warp-lang 1.5.1__py3-none-macosx_10_13_universal2.whl → 1.6.1__py3-none-macosx_10_13_universal2.whl

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Files changed (131) hide show
  1. warp/__init__.py +5 -0
  2. warp/autograd.py +414 -191
  3. warp/bin/libwarp-clang.dylib +0 -0
  4. warp/bin/libwarp.dylib +0 -0
  5. warp/build.py +40 -12
  6. warp/build_dll.py +13 -6
  7. warp/builtins.py +1077 -481
  8. warp/codegen.py +250 -122
  9. warp/config.py +65 -21
  10. warp/context.py +500 -149
  11. warp/examples/assets/square_cloth.usd +0 -0
  12. warp/examples/benchmarks/benchmark_gemm.py +27 -18
  13. warp/examples/benchmarks/benchmark_interop_paddle.py +3 -3
  14. warp/examples/benchmarks/benchmark_interop_torch.py +3 -3
  15. warp/examples/core/example_marching_cubes.py +1 -1
  16. warp/examples/core/example_mesh.py +1 -1
  17. warp/examples/core/example_torch.py +18 -34
  18. warp/examples/core/example_wave.py +1 -1
  19. warp/examples/fem/example_apic_fluid.py +1 -0
  20. warp/examples/fem/example_mixed_elasticity.py +1 -1
  21. warp/examples/optim/example_bounce.py +1 -1
  22. warp/examples/optim/example_cloth_throw.py +1 -1
  23. warp/examples/optim/example_diffray.py +4 -15
  24. warp/examples/optim/example_drone.py +1 -1
  25. warp/examples/optim/example_softbody_properties.py +392 -0
  26. warp/examples/optim/example_trajectory.py +1 -3
  27. warp/examples/optim/example_walker.py +5 -0
  28. warp/examples/sim/example_cartpole.py +0 -2
  29. warp/examples/sim/example_cloth_self_contact.py +314 -0
  30. warp/examples/sim/example_granular_collision_sdf.py +4 -5
  31. warp/examples/sim/example_jacobian_ik.py +0 -2
  32. warp/examples/sim/example_quadruped.py +5 -2
  33. warp/examples/tile/example_tile_cholesky.py +79 -0
  34. warp/examples/tile/example_tile_convolution.py +2 -2
  35. warp/examples/tile/example_tile_fft.py +2 -2
  36. warp/examples/tile/example_tile_filtering.py +3 -3
  37. warp/examples/tile/example_tile_matmul.py +4 -4
  38. warp/examples/tile/example_tile_mlp.py +12 -12
  39. warp/examples/tile/example_tile_nbody.py +191 -0
  40. warp/examples/tile/example_tile_walker.py +319 -0
  41. warp/math.py +147 -0
  42. warp/native/array.h +12 -0
  43. warp/native/builtin.h +0 -1
  44. warp/native/bvh.cpp +149 -70
  45. warp/native/bvh.cu +287 -68
  46. warp/native/bvh.h +195 -85
  47. warp/native/clang/clang.cpp +6 -2
  48. warp/native/crt.h +1 -0
  49. warp/native/cuda_util.cpp +35 -0
  50. warp/native/cuda_util.h +5 -0
  51. warp/native/exports.h +40 -40
  52. warp/native/intersect.h +17 -0
  53. warp/native/mat.h +57 -3
  54. warp/native/mathdx.cpp +19 -0
  55. warp/native/mesh.cpp +25 -8
  56. warp/native/mesh.cu +153 -101
  57. warp/native/mesh.h +482 -403
  58. warp/native/quat.h +40 -0
  59. warp/native/solid_angle.h +7 -0
  60. warp/native/sort.cpp +85 -0
  61. warp/native/sort.cu +34 -0
  62. warp/native/sort.h +3 -1
  63. warp/native/spatial.h +11 -0
  64. warp/native/tile.h +1189 -664
  65. warp/native/tile_reduce.h +8 -6
  66. warp/native/vec.h +41 -0
  67. warp/native/warp.cpp +8 -1
  68. warp/native/warp.cu +263 -40
  69. warp/native/warp.h +19 -5
  70. warp/optim/linear.py +22 -4
  71. warp/render/render_opengl.py +132 -59
  72. warp/render/render_usd.py +10 -2
  73. warp/sim/__init__.py +6 -1
  74. warp/sim/collide.py +289 -32
  75. warp/sim/import_urdf.py +20 -5
  76. warp/sim/integrator_euler.py +25 -7
  77. warp/sim/integrator_featherstone.py +147 -35
  78. warp/sim/integrator_vbd.py +842 -40
  79. warp/sim/model.py +173 -112
  80. warp/sim/render.py +2 -2
  81. warp/stubs.py +249 -116
  82. warp/tape.py +28 -30
  83. warp/tests/aux_test_module_unload.py +15 -0
  84. warp/tests/{test_sim_grad.py → flaky_test_sim_grad.py} +104 -63
  85. warp/tests/test_array.py +100 -0
  86. warp/tests/test_assert.py +242 -0
  87. warp/tests/test_codegen.py +14 -61
  88. warp/tests/test_collision.py +8 -8
  89. warp/tests/test_examples.py +16 -1
  90. warp/tests/test_grad_debug.py +87 -2
  91. warp/tests/test_hash_grid.py +1 -1
  92. warp/tests/test_ipc.py +116 -0
  93. warp/tests/test_launch.py +77 -26
  94. warp/tests/test_mat.py +213 -168
  95. warp/tests/test_math.py +47 -1
  96. warp/tests/test_matmul.py +11 -7
  97. warp/tests/test_matmul_lite.py +4 -4
  98. warp/tests/test_mesh.py +84 -60
  99. warp/tests/test_mesh_query_aabb.py +165 -0
  100. warp/tests/test_mesh_query_point.py +328 -286
  101. warp/tests/test_mesh_query_ray.py +134 -121
  102. warp/tests/test_mlp.py +2 -2
  103. warp/tests/test_operators.py +43 -0
  104. warp/tests/test_overwrite.py +6 -5
  105. warp/tests/test_quat.py +77 -0
  106. warp/tests/test_reload.py +29 -0
  107. warp/tests/test_sim_grad_bounce_linear.py +204 -0
  108. warp/tests/test_static.py +16 -0
  109. warp/tests/test_tape.py +25 -0
  110. warp/tests/test_tile.py +134 -191
  111. warp/tests/test_tile_load.py +399 -0
  112. warp/tests/test_tile_mathdx.py +61 -8
  113. warp/tests/test_tile_mlp.py +17 -17
  114. warp/tests/test_tile_reduce.py +24 -18
  115. warp/tests/test_tile_shared_memory.py +66 -17
  116. warp/tests/test_tile_view.py +165 -0
  117. warp/tests/test_torch.py +35 -0
  118. warp/tests/test_utils.py +36 -24
  119. warp/tests/test_vec.py +110 -0
  120. warp/tests/unittest_suites.py +29 -4
  121. warp/tests/unittest_utils.py +30 -11
  122. warp/thirdparty/unittest_parallel.py +5 -2
  123. warp/types.py +419 -111
  124. warp/utils.py +9 -5
  125. {warp_lang-1.5.1.dist-info → warp_lang-1.6.1.dist-info}/METADATA +86 -45
  126. {warp_lang-1.5.1.dist-info → warp_lang-1.6.1.dist-info}/RECORD +129 -118
  127. {warp_lang-1.5.1.dist-info → warp_lang-1.6.1.dist-info}/WHEEL +1 -1
  128. warp/examples/benchmarks/benchmark_tile.py +0 -179
  129. warp/native/tile_gemm.h +0 -341
  130. {warp_lang-1.5.1.dist-info → warp_lang-1.6.1.dist-info}/LICENSE.md +0 -0
  131. {warp_lang-1.5.1.dist-info → warp_lang-1.6.1.dist-info}/top_level.txt +0 -0
warp/__init__.py CHANGED
@@ -43,6 +43,8 @@ from warp.types import matrix as mat
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  # numpy interop
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  from warp.types import dtype_from_numpy, dtype_to_numpy
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45
 
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+ from warp.types import from_ipc_handle
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+
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  from warp.context import init, func, func_grad, func_replay, func_native, kernel, struct, overload
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  from warp.context import is_cpu_available, is_cuda_available, is_device_available
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  from warp.context import get_devices, get_preferred_device
@@ -65,6 +67,7 @@ from warp.context import (
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  synchronize,
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  force_load,
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  load_module,
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+ event_from_ipc_handle,
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  )
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  from warp.context import set_module_options, get_module_options, get_module
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  from warp.context import capture_begin, capture_end, capture_launch
@@ -115,6 +118,8 @@ from warp.constants import *
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  from . import builtins
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  from warp.builtins import static
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+ from warp.math import *
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+
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  import warp.config as config
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  __version__ = config.version