warp-lang 1.7.0__py3-none-manylinux_2_34_aarch64.whl

warp/examples/fem/example_deformed_geometry.py

@@ -0,0 +1,172 @@
+# 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 Deformed Geometry
+#
+# This example solves a 2d diffusion problem on a deformed (curved) mesh:
+#
+# nu Div u = 1
+#
+# with Dirichlet boundary conditions on vertical edges and
+# homogeneous Neumann on horizontal edges.
+###########################################################################
+
+import warp as wp
+import warp.examples.fem.utils as fem_example_utils
+import warp.fem as fem
+from warp.examples.fem.example_diffusion import diffusion_form, linear_form
+
+
+@fem.integrand
+def deformation_field_expr(
+    s: fem.Sample,
+    domain: fem.Domain,
+):
+    """
+    Deformation field mapping the unit square to a circular band
+    """
+    x = domain(s)
+
+    r = x[1] + 0.5
+    t = 0.5 * 3.1416 * x[0]
+
+    return r * wp.vec2(wp.sin(t), wp.cos(t))
+
+
+@fem.integrand
+def boundary_projector_form(
+    s: fem.Sample,
+    domain: fem.Domain,
+    u: fem.Field,
+    v: fem.Field,
+):
+    """
+    Bilinear boundary condition projector form, non-zero on radial edges
+    """
+    nor = fem.normal(domain, s)
+    active = wp.where(nor[0] < -0.9999 or nor[1] < -0.9999, 1.0, 0.0)
+    return active * u(s) * v(s)
+
+
+class Example:
+    def __init__(
+        self,
+        quiet=False,
+        degree=2,
+        resolution=50,
+        mesh="grid",
+        serendipity=False,
+        viscosity=2.0,
+    ):
+        self._quiet = quiet
+
+        self._viscosity = viscosity
+
+        # Grid or triangle mesh geometry
+        if mesh == "tri":
+            positions, tri_vidx = fem_example_utils.gen_trimesh(res=wp.vec2i(resolution))
+            base_geo = fem.Trimesh2D(tri_vertex_indices=tri_vidx, positions=positions)
+        elif mesh == "quad":
+            positions, quad_vidx = fem_example_utils.gen_quadmesh(res=wp.vec2i(resolution))
+            base_geo = fem.Quadmesh2D(quad_vertex_indices=quad_vidx, positions=positions)
+        else:
+            base_geo = fem.Grid2D(res=wp.vec2i(resolution))
+
+        # Construct deformation field on base geometry
+        deformation_space = fem.make_polynomial_space(base_geo, degree=degree, dtype=wp.vec2)
+        deformation_field = deformation_space.make_field()
+        fem.interpolate(deformation_field_expr, dest=deformation_field)
+
+        self._geo = deformation_field.make_deformed_geometry(relative=False)
+
+        # Scalar function space on deformed geometry
+        element_basis = fem.ElementBasis.SERENDIPITY if serendipity else None
+        self._scalar_space = fem.make_polynomial_space(self._geo, degree=degree, element_basis=element_basis)
+
+        # Scalar field over our function space
+        self._scalar_field = self._scalar_space.make_field()
+
+        self.renderer = fem_example_utils.Plot()
+
+    def step(self):
+        geo = self._geo
+
+        domain = fem.Cells(geometry=geo)
+
+        # Right-hand-side (forcing term)
+        test = fem.make_test(space=self._scalar_space, domain=domain)
+        rhs = fem.integrate(linear_form, fields={"v": test})
+
+        # Diffusion form
+        trial = fem.make_trial(space=self._scalar_space, domain=domain)
+        matrix = fem.integrate(diffusion_form, fields={"u": trial, "v": test}, values={"nu": self._viscosity})
+
+        # Weakly-imposed boundary conditions on all sides
+        boundary = fem.BoundarySides(geo)
+        bd_test = fem.make_test(space=self._scalar_space, domain=boundary)
+        bd_trial = fem.make_trial(space=self._scalar_space, domain=boundary)
+
+        bd_matrix = fem.integrate(boundary_projector_form, fields={"u": bd_trial, "v": bd_test}, nodal=True)
+
+        fem.project_linear_system(matrix, rhs, bd_matrix)
+
+        # Solve linear system using Conjugate Gradient
+        x = wp.zeros_like(rhs)
+        fem_example_utils.bsr_cg(matrix, b=rhs, x=x, quiet=self._quiet, tol=1.0e-6)
+
+        # Assign system result to our discrete field
+        self._scalar_field.dof_values = x
+
+    def render(self):
+        self.renderer.add_field("solution", self._scalar_field)
+
+
+if __name__ == "__main__":
+    import argparse
+
+    wp.set_module_options({"enable_backward": False})
+
+    parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+    parser.add_argument("--device", type=str, default=None, help="Override the default Warp device.")
+    parser.add_argument("--resolution", type=int, default=50, help="Grid resolution.")
+    parser.add_argument("--degree", type=int, default=2, help="Polynomial degree of shape functions.")
+    parser.add_argument("--serendipity", action="store_true", default=False, help="Use Serendipity basis functions.")
+    parser.add_argument("--viscosity", type=float, default=2.0, help="Fluid viscosity parameter.")
+    parser.add_argument("--mesh", choices=("grid", "tri", "quad"), default="tri", help="Mesh type")
+    parser.add_argument(
+        "--headless",
+        action="store_true",
+        help="Run in headless mode, suppressing the opening of any graphical windows.",
+    )
+    parser.add_argument("--quiet", action="store_true", help="Suppresses the printing out of iteration residuals.")
+
+    args = parser.parse_known_args()[0]
+
+    with wp.ScopedDevice(args.device):
+        example = Example(
+            quiet=args.quiet,
+            degree=args.degree,
+            resolution=args.resolution,
+            mesh=args.mesh,
+            serendipity=args.serendipity,
+            viscosity=args.viscosity,
+        )
+
+        example.step()
+        example.render()
+
+        if not args.headless:
+            example.renderer.plot()

warp/examples/fem/example_diffusion.py

@@ -0,0 +1,196 @@
+# 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 Diffusion
+#
+# This example solves a 2d diffusion problem:
+#
+# nu Div u = 1
+#
+# with Dirichlet boundary conditions on vertical edges and
+# homogeneous Neumann on horizontal edges.
+###########################################################################
+
+import warp as wp
+import warp.examples.fem.utils as fem_example_utils
+import warp.fem as fem
+from warp.fem.utils import array_axpy
+
+
+@fem.integrand
+def linear_form(
+    s: fem.Sample,
+    v: fem.Field,
+):
+    """Linear form with constant slope 1 -- forcing term of our problem"""
+    return v(s)
+
+
+@fem.integrand
+def diffusion_form(s: fem.Sample, u: fem.Field, v: fem.Field, nu: float):
+    """Diffusion bilinear form with constant coefficient ``nu``"""
+    return nu * wp.dot(
+        fem.grad(u, s),
+        fem.grad(v, s),
+    )
+
+
+@fem.integrand
+def y_boundary_value_form(s: fem.Sample, domain: fem.Domain, v: fem.Field, val: float):
+    """Linear form with coefficient val on vertical edges, zero elsewhere"""
+    nor = fem.normal(domain, s)
+    return val * v(s) * wp.abs(nor[0])
+
+
+@fem.integrand
+def y_boundary_projector_form(
+    s: fem.Sample,
+    domain: fem.Domain,
+    u: fem.Field,
+    v: fem.Field,
+):
+    """
+    Bilinear boundary condition projector form, non-zero on vertical edges only.
+    """
+    # Reuse the above linear form implementation by evaluating one of the participating field and passing it as a normal scalar argument.
+    return y_boundary_value_form(s, domain, v, u(s))
+
+
+class Example:
+    def __init__(
+        self,
+        quiet=False,
+        degree=2,
+        resolution=50,
+        mesh="grid",
+        serendipity=False,
+        viscosity=2.0,
+        boundary_value=5.0,
+        boundary_compliance=0.0,
+    ):
+        self._quiet = quiet
+
+        self._viscosity = viscosity
+        self._boundary_value = boundary_value
+        self._boundary_compliance = boundary_compliance
+
+        # Grid or triangle mesh geometry
+        if mesh == "tri":
+            positions, tri_vidx = fem_example_utils.gen_trimesh(res=wp.vec2i(resolution))
+            self._geo = fem.Trimesh2D(tri_vertex_indices=tri_vidx, positions=positions)
+        elif mesh == "quad":
+            positions, quad_vidx = fem_example_utils.gen_quadmesh(res=wp.vec2i(resolution))
+            self._geo = fem.Quadmesh2D(quad_vertex_indices=quad_vidx, positions=positions)
+        else:
+            self._geo = fem.Grid2D(res=wp.vec2i(resolution))
+
+        # Scalar function space
+        element_basis = fem.ElementBasis.SERENDIPITY if serendipity else None
+        self._scalar_space = fem.make_polynomial_space(self._geo, degree=degree, element_basis=element_basis)
+
+        # Scalar field over our function space
+        self._scalar_field = self._scalar_space.make_field()
+
+        self.renderer = fem_example_utils.Plot()
+
+    def step(self):
+        geo = self._geo
+
+        domain = fem.Cells(geometry=geo)
+
+        # Right-hand-side (forcing term)
+        test = fem.make_test(space=self._scalar_space, domain=domain)
+        rhs = fem.integrate(linear_form, fields={"v": test})
+
+        # Diffusion form
+        trial = fem.make_trial(space=self._scalar_space, domain=domain)
+        matrix = fem.integrate(diffusion_form, fields={"u": trial, "v": test}, values={"nu": self._viscosity})
+
+        # Boundary conditions on Y sides
+        # Use nodal integration so that boundary conditions are specified on each node independently
+        boundary = fem.BoundarySides(geo)
+        bd_test = fem.make_test(space=self._scalar_space, domain=boundary)
+        bd_trial = fem.make_trial(space=self._scalar_space, domain=boundary)
+
+        bd_matrix = fem.integrate(y_boundary_projector_form, fields={"u": bd_trial, "v": bd_test}, nodal=True)
+        bd_rhs = fem.integrate(
+            y_boundary_value_form, fields={"v": bd_test}, values={"val": self._boundary_value}, nodal=True
+        )
+
+        # Assemble linear system
+        if self._boundary_compliance == 0.0:
+            # Hard BC: project linear system
+            fem.project_linear_system(matrix, rhs, bd_matrix, bd_rhs)
+        else:
+            # Weak BC: add together diffusion and boundary condition matrices
+            boundary_strength = 1.0 / self._boundary_compliance
+            matrix += bd_matrix * boundary_strength
+            array_axpy(x=bd_rhs, y=rhs, alpha=boundary_strength, beta=1)
+
+        # Solve linear system using Conjugate Gradient
+        x = wp.zeros_like(rhs)
+        fem_example_utils.bsr_cg(matrix, b=rhs, x=x, quiet=self._quiet)
+
+        # Assign system result to our discrete field
+        self._scalar_field.dof_values = x
+
+    def render(self):
+        self.renderer.add_field("solution", self._scalar_field)
+
+
+if __name__ == "__main__":
+    import argparse
+
+    wp.set_module_options({"enable_backward": False})
+
+    parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+    parser.add_argument("--device", type=str, default=None, help="Override the default Warp device.")
+    parser.add_argument("--resolution", type=int, default=50, help="Grid resolution.")
+    parser.add_argument("--degree", type=int, default=2, help="Polynomial degree of shape functions.")
+    parser.add_argument("--serendipity", action="store_true", default=False, help="Use Serendipity basis functions.")
+    parser.add_argument("--viscosity", type=float, default=2.0, help="Fluid viscosity parameter.")
+    parser.add_argument(
+        "--boundary_value", type=float, default=5.0, help="Value of Dirichlet boundary condition on vertical edges."
+    )
+    parser.add_argument(
+        "--boundary_compliance", type=float, default=0.0, help="Dirichlet boundary condition compliance."
+    )
+    parser.add_argument("--mesh", choices=("grid", "tri", "quad"), default="grid", help="Mesh type.")
+    parser.add_argument(
+        "--headless",
+        action="store_true",
+        help="Run in headless mode, suppressing the opening of any graphical windows.",
+    )
+    parser.add_argument("--quiet", action="store_true", help="Suppresses the printing out of iteration residuals.")
+
+    args = parser.parse_known_args()[0]
+
+    with wp.ScopedDevice(args.device):
+        example = Example(
+            quiet=args.quiet,
+            degree=args.degree,
+            resolution=args.resolution,
+            mesh=args.mesh,
+            serendipity=args.serendipity,
+            viscosity=args.viscosity,
+            boundary_value=args.boundary_value,
+            boundary_compliance=args.boundary_compliance,
+        )
+        example.step()
+        example.render()
+
+        if not args.headless:
+            example.renderer.plot()

warp/examples/fem/example_diffusion_3d.py

@@ -0,0 +1,225 @@
+# 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 Diffusion 3D
+#
+# This example solves a 3d diffusion problem:
+#
+# nu Div u = 1
+#
+# with homogeneous Neumann conditions on horizontal sides
+# and homogeneous Dirichlet boundary conditions other sides.
+###########################################################################
+
+import numpy as np
+
+import warp as wp
+import warp.examples.fem.utils as fem_example_utils
+import warp.fem as fem
+from warp.examples.fem.example_diffusion import diffusion_form, linear_form
+from warp.sparse import bsr_axpy
+
+
+@fem.integrand
+def vertical_boundary_projector_form(
+    s: fem.Sample,
+    domain: fem.Domain,
+    u: fem.Field,
+    v: fem.Field,
+):
+    # Constrain XY and YZ faces
+    nor = fem.normal(domain, s)
+    w = 1.0 - wp.abs(nor[1])
+    return w * u(s) * v(s)
+
+
+@fem.integrand
+def y_boundary_projector_form(
+    s: fem.Sample,
+    domain: fem.Domain,
+    u: fem.Field,
+    v: fem.Field,
+):
+    # Constrain Y edges
+    tangent = fem.deformation_gradient(domain, s)
+    return wp.abs(tangent[1]) * u(s) * v(s)
+
+
+class Example:
+    def __init__(
+        self,
+        quiet=False,
+        degree=2,
+        resolution=10,
+        mesh="grid",
+        serendipity=False,
+        viscosity=2.0,
+        boundary_compliance=0.0,
+    ):
+        self._quiet = quiet
+
+        self._viscosity = viscosity
+        self._boundary_compliance = boundary_compliance
+
+        res = wp.vec3i(resolution, max(1, resolution // 2), resolution * 2)
+        bounds_lo = wp.vec3(0.0, 0.0, 0.0)
+        bounds_hi = wp.vec3(1.0, 0.5, 2.0)
+
+        if mesh == "tet":
+            pos, tet_vtx_indices = fem_example_utils.gen_tetmesh(
+                res=res,
+                bounds_lo=bounds_lo,
+                bounds_hi=bounds_hi,
+            )
+            self._geo = fem.Tetmesh(tet_vtx_indices, pos)
+        elif mesh == "hex":
+            pos, hex_vtx_indices = fem_example_utils.gen_hexmesh(
+                res=res,
+                bounds_lo=bounds_lo,
+                bounds_hi=bounds_hi,
+            )
+            self._geo = fem.Hexmesh(hex_vtx_indices, pos)
+        elif mesh == "nano":
+            volume = fem_example_utils.gen_volume(
+                res=res,
+                bounds_lo=bounds_lo,
+                bounds_hi=bounds_hi,
+            )
+            self._geo = fem.Nanogrid(volume)
+        elif mesh == "tri":
+            pos, quad_vtx_indices = fem_example_utils.gen_trimesh(
+                res=res,
+                bounds_lo=bounds_lo,
+                bounds_hi=bounds_hi,
+            )
+            pos = pos.numpy()
+            pos_z = np.cos(3.0 * pos[:, 0]) * np.sin(4.0 * pos[:, 1])
+            pos = np.hstack((pos, np.expand_dims(pos_z, axis=1)))
+            pos = wp.array(pos, dtype=wp.vec3)
+            self._geo = fem.Trimesh3D(quad_vtx_indices, pos)
+        elif mesh == "quad":
+            pos, quad_vtx_indices = fem_example_utils.gen_quadmesh(
+                res=res,
+                bounds_lo=bounds_lo,
+                bounds_hi=bounds_hi,
+            )
+            pos = pos.numpy()
+            pos_z = np.cos(3.0 * pos[:, 0]) * np.sin(4.0 * pos[:, 1])
+            pos = np.hstack((pos, np.expand_dims(pos_z, axis=1)))
+            pos = wp.array(pos, dtype=wp.vec3)
+            self._geo = fem.Quadmesh3D(quad_vtx_indices, pos)
+        else:
+            self._geo = fem.Grid3D(
+                res=res,
+                bounds_lo=bounds_lo,
+                bounds_hi=bounds_hi,
+            )
+
+        # Domain and function spaces
+        element_basis = fem.ElementBasis.SERENDIPITY if serendipity else None
+        self._scalar_space = fem.make_polynomial_space(self._geo, degree=degree, element_basis=element_basis)
+
+        # Scalar field over our function space
+        self._scalar_field: fem.DiscreteField = self._scalar_space.make_field()
+
+        self.renderer = fem_example_utils.Plot()
+
+    def step(self):
+        geo = self._geo
+
+        domain = fem.Cells(geometry=geo)
+
+        # Right-hand-side
+        test = fem.make_test(space=self._scalar_space, domain=domain)
+        rhs = fem.integrate(linear_form, fields={"v": test})
+
+        # Weakly-imposed boundary conditions on Y sides
+        with wp.ScopedTimer("Integrate"):
+            boundary = fem.BoundarySides(geo)
+
+            bd_test = fem.make_test(space=self._scalar_space, domain=boundary)
+            bd_trial = fem.make_trial(space=self._scalar_space, domain=boundary)
+
+            # Pick boundary conditions depending on whether our geometry is a 3d surface or a volume
+            boundary_projector_form = (
+                vertical_boundary_projector_form if self._geo.cell_dimension == 3 else y_boundary_projector_form
+            )
+            bd_matrix = fem.integrate(boundary_projector_form, fields={"u": bd_trial, "v": bd_test}, nodal=True)
+
+            # Diffusion form
+            trial = fem.make_trial(space=self._scalar_space, domain=domain)
+            matrix = fem.integrate(diffusion_form, fields={"u": trial, "v": test}, values={"nu": self._viscosity})
+
+        if self._boundary_compliance == 0.0:
+            # Hard BC: project linear system
+            bd_rhs = wp.zeros_like(rhs)
+            fem.project_linear_system(matrix, rhs, bd_matrix, bd_rhs)
+        else:
+            # Weak BC: add together diffusion and boundary condition matrices
+            boundary_strength = 1.0 / self._boundary_compliance
+            bsr_axpy(x=bd_matrix, y=matrix, alpha=boundary_strength, beta=1)
+
+        with wp.ScopedTimer("CG solve"):
+            x = wp.zeros_like(rhs)
+            fem_example_utils.bsr_cg(matrix, b=rhs, x=x, quiet=self._quiet)
+            self._scalar_field.dof_values = x
+
+    def render(self):
+        self.renderer.add_field("solution", self._scalar_field)
+
+
+if __name__ == "__main__":
+    import argparse
+
+    wp.set_module_options({"enable_backward": False})
+
+    parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+    parser.add_argument("--device", type=str, default=None, help="Override the default Warp device.")
+    parser.add_argument("--resolution", type=int, default=10, help="Grid resolution.")
+    parser.add_argument("--degree", type=int, default=2, help="Polynomial degree of shape functions.")
+    parser.add_argument("--serendipity", action="store_true", default=False, help="Use Serendipity basis functions.")
+    parser.add_argument("--viscosity", type=float, default=2.0, help="Fluid viscosity parameter.")
+    parser.add_argument(
+        "--boundary_compliance", type=float, default=0.0, help="Dirichlet boundary condition compliance."
+    )
+    parser.add_argument(
+        "--mesh", choices=("grid", "tet", "hex", "nano", "anano", "tri", "quad"), default="grid", help="Mesh type."
+    )
+    parser.add_argument(
+        "--headless",
+        action="store_true",
+        help="Run in headless mode, suppressing the opening of any graphical windows.",
+    )
+    parser.add_argument("--quiet", action="store_true", help="Suppresses the printing out of iteration residuals.")
+
+    args = parser.parse_known_args()[0]
+
+    with wp.ScopedDevice(args.device):
+        example = Example(
+            quiet=args.quiet,
+            degree=args.degree,
+            resolution=args.resolution,
+            mesh=args.mesh,
+            serendipity=args.serendipity,
+            viscosity=args.viscosity,
+            boundary_compliance=args.boundary_compliance,
+        )
+
+        example.step()
+        example.render()
+
+        if not args.headless:
+            example.renderer.plot()