warp-lang 1.10.0__py3-none-macosx_11_0_arm64.whl

warp/examples/fem/example_stokes.py

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+# SPDX-FileCopyrightText: Copyright (c) 2022 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.
+
+###########################################################################
+# Example Stokes
+#
+# This example solves a 2D Stokes flow problem
+#
+# -nu D(u) + grad p = 0
+# Div u = 0
+#
+# with (soft) velocity-Dirichlet boundary conditions
+###########################################################################
+
+import warp as wp
+import warp.examples.fem.utils as fem_example_utils
+import warp.fem as fem
+from warp.fem.linalg import array_axpy
+
+
+@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 top_mass_form(
+    s: fem.Sample,
+    domain: fem.Domain,
+    u: fem.Field,
+    v: fem.Field,
+):
+    # non zero on top boundary of domain only
+    nor = fem.normal(domain, s)
+    return wp.dot(u(s), v(s)) * wp.max(0.0, nor[1])
+
+
+@fem.integrand
+def mass_form(
+    s: fem.Sample,
+    u: fem.Field,
+    v: fem.Field,
+):
+    return wp.dot(u(s), v(s))
+
+
+@fem.integrand
+def div_form(
+    s: fem.Sample,
+    u: fem.Field,
+    q: fem.Field,
+):
+    return q(s) * fem.div(u, s)
+
+
+class Example:
+    def __init__(
+        self,
+        quiet=False,
+        mesh="grid",
+        degree=2,
+        resolution=50,
+        viscosity=1.0,
+        top_velocity=1.0,
+        boundary_strength=100.0,
+        nonconforming_pressures=False,
+    ):
+        self._quiet = quiet
+
+        self.viscosity = viscosity
+        self.boundary_strength = boundary_strength
+
+        # Grid or triangle mesh geometry
+        if mesh == "tri":
+            positions, tri_vidx = fem_example_utils.gen_trimesh(res=wp.vec2i(resolution))
+            geo = fem.Trimesh2D(tri_vertex_indices=tri_vidx, positions=positions)
+        elif mesh == "quad":
+            positions, quad_vidx = fem_example_utils.gen_quadmesh(res=wp.vec2i(resolution))
+            geo = fem.Quadmesh2D(quad_vertex_indices=quad_vidx, positions=positions)
+        else:
+            geo = fem.Grid2D(res=wp.vec2i(resolution))
+
+        # Function spaces -- Q_d for vel, P_{d-1} for pressure
+        u_space = fem.make_polynomial_space(geo, degree=degree, dtype=wp.vec2)
+        if mesh != "tri" and nonconforming_pressures:
+            p_space = fem.make_polynomial_space(
+                geo, degree=degree - 1, element_basis=fem.ElementBasis.NONCONFORMING_POLYNOMIAL
+            )
+        else:
+            p_space = fem.make_polynomial_space(geo, degree=degree - 1)
+
+        # Vector and scalar fields
+        self._u_field = u_space.make_field()
+        self._p_field = p_space.make_field()
+
+        self._bd_field = fem.UniformField(domain=fem.BoundarySides(geo), value=wp.vec2(top_velocity, 0.0))
+
+        self.renderer = fem_example_utils.Plot()
+
+    def step(self):
+        u_space = self._u_field.space
+        p_space = self._p_field.space
+        geo = u_space.geometry
+
+        domain = fem.Cells(geometry=geo)
+        boundary = fem.BoundarySides(geo)
+
+        # Viscosity
+        u_test = fem.make_test(space=u_space, domain=domain)
+        u_trial = fem.make_trial(space=u_space, domain=domain)
+
+        u_visc_matrix = fem.integrate(
+            viscosity_form,
+            fields={"u": u_trial, "v": u_test},
+            values={"nu": self.viscosity},
+        )
+
+        # Weak velocity boundary conditions
+        u_bd_test = fem.make_test(space=u_space, domain=boundary)
+        u_bd_trial = fem.make_trial(space=u_space, domain=boundary)
+        u_rhs = fem.integrate(top_mass_form, fields={"u": self._bd_field, "v": u_bd_test}, output_dtype=wp.vec2d)
+        u_bd_matrix = fem.integrate(mass_form, fields={"u": u_bd_trial, "v": u_bd_test})
+
+        # Pressure-velocity coupling
+        p_test = fem.make_test(space=p_space, domain=domain)
+        div_matrix = fem.integrate(div_form, fields={"u": u_trial, "q": p_test})
+
+        # Define and solve the saddle-point system
+        u_matrix = u_visc_matrix
+        u_matrix += self.boundary_strength * u_bd_matrix
+        array_axpy(x=u_rhs, y=u_rhs, alpha=0.0, beta=self.boundary_strength)
+
+        p_rhs = wp.zeros(p_space.node_count(), dtype=wp.float64)
+        x_u = wp.zeros_like(u_rhs)
+        x_p = wp.zeros_like(p_rhs)
+
+        fem_example_utils.bsr_solve_saddle(
+            fem_example_utils.SaddleSystem(A=u_matrix, B=div_matrix),
+            x_u=x_u,
+            x_p=x_p,
+            b_u=u_rhs,
+            b_p=p_rhs,
+            quiet=self._quiet,
+        )
+
+        wp.utils.array_cast(in_array=x_u, out_array=self._u_field.dof_values)
+        wp.utils.array_cast(in_array=x_p, out_array=self._p_field.dof_values)
+
+    def render(self):
+        self.renderer.add_field("pressure", self._p_field)
+        self.renderer.add_field("velocity", self._u_field)
+
+
+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(
+        "--top_velocity",
+        type=float,
+        default=1.0,
+        help="Horizontal velocity initial condition at the top of the domain.",
+    )
+    parser.add_argument("--viscosity", type=float, default=1.0, help="Fluid viscosity parameter.")
+    parser.add_argument("--boundary_strength", type=float, default=100.0, help="Soft boundary condition strength.")
+    parser.add_argument("--mesh", choices=("grid", "tri", "quad"), default="grid", help="Mesh type.")
+    parser.add_argument(
+        "--nonconforming_pressures", action="store_true", help="For grid, use non-conforming pressure (Q_d/P_{d-1})."
+    )
+    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,
+            mesh=args.mesh,
+            degree=args.degree,
+            resolution=args.resolution,
+            viscosity=args.viscosity,
+            top_velocity=args.top_velocity,
+            boundary_strength=args.boundary_strength,
+            nonconforming_pressures=args.nonconforming_pressures,
+        )
+        example.step()
+        example.render()
+
+        if not args.headless:
+            example.renderer.plot(
+                options={"velocity": {"streamlines": {}}, "pressure": {"contours": {}}}, backend="matplotlib"
+            )

warp/examples/fem/example_stokes_transfer.py

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+# SPDX-FileCopyrightText: Copyright (c) 2022 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.
+
+###########################################################################
+# 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.examples.fem.utils as fem_example_utils
+import warp.fem as fem
+from warp.fem.linalg import array_axpy
+from warp.utils import array_cast
+
+
+@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 = fem_example_utils.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
+        u_matrix += u_bd_matrix * self.bd_strength
+
+        gradient_matrix = div_matrix.transpose() @ inv_p_mass_matrix
+        u_matrix += gradient_matrix @ div_matrix / self.compliance
+
+        # scale u_rhs
+        array_axpy(u_rhs, u_rhs, alpha=0.0, beta=self.bd_strength)
+
+        # Solve for displacement
+        u_res = wp.zeros_like(u_rhs)
+        fem_example_utils.bsr_cg(u_matrix, x=u_res, b=u_rhs, quiet=self._quiet)
+
+        # Compute pressure from displacement
+        div_u = div_matrix @ u_res
+        p_res = -inv_p_mass_matrix @ div_u
+
+        # 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_field("pressure", self._p_field)
+        self.renderer.add_field("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(options={"velocity": {"streamlines": {}}})