warp-lang 1.7.0__py3-none-manylinux_2_28_x86_64.whl

warp/fem/space/trimesh_function_space.py

@@ -0,0 +1,194 @@
+# 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 warp as wp
+from warp.fem import cache
+from warp.fem.geometry import Trimesh
+from warp.fem.types import ElementIndex
+
+from .shape import TriangleShapeFunction
+from .topology import SpaceTopology, forward_base_topology
+
+
+@wp.struct
+class TrimeshTopologyArg:
+    edge_vertex_indices: wp.array(dtype=wp.vec2i)
+    tri_edge_indices: wp.array2d(dtype=int)
+
+    vertex_count: int
+    edge_count: int
+
+
+class TrimeshSpaceTopology(SpaceTopology):
+    TopologyArg = TrimeshTopologyArg
+
+    def __init__(self, mesh: Trimesh, shape: TriangleShapeFunction):
+        self._shape = shape
+        super().__init__(mesh, shape.NODES_PER_ELEMENT)
+        self._mesh = mesh
+
+        self._compute_tri_edge_indices()
+        self.element_node_index = self._make_element_node_index()
+        self.element_node_sign = self._make_element_node_sign()
+
+    @property
+    def name(self):
+        return f"{self.geometry.name}_{self._shape.name}"
+
+    @cache.cached_arg_value
+    def topo_arg_value(self, device):
+        arg = TrimeshTopologyArg()
+        arg.tri_edge_indices = self._tri_edge_indices.to(device)
+        arg.edge_vertex_indices = self._mesh.edge_vertex_indices.to(device)
+
+        arg.vertex_count = self._mesh.vertex_count()
+        arg.edge_count = self._mesh.side_count()
+        return arg
+
+    def _compute_tri_edge_indices(self):
+        self._tri_edge_indices = wp.empty(
+            dtype=int, device=self._mesh.tri_vertex_indices.device, shape=(self._mesh.cell_count(), 3)
+        )
+
+        wp.launch(
+            kernel=TrimeshSpaceTopology._compute_tri_edge_indices_kernel,
+            dim=self._mesh.edge_tri_indices.shape,
+            device=self._mesh.tri_vertex_indices.device,
+            inputs=[
+                self._mesh.edge_tri_indices,
+                self._mesh.edge_vertex_indices,
+                self._mesh.tri_vertex_indices,
+                self._tri_edge_indices,
+            ],
+        )
+
+    @wp.func
+    def _find_edge_index_in_tri(
+        edge_vtx: wp.vec2i,
+        tri_vtx: wp.vec3i,
+    ):
+        for k in range(2):
+            if (edge_vtx[0] == tri_vtx[k] and edge_vtx[1] == tri_vtx[k + 1]) or (
+                edge_vtx[1] == tri_vtx[k] and edge_vtx[0] == tri_vtx[k + 1]
+            ):
+                return k
+        return 2
+
+    @wp.kernel
+    def _compute_tri_edge_indices_kernel(
+        edge_tri_indices: wp.array(dtype=wp.vec2i),
+        edge_vertex_indices: wp.array(dtype=wp.vec2i),
+        tri_vertex_indices: wp.array2d(dtype=int),
+        tri_edge_indices: wp.array2d(dtype=int),
+    ):
+        e = wp.tid()
+
+        edge_vtx = edge_vertex_indices[e]
+        edge_tris = edge_tri_indices[e]
+
+        t0 = edge_tris[0]
+        t0_vtx = wp.vec3i(tri_vertex_indices[t0, 0], tri_vertex_indices[t0, 1], tri_vertex_indices[t0, 2])
+        t0_edge = TrimeshSpaceTopology._find_edge_index_in_tri(edge_vtx, t0_vtx)
+        tri_edge_indices[t0, t0_edge] = e
+
+        t1 = edge_tris[1]
+        if t1 != t0:
+            t1_vtx = wp.vec3i(tri_vertex_indices[t1, 0], tri_vertex_indices[t1, 1], tri_vertex_indices[t1, 2])
+            t1_edge = TrimeshSpaceTopology._find_edge_index_in_tri(edge_vtx, t1_vtx)
+            tri_edge_indices[t1, t1_edge] = e
+
+    def node_count(self) -> int:
+        return (
+            self._mesh.vertex_count() * self._shape.VERTEX_NODE_COUNT
+            + self._mesh.side_count() * self._shape.EDGE_NODE_COUNT
+            + self._mesh.cell_count() * self._shape.INTERIOR_NODE_COUNT
+        )
+
+    def _make_element_node_index(self):
+        VERTEX_NODE_COUNT = self._shape.VERTEX_NODE_COUNT
+        INTERIOR_NODES_PER_SIDE = self._shape.EDGE_NODE_COUNT
+        INTERIOR_NODES_PER_CELL = self._shape.INTERIOR_NODE_COUNT
+
+        @cache.dynamic_func(suffix=self.name)
+        def element_node_index(
+            geo_arg: self.geometry.CellArg,
+            topo_arg: TrimeshTopologyArg,
+            element_index: ElementIndex,
+            node_index_in_elt: int,
+        ):
+            node_type, type_index = self._shape.node_type_and_type_index(node_index_in_elt)
+
+            if wp.static(VERTEX_NODE_COUNT > 0):
+                if node_type == TriangleShapeFunction.VERTEX:
+                    vertex = type_index // VERTEX_NODE_COUNT
+                    vertex_node = type_index - VERTEX_NODE_COUNT * vertex
+                    return geo_arg.topology.tri_vertex_indices[element_index][vertex] * VERTEX_NODE_COUNT + vertex_node
+
+            global_offset = topo_arg.vertex_count * VERTEX_NODE_COUNT
+
+            if wp.static(INTERIOR_NODES_PER_SIDE > 0):
+                if node_type == TriangleShapeFunction.EDGE:
+                    edge = type_index // INTERIOR_NODES_PER_SIDE
+                    edge_node = type_index - INTERIOR_NODES_PER_SIDE * edge
+
+                    global_edge_index = topo_arg.tri_edge_indices[element_index][edge]
+
+                    if (
+                        topo_arg.edge_vertex_indices[global_edge_index][0]
+                        != geo_arg.topology.tri_vertex_indices[element_index][edge]
+                    ):
+                        edge_node = INTERIOR_NODES_PER_SIDE - 1 - edge_node
+
+                    return global_offset + INTERIOR_NODES_PER_SIDE * global_edge_index + edge_node
+
+                global_offset += INTERIOR_NODES_PER_SIDE * topo_arg.edge_count
+
+            return global_offset + INTERIOR_NODES_PER_CELL * element_index + type_index
+
+        return element_node_index
+
+    def _make_element_node_sign(self):
+        INTERIOR_NODES_PER_SIDE = self._shape.EDGE_NODE_COUNT
+
+        @cache.dynamic_func(suffix=self.name)
+        def element_node_sign(
+            geo_arg: self.geometry.CellArg,
+            topo_arg: TrimeshTopologyArg,
+            element_index: ElementIndex,
+            node_index_in_elt: int,
+        ):
+            node_type, type_index = self._shape.node_type_and_type_index(node_index_in_elt)
+
+            if node_type == TriangleShapeFunction.EDGE:
+                edge = type_index // INTERIOR_NODES_PER_SIDE
+
+                global_edge_index = topo_arg.tri_edge_indices[element_index][edge]
+                return wp.where(
+                    topo_arg.edge_vertex_indices[global_edge_index][0]
+                    == geo_arg.topology.tri_vertex_indices[element_index][edge],
+                    1.0,
+                    -1.0,
+                )
+
+            return 1.0
+
+        return element_node_sign
+
+
+def make_trimesh_space_topology(mesh: Trimesh, shape: TriangleShapeFunction):
+    if isinstance(shape, TriangleShapeFunction):
+        return forward_base_topology(TrimeshSpaceTopology, mesh, shape)
+
+    raise ValueError(f"Unsupported shape function {shape.name}")

warp/fem/types.py

@@ -0,0 +1,99 @@
+# 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.
+
+from enum import Enum
+
+import warp as wp
+
+# kept to avoid breaking existing example code, no longer used internally
+vec2i = wp.vec2i
+vec3i = wp.vec3i
+vec4i = wp.vec4i
+
+Coords = wp.vec3
+OUTSIDE = wp.constant(-1.0e8)
+
+ElementIndex = int
+QuadraturePointIndex = int
+NodeIndex = int
+
+NULL_ELEMENT_INDEX = wp.constant(-1)
+NULL_QP_INDEX = wp.constant(-1)
+NULL_NODE_INDEX = wp.constant((1 << 31) - 1)  # this should be larger than normal nodes when sorting
+
+DofIndex = wp.vec2i
+"""Opaque descriptor for indexing degrees of freedom within elements"""
+NULL_DOF_INDEX = wp.constant(DofIndex(-1, -1))
+
+
+@wp.func
+def get_node_index_in_element(dof_idx: DofIndex):
+    return dof_idx[0]
+
+
+@wp.func
+def get_node_coord(dof_idx: DofIndex):
+    return dof_idx[1]
+
+
+class ElementKind(Enum):
+    CELL = 0
+    SIDE = 1
+
+
+@wp.struct
+class NodeElementIndex:
+    domain_element_index: ElementIndex
+    node_index_in_element: int
+
+
+@wp.struct
+class Sample:
+    """Per-sample point context for evaluating fields and related operators in integrands"""
+
+    element_index: ElementIndex
+    """Index of the geometry element the sample point is in"""
+    element_coords: Coords
+    """Coordinates of the sample point inside the element"""
+    qp_index: QuadraturePointIndex = NULL_QP_INDEX
+    """If the sample corresponds to a quadrature point, its global index"""
+    qp_weight: float = 0.0
+    """If the sample corresponds to a quadrature point, its weight"""
+    test_dof: DofIndex = NULL_DOF_INDEX
+    """For linear of bilinear form assembly, index of the test degree-of-freedom currently being considered"""
+    trial_dof: DofIndex = NULL_DOF_INDEX
+    """For bilinear form assembly, index of the trial degree-of-freedom currently being considered"""
+
+
+@wp.func
+def make_free_sample(element_index: ElementIndex, element_coords: Coords):
+    """Returns a :class:`Sample` that is not associated to any quadrature point or dof"""
+    return Sample(element_index, element_coords, NULL_QP_INDEX, 0.0, NULL_DOF_INDEX, NULL_DOF_INDEX)
+
+
+class Field:
+    """
+    Tag for field-like integrand arguments
+    """
+
+    call_operator: "warp.fem.operator.Operator" = None  # noqa: F821 Set in operator.py
+
+
+class Domain:
+    """
+    Tag for domain-like integrand arguments
+    """
+
+    call_operator: "warp.fem.operator.Operator" = None  # noqa: F821 Set in operator.py