[2] * self.res[0],
+            self.res[0] * self.res[1],
+        )
+        args.axis_offsets = wp.vec3i(
+            0,
+            axis_dims[0],
+            axis_dims[0] + axis_dims[1],
+        )
+        args.cell_count = self.cell_count()
+        args.cell_arg = self.cell_arg_value(device)
+        return args
+
+    def side_index_arg_value(self, device) -> SideIndexArg:
+        return self.side_arg_value(device)
+
+    @wp.func
+    def boundary_side_index(args: SideArg, boundary_side_index: int):
+        """Boundary side to side index"""
+
+        axis_side_index = boundary_side_index // 2
+        border = boundary_side_index - 2 * axis_side_index
+
+        if axis_side_index < args.axis_offsets[1]:
+            axis = 0
+        elif axis_side_index < args.axis_offsets[2]:
+            axis = 1
+        else:
+            axis = 2
+
+        lat_long = axis_side_index - args.axis_offsets[axis]
+        latitude_res = args.cell_arg.res[Grid3D._local_to_world_axis(axis, 2)]
+
+        longitude = lat_long // latitude_res
+        latitude = lat_long - longitude * latitude_res
+
+        altitude = border * args.cell_arg.res[axis]
+
+        side = Grid3D.Side(axis, wp.vec3i(altitude, longitude, latitude))
+        return Grid3D.side_index(args, side)
+
+    @wp.func
+    def side_position(args: SideArg, s: Sample):
+        side = Grid3D.get_side(args, s.element_index)
+
+        coord0 = wp.where(side.origin[0] == 0, 1.0 - s.element_coords[0], s.element_coords[0])
+
+        local_pos = wp.vec3(
+            float(side.origin[0]),
+            float(side.origin[1]) + coord0,
+            float(side.origin[2]) + s.element_coords[1],
+        )
+
+        pos = args.cell_arg.origin + wp.cw_mul(Grid3D._local_to_world(side.axis, local_pos), args.cell_arg.cell_size)
+
+        return pos
+
+    @wp.func
+    def side_deformation_gradient(args: SideArg, s: Sample):
+        side = Grid3D.get_side(args, s.element_index)
+
+        sign = wp.where(side.origin[0] == 0, -1.0, 1.0)
+
+        return wp.matrix_from_cols(
+            wp.cw_mul(Grid3D._local_to_world(side.axis, wp.vec3(0.0, sign, 0.0)), args.cell_arg.cell_size),
+            wp.cw_mul(Grid3D._local_to_world(side.axis, wp.vec3(0.0, 0.0, 1.0)), args.cell_arg.cell_size),
+        )
+
+    @wp.func
+    def side_inner_inverse_deformation_gradient(args: SideArg, s: Sample):
+        return Grid3D.cell_inverse_deformation_gradient(args.cell_arg, s)
+
+    @wp.func
+    def side_outer_inverse_deformation_gradient(args: SideArg, s: Sample):
+        return Grid3D.cell_inverse_deformation_gradient(args.cell_arg, s)
+
+    @wp.func
+    def side_measure(args: SideArg, s: Sample):
+        side = Grid3D.get_side(args, s.element_index)
+        long_axis = Grid3D._local_to_world_axis(side.axis, 1)
+        lat_axis = Grid3D._local_to_world_axis(side.axis, 2)
+        return args.cell_arg.cell_size[long_axis] * args.cell_arg.cell_size[lat_axis]
+
+    @wp.func
+    def side_measure_ratio(args: SideArg, s: Sample):
+        side = Grid3D.get_side(args, s.element_index)
+        alt_axis = Grid3D._local_to_world_axis(side.axis, 0)
+        return 1.0 / args.cell_arg.cell_size[alt_axis]
+
+    @wp.func
+    def side_normal(args: SideArg, s: Sample):
+        side = Grid3D.get_side(args, s.element_index)
+
+        sign = wp.where(side.origin[0] == 0, -1.0, 1.0)
+
+        local_n = wp.vec3(sign, 0.0, 0.0)
+        return Grid3D._local_to_world(side.axis, local_n)
+
+    @wp.func
+    def side_inner_cell_index(arg: SideArg, side_index: ElementIndex):
+        side = Grid3D.get_side(arg, side_index)
+
+        inner_alt = wp.where(side.origin[0] == 0, 0, side.origin[0] - 1)
+
+        inner_origin = wp.vec3i(inner_alt, side.origin[1], side.origin[2])
+
+        cell = Grid3D._local_to_world(side.axis, inner_origin)
+        return Grid3D.cell_index(arg.cell_arg.res, cell)
+
+    @wp.func
+    def side_outer_cell_index(arg: SideArg, side_index: ElementIndex):
+        side = Grid3D.get_side(arg, side_index)
+
+        alt_axis = Grid3D._local_to_world_axis(side.axis, 0)
+
+        outer_alt = wp.where(
+            side.origin[0] == arg.cell_arg.res[alt_axis], arg.cell_arg.res[alt_axis] - 1, side.origin[0]
+        )
+
+        outer_origin = wp.vec3i(outer_alt, side.origin[1], side.origin[2])
+
+        cell = Grid3D._local_to_world(side.axis, outer_origin)
+        return Grid3D.cell_index(arg.cell_arg.res, cell)
+
+    @wp.func
+    def side_inner_cell_coords(args: SideArg, side_index: ElementIndex, side_coords: Coords):
+        side = Grid3D.get_side(args, side_index)
+
+        inner_alt = wp.where(side.origin[0] == 0, 0.0, 1.0)
+
+        side_coord0 = wp.where(side.origin[0] == 0, 1.0 - side_coords[0], side_coords[0])
+
+        return Grid3D._local_to_world(side.axis, wp.vec3(inner_alt, side_coord0, side_coords[1]))
+
+    @wp.func
+    def side_outer_cell_coords(args: SideArg, side_index: ElementIndex, side_coords: Coords):
+        side = Grid3D.get_side(args, side_index)
+
+        alt_axis = Grid3D._local_to_world_axis(side.axis, 0)
+        outer_alt = wp.where(side.origin[0] == args.cell_arg.res[alt_axis], 1.0, 0.0)
+
+        side_coord0 = wp.where(side.origin[0] == 0, 1.0 - side_coords[0], side_coords[0])
+
+        return Grid3D._local_to_world(side.axis, wp.vec3(outer_alt, side_coord0, side_coords[1]))
+
+    @wp.func
+    def side_from_cell_coords(
+        args: SideArg,
+        side_index: ElementIndex,
+        element_index: ElementIndex,
+        element_coords: Coords,
+    ):
+        side = Grid3D.get_side(args, side_index)
+        cell = Grid3D.get_cell(args.cell_arg.res, element_index)
+
+        if float(side.origin[0] - cell[side.axis]) == element_coords[side.axis]:
+            long_axis = Grid3D._local_to_world_axis(side.axis, 1)
+            lat_axis = Grid3D._local_to_world_axis(side.axis, 2)
+            long_coord = element_coords[long_axis]
+            long_coord = wp.where(side.origin[0] == 0, 1.0 - long_coord, long_coord)
+            return Coords(long_coord, element_coords[lat_axis], 0.0)
+
+        return Coords(OUTSIDE)
+
+    @wp.func
+    def side_to_cell_arg(side_arg: SideArg):
+        return side_arg.cell_arg
+
+    @wp.func
+    def side_coordinates(args: SideArg, side_index: int, pos: wp.vec3):
+        cell_arg = args.cell_arg
+        side = Grid3D.get_side(args, side_index)
+
+        pos_loc = Grid3D._world_to_local(side.axis, wp.cw_div(pos - cell_arg.origin, cell_arg.cell_size)) - wp.vec3(
+            side.origin
+        )
+
+        coord0 = wp.where(side.origin[0] == 0, 1.0 - pos_loc[1], pos_loc[1])
+        return Coords(coord0, pos_loc[2], 0.0)
+
+    @wp.func
+    def side_closest_point(args: SideArg, side_index: int, pos: wp.vec3):
+        coord = Grid3D.side_coordinates(args, side_index, pos)
+
+        cell_arg = args.cell_arg
+        side = Grid3D.get_side(args, side_index)
+
+        loc_cell_size = Grid3D._world_to_local(side.axis, cell_arg.cell_size)
+        long_lat_sizes = wp.vec2(loc_cell_size[1], loc_cell_size[2])
+        dist, proj_coord = project_on_box_at_origin(wp.vec2(coord[0], coord[1]), long_lat_sizes)
+        return proj_coord, dist