warp-lang 1.7.0__py3-none-manylinux_2_28_x86_64.whl

warp/render/utils.py

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+# 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.
+
+from typing import Union
+
+import numpy as np
+
+import warp as wp
+
+
+def bourke_color_map(low, high, v):
+    c = [1.0, 1.0, 1.0]
+
+    if v < low:
+        v = low
+    if v > high:
+        v = high
+    dv = high - low
+
+    if v < (low + 0.25 * dv):
+        c[0] = 0.0
+        c[1] = 4.0 * (v - low) / dv
+    elif v < (low + 0.5 * dv):
+        c[0] = 0.0
+        c[2] = 1.0 + 4.0 * (low + 0.25 * dv - v) / dv
+    elif v < (low + 0.75 * dv):
+        c[0] = 4.0 * (v - low - 0.5 * dv) / dv
+        c[2] = 0.0
+    else:
+        c[1] = 1.0 + 4.0 * (low + 0.75 * dv - v) / dv
+        c[2] = 0.0
+
+    return c
+
+
+def tab10_color_map(i):
+    # matplotlib "tab10" colors
+    colors = [
+        [31, 119, 180],
+        [255, 127, 14],
+        [44, 160, 44],
+        [214, 39, 40],
+        [148, 103, 189],
+        [140, 86, 75],
+        [227, 119, 194],
+        [127, 127, 127],
+        [188, 189, 34],
+        [23, 190, 207],
+    ]
+    num_colors = len(colors)
+    return [c / 255.0 for c in colors[i % num_colors]]
+
+
+# triangulate mesh around given surface with given thickness
+@wp.kernel
+def solidify_mesh_kernel(
+    indices: wp.array(dtype=int, ndim=2),
+    vertices: wp.array(dtype=wp.vec3, ndim=1),
+    thickness: wp.array(dtype=float, ndim=1),
+    # outputs
+    out_vertices: wp.array(dtype=wp.vec3, ndim=1),
+    out_indices: wp.array(dtype=int, ndim=2),
+):
+    tid = wp.tid()
+    i = indices[tid, 0]
+    j = indices[tid, 1]
+    k = indices[tid, 2]
+
+    vi = vertices[i]
+    vj = vertices[j]
+    vk = vertices[k]
+
+    normal = wp.normalize(wp.cross(vj - vi, vk - vi))
+    ti = normal * thickness[i]
+    tj = normal * thickness[j]
+    tk = normal * thickness[k]
+
+    # wedge vertices
+    vi0 = vi + ti
+    vi1 = vi - ti
+    vj0 = vj + tj
+    vj1 = vj - tj
+    vk0 = vk + tk
+    vk1 = vk - tk
+
+    i0 = i * 2
+    i1 = i * 2 + 1
+    j0 = j * 2
+    j1 = j * 2 + 1
+    k0 = k * 2
+    k1 = k * 2 + 1
+
+    out_vertices[i0] = vi0
+    out_vertices[i1] = vi1
+    out_vertices[j0] = vj0
+    out_vertices[j1] = vj1
+    out_vertices[k0] = vk0
+    out_vertices[k1] = vk1
+
+    oid = tid * 8
+    out_indices[oid + 0, 0] = i0
+    out_indices[oid + 0, 1] = j0
+    out_indices[oid + 0, 2] = k0
+    out_indices[oid + 1, 0] = j0
+    out_indices[oid + 1, 1] = k1
+    out_indices[oid + 1, 2] = k0
+    out_indices[oid + 2, 0] = j0
+    out_indices[oid + 2, 1] = j1
+    out_indices[oid + 2, 2] = k1
+    out_indices[oid + 3, 0] = j0
+    out_indices[oid + 3, 1] = i1
+    out_indices[oid + 3, 2] = j1
+    out_indices[oid + 4, 0] = j0
+    out_indices[oid + 4, 1] = i0
+    out_indices[oid + 4, 2] = i1
+    out_indices[oid + 5, 0] = j1
+    out_indices[oid + 5, 1] = i1
+    out_indices[oid + 5, 2] = k1
+    out_indices[oid + 6, 0] = i1
+    out_indices[oid + 6, 1] = i0
+    out_indices[oid + 6, 2] = k0
+    out_indices[oid + 7, 0] = i1
+    out_indices[oid + 7, 1] = k0
+    out_indices[oid + 7, 2] = k1
+
+
+def solidify_mesh(faces: np.ndarray, vertices: np.ndarray, thickness: Union[list, float]):
+    """
+    Triangulate mesh around given surface with given thickness.
+    :param faces: array of face indices (Nx3)
+    :param vertices: array of vertex positions (Mx3)
+    :param thickness: array of thickness values (Mx1) or single thickness value
+    :return: tuple of (faces, vertices)
+    """
+    faces = np.array(faces).reshape(-1, 3)
+    out_faces = wp.zeros((len(faces) * 8, 3), dtype=wp.int32)
+    out_vertices = wp.zeros(len(vertices) * 2, dtype=wp.vec3)
+    if not isinstance(thickness, np.ndarray) and not isinstance(thickness, list):
+        thickness = [thickness] * len(vertices)
+    wp.launch(
+        solidify_mesh_kernel,
+        dim=len(faces),
+        inputs=[wp.array(faces, dtype=int), wp.array(vertices, dtype=wp.vec3), wp.array(thickness, dtype=float)],
+        outputs=[out_vertices, out_faces],
+    )
+    faces = out_faces.numpy()
+    vertices = out_vertices.numpy()
+    return faces, vertices

warp/sim/__init__.py

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+# 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.
+
+from .articulation import eval_fk, eval_ik
+from .collide import collide
+from .import_mjcf import parse_mjcf
+from .import_snu import parse_snu
+from .import_urdf import parse_urdf
+from .import_usd import parse_usd, resolve_usd_from_url
+from .inertia import transform_inertia
+from .integrator import Integrator, integrate_bodies, integrate_particles
+from .integrator_euler import SemiImplicitIntegrator
+from .integrator_featherstone import FeatherstoneIntegrator
+from .integrator_vbd import VBDIntegrator
+from .integrator_xpbd import XPBDIntegrator
+from .model import (
+    GEO_BOX,
+    GEO_CAPSULE,
+    GEO_CONE,
+    GEO_CYLINDER,
+    GEO_MESH,
+    GEO_NONE,
+    GEO_PLANE,
+    GEO_SDF,
+    GEO_SPHERE,
+    JOINT_BALL,
+    JOINT_COMPOUND,
+    JOINT_D6,
+    JOINT_DISTANCE,
+    JOINT_FIXED,
+    JOINT_FREE,
+    JOINT_MODE_FORCE,
+    JOINT_MODE_TARGET_POSITION,
+    JOINT_MODE_TARGET_VELOCITY,
+    JOINT_PRISMATIC,
+    JOINT_REVOLUTE,
+    JOINT_UNIVERSAL,
+    SDF,
+    Control,
+    JointAxis,
+    Mesh,
+    Model,
+    ModelBuilder,
+    ModelShapeGeometry,
+    ModelShapeMaterials,
+    State,
+)
+from .utils import (
+    load_mesh,
+    quat_from_euler,
+    quat_to_euler,
+    velocity_at_point,
+)