warp-lang 1.6.0__py3-none-manylinux2014_aarch64.whl → 1.6.2__py3-none-manylinux2014_aarch64.whl

warp/examples/benchmarks/benchmark_cloth_paddle.py

@@ -1,9 +1,17 @@
-# Copyright (c) 2022 NVIDIA CORPORATION.  All rights reserved.
-# NVIDIA CORPORATION and its licensors retain all intellectual property
-# and proprietary rights in and to this software, related documentation
-# and any modifications thereto.  Any use, reproduction, disclosure or
-# distribution of this software and related documentation without an express
-# license agreement from NVIDIA CORPORATION is strictly prohibited.
+# 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.
 
 import paddle
 

warp/examples/benchmarks/benchmark_cloth_pytorch.py

@@ -1,9 +1,17 @@
-# Copyright (c) 2022 NVIDIA CORPORATION.  All rights reserved.
-# NVIDIA CORPORATION and its licensors retain all intellectual property
-# and proprietary rights in and to this software, related documentation
-# and any modifications thereto.  Any use, reproduction, disclosure or
-# distribution of this software and related documentation without an express
-# license agreement from NVIDIA CORPORATION is strictly prohibited.
+# 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.
 
 import torch
 

warp/examples/benchmarks/benchmark_cloth_taichi.py

@@ -1,9 +1,17 @@
-# Copyright (c) 2022 NVIDIA CORPORATION.  All rights reserved.
-# NVIDIA CORPORATION and its licensors retain all intellectual property
-# and proprietary rights in and to this software, related documentation
-# and any modifications thereto.  Any use, reproduction, disclosure or
-# distribution of this software and related documentation without an express
-# license agreement from NVIDIA CORPORATION is strictly prohibited.
+# 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.
 
 import numpy as np
 import taichi as ti

warp/examples/benchmarks/benchmark_cloth_warp.py

@@ -1,9 +1,17 @@
-# Copyright (c) 2022 NVIDIA CORPORATION.  All rights reserved.
-# NVIDIA CORPORATION and its licensors retain all intellectual property
-# and proprietary rights in and to this software, related documentation
-# and any modifications thereto.  Any use, reproduction, disclosure or
-# distribution of this software and related documentation without an express
-# license agreement from NVIDIA CORPORATION is strictly prohibited.
+# 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.
 
 import warp as wp
 

warp/examples/benchmarks/benchmark_gemm.py

@@ -1,17 +1,33 @@
+# SPDX-FileCopyrightText: Copyright (c) 2024 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.
+
+"""Compare GEMM performance between Torch and Warp (Tiled).
+
+This script can be used to identify optimal tile parameters for a fixed-size
+matrix multiplication.
+"""
+
 from itertools import product
+from statistics import mean, stdev
+from typing import List
 
 import numpy as np
-import torch as tc
+import torch
 
 import warp as wp
 
-tc.backends.cuda.matmul.allow_tf32 = False  # Disable TF32 for matrix multiplications
-tc.backends.cudnn.allow_tf32 = False  # Disable TF32 for cuDNN operations
-
-wp.init()
-wp.clear_kernel_cache()
-wp.set_module_options({"fast_math": True, "enable_backward": False})
-
 
 # returns a kernel to compute a GEMM given m,n,k tile sizes
 def create_gemm_kernel(m, n, k):
@@ -37,24 +53,30 @@ def create_gemm_kernel(m, n, k):
     return gemm
 
 
-def benchmark_torch(A, B, warm_up, iterations):
+def benchmark_torch(A: torch.Tensor, B: torch.Tensor, warm_up: int, iterations: int):
     # warm-up
     for _ in range(warm_up):
-        tc.matmul(A, B)
+        torch.matmul(A, B)
 
-    timers = {}
-    tc.cuda.synchronize()
+    torch.cuda.synchronize()
 
-    with wp.ScopedTimer("torch", print=False, dict=timers, synchronize=True):
-        for _ in range(iterations):
-            tc.matmul(A, B)
+    start_event = torch.cuda.Event(enable_timing=True)
+    end_event = torch.cuda.Event(enable_timing=True)
 
-        tc.cuda.synchronize()
+    timing_results = []
 
-    return timers["torch"][0]
+    for _i in range(iterations):
+        start_event.record()
+        torch.matmul(A, B)
+        end_event.record()
 
+        torch.cuda.synchronize()
+        timing_results.append(start_event.elapsed_time(end_event))
 
-def benchmark_warp(A, B, config, warm_up, iterations):
+    return mean(timing_results), stdev(timing_results)
+
+
+def benchmark_warp(A: wp.array, B: wp.array, config: List[int], warm_up: int, iterations: int):
     TILE_M = config[0]
     TILE_N = config[1]
     TILE_K = config[2]
@@ -82,49 +104,61 @@ def benchmark_warp(A, B, config, warm_up, iterations):
 
     # check output
     if warm_up > 0:
-        assert np.allclose(output.numpy(), A.numpy() @ B.numpy(), atol=1e-3, rtol=1e-3)
+        try:
+            np.testing.assert_allclose(output.numpy(), A.numpy() @ B.numpy(), atol=1e-3, rtol=1e-3)
+        except AssertionError as e:
+            print(f"Failed with {TILE_M=}, {TILE_N=}, {TILE_K=}, {BLOCK_DIM=}")
+            raise e
 
     # benchmark
-    timers = {}
-    with wp.ScopedTimer("warp", print=False, dict=timers, synchronize=True):
+    with wp.ScopedTimer("warp", print=False, synchronize=True, cuda_filter=wp.TIMING_KERNEL) as timer:
         for _ in range(iterations):
             cmd.launch()
 
-    return timers["warp"][0]
+    timing_results = [result.elapsed for result in timer.timing_results]
 
+    return mean(timing_results), stdev(timing_results)
 
-tile_m = [8, 16, 32, 64]
-tile_n = [8, 16, 32, 64]
-tile_k = [8, 16, 64]
-block = [32, 64, 128]
 
-M = 1024
-N = 1024
-K = 1024
+if __name__ == "__main__":
+    torch.backends.cuda.matmul.allow_tf32 = False  # Disable TF32 for matrix multiplications
+    torch.backends.cudnn.allow_tf32 = False  # Disable TF32 for cuDNN operations
 
-A = tc.randn(M, K).cuda()
-B = tc.randn(K, N).cuda()
+    wp.init()
+    wp.clear_kernel_cache()
+    wp.set_module_options({"fast_math": True, "enable_backward": False})
 
-iterations = 1000
-warm_up = 10
+    tile_m = [8, 16, 32, 64]
+    tile_n = [8, 16, 32, 64]
+    tile_k = [8, 16, 64]
+    block = [32, 64, 128]
 
-time_torch = benchmark_torch(A, B, warm_up, iterations)
-print(f"Torch: {time_torch}")
+    M = 1024
+    N = 1024
+    K = 1024
+    print(f"{M=}, {N=}, {K=}")
 
-configs = list(product(tile_m, tile_n, tile_k, block))
+    A = torch.randn(M, K).cuda()
+    B = torch.randn(K, N).cuda()
 
-wp.config.quiet = True
+    iterations = 100
+    warm_up = 5
 
-# header
-print(
-    "{:<{}} {:<{}} {:<{}} {:<{}} {:<{}} {:<{}}".format(
-        "TILE_M", 12, "TILE_N", 12, "TILE_K", 12, "BLOCK", 12, "Time", 12, "Relative", 12
-    )
-)
-for c in configs:
-    time_warp = benchmark_warp(wp.from_torch(A), wp.from_torch(B), c, warm_up, iterations)
+    time_torch_mean, time_torch_std = benchmark_torch(A, B, warm_up, iterations)
+    print(f"Torch: {time_torch_mean:.6g}±{time_torch_std:.2g} ms")
+
+    configs = list(product(tile_m, tile_n, tile_k, block))
+
+    wp.config.quiet = True
+
+    # header
     print(
-        "{:<{}} {:<{}} {:<{}} {:<{}} {:<{}} {:<{}}".format(
-            c[0], 12, c[1], 12, c[2], 12, c[3], 12, time_warp, 12, time_warp / time_torch, 12
-        )
+        f"{'TILE_M':<8s} {'TILE_N':<8s} {'TILE_K':<8s} {'BLOCK':<8s} {'Time (ms)':<10s} {'Std dev (ms)':<14s} {'Warp/Torch':<12s}"
     )
+    print("-" * 79)
+
+    for c in configs:
+        time_mean, time_std = benchmark_warp(wp.from_torch(A), wp.from_torch(B), c, warm_up, iterations)
+        print(
+            f"{c[0]:<8d} {c[1]:<8d} {c[2]:<8d} {c[3]:<8d} {time_mean:<10.6g} {time_std:<#14.2g} {time_mean / time_torch_mean:<12.6g}"
+        )

warp/examples/benchmarks/benchmark_interop_paddle.py

@@ -1,9 +1,17 @@
-# Copyright (c) 2024 NVIDIA CORPORATION.  All rights reserved.
-# NVIDIA CORPORATION and its licensors retain all intellectual property
-# and proprietary rights in and to this software, related documentation
-# and any modifications thereto.  Any use, reproduction, disclosure or
-# distribution of this software and related documentation without an express
-# license agreement from NVIDIA CORPORATION is strictly prohibited.
+# SPDX-FileCopyrightText: Copyright (c) 2024 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.
 
 import time
 

warp/examples/benchmarks/benchmark_interop_torch.py

@@ -1,9 +1,17 @@
-# Copyright (c) 2024 NVIDIA CORPORATION.  All rights reserved.
-# NVIDIA CORPORATION and its licensors retain all intellectual property
-# and proprietary rights in and to this software, related documentation
-# and any modifications thereto.  Any use, reproduction, disclosure or
-# distribution of this software and related documentation without an express
-# license agreement from NVIDIA CORPORATION is strictly prohibited.
+# SPDX-FileCopyrightText: Copyright (c) 2024 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.
 
 import time
 

warp/examples/benchmarks/benchmark_launches.py

@@ -1,9 +1,17 @@
-# Copyright (c) 2023 NVIDIA CORPORATION.  All rights reserved.
-# NVIDIA CORPORATION and its licensors retain all intellectual property
-# and proprietary rights in and to this software, related documentation
-# and any modifications thereto.  Any use, reproduction, disclosure or
-# distribution of this software and related documentation without an express
-# license agreement from NVIDIA CORPORATION is strictly prohibited.
+# 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.
 
 ###########################################################################
 # Benchmarks for kernel launches with different types of args

warp/examples/browse.py

@@ -1,9 +1,17 @@
-# Copyright (c) 2024 NVIDIA CORPORATION.  All rights reserved.
-# NVIDIA CORPORATION and its licensors retain all intellectual property
-# and proprietary rights in and to this software, related documentation
-# and any modifications thereto.  Any use, reproduction, disclosure or
-# distribution of this software and related documentation without an express
-# license agreement from NVIDIA CORPORATION is strictly prohibited.
+# SPDX-FileCopyrightText: Copyright (c) 2024 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.
 
 import os
 import subprocess

warp/examples/core/example_cupy.py

@@ -1,9 +1,17 @@
-# Copyright (c) 2024 NVIDIA CORPORATION.  All rights reserved.
-# NVIDIA CORPORATION and its licensors retain all intellectual property
-# and proprietary rights in and to this software, related documentation
-# and any modifications thereto.  Any use, reproduction, disclosure or
-# distribution of this software and related documentation without an express
-# license agreement from NVIDIA CORPORATION is strictly prohibited.
+# SPDX-FileCopyrightText: Copyright (c) 2024 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 CuPy

warp/examples/core/example_dem.py

@@ -1,9 +1,17 @@
-# Copyright (c) 2022 NVIDIA CORPORATION.  All rights reserved.
-# NVIDIA CORPORATION and its licensors retain all intellectual property
-# and proprietary rights in and to this software, related documentation
-# and any modifications thereto.  Any use, reproduction, disclosure or
-# distribution of this software and related documentation without an express
-# license agreement from NVIDIA CORPORATION is strictly prohibited.
+# 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 DEM

warp/examples/core/example_fluid.py

@@ -1,9 +1,17 @@
-# Copyright (c) 2022 NVIDIA CORPORATION.  All rights reserved.
-# NVIDIA CORPORATION and its licensors retain all intellectual property
-# and proprietary rights in and to this software, related documentation
-# and any modifications thereto.  Any use, reproduction, disclosure or
-# distribution of this software and related documentation without an express
-# license agreement from NVIDIA CORPORATION is strictly prohibited.
+# 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 Fluid

warp/examples/core/example_graph_capture.py

@@ -1,9 +1,17 @@
-# Copyright (c) 2022 NVIDIA CORPORATION.  All rights reserved.
-# NVIDIA CORPORATION and its licensors retain all intellectual property
-# and proprietary rights in and to this software, related documentation
-# and any modifications thereto.  Any use, reproduction, disclosure or
-# distribution of this software and related documentation without an express
-# license agreement from NVIDIA CORPORATION is strictly prohibited.
+# 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 Graph Capture

warp/examples/core/example_marching_cubes.py

@@ -1,9 +1,17 @@
-# Copyright (c) 2022 NVIDIA CORPORATION.  All rights reserved.
-# NVIDIA CORPORATION and its licensors retain all intellectual property
-# and proprietary rights in and to this software, related documentation
-# and any modifications thereto.  Any use, reproduction, disclosure or
-# distribution of this software and related documentation without an express
-# license agreement from NVIDIA CORPORATION is strictly prohibited.
+# 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 Marching Cubes
@@ -153,7 +161,7 @@ class Example:
                 "surface",
                 self.mc.verts.numpy(),
                 self.mc.indices.numpy(),
-                colors=((0.35, 0.55, 0.9),) * len(self.mc.verts),
+                colors=(0.35, 0.55, 0.9),
                 update_topology=True,
             )
             self.renderer.end_frame()

warp/examples/core/example_mesh.py

@@ -1,9 +1,17 @@
-# Copyright (c) 2022 NVIDIA CORPORATION.  All rights reserved.
-# NVIDIA CORPORATION and its licensors retain all intellectual property
-# and proprietary rights in and to this software, related documentation
-# and any modifications thereto.  Any use, reproduction, disclosure or
-# distribution of this software and related documentation without an express
-# license agreement from NVIDIA CORPORATION is strictly prohibited.
+# 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 Mesh
@@ -138,7 +146,7 @@ class Example:
                 name="mesh",
                 points=self.mesh.points.numpy(),
                 indices=self.mesh.indices.numpy(),
-                colors=((0.35, 0.55, 0.9),) * len(self.mesh.points),
+                colors=(0.35, 0.55, 0.9),
             )
             self.renderer.render_points(
                 name="points", points=self.positions.numpy(), radius=self.sim_margin, colors=(0.8, 0.3, 0.2)

warp/examples/core/example_mesh_intersect.py

@@ -1,9 +1,17 @@
-# Copyright (c) 2022 NVIDIA CORPORATION.  All rights reserved.
-# NVIDIA CORPORATION and its licensors retain all intellectual property
-# and proprietary rights in and to this software, related documentation
-# and any modifications thereto.  Any use, reproduction, disclosure or
-# distribution of this software and related documentation without an express
-# license agreement from NVIDIA CORPORATION is strictly prohibited.
+# 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 Mesh Intersection

warp/examples/core/example_nvdb.py

@@ -1,9 +1,17 @@
-# Copyright (c) 2022 NVIDIA CORPORATION.  All rights reserved.
-# NVIDIA CORPORATION and its licensors retain all intellectual property
-# and proprietary rights in and to this software, related documentation
-# and any modifications thereto.  Any use, reproduction, disclosure or
-# distribution of this software and related documentation without an express
-# license agreement from NVIDIA CORPORATION is strictly prohibited.
+# 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 NanoVDB

warp/examples/core/example_raycast.py

@@ -1,9 +1,17 @@
-# Copyright (c) 2022 NVIDIA CORPORATION.  All rights reserved.
-# NVIDIA CORPORATION and its licensors retain all intellectual property
-# and proprietary rights in and to this software, related documentation
-# and any modifications thereto.  Any use, reproduction, disclosure or
-# distribution of this software and related documentation without an express
-# license agreement from NVIDIA CORPORATION is strictly prohibited.
+# 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 Ray Cast