warp-lang 1.6.2__py3-none-win_amd64.whl → 1.7.1__py3-none-win_amd64.whl

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Files changed (191) hide show
  1. warp/__init__.py +7 -1
  2. warp/autograd.py +12 -2
  3. warp/bin/warp-clang.dll +0 -0
  4. warp/bin/warp.dll +0 -0
  5. warp/build.py +410 -0
  6. warp/build_dll.py +6 -14
  7. warp/builtins.py +463 -372
  8. warp/codegen.py +196 -124
  9. warp/config.py +42 -6
  10. warp/context.py +496 -271
  11. warp/dlpack.py +8 -6
  12. warp/examples/assets/nonuniform.usd +0 -0
  13. warp/examples/assets/nvidia_logo.png +0 -0
  14. warp/examples/benchmarks/benchmark_cloth.py +1 -1
  15. warp/examples/benchmarks/benchmark_tile_load_store.py +103 -0
  16. warp/examples/core/example_sample_mesh.py +300 -0
  17. warp/examples/distributed/example_jacobi_mpi.py +507 -0
  18. warp/examples/fem/example_apic_fluid.py +1 -1
  19. warp/examples/fem/example_burgers.py +2 -2
  20. warp/examples/fem/example_deformed_geometry.py +1 -1
  21. warp/examples/fem/example_distortion_energy.py +1 -1
  22. warp/examples/fem/example_magnetostatics.py +6 -6
  23. warp/examples/fem/utils.py +9 -3
  24. warp/examples/interop/example_jax_callable.py +116 -0
  25. warp/examples/interop/example_jax_ffi_callback.py +132 -0
  26. warp/examples/interop/example_jax_kernel.py +205 -0
  27. warp/examples/optim/example_fluid_checkpoint.py +497 -0
  28. warp/examples/tile/example_tile_matmul.py +2 -4
  29. warp/fem/__init__.py +11 -1
  30. warp/fem/adaptivity.py +4 -4
  31. warp/fem/field/field.py +11 -1
  32. warp/fem/field/nodal_field.py +56 -88
  33. warp/fem/field/virtual.py +62 -23
  34. warp/fem/geometry/adaptive_nanogrid.py +16 -13
  35. warp/fem/geometry/closest_point.py +1 -1
  36. warp/fem/geometry/deformed_geometry.py +5 -2
  37. warp/fem/geometry/geometry.py +5 -0
  38. warp/fem/geometry/grid_2d.py +12 -12
  39. warp/fem/geometry/grid_3d.py +12 -15
  40. warp/fem/geometry/hexmesh.py +5 -7
  41. warp/fem/geometry/nanogrid.py +9 -11
  42. warp/fem/geometry/quadmesh.py +13 -13
  43. warp/fem/geometry/tetmesh.py +3 -4
  44. warp/fem/geometry/trimesh.py +7 -20
  45. warp/fem/integrate.py +262 -93
  46. warp/fem/linalg.py +5 -5
  47. warp/fem/quadrature/pic_quadrature.py +37 -22
  48. warp/fem/quadrature/quadrature.py +194 -25
  49. warp/fem/space/__init__.py +1 -1
  50. warp/fem/space/basis_function_space.py +4 -2
  51. warp/fem/space/basis_space.py +25 -18
  52. warp/fem/space/hexmesh_function_space.py +2 -2
  53. warp/fem/space/partition.py +6 -2
  54. warp/fem/space/quadmesh_function_space.py +8 -8
  55. warp/fem/space/shape/cube_shape_function.py +23 -23
  56. warp/fem/space/shape/square_shape_function.py +12 -12
  57. warp/fem/space/shape/triangle_shape_function.py +1 -1
  58. warp/fem/space/tetmesh_function_space.py +3 -3
  59. warp/fem/space/trimesh_function_space.py +2 -2
  60. warp/fem/utils.py +12 -6
  61. warp/jax.py +14 -1
  62. warp/jax_experimental/__init__.py +16 -0
  63. warp/{jax_experimental.py → jax_experimental/custom_call.py} +28 -29
  64. warp/jax_experimental/ffi.py +702 -0
  65. warp/jax_experimental/xla_ffi.py +602 -0
  66. warp/math.py +89 -0
  67. warp/native/array.h +13 -0
  68. warp/native/builtin.h +29 -3
  69. warp/native/bvh.cpp +3 -1
  70. warp/native/bvh.cu +42 -14
  71. warp/native/bvh.h +2 -1
  72. warp/native/clang/clang.cpp +30 -3
  73. warp/native/cuda_util.cpp +14 -0
  74. warp/native/cuda_util.h +2 -0
  75. warp/native/exports.h +68 -63
  76. warp/native/intersect.h +26 -26
  77. warp/native/intersect_adj.h +33 -33
  78. warp/native/marching.cu +1 -1
  79. warp/native/mat.h +513 -9
  80. warp/native/mesh.h +10 -10
  81. warp/native/quat.h +99 -11
  82. warp/native/rand.h +6 -0
  83. warp/native/sort.cpp +122 -59
  84. warp/native/sort.cu +152 -15
  85. warp/native/sort.h +8 -1
  86. warp/native/sparse.cpp +43 -22
  87. warp/native/sparse.cu +52 -17
  88. warp/native/svd.h +116 -0
  89. warp/native/tile.h +312 -116
  90. warp/native/tile_reduce.h +46 -3
  91. warp/native/vec.h +68 -7
  92. warp/native/volume.cpp +85 -113
  93. warp/native/volume_builder.cu +25 -10
  94. warp/native/volume_builder.h +6 -0
  95. warp/native/warp.cpp +5 -6
  96. warp/native/warp.cu +100 -11
  97. warp/native/warp.h +19 -10
  98. warp/optim/linear.py +10 -10
  99. warp/render/render_opengl.py +19 -17
  100. warp/render/render_usd.py +93 -3
  101. warp/sim/articulation.py +4 -4
  102. warp/sim/collide.py +32 -19
  103. warp/sim/import_mjcf.py +449 -155
  104. warp/sim/import_urdf.py +32 -12
  105. warp/sim/inertia.py +189 -156
  106. warp/sim/integrator_euler.py +8 -5
  107. warp/sim/integrator_featherstone.py +3 -10
  108. warp/sim/integrator_vbd.py +207 -2
  109. warp/sim/integrator_xpbd.py +8 -5
  110. warp/sim/model.py +71 -25
  111. warp/sim/render.py +4 -0
  112. warp/sim/utils.py +2 -2
  113. warp/sparse.py +642 -555
  114. warp/stubs.py +217 -20
  115. warp/tests/__main__.py +0 -15
  116. warp/tests/assets/torus.usda +1 -1
  117. warp/tests/cuda/__init__.py +0 -0
  118. warp/tests/{test_mempool.py → cuda/test_mempool.py} +39 -0
  119. warp/tests/{test_streams.py → cuda/test_streams.py} +71 -0
  120. warp/tests/geometry/__init__.py +0 -0
  121. warp/tests/{test_mesh_query_point.py → geometry/test_mesh_query_point.py} +66 -63
  122. warp/tests/{test_mesh_query_ray.py → geometry/test_mesh_query_ray.py} +1 -1
  123. warp/tests/{test_volume.py → geometry/test_volume.py} +41 -6
  124. warp/tests/interop/__init__.py +0 -0
  125. warp/tests/{test_dlpack.py → interop/test_dlpack.py} +28 -5
  126. warp/tests/sim/__init__.py +0 -0
  127. warp/tests/{disabled_kinematics.py → sim/disabled_kinematics.py} +9 -10
  128. warp/tests/{test_collision.py → sim/test_collision.py} +236 -205
  129. warp/tests/sim/test_inertia.py +161 -0
  130. warp/tests/{test_model.py → sim/test_model.py} +40 -0
  131. warp/tests/{flaky_test_sim_grad.py → sim/test_sim_grad.py} +4 -0
  132. warp/tests/{test_sim_kinematics.py → sim/test_sim_kinematics.py} +2 -1
  133. warp/tests/sim/test_vbd.py +597 -0
  134. warp/tests/sim/test_xpbd.py +399 -0
  135. warp/tests/test_bool.py +1 -1
  136. warp/tests/test_codegen.py +24 -3
  137. warp/tests/test_examples.py +40 -38
  138. warp/tests/test_fem.py +98 -14
  139. warp/tests/test_linear_solvers.py +0 -11
  140. warp/tests/test_mat.py +577 -156
  141. warp/tests/test_mat_scalar_ops.py +4 -4
  142. warp/tests/test_overwrite.py +0 -60
  143. warp/tests/test_quat.py +356 -151
  144. warp/tests/test_rand.py +44 -37
  145. warp/tests/test_sparse.py +47 -6
  146. warp/tests/test_spatial.py +75 -0
  147. warp/tests/test_static.py +1 -1
  148. warp/tests/test_utils.py +84 -4
  149. warp/tests/test_vec.py +336 -178
  150. warp/tests/tile/__init__.py +0 -0
  151. warp/tests/{test_tile.py → tile/test_tile.py} +136 -51
  152. warp/tests/{test_tile_load.py → tile/test_tile_load.py} +98 -1
  153. warp/tests/{test_tile_mathdx.py → tile/test_tile_mathdx.py} +9 -6
  154. warp/tests/{test_tile_mlp.py → tile/test_tile_mlp.py} +25 -14
  155. warp/tests/{test_tile_reduce.py → tile/test_tile_reduce.py} +60 -1
  156. warp/tests/{test_tile_view.py → tile/test_tile_view.py} +1 -1
  157. warp/tests/unittest_serial.py +1 -0
  158. warp/tests/unittest_suites.py +45 -62
  159. warp/tests/unittest_utils.py +2 -1
  160. warp/thirdparty/unittest_parallel.py +3 -1
  161. warp/types.py +175 -666
  162. warp/utils.py +137 -72
  163. {warp_lang-1.6.2.dist-info → warp_lang-1.7.1.dist-info}/METADATA +46 -12
  164. {warp_lang-1.6.2.dist-info → warp_lang-1.7.1.dist-info}/RECORD +184 -171
  165. {warp_lang-1.6.2.dist-info → warp_lang-1.7.1.dist-info}/WHEEL +1 -1
  166. {warp_lang-1.6.2.dist-info → warp_lang-1.7.1.dist-info/licenses}/LICENSE.md +0 -26
  167. warp/examples/optim/example_walker.py +0 -317
  168. warp/native/cutlass_gemm.cpp +0 -43
  169. warp/native/cutlass_gemm.cu +0 -382
  170. warp/tests/test_matmul.py +0 -511
  171. warp/tests/test_matmul_lite.py +0 -411
  172. warp/tests/test_vbd.py +0 -386
  173. warp/tests/unused_test_misc.py +0 -77
  174. /warp/tests/{test_async.py → cuda/test_async.py} +0 -0
  175. /warp/tests/{test_ipc.py → cuda/test_ipc.py} +0 -0
  176. /warp/tests/{test_multigpu.py → cuda/test_multigpu.py} +0 -0
  177. /warp/tests/{test_peer.py → cuda/test_peer.py} +0 -0
  178. /warp/tests/{test_pinned.py → cuda/test_pinned.py} +0 -0
  179. /warp/tests/{test_bvh.py → geometry/test_bvh.py} +0 -0
  180. /warp/tests/{test_hash_grid.py → geometry/test_hash_grid.py} +0 -0
  181. /warp/tests/{test_marching_cubes.py → geometry/test_marching_cubes.py} +0 -0
  182. /warp/tests/{test_mesh.py → geometry/test_mesh.py} +0 -0
  183. /warp/tests/{test_mesh_query_aabb.py → geometry/test_mesh_query_aabb.py} +0 -0
  184. /warp/tests/{test_volume_write.py → geometry/test_volume_write.py} +0 -0
  185. /warp/tests/{test_jax.py → interop/test_jax.py} +0 -0
  186. /warp/tests/{test_paddle.py → interop/test_paddle.py} +0 -0
  187. /warp/tests/{test_torch.py → interop/test_torch.py} +0 -0
  188. /warp/tests/{test_coloring.py → sim/test_coloring.py} +0 -0
  189. /warp/tests/{test_sim_grad_bounce_linear.py → sim/test_sim_grad_bounce_linear.py} +0 -0
  190. /warp/tests/{test_tile_shared_memory.py → tile/test_tile_shared_memory.py} +0 -0
  191. {warp_lang-1.6.2.dist-info → warp_lang-1.7.1.dist-info}/top_level.txt +0 -0
warp/config.py CHANGED
@@ -15,7 +15,7 @@
15
15
 
16
16
  from typing import Optional
17
17
 
18
- version: str = "1.6.2"
18
+ version: str = "1.7.1"
19
19
  """Warp version string"""
20
20
 
21
21
  verify_fp: bool = False
@@ -53,6 +53,8 @@ Args:
53
53
  mode: Either ``"release"`` or ``"debug"``.
54
54
 
55
55
  Note: Debug mode may impact performance.
56
+
57
+ This setting can be overridden at the module level by setting the ``"mode"`` module option.
56
58
  """
57
59
 
58
60
  verbose: bool = False
@@ -97,14 +99,35 @@ Args:
97
99
  cuda_output: One of {``None``, ``"ptx"``, ``"cubin"``}. If ``None``, format is auto-determined.
98
100
  """
99
101
 
100
- ptx_target_arch: int = 75
101
- """Target architecture version for PTX generation.
102
+ ptx_target_arch: Optional[int] = None
103
+ """Target architecture version for PTX generation, e.g., ``ptx_target_arch = 75``.
104
+
105
+ If ``None``, the architecture is determined by devices present in the system.
106
+ """
107
+
108
+ lineinfo: bool = False
109
+ """Enable the compilation of modules with line information.
110
+
111
+ Modules compiled for GPU execution will be compiled with the
112
+ ``--generate-line-info`` compiler option, which generates line-number
113
+ information for device code. Line-number information is always included when
114
+ compiling a module in ``"debug"`` mode regardless of this setting.
115
+
116
+ This setting can be overridden at the module level by setting the ``"lineinfo"`` module option.
117
+ """
118
+
119
+ line_directives: bool = True
120
+ """Enable Python source line mapping in generated code.
102
121
 
103
- Defaults to minimum architecture version supporting all Warp features.
122
+ If ``True``, ``#line`` directives are inserted in generated code for modules
123
+ compiled with line information to map back to the original Python source file.
104
124
  """
105
125
 
106
126
  enable_backward: bool = True
107
- """Enable compilation of kernel backward passes."""
127
+ """Enable compilation of kernel backward passes.
128
+
129
+ This setting can be overridden at the module level by setting the ``"enable_backward"`` module option.
130
+ """
108
131
 
109
132
  llvm_cuda: bool = False
110
133
  """Use Clang/LLVM compiler instead of NVRTC for CUDA compilation."""
@@ -119,4 +142,17 @@ enable_mempools_at_init: bool = True
119
142
  """Enable CUDA memory pools during device initialization when supported."""
120
143
 
121
144
  max_unroll: int = 16
122
- """Maximum unroll factor for loops."""
145
+ """Maximum unroll factor for loops.
146
+
147
+ Note that ``max_unroll`` does not consider the total number of iterations in
148
+ nested loops. This can result in a large amount of automatically generated code
149
+ if each nested loop is below the ``max_unroll`` threshold.
150
+
151
+ This setting can be overridden at the module level by setting the ``"max_unroll"`` module option.
152
+ """
153
+
154
+ _git_commit_hash: Optional[str] = None
155
+ """Git commit hash associated with the Warp installation.
156
+
157
+ Set automatically by CI, do not modify.
158
+ """