warp-lang 1.3.0__py3-none-manylinux2014_x86_64.whl → 1.3.2__py3-none-manylinux2014_x86_64.whl

warp/native/svd.h

@@ -38,10 +38,20 @@
 namespace wp
 {
 
-#define _gamma 5.828427124 // FOUR_GAMMA_SQUARED = sqrt(8)+3;
-#define _cstar 0.923879532 // cos(pi/8)
-#define _sstar 0.3826834323 // sin(p/8)
-#define _EPSILON 1e-6
+
+template<typename Type>
+struct _svd_config {
+    static constexpr float QR_GIVENS_EPSILON = 1.e-6f;
+    static constexpr int JACOBI_ITERATIONS = 4;
+};
+
+template<>
+struct _svd_config<double> {
+    static constexpr double QR_GIVENS_EPSILON = 1.e-12;
+    static constexpr int JACOBI_ITERATIONS = 8;
+};
+
+
 
 // TODO: replace sqrt with rsqrt
 
@@ -149,9 +159,13 @@ void approximateGivensQuaternion(Type a11, Type a12, Type a22, Type &ch, Type &s
      * Given givens angle computed by approximateGivensAngles,
      * compute the corresponding rotation quaternion.
      */
+    constexpr double _gamma = 5.82842712474619; // FOUR_GAMMA_SQUARED = sqrt(8)+3;
+    constexpr double _cstar = 0.9238795325112867; // cos(pi/8)
+    constexpr double _sstar = 0.3826834323650898;  // sin(p/8)
+
     ch = Type(2)*(a11-a22);
     sh = a12;
-    bool b = _gamma*sh*sh < ch*ch;
+    bool b = Type(_gamma)*sh*sh < ch*ch;
     Type w = Type(1) / sqrt(ch*ch+sh*sh);
     ch=b?w*ch:Type(_cstar);
     sh=b?w*sh:Type(_sstar);
@@ -230,7 +244,8 @@ void jacobiEigenanlysis( // symmetric matrix
                                 Type * qV)
 {
     qV[3]=1; qV[0]=0;qV[1]=0;qV[2]=0; // follow same indexing convention as GLM
-    for (int i=0;i<4;i++)
+    constexpr int ITERS = _svd_config<Type>::JACOBI_ITERATIONS;
+    for (int i=0;i<ITERS;i++)
     {
         // we wish to eliminate the maximum off-diagonal element
         // on every iteration, but cycling over all 3 possible rotations
@@ -279,7 +294,7 @@ void QRGivensQuaternion(Type a1, Type a2, Type &ch, Type &sh)
 {
     // a1 = pivot point on diagonal
     // a2 = lower triangular entry we want to annihilate
-    Type epsilon = _EPSILON;
+    const Type epsilon = _svd_config<Type>::QR_GIVENS_EPSILON;
     Type rho = accurateSqrt(a1*a1 + a2*a2);
 
     sh = rho > epsilon ? a2 : Type(0);

warp/native/warp.cpp

@@ -1019,6 +1019,7 @@ WP_API void cuda_stream_synchronize(void* stream) {}
 WP_API void cuda_stream_wait_event(void* stream, void* event) {}
 WP_API void cuda_stream_wait_stream(void* stream, void* other_stream, void* event) {}
 WP_API int cuda_stream_is_capturing(void* stream) { return 0; }
+WP_API uint64_t cuda_stream_get_capture_id(void* stream) { return 0; }
 
 WP_API void* cuda_event_create(void* context, unsigned flags) { return NULL; }
 WP_API void cuda_event_destroy(void* event) {}

warp/native/warp.cu

@@ -2263,6 +2263,11 @@ int cuda_stream_is_capturing(void* stream)
     return int(status != cudaStreamCaptureStatusNone);
 }
 
+uint64_t cuda_stream_get_capture_id(void* stream)
+{
+    return get_capture_id(static_cast<CUstream>(stream));
+}
+
 void* cuda_event_create(void* context, unsigned flags)
 {
     ContextGuard guard(context, true);

warp/native/warp.h

@@ -295,6 +295,7 @@ extern "C"
     WP_API void cuda_stream_wait_event(void* stream, void* event);
     WP_API void cuda_stream_wait_stream(void* stream, void* other_stream, void* event);
     WP_API int cuda_stream_is_capturing(void* stream);
+    WP_API uint64_t cuda_stream_get_capture_id(void* stream);
 
     WP_API void* cuda_event_create(void* context, unsigned flags);
     WP_API void cuda_event_destroy(void* event);

warp/sim/collide.py

@@ -53,7 +53,7 @@ def triangle_closest_point_barycentric(a: wp.vec3, b: wp.vec3, c: wp.vec3, p: wp
     va = d3 * d6 - d5 * d4
     w = (d4 - d3) / ((d4 - d3) + (d5 - d6))
     if va <= 0.0 and (d4 - d3) >= 0.0 and (d5 - d6) >= 0.0:
-        return wp.vec3(0.0, w, 1.0 - w)
+        return wp.vec3(0.0, 1.0 - w, w)
 
     denom = 1.0 / (va + vb + vc)
     v = vb * denom

warp/sim/model.py

@@ -2516,16 +2516,16 @@ class ModelBuilder:
                         )
                     if last_dynamic_body > -1:
                         self.shape_body[shape] = body_data[last_dynamic_body]["id"]
+                        source_m = body_data[last_dynamic_body]["mass"]
+                        source_com = body_data[last_dynamic_body]["com"]
                         # add inertia to last_dynamic_body
                         m = body_data[child_body]["mass"]
-                        com = body_data[child_body]["com"]
+                        com = wp.transform_point(incoming_xform, body_data[child_body]["com"])
                         inertia = body_data[child_body]["inertia"]
                         body_data[last_dynamic_body]["inertia"] += wp.sim.transform_inertia(
                             m, inertia, incoming_xform.p, incoming_xform.q
                         )
                         body_data[last_dynamic_body]["mass"] += m
-                        source_m = body_data[last_dynamic_body]["mass"]
-                        source_com = body_data[last_dynamic_body]["com"]
                         body_data[last_dynamic_body]["com"] = (m * com + source_m * source_com) / (m + source_m)
                         body_data[last_dynamic_body]["shapes"].append(shape)
                         # indicate to recompute inverse mass, inertia for this body
@@ -2594,6 +2594,19 @@ class ModelBuilder:
         # sort joints so they appear in the same order as before
         retained_joints.sort(key=lambda x: x["original_id"])
 
+        joint_remap = {}
+        for i, joint in enumerate(retained_joints):
+            joint_remap[joint["original_id"]] = i
+        # update articulation_start
+        for i, old_i in enumerate(self.articulation_start):
+            while old_i not in joint_remap:
+                old_i += 1
+                if old_i >= self.joint_count:
+                    break
+            self.articulation_start[i] = joint_remap.get(old_i, old_i)
+        # remove empty articulation starts, i.e. where the start and end are the same
+        self.articulation_start = list(set(self.articulation_start))
+
         self.joint_name.clear()
         self.joint_type.clear()
         self.joint_parent.clear()

warp/sim/utils.py

@@ -311,7 +311,7 @@ def load_mesh(filename: str, method: str = None):
     import os
 
     if not os.path.exists(filename):
-        raise ValueError(f"File not found: {filename}")
+        raise FileNotFoundError(f"File not found: {filename}")
 
     def load_mesh_with_method(method):
         if method == "meshio":