warp-lang 1.4.1__py3-none-manylinux2014_x86_64.whl → 1.4.2__py3-none-manylinux2014_x86_64.whl

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Files changed (27) hide show
  1. warp/bin/warp-clang.so +0 -0
  2. warp/builtins.py +67 -39
  3. warp/codegen.py +9 -17
  4. warp/config.py +1 -1
  5. warp/context.py +1 -0
  6. warp/examples/core/example_dem.py +2 -1
  7. warp/examples/core/example_mesh_intersect.py +3 -3
  8. warp/examples/optim/example_walker.py +2 -2
  9. warp/examples/sim/example_jacobian_ik.py +6 -2
  10. warp/native/array.h +40 -40
  11. warp/native/builtin.h +58 -17
  12. warp/sim/model.py +2 -2
  13. warp/stubs.py +82 -81
  14. warp/tests/test_array.py +168 -48
  15. warp/tests/test_closest_point_edge_edge.py +8 -8
  16. warp/tests/test_codegen.py +39 -0
  17. warp/tests/test_fabricarray.py +33 -0
  18. warp/tests/test_func.py +35 -1
  19. warp/tests/test_mesh_query_point.py +4 -3
  20. warp/tests/test_print.py +135 -0
  21. warp/tests/unittest_suites.py +4 -0
  22. warp/types.py +1 -1
  23. {warp_lang-1.4.1.dist-info → warp_lang-1.4.2.dist-info}/METADATA +4 -4
  24. {warp_lang-1.4.1.dist-info → warp_lang-1.4.2.dist-info}/RECORD +27 -27
  25. {warp_lang-1.4.1.dist-info → warp_lang-1.4.2.dist-info}/WHEEL +1 -1
  26. {warp_lang-1.4.1.dist-info → warp_lang-1.4.2.dist-info}/LICENSE.md +0 -0
  27. {warp_lang-1.4.1.dist-info → warp_lang-1.4.2.dist-info}/top_level.txt +0 -0
warp/native/array.h CHANGED
@@ -811,7 +811,7 @@ CUDA_CALLABLE inline void adj_atomic_add(bool* buf, bool value) { }
811
811
 
812
812
  // only generate gradients for T types
813
813
  template<typename T>
814
- inline CUDA_CALLABLE void adj_address(const array_t<T>& buf, int i, const array_t<T>& adj_buf, int& adj_i, const T& adj_output)
814
+ inline CUDA_CALLABLE void adj_address(const array_t<T>& buf, int i, const array_t<T>& adj_buf, int adj_i, const T& adj_output)
815
815
  {
816
816
  if (adj_buf.data)
817
817
  adj_atomic_add(&index(adj_buf, i), adj_output);
@@ -819,7 +819,7 @@ inline CUDA_CALLABLE void adj_address(const array_t<T>& buf, int i, const array_
819
819
  adj_atomic_add(&index_grad(buf, i), adj_output);
820
820
  }
821
821
  template<typename T>
822
- inline CUDA_CALLABLE void adj_address(const array_t<T>& buf, int i, int j, const array_t<T>& adj_buf, int& adj_i, int& adj_j, const T& adj_output)
822
+ inline CUDA_CALLABLE void adj_address(const array_t<T>& buf, int i, int j, const array_t<T>& adj_buf, int adj_i, int adj_j, const T& adj_output)
823
823
  {
824
824
  if (adj_buf.data)
825
825
  adj_atomic_add(&index(adj_buf, i, j), adj_output);
@@ -827,7 +827,7 @@ inline CUDA_CALLABLE void adj_address(const array_t<T>& buf, int i, int j, const
827
827
  adj_atomic_add(&index_grad(buf, i, j), adj_output);
828
828
  }
829
829
  template<typename T>
830
- inline CUDA_CALLABLE void adj_address(const array_t<T>& buf, int i, int j, int k, const array_t<T>& adj_buf, int& adj_i, int& adj_j, int& adj_k, const T& adj_output)
830
+ inline CUDA_CALLABLE void adj_address(const array_t<T>& buf, int i, int j, int k, const array_t<T>& adj_buf, int adj_i, int adj_j, int adj_k, const T& adj_output)
831
831
  {
832
832
  if (adj_buf.data)
833
833
  adj_atomic_add(&index(adj_buf, i, j, k), adj_output);
@@ -835,7 +835,7 @@ inline CUDA_CALLABLE void adj_address(const array_t<T>& buf, int i, int j, int k
835
835
  adj_atomic_add(&index_grad(buf, i, j, k), adj_output);
836
836
  }
837
837
  template<typename T>
838
- inline CUDA_CALLABLE void adj_address(const array_t<T>& buf, int i, int j, int k, int l, const array_t<T>& adj_buf, int& adj_i, int& adj_j, int& adj_k, int& adj_l, const T& adj_output)
838
+ inline CUDA_CALLABLE void adj_address(const array_t<T>& buf, int i, int j, int k, int l, const array_t<T>& adj_buf, int adj_i, int adj_j, int adj_k, int adj_l, const T& adj_output)
839
839
  {
840
840
  if (adj_buf.data)
841
841
  adj_atomic_add(&index(adj_buf, i, j, k, l), adj_output);
@@ -844,7 +844,7 @@ inline CUDA_CALLABLE void adj_address(const array_t<T>& buf, int i, int j, int k
844
844
  }
845
845
 
846
846
  template<typename T>
847
- inline CUDA_CALLABLE void adj_array_store(const array_t<T>& buf, int i, T value, const array_t<T>& adj_buf, int& adj_i, T& adj_value)
847
+ inline CUDA_CALLABLE void adj_array_store(const array_t<T>& buf, int i, T value, const array_t<T>& adj_buf, int adj_i, T& adj_value)
848
848
  {
849
849
  if (adj_buf.data)
850
850
  adj_value += index(adj_buf, i);
@@ -854,7 +854,7 @@ inline CUDA_CALLABLE void adj_array_store(const array_t<T>& buf, int i, T value,
854
854
  FP_VERIFY_ADJ_1(value, adj_value)
855
855
  }
856
856
  template<typename T>
857
- inline CUDA_CALLABLE void adj_array_store(const array_t<T>& buf, int i, int j, T value, const array_t<T>& adj_buf, int& adj_i, int& adj_j, T& adj_value)
857
+ inline CUDA_CALLABLE void adj_array_store(const array_t<T>& buf, int i, int j, T value, const array_t<T>& adj_buf, int adj_i, int adj_j, T& adj_value)
858
858
  {
859
859
  if (adj_buf.data)
860
860
  adj_value += index(adj_buf, i, j);
@@ -864,7 +864,7 @@ inline CUDA_CALLABLE void adj_array_store(const array_t<T>& buf, int i, int j, T
864
864
  FP_VERIFY_ADJ_2(value, adj_value)
865
865
  }
866
866
  template<typename T>
867
- inline CUDA_CALLABLE void adj_array_store(const array_t<T>& buf, int i, int j, int k, T value, const array_t<T>& adj_buf, int& adj_i, int& adj_j, int& adj_k, T& adj_value)
867
+ inline CUDA_CALLABLE void adj_array_store(const array_t<T>& buf, int i, int j, int k, T value, const array_t<T>& adj_buf, int adj_i, int adj_j, int adj_k, T& adj_value)
868
868
  {
869
869
  if (adj_buf.data)
870
870
  adj_value += index(adj_buf, i, j, k);
@@ -874,7 +874,7 @@ inline CUDA_CALLABLE void adj_array_store(const array_t<T>& buf, int i, int j, i
874
874
  FP_VERIFY_ADJ_3(value, adj_value)
875
875
  }
876
876
  template<typename T>
877
- inline CUDA_CALLABLE void adj_array_store(const array_t<T>& buf, int i, int j, int k, int l, T value, const array_t<T>& adj_buf, int& adj_i, int& adj_j, int& adj_k, int& adj_l, T& adj_value)
877
+ inline CUDA_CALLABLE void adj_array_store(const array_t<T>& buf, int i, int j, int k, int l, T value, const array_t<T>& adj_buf, int adj_i, int adj_j, int adj_k, int adj_l, T& adj_value)
878
878
  {
879
879
  if (adj_buf.data)
880
880
  adj_value += index(adj_buf, i, j, k, l);
@@ -898,7 +898,7 @@ inline CUDA_CALLABLE void adj_load(const T* address, const T& adj_address, T& ad
898
898
  }
899
899
 
900
900
  template<typename T>
901
- inline CUDA_CALLABLE void adj_atomic_add(const array_t<T>& buf, int i, T value, const array_t<T>& adj_buf, int& adj_i, T& adj_value, const T& adj_ret)
901
+ inline CUDA_CALLABLE void adj_atomic_add(const array_t<T>& buf, int i, T value, const array_t<T>& adj_buf, int adj_i, T& adj_value, const T& adj_ret)
902
902
  {
903
903
  if (adj_buf.data)
904
904
  adj_value += index(adj_buf, i);
@@ -908,7 +908,7 @@ inline CUDA_CALLABLE void adj_atomic_add(const array_t<T>& buf, int i, T value,
908
908
  FP_VERIFY_ADJ_1(value, adj_value)
909
909
  }
910
910
  template<typename T>
911
- inline CUDA_CALLABLE void adj_atomic_add(const array_t<T>& buf, int i, int j, T value, const array_t<T>& adj_buf, int& adj_i, int& adj_j, T& adj_value, const T& adj_ret)
911
+ inline CUDA_CALLABLE void adj_atomic_add(const array_t<T>& buf, int i, int j, T value, const array_t<T>& adj_buf, int adj_i, int adj_j, T& adj_value, const T& adj_ret)
912
912
  {
913
913
  if (adj_buf.data)
914
914
  adj_value += index(adj_buf, i, j);
@@ -918,7 +918,7 @@ inline CUDA_CALLABLE void adj_atomic_add(const array_t<T>& buf, int i, int j, T
918
918
  FP_VERIFY_ADJ_2(value, adj_value)
919
919
  }
920
920
  template<typename T>
921
- inline CUDA_CALLABLE void adj_atomic_add(const array_t<T>& buf, int i, int j, int k, T value, const array_t<T>& adj_buf, int& adj_i, int& adj_j, int& adj_k, T& adj_value, const T& adj_ret)
921
+ inline CUDA_CALLABLE void adj_atomic_add(const array_t<T>& buf, int i, int j, int k, T value, const array_t<T>& adj_buf, int adj_i, int adj_j, int adj_k, T& adj_value, const T& adj_ret)
922
922
  {
923
923
  if (adj_buf.data)
924
924
  adj_value += index(adj_buf, i, j, k);
@@ -928,7 +928,7 @@ inline CUDA_CALLABLE void adj_atomic_add(const array_t<T>& buf, int i, int j, in
928
928
  FP_VERIFY_ADJ_3(value, adj_value)
929
929
  }
930
930
  template<typename T>
931
- inline CUDA_CALLABLE void adj_atomic_add(const array_t<T>& buf, int i, int j, int k, int l, T value, const array_t<T>& adj_buf, int& adj_i, int& adj_j, int& adj_k, int& adj_l, T& adj_value, const T& adj_ret)
931
+ inline CUDA_CALLABLE void adj_atomic_add(const array_t<T>& buf, int i, int j, int k, int l, T value, const array_t<T>& adj_buf, int adj_i, int adj_j, int adj_k, int adj_l, T& adj_value, const T& adj_ret)
932
932
  {
933
933
  if (adj_buf.data)
934
934
  adj_value += index(adj_buf, i, j, k, l);
@@ -939,7 +939,7 @@ inline CUDA_CALLABLE void adj_atomic_add(const array_t<T>& buf, int i, int j, in
939
939
  }
940
940
 
941
941
  template<typename T>
942
- inline CUDA_CALLABLE void adj_atomic_sub(const array_t<T>& buf, int i, T value, const array_t<T>& adj_buf, int& adj_i, T& adj_value, const T& adj_ret)
942
+ inline CUDA_CALLABLE void adj_atomic_sub(const array_t<T>& buf, int i, T value, const array_t<T>& adj_buf, int adj_i, T& adj_value, const T& adj_ret)
943
943
  {
944
944
  if (adj_buf.data)
945
945
  adj_value -= index(adj_buf, i);
@@ -949,7 +949,7 @@ inline CUDA_CALLABLE void adj_atomic_sub(const array_t<T>& buf, int i, T value,
949
949
  FP_VERIFY_ADJ_1(value, adj_value)
950
950
  }
951
951
  template<typename T>
952
- inline CUDA_CALLABLE void adj_atomic_sub(const array_t<T>& buf, int i, int j, T value, const array_t<T>& adj_buf, int& adj_i, int& adj_j, T& adj_value, const T& adj_ret)
952
+ inline CUDA_CALLABLE void adj_atomic_sub(const array_t<T>& buf, int i, int j, T value, const array_t<T>& adj_buf, int adj_i, int adj_j, T& adj_value, const T& adj_ret)
953
953
  {
954
954
  if (adj_buf.data)
955
955
  adj_value -= index(adj_buf, i, j);
@@ -959,7 +959,7 @@ inline CUDA_CALLABLE void adj_atomic_sub(const array_t<T>& buf, int i, int j, T
959
959
  FP_VERIFY_ADJ_2(value, adj_value)
960
960
  }
961
961
  template<typename T>
962
- inline CUDA_CALLABLE void adj_atomic_sub(const array_t<T>& buf, int i, int j, int k, T value, const array_t<T>& adj_buf, int& adj_i, int& adj_j, int& adj_k, T& adj_value, const T& adj_ret)
962
+ inline CUDA_CALLABLE void adj_atomic_sub(const array_t<T>& buf, int i, int j, int k, T value, const array_t<T>& adj_buf, int adj_i, int adj_j, int adj_k, T& adj_value, const T& adj_ret)
963
963
  {
964
964
  if (adj_buf.data)
965
965
  adj_value -= index(adj_buf, i, j, k);
@@ -969,7 +969,7 @@ inline CUDA_CALLABLE void adj_atomic_sub(const array_t<T>& buf, int i, int j, in
969
969
  FP_VERIFY_ADJ_3(value, adj_value)
970
970
  }
971
971
  template<typename T>
972
- inline CUDA_CALLABLE void adj_atomic_sub(const array_t<T>& buf, int i, int j, int k, int l, T value, const array_t<T>& adj_buf, int& adj_i, int& adj_j, int& adj_k, int& adj_l, T& adj_value, const T& adj_ret)
972
+ inline CUDA_CALLABLE void adj_atomic_sub(const array_t<T>& buf, int i, int j, int k, int l, T value, const array_t<T>& adj_buf, int adj_i, int adj_j, int adj_k, int adj_l, T& adj_value, const T& adj_ret)
973
973
  {
974
974
  if (adj_buf.data)
975
975
  adj_value -= index(adj_buf, i, j, k, l);
@@ -981,44 +981,44 @@ inline CUDA_CALLABLE void adj_atomic_sub(const array_t<T>& buf, int i, int j, in
981
981
 
982
982
  // generic array types that do not support gradient computation (indexedarray, etc.)
983
983
  template<template<typename> class A1, template<typename> class A2, typename T>
984
- inline CUDA_CALLABLE void adj_address(const A1<T>& buf, int i, const A2<T>& adj_buf, int& adj_i, const T& adj_output) {}
984
+ inline CUDA_CALLABLE void adj_address(const A1<T>& buf, int i, const A2<T>& adj_buf, int adj_i, const T& adj_output) {}
985
985
  template<template<typename> class A1, template<typename> class A2, typename T>
986
- inline CUDA_CALLABLE void adj_address(const A1<T>& buf, int i, int j, const A2<T>& adj_buf, int& adj_i, int& adj_j, const T& adj_output) {}
986
+ inline CUDA_CALLABLE void adj_address(const A1<T>& buf, int i, int j, const A2<T>& adj_buf, int adj_i, int adj_j, const T& adj_output) {}
987
987
  template<template<typename> class A1, template<typename> class A2, typename T>
988
- inline CUDA_CALLABLE void adj_address(const A1<T>& buf, int i, int j, int k, const A2<T>& adj_buf, int& adj_i, int& adj_j, int& adj_k, const T& adj_output) {}
988
+ inline CUDA_CALLABLE void adj_address(const A1<T>& buf, int i, int j, int k, const A2<T>& adj_buf, int adj_i, int adj_j, int adj_k, const T& adj_output) {}
989
989
  template<template<typename> class A1, template<typename> class A2, typename T>
990
- inline CUDA_CALLABLE void adj_address(const A1<T>& buf, int i, int j, int k, int l, const A2<T>& adj_buf, int& adj_i, int& adj_j, int& adj_k, int& adj_l, const T& adj_output) {}
990
+ inline CUDA_CALLABLE void adj_address(const A1<T>& buf, int i, int j, int k, int l, const A2<T>& adj_buf, int adj_i, int adj_j, int adj_k, int adj_l, const T& adj_output) {}
991
991
 
992
992
  template<template<typename> class A1, template<typename> class A2, typename T>
993
- inline CUDA_CALLABLE void adj_array_store(const A1<T>& buf, int i, T value, const A2<T>& adj_buf, int& adj_i, T& adj_value) {}
993
+ inline CUDA_CALLABLE void adj_array_store(const A1<T>& buf, int i, T value, const A2<T>& adj_buf, int adj_i, T& adj_value) {}
994
994
  template<template<typename> class A1, template<typename> class A2, typename T>
995
- inline CUDA_CALLABLE void adj_array_store(const A1<T>& buf, int i, int j, T value, const A2<T>& adj_buf, int& adj_i, int& adj_j, T& adj_value) {}
995
+ inline CUDA_CALLABLE void adj_array_store(const A1<T>& buf, int i, int j, T value, const A2<T>& adj_buf, int adj_i, int adj_j, T& adj_value) {}
996
996
  template<template<typename> class A1, template<typename> class A2, typename T>
997
- inline CUDA_CALLABLE void adj_array_store(const A1<T>& buf, int i, int j, int k, T value, const A2<T>& adj_buf, int& adj_i, int& adj_j, int& adj_k, T& adj_value) {}
997
+ inline CUDA_CALLABLE void adj_array_store(const A1<T>& buf, int i, int j, int k, T value, const A2<T>& adj_buf, int adj_i, int adj_j, int adj_k, T& adj_value) {}
998
998
  template<template<typename> class A1, template<typename> class A2, typename T>
999
- inline CUDA_CALLABLE void adj_array_store(const A1<T>& buf, int i, int j, int k, int l, T value, const A2<T>& adj_buf, int& adj_i, int& adj_j, int& adj_k, int& adj_l, T& adj_value) {}
999
+ inline CUDA_CALLABLE void adj_array_store(const A1<T>& buf, int i, int j, int k, int l, T value, const A2<T>& adj_buf, int adj_i, int adj_j, int adj_k, int adj_l, T& adj_value) {}
1000
1000
 
1001
1001
  template<template<typename> class A1, template<typename> class A2, typename T>
1002
- inline CUDA_CALLABLE void adj_atomic_add(const A1<T>& buf, int i, T value, const A2<T>& adj_buf, int& adj_i, T& adj_value, const T& adj_ret) {}
1002
+ inline CUDA_CALLABLE void adj_atomic_add(const A1<T>& buf, int i, T value, const A2<T>& adj_buf, int adj_i, T& adj_value, const T& adj_ret) {}
1003
1003
  template<template<typename> class A1, template<typename> class A2, typename T>
1004
- inline CUDA_CALLABLE void adj_atomic_add(const A1<T>& buf, int i, int j, T value, const A2<T>& adj_buf, int& adj_i, int& adj_j, T& adj_value, const T& adj_ret) {}
1004
+ inline CUDA_CALLABLE void adj_atomic_add(const A1<T>& buf, int i, int j, T value, const A2<T>& adj_buf, int adj_i, int adj_j, T& adj_value, const T& adj_ret) {}
1005
1005
  template<template<typename> class A1, template<typename> class A2, typename T>
1006
- inline CUDA_CALLABLE void adj_atomic_add(const A1<T>& buf, int i, int j, int k, T value, const A2<T>& adj_buf, int& adj_i, int& adj_j, int& adj_k, T& adj_value, const T& adj_ret) {}
1006
+ inline CUDA_CALLABLE void adj_atomic_add(const A1<T>& buf, int i, int j, int k, T value, const A2<T>& adj_buf, int adj_i, int adj_j, int adj_k, T& adj_value, const T& adj_ret) {}
1007
1007
  template<template<typename> class A1, template<typename> class A2, typename T>
1008
- inline CUDA_CALLABLE void adj_atomic_add(const A1<T>& buf, int i, int j, int k, int l, T value, const A2<T>& adj_buf, int& adj_i, int& adj_j, int& adj_k, int& adj_l, T& adj_value, const T& adj_ret) {}
1008
+ inline CUDA_CALLABLE void adj_atomic_add(const A1<T>& buf, int i, int j, int k, int l, T value, const A2<T>& adj_buf, int adj_i, int adj_j, int adj_k, int adj_l, T& adj_value, const T& adj_ret) {}
1009
1009
 
1010
1010
  template<template<typename> class A1, template<typename> class A2, typename T>
1011
- inline CUDA_CALLABLE void adj_atomic_sub(const A1<T>& buf, int i, T value, const A2<T>& adj_buf, int& adj_i, T& adj_value, const T& adj_ret) {}
1011
+ inline CUDA_CALLABLE void adj_atomic_sub(const A1<T>& buf, int i, T value, const A2<T>& adj_buf, int adj_i, T& adj_value, const T& adj_ret) {}
1012
1012
  template<template<typename> class A1, template<typename> class A2, typename T>
1013
- inline CUDA_CALLABLE void adj_atomic_sub(const A1<T>& buf, int i, int j, T value, const A2<T>& adj_buf, int& adj_i, int& adj_j, T& adj_value, const T& adj_ret) {}
1013
+ inline CUDA_CALLABLE void adj_atomic_sub(const A1<T>& buf, int i, int j, T value, const A2<T>& adj_buf, int adj_i, int adj_j, T& adj_value, const T& adj_ret) {}
1014
1014
  template<template<typename> class A1, template<typename> class A2, typename T>
1015
- inline CUDA_CALLABLE void adj_atomic_sub(const A1<T>& buf, int i, int j, int k, T value, const A2<T>& adj_buf, int& adj_i, int& adj_j, int& adj_k, T& adj_value, const T& adj_ret) {}
1015
+ inline CUDA_CALLABLE void adj_atomic_sub(const A1<T>& buf, int i, int j, int k, T value, const A2<T>& adj_buf, int adj_i, int adj_j, int adj_k, T& adj_value, const T& adj_ret) {}
1016
1016
  template<template<typename> class A1, template<typename> class A2, typename T>
1017
- inline CUDA_CALLABLE void adj_atomic_sub(const A1<T>& buf, int i, int j, int k, int l, T value, const A2<T>& adj_buf, int& adj_i, int& adj_j, int& adj_k, int& adj_l, T& adj_value, const T& adj_ret) {}
1017
+ inline CUDA_CALLABLE void adj_atomic_sub(const A1<T>& buf, int i, int j, int k, int l, T value, const A2<T>& adj_buf, int adj_i, int adj_j, int adj_k, int adj_l, T& adj_value, const T& adj_ret) {}
1018
1018
 
1019
1019
  // generic handler for scalar values
1020
1020
  template<template<typename> class A1, template<typename> class A2, typename T>
1021
- inline CUDA_CALLABLE void adj_atomic_min(const A1<T>& buf, int i, T value, const A2<T>& adj_buf, int& adj_i, T& adj_value, const T& adj_ret) {
1021
+ inline CUDA_CALLABLE void adj_atomic_min(const A1<T>& buf, int i, T value, const A2<T>& adj_buf, int adj_i, T& adj_value, const T& adj_ret) {
1022
1022
  if (adj_buf.data)
1023
1023
  adj_atomic_minmax(&index(buf, i), &index(adj_buf, i), value, adj_value);
1024
1024
  else if (buf.grad)
@@ -1027,7 +1027,7 @@ inline CUDA_CALLABLE void adj_atomic_min(const A1<T>& buf, int i, T value, const
1027
1027
  FP_VERIFY_ADJ_1(value, adj_value)
1028
1028
  }
1029
1029
  template<template<typename> class A1, template<typename> class A2, typename T>
1030
- inline CUDA_CALLABLE void adj_atomic_min(const A1<T>& buf, int i, int j, T value, const A2<T>& adj_buf, int& adj_i, int& adj_j, T& adj_value, const T& adj_ret) {
1030
+ inline CUDA_CALLABLE void adj_atomic_min(const A1<T>& buf, int i, int j, T value, const A2<T>& adj_buf, int adj_i, int adj_j, T& adj_value, const T& adj_ret) {
1031
1031
  if (adj_buf.data)
1032
1032
  adj_atomic_minmax(&index(buf, i, j), &index(adj_buf, i, j), value, adj_value);
1033
1033
  else if (buf.grad)
@@ -1036,7 +1036,7 @@ inline CUDA_CALLABLE void adj_atomic_min(const A1<T>& buf, int i, int j, T value
1036
1036
  FP_VERIFY_ADJ_2(value, adj_value)
1037
1037
  }
1038
1038
  template<template<typename> class A1, template<typename> class A2, typename T>
1039
- inline CUDA_CALLABLE void adj_atomic_min(const A1<T>& buf, int i, int j, int k, T value, const A2<T>& adj_buf, int& adj_i, int& adj_j, int& adj_k, T& adj_value, const T& adj_ret) {
1039
+ inline CUDA_CALLABLE void adj_atomic_min(const A1<T>& buf, int i, int j, int k, T value, const A2<T>& adj_buf, int adj_i, int adj_j, int adj_k, T& adj_value, const T& adj_ret) {
1040
1040
  if (adj_buf.data)
1041
1041
  adj_atomic_minmax(&index(buf, i, j, k), &index(adj_buf, i, j, k), value, adj_value);
1042
1042
  else if (buf.grad)
@@ -1045,7 +1045,7 @@ inline CUDA_CALLABLE void adj_atomic_min(const A1<T>& buf, int i, int j, int k,
1045
1045
  FP_VERIFY_ADJ_3(value, adj_value)
1046
1046
  }
1047
1047
  template<template<typename> class A1, template<typename> class A2, typename T>
1048
- inline CUDA_CALLABLE void adj_atomic_min(const A1<T>& buf, int i, int j, int k, int l, T value, const A2<T>& adj_buf, int& adj_i, int& adj_j, int& adj_k, int& adj_l, T& adj_value, const T& adj_ret) {
1048
+ inline CUDA_CALLABLE void adj_atomic_min(const A1<T>& buf, int i, int j, int k, int l, T value, const A2<T>& adj_buf, int adj_i, int adj_j, int adj_k, int adj_l, T& adj_value, const T& adj_ret) {
1049
1049
  if (adj_buf.data)
1050
1050
  adj_atomic_minmax(&index(buf, i, j, k, l), &index(adj_buf, i, j, k, l), value, adj_value);
1051
1051
  else if (buf.grad)
@@ -1055,7 +1055,7 @@ inline CUDA_CALLABLE void adj_atomic_min(const A1<T>& buf, int i, int j, int k,
1055
1055
  }
1056
1056
 
1057
1057
  template<template<typename> class A1, template<typename> class A2, typename T>
1058
- inline CUDA_CALLABLE void adj_atomic_max(const A1<T>& buf, int i, T value, const A2<T>& adj_buf, int& adj_i, T& adj_value, const T& adj_ret) {
1058
+ inline CUDA_CALLABLE void adj_atomic_max(const A1<T>& buf, int i, T value, const A2<T>& adj_buf, int adj_i, T& adj_value, const T& adj_ret) {
1059
1059
  if (adj_buf.data)
1060
1060
  adj_atomic_minmax(&index(buf, i), &index(adj_buf, i), value, adj_value);
1061
1061
  else if (buf.grad)
@@ -1064,7 +1064,7 @@ inline CUDA_CALLABLE void adj_atomic_max(const A1<T>& buf, int i, T value, const
1064
1064
  FP_VERIFY_ADJ_1(value, adj_value)
1065
1065
  }
1066
1066
  template<template<typename> class A1, template<typename> class A2, typename T>
1067
- inline CUDA_CALLABLE void adj_atomic_max(const A1<T>& buf, int i, int j, T value, const A2<T>& adj_buf, int& adj_i, int& adj_j, T& adj_value, const T& adj_ret) {
1067
+ inline CUDA_CALLABLE void adj_atomic_max(const A1<T>& buf, int i, int j, T value, const A2<T>& adj_buf, int adj_i, int adj_j, T& adj_value, const T& adj_ret) {
1068
1068
  if (adj_buf.data)
1069
1069
  adj_atomic_minmax(&index(buf, i, j), &index(adj_buf, i, j), value, adj_value);
1070
1070
  else if (buf.grad)
@@ -1073,7 +1073,7 @@ inline CUDA_CALLABLE void adj_atomic_max(const A1<T>& buf, int i, int j, T value
1073
1073
  FP_VERIFY_ADJ_2(value, adj_value)
1074
1074
  }
1075
1075
  template<template<typename> class A1, template<typename> class A2, typename T>
1076
- inline CUDA_CALLABLE void adj_atomic_max(const A1<T>& buf, int i, int j, int k, T value, const A2<T>& adj_buf, int& adj_i, int& adj_j, int& adj_k, T& adj_value, const T& adj_ret) {
1076
+ inline CUDA_CALLABLE void adj_atomic_max(const A1<T>& buf, int i, int j, int k, T value, const A2<T>& adj_buf, int adj_i, int adj_j, int adj_k, T& adj_value, const T& adj_ret) {
1077
1077
  if (adj_buf.data)
1078
1078
  adj_atomic_minmax(&index(buf, i, j, k), &index(adj_buf, i, j, k), value, adj_value);
1079
1079
  else if (buf.grad)
@@ -1082,7 +1082,7 @@ inline CUDA_CALLABLE void adj_atomic_max(const A1<T>& buf, int i, int j, int k,
1082
1082
  FP_VERIFY_ADJ_3(value, adj_value)
1083
1083
  }
1084
1084
  template<template<typename> class A1, template<typename> class A2, typename T>
1085
- inline CUDA_CALLABLE void adj_atomic_max(const A1<T>& buf, int i, int j, int k, int l, T value, const A2<T>& adj_buf, int& adj_i, int& adj_j, int& adj_k, int& adj_l, T& adj_value, const T& adj_ret) {
1085
+ inline CUDA_CALLABLE void adj_atomic_max(const A1<T>& buf, int i, int j, int k, int l, T value, const A2<T>& adj_buf, int adj_i, int adj_j, int adj_k, int adj_l, T& adj_value, const T& adj_ret) {
1086
1086
  if (adj_buf.data)
1087
1087
  adj_atomic_minmax(&index(buf, i, j, k, l), &index(adj_buf, i, j, k, l), value, adj_value);
1088
1088
  else if (buf.grad)
warp/native/builtin.h CHANGED
@@ -1575,32 +1575,73 @@ inline CUDA_CALLABLE void print(transform_t<Type> t)
1575
1575
  printf("(%g %g %g) (%g %g %g %g)\n", float(t.p[0]), float(t.p[1]), float(t.p[2]), float(t.q.x), float(t.q.y), float(t.q.z), float(t.q.w));
1576
1576
  }
1577
1577
 
1578
- inline CUDA_CALLABLE void adj_print(int i, int adj_i) { printf("%d adj: %d\n", i, adj_i); }
1579
- inline CUDA_CALLABLE void adj_print(float f, float adj_f) { printf("%g adj: %g\n", f, adj_f); }
1580
- inline CUDA_CALLABLE void adj_print(short f, short adj_f) { printf("%hd adj: %hd\n", f, adj_f); }
1581
- inline CUDA_CALLABLE void adj_print(long f, long adj_f) { printf("%ld adj: %ld\n", f, adj_f); }
1582
- inline CUDA_CALLABLE void adj_print(long long f, long long adj_f) { printf("%lld adj: %lld\n", f, adj_f); }
1583
- inline CUDA_CALLABLE void adj_print(unsigned f, unsigned adj_f) { printf("%u adj: %u\n", f, adj_f); }
1584
- inline CUDA_CALLABLE void adj_print(unsigned short f, unsigned short adj_f) { printf("%hu adj: %hu\n", f, adj_f); }
1585
- inline CUDA_CALLABLE void adj_print(unsigned long f, unsigned long adj_f) { printf("%lu adj: %lu\n", f, adj_f); }
1586
- inline CUDA_CALLABLE void adj_print(unsigned long long f, unsigned long long adj_f) { printf("%llu adj: %llu\n", f, adj_f); }
1587
- inline CUDA_CALLABLE void adj_print(half h, half adj_h) { printf("%g adj: %g\n", half_to_float(h), half_to_float(adj_h)); }
1588
- inline CUDA_CALLABLE void adj_print(double f, double adj_f) { printf("%g adj: %g\n", f, adj_f); }
1578
+ template<typename T>
1579
+ inline CUDA_CALLABLE void adj_print(const T& x, const T& adj_x)
1580
+ {
1581
+ printf("adj: <type without print implementation>\n");
1582
+ }
1583
+
1584
+ // note: adj_print() only prints the adjoint value, since the value itself gets printed in replay print()
1585
+ inline CUDA_CALLABLE void adj_print(half x, half adj_x) { printf("adj: %g\n", half_to_float(adj_x)); }
1586
+ inline CUDA_CALLABLE void adj_print(float x, float adj_x) { printf("adj: %g\n", adj_x); }
1587
+ inline CUDA_CALLABLE void adj_print(double x, double adj_x) { printf("adj: %g\n", adj_x); }
1588
+
1589
+ inline CUDA_CALLABLE void adj_print(signed char x, signed char adj_x) { printf("adj: %d\n", adj_x); }
1590
+ inline CUDA_CALLABLE void adj_print(short x, short adj_x) { printf("adj: %d\n", adj_x); }
1591
+ inline CUDA_CALLABLE void adj_print(int x, int adj_x) { printf("adj: %d\n", adj_x); }
1592
+ inline CUDA_CALLABLE void adj_print(long x, long adj_x) { printf("adj: %ld\n", adj_x); }
1593
+ inline CUDA_CALLABLE void adj_print(long long x, long long adj_x) { printf("adj: %lld\n", adj_x); }
1594
+
1595
+ inline CUDA_CALLABLE void adj_print(unsigned char x, unsigned char adj_x) { printf("adj: %u\n", adj_x); }
1596
+ inline CUDA_CALLABLE void adj_print(unsigned short x, unsigned short adj_x) { printf("adj: %u\n", adj_x); }
1597
+ inline CUDA_CALLABLE void adj_print(unsigned x, unsigned adj_x) { printf("adj: %u\n", adj_x); }
1598
+ inline CUDA_CALLABLE void adj_print(unsigned long x, unsigned long adj_x) { printf("adj: %lu\n", adj_x); }
1599
+ inline CUDA_CALLABLE void adj_print(unsigned long long x, unsigned long long adj_x) { printf("adj: %llu\n", adj_x); }
1600
+
1601
+ inline CUDA_CALLABLE void adj_print(bool x, bool adj_x) { printf("adj: %s\n", (adj_x ? "True" : "False")); }
1589
1602
 
1590
1603
  template<unsigned Length, typename Type>
1591
- inline CUDA_CALLABLE void adj_print(vec_t<Length, Type> v, vec_t<Length, Type>& adj_v) { printf("%g %g adj: %g %g \n", v[0], v[1], adj_v[0], adj_v[1]); }
1604
+ inline CUDA_CALLABLE void adj_print(const vec_t<Length, Type>& v, const vec_t<Length, Type>& adj_v)
1605
+ {
1606
+ printf("adj:");
1607
+ for (unsigned i = 0; i < Length; i++)
1608
+ printf(" %g", float(adj_v[i]));
1609
+ printf("\n");
1610
+ }
1592
1611
 
1593
1612
  template<unsigned Rows, unsigned Cols, typename Type>
1594
- inline CUDA_CALLABLE void adj_print(mat_t<Rows, Cols, Type> m, mat_t<Rows, Cols, Type>& adj_m) { }
1613
+ inline CUDA_CALLABLE void adj_print(const mat_t<Rows, Cols, Type>& m, const mat_t<Rows, Cols, Type>& adj_m)
1614
+ {
1615
+ for (unsigned i = 0; i < Rows; i++)
1616
+ {
1617
+ if (i == 0)
1618
+ printf("adj:");
1619
+ else
1620
+ printf(" ");
1621
+ for (unsigned j = 0; j < Cols; j++)
1622
+ printf(" %g", float(adj_m.data[i][j]));
1623
+ printf("\n");
1624
+ }
1625
+ }
1595
1626
 
1596
1627
  template<typename Type>
1597
- inline CUDA_CALLABLE void adj_print(quat_t<Type> q, quat_t<Type>& adj_q) { printf("%g %g %g %g adj: %g %g %g %g\n", q.x, q.y, q.z, q.w, adj_q.x, adj_q.y, adj_q.z, adj_q.w); }
1628
+ inline CUDA_CALLABLE void adj_print(const quat_t<Type>& q, const quat_t<Type>& adj_q)
1629
+ {
1630
+ printf("adj: %g %g %g %g\n", float(adj_q.x), float(adj_q.y), float(adj_q.z), float(adj_q.w));
1631
+ }
1598
1632
 
1599
1633
  template<typename Type>
1600
- inline CUDA_CALLABLE void adj_print(transform_t<Type> t, transform_t<Type>& adj_t) {}
1601
-
1602
- inline CUDA_CALLABLE void adj_print(str t, str& adj_t) {}
1634
+ inline CUDA_CALLABLE void adj_print(const transform_t<Type>& t, const transform_t<Type>& adj_t)
1635
+ {
1636
+ printf("adj: (%g %g %g) (%g %g %g %g)\n",
1637
+ float(adj_t.p[0]), float(adj_t.p[1]), float(adj_t.p[2]),
1638
+ float(adj_t.q.x), float(adj_t.q.y), float(adj_t.q.z), float(adj_t.q.w));
1639
+ }
1603
1640
 
1641
+ inline CUDA_CALLABLE void adj_print(str t, str& adj_t)
1642
+ {
1643
+ printf("adj: %s\n", t);
1644
+ }
1604
1645
 
1605
1646
  template <typename T>
1606
1647
  inline CUDA_CALLABLE void expect_eq(const T& actual, const T& expected)
warp/sim/model.py CHANGED
@@ -4060,7 +4060,7 @@ class ModelBuilder:
4060
4060
  radius_mean: float = default_particle_radius,
4061
4061
  radius_std: float = 0.0,
4062
4062
  ):
4063
- rng = np.random.default_rng()
4063
+ rng = np.random.default_rng(42)
4064
4064
  for z in range(dim_z):
4065
4065
  for y in range(dim_y):
4066
4066
  for x in range(dim_x):
@@ -4070,7 +4070,7 @@ class ModelBuilder:
4070
4070
  p = wp.quat_rotate(rot, v) + pos + wp.vec3(rng.random(3) * jitter)
4071
4071
 
4072
4072
  if radius_std > 0.0:
4073
- r = radius_mean + np.random.randn() * radius_std
4073
+ r = radius_mean + rng.standard_normal() * radius_std
4074
4074
  else:
4075
4075
  r = radius_mean
4076
4076
  self.add_particle(p, vel, m, r)