warp-lang 1.7.0__py3-none-manylinux_2_34_aarch64.whl

warp/fem/quadrature/quadrature.py

@@ -0,0 +1,591 @@
+# 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 typing import Any, Optional
+
+import warp as wp
+from warp.fem import cache
+from warp.fem.domain import GeometryDomain
+from warp.fem.geometry import Element
+from warp.fem.space import FunctionSpace
+from warp.fem.types import NULL_ELEMENT_INDEX, Coords, ElementIndex, QuadraturePointIndex
+
+from ..polynomial import Polynomial
+
+
+@wp.struct
+class QuadraturePointElementIndex:
+    domain_element_index: ElementIndex
+    qp_index_in_element: int
+
+
+class Quadrature:
+    """Interface class for quadrature rules"""
+
+    @wp.struct
+    class Arg:
+        """Structure containing arguments to be passed to device functions"""
+
+        pass
+
+    def __init__(self, domain: GeometryDomain):
+        self._domain = domain
+
+    @property
+    def domain(self):
+        """Domain over which this quadrature is defined"""
+        return self._domain
+
+    def arg_value(self, device) -> "Arg":
+        """
+        Value of the argument to be passed to device
+        """
+        arg = Quadrature.Arg()
+        return arg
+
+    def total_point_count(self):
+        """Number of unique quadrature points that can be indexed by this rule.
+        Returns a number such that `point_index()` is always smaller than this number.
+        """
+        raise NotImplementedError()
+
+    def evaluation_point_count(self):
+        """Number of quadrature points that needs to be evaluated, mostly for internal purposes.
+        If the indexing scheme is sparse, or if a quadrature point is shared among multiple elements
+        (e.g, nodal quadrature), `evaluation_point_count` may be different than `total_point_count()`.
+        Returns a number such that `evaluation_point_index()` is always smaller than this number.
+        """
+        return self.total_point_count()
+
+    def max_points_per_element(self):
+        """Maximum number of points per element if known, or ``None`` otherwise"""
+        return None
+
+    @staticmethod
+    def point_count(
+        elt_arg: "GeometryDomain.ElementArg",
+        qp_arg: Arg,
+        domain_element_index: ElementIndex,
+        geo_element_index: ElementIndex,
+    ):
+        """Number of quadrature points for a given element"""
+        raise NotImplementedError()
+
+    @staticmethod
+    def point_coords(
+        elt_arg: "GeometryDomain.ElementArg",
+        qp_arg: Arg,
+        domain_element_index: ElementIndex,
+        geo_element_index: ElementIndex,
+        element_qp_index: int,
+    ):
+        """Coordinates in element of the element's qp_index'th quadrature point"""
+        raise NotImplementedError()
+
+    @staticmethod
+    def point_weight(
+        elt_arg: "GeometryDomain.ElementArg",
+        qp_arg: Arg,
+        domain_element_index: ElementIndex,
+        geo_element_index: ElementIndex,
+        element_qp_index: int,
+    ):
+        """Weight of the element's qp_index'th quadrature point"""
+        raise NotImplementedError()
+
+    @staticmethod
+    def point_index(
+        elt_arg: "GeometryDomain.ElementArg",
+        qp_arg: Arg,
+        domain_element_index: ElementIndex,
+        geo_element_index: ElementIndex,
+        element_qp_index: int,
+    ):
+        """
+        Global index of the element's qp_index'th  quadrature point.
+        May be shared among elements.
+        This is what determines `qp_index` in integrands' `Sample` arguments.
+        """
+        raise NotImplementedError()
+
+    @staticmethod
+    def point_evaluation_index(
+        elt_arg: "GeometryDomain.ElementArg",
+        qp_arg: Arg,
+        domain_element_index: ElementIndex,
+        geo_element_index: ElementIndex,
+        element_qp_index: int,
+    ):
+        """Quadrature point index according to evaluation order.
+        Quadrature points for distinct elements must have different evaluation indices.
+        Mostly for internal/parallelization purposes.
+        """
+        raise NotImplementedError()
+
+    def __str__(self) -> str:
+        return self.name
+
+    # By default cache the mapping from evaluation point indices to domain elements
+
+    ElementIndexArg = wp.array(dtype=QuadraturePointElementIndex)
+
+    @cache.cached_arg_value
+    def element_index_arg_value(self, device):
+        """Builds a map from quadrature point evaluation indices to their index in the element to which they belong"""
+
+        @cache.dynamic_kernel(f"{self.name}{self.domain.name}")
+        def quadrature_point_element_indices(
+            qp_arg: self.Arg,
+            domain_arg: self.domain.ElementArg,
+            domain_index_arg: self.domain.ElementIndexArg,
+            result: wp.array(dtype=QuadraturePointElementIndex),
+        ):
+            domain_element_index = wp.tid()
+            element_index = self.domain.element_index(domain_index_arg, domain_element_index)
+
+            qp_point_count = self.point_count(domain_arg, qp_arg, domain_element_index, element_index)
+            for k in range(qp_point_count):
+                qp_eval_index = self.point_evaluation_index(domain_arg, qp_arg, domain_element_index, element_index, k)
+                result[qp_eval_index] = QuadraturePointElementIndex(domain_element_index, k)
+
+        null_qp_index = QuadraturePointElementIndex()
+        null_qp_index.domain_element_index = NULL_ELEMENT_INDEX
+        result = wp.full(
+            value=null_qp_index,
+            shape=(self.evaluation_point_count()),
+            dtype=QuadraturePointElementIndex,
+            device=device,
+        )
+        wp.launch(
+            quadrature_point_element_indices,
+            device=result.device,
+            dim=self.domain.element_count(),
+            inputs=[
+                self.arg_value(result.device),
+                self.domain.element_arg_value(result.device),
+                self.domain.element_index_arg_value(result.device),
+                result,
+            ],
+        )
+
+        return result
+
+    @wp.func
+    def evaluation_point_element_index(
+        element_index_arg: wp.array(dtype=QuadraturePointElementIndex),
+        qp_eval_index: QuadraturePointIndex,
+    ):
+        """Maps from quadrature point evaluation indices to their index in the element to which they belong
+        If the quadrature point does not exist, should return NULL_ELEMENT_INDEX as the domain element index
+        """
+
+        element_index = element_index_arg[qp_eval_index]
+        return element_index.domain_element_index, element_index.qp_index_in_element
+
+
+class _QuadratureWithRegularEvaluationPoints(Quadrature):
+    """Helper subclass for quadrature formulas which use a uniform number of
+    evaluations points per element. Avoids building explicit mapping"""
+
+    def __init__(self, domain: GeometryDomain, N: int):
+        super().__init__(domain)
+        self._EVALUATION_POINTS_PER_ELEMENT = N
+
+        self.point_evaluation_index = self._make_regular_point_evaluation_index()
+        self.evaluation_point_element_index = self._make_regular_evaluation_point_element_index()
+
+    ElementIndexArg = Quadrature.Arg
+    element_index_arg_value = Quadrature.arg_value
+
+    def evaluation_point_count(self):
+        return self.domain.element_count() * self._EVALUATION_POINTS_PER_ELEMENT
+
+    def _make_regular_point_evaluation_index(self):
+        N = self._EVALUATION_POINTS_PER_ELEMENT
+
+        @cache.dynamic_func(suffix=f"{self.name}")
+        def evaluation_point_index(
+            elt_arg: self.domain.ElementArg,
+            qp_arg: self.Arg,
+            domain_element_index: ElementIndex,
+            element_index: ElementIndex,
+            qp_index: int,
+        ):
+            return N * domain_element_index + qp_index
+
+        return evaluation_point_index
+
+    def _make_regular_evaluation_point_element_index(self):
+        N = self._EVALUATION_POINTS_PER_ELEMENT
+
+        @cache.dynamic_func(suffix=f"{N}")
+        def quadrature_evaluation_point_element_index(
+            qp_arg: Quadrature.Arg,
+            qp_index: QuadraturePointIndex,
+        ):
+            domain_element_index = qp_index // N
+            index_in_element = qp_index - domain_element_index * N
+            return domain_element_index, index_in_element
+
+        return quadrature_evaluation_point_element_index
+
+
+class RegularQuadrature(_QuadratureWithRegularEvaluationPoints):
+    """Regular quadrature formula, using a constant set of quadrature points per element"""
+
+    @wp.struct
+    class Arg:
+        # Quadrature points and weights used to be passed as Warp constants,
+        # but this tended to incur register spilling for high point counts
+        points: wp.array(dtype=Coords)
+        weights: wp.array(dtype=float)
+
+    # Cache common formulas so we do dot have to do h2d transfer for each call
+    class CachedFormula:
+        _cache = {}
+
+        def __init__(self, element: Element, order: int, family: Polynomial):
+            self.points, self.weights = element.instantiate_quadrature(order, family)
+            self.count = wp.constant(len(self.points))
+
+        @cache.cached_arg_value
+        def arg_value(self, device):
+            arg = RegularQuadrature.Arg()
+            arg.points = wp.array(self.points, device=device, dtype=Coords)
+            arg.weights = wp.array(self.weights, device=device, dtype=float)
+            return arg
+
+        @staticmethod
+        def get(element: Element, order: int, family: Polynomial):
+            key = (element.__class__.__name__, order, family)
+            try:
+                return RegularQuadrature.CachedFormula._cache[key]
+            except KeyError:
+                quadrature = RegularQuadrature.CachedFormula(element, order, family)
+                RegularQuadrature.CachedFormula._cache[key] = quadrature
+                return quadrature
+
+    def __init__(
+        self,
+        domain: GeometryDomain,
+        order: int,
+        family: Polynomial = None,
+    ):
+        self._formula = RegularQuadrature.CachedFormula.get(domain.reference_element(), order, family)
+        self.family = family
+        self.order = order
+
+        super().__init__(domain, self._formula.count)
+
+        self.point_count = self._make_point_count()
+        self.point_index = self._make_point_index()
+        self.point_coords = self._make_point_coords()
+        self.point_weight = self._make_point_weight()
+
+    @property
+    def name(self):
+        return f"{self.__class__.__name__}_{self.domain.name}_{self.family}_{self.order}"
+
+    def total_point_count(self):
+        return self._formula.count * self.domain.element_count()
+
+    def max_points_per_element(self):
+        return self._formula.count
+
+    @property
+    def points(self):
+        return self._formula.points
+
+    @property
+    def weights(self):
+        return self._formula.weights
+
+    def arg_value(self, device):
+        return self._formula.arg_value(device)
+
+    def _make_point_count(self):
+        N = self._formula.count
+
+        @cache.dynamic_func(suffix=self.name)
+        def point_count(
+            elt_arg: self.domain.ElementArg,
+            qp_arg: self.Arg,
+            domain_element_index: ElementIndex,
+            element_index: ElementIndex,
+        ):
+            return N
+
+        return point_count
+
+    def _make_point_coords(self):
+        @cache.dynamic_func(suffix=self.name)
+        def point_coords(
+            elt_arg: self.domain.ElementArg,
+            qp_arg: self.Arg,
+            domain_element_index: ElementIndex,
+            element_index: ElementIndex,
+            qp_index: int,
+        ):
+            return qp_arg.points[qp_index]
+
+        return point_coords
+
+    def _make_point_weight(self):
+        @cache.dynamic_func(suffix=self.name)
+        def point_weight(
+            elt_arg: self.domain.ElementArg,
+            qp_arg: self.Arg,
+            domain_element_index: ElementIndex,
+            element_index: ElementIndex,
+            qp_index: int,
+        ):
+            return qp_arg.weights[qp_index]
+
+        return point_weight
+
+    def _make_point_index(self):
+        N = self._formula.count
+
+        @cache.dynamic_func(suffix=self.name)
+        def point_index(
+            elt_arg: self.domain.ElementArg,
+            qp_arg: self.Arg,
+            domain_element_index: ElementIndex,
+            element_index: ElementIndex,
+            qp_index: int,
+        ):
+            return N * domain_element_index + qp_index
+
+        return point_index
+
+
+class NodalQuadrature(Quadrature):
+    """Quadrature using space node points as quadrature points
+
+    Note that in contrast to the `nodal=True` flag for :func:`integrate`, using this quadrature does not imply
+    any assumption about orthogonality of shape functions, and is thus safe to use for arbitrary integrands.
+    """
+
+    def __init__(self, domain: Optional[GeometryDomain], space: FunctionSpace):
+        self._space = space
+
+        super().__init__(domain)
+
+        self.Arg = self._make_arg()
+
+        self.point_count = self._make_point_count()
+        self.point_index = self._make_point_index()
+        self.point_coords = self._make_point_coords()
+        self.point_weight = self._make_point_weight()
+        self.point_evaluation_index = self._make_point_evaluation_index()
+
+    @property
+    def name(self):
+        return f"{self.__class__.__name__}_{self._space.name}"
+
+    def total_point_count(self):
+        return self._space.node_count()
+
+    def max_points_per_element(self):
+        return self._space.topology.MAX_NODES_PER_ELEMENT
+
+    def _make_arg(self):
+        @cache.dynamic_struct(suffix=self.name)
+        class Arg:
+            space_arg: self._space.SpaceArg
+            topo_arg: self._space.topology.TopologyArg
+
+        return Arg
+
+    @cache.cached_arg_value
+    def arg_value(self, device):
+        arg = self.Arg()
+        arg.space_arg = self._space.space_arg_value(device)
+        arg.topo_arg = self._space.topology.topo_arg_value(device)
+        return arg
+
+    def _make_point_count(self):
+        @cache.dynamic_func(suffix=self.name)
+        def point_count(
+            elt_arg: self.domain.ElementArg,
+            qp_arg: self.Arg,
+            domain_element_index: ElementIndex,
+            element_index: ElementIndex,
+        ):
+            return self._space.topology.element_node_count(elt_arg, qp_arg.topo_arg, element_index)
+
+        return point_count
+
+    def _make_point_coords(self):
+        @cache.dynamic_func(suffix=self.name)
+        def point_coords(
+            elt_arg: self.domain.ElementArg,
+            qp_arg: self.Arg,
+            domain_element_index: ElementIndex,
+            element_index: ElementIndex,
+            qp_index: int,
+        ):
+            return self._space.node_coords_in_element(elt_arg, qp_arg.space_arg, element_index, qp_index)
+
+        return point_coords
+
+    def _make_point_weight(self):
+        @cache.dynamic_func(suffix=self.name)
+        def point_weight(
+            elt_arg: self.domain.ElementArg,
+            qp_arg: self.Arg,
+            domain_element_index: ElementIndex,
+            element_index: ElementIndex,
+            qp_index: int,
+        ):
+            return self._space.node_quadrature_weight(elt_arg, qp_arg.space_arg, element_index, qp_index)
+
+        return point_weight
+
+    def _make_point_index(self):
+        @cache.dynamic_func(suffix=self.name)
+        def point_index(
+            elt_arg: self.domain.ElementArg,
+            qp_arg: self.Arg,
+            domain_element_index: ElementIndex,
+            element_index: ElementIndex,
+            qp_index: int,
+        ):
+            return self._space.topology.element_node_index(elt_arg, qp_arg.topo_arg, element_index, qp_index)
+
+        return point_index
+
+    def evaluation_point_count(self):
+        return self.domain.element_count() * self._space.topology.MAX_NODES_PER_ELEMENT
+
+    def _make_point_evaluation_index(self):
+        N = self._space.topology.MAX_NODES_PER_ELEMENT
+
+        @cache.dynamic_func(suffix=self.name)
+        def evaluation_point_index(
+            elt_arg: self.domain.ElementArg,
+            qp_arg: self.Arg,
+            domain_element_index: ElementIndex,
+            element_index: ElementIndex,
+            qp_index: int,
+        ):
+            return N * domain_element_index + qp_index
+
+        return evaluation_point_index
+
+
+class ExplicitQuadrature(_QuadratureWithRegularEvaluationPoints):
+    """Quadrature using explicit per-cell points and weights.
+
+    The number of quadrature points per cell is assumed to be constant and deduced from the shape of the points and weights arrays.
+    Quadrature points may be provided for either the whole geometry or just the domain's elements.
+
+    Args:
+        domain: Domain of definition of the quadrature formula
+        points: 2d array of shape  ``(domain.element_count(), points_per_cell)`` or ``(domain.geometry_element_count(), points_per_cell)`` containing the coordinates of each quadrature point.
+        weights: 2d array of shape ``(domain.element_count(), points_per_cell)`` or ``(domain.geometry_element_count(), points_per_cell)`` containing the weight for each quadrature point.
+
+    See also: :class:`PicQuadrature`
+    """
+
+    @wp.struct
+    class Arg:
+        points_per_cell: int
+        points: wp.array2d(dtype=Coords)
+        weights: wp.array2d(dtype=float)
+
+    def __init__(self, domain: GeometryDomain, points: "wp.array2d(dtype=Coords)", weights: "wp.array2d(dtype=float)"):
+        if points.shape != weights.shape:
+            raise ValueError("Points and weights arrays must have the same shape")
+
+        if points.shape[0] == domain.geometry_element_count():
+            self.point_index = ExplicitQuadrature._point_index_geo
+            self.point_coords = ExplicitQuadrature._point_coords_geo
+            self.point_weight = ExplicitQuadrature._point_weight_geo
+        elif points.shape[0] == domain.element_count():
+            self.point_index = ExplicitQuadrature._point_index_domain
+            self.point_coords = ExplicitQuadrature._point_coords_domain
+            self.point_weight = ExplicitQuadrature._point_weight_domain
+        else:
+            raise NotImplementedError(
+                "The number of rows of points and weights must match the element count of either the domain or the geometry"
+            )
+
+        self._points_per_cell = points.shape[1]
+
+        self._whole_geo = points.shape[0] == domain.geometry_element_count()
+
+        super().__init__(domain, self._points_per_cell)
+        self._points = points
+        self._weights = weights
+
+    @property
+    def name(self):
+        return f"{self.__class__.__name__}_{self._whole_geo}"
+
+    def total_point_count(self):
+        return self._weights.size
+
+    def max_points_per_element(self):
+        return self._points_per_cell
+
+    @cache.cached_arg_value
+    def arg_value(self, device):
+        arg = self.Arg()
+        arg.points_per_cell = self._points_per_cell
+        arg.points = self._points.to(device)
+        arg.weights = self._weights.to(device)
+
+        return arg
+
+    @wp.func
+    def point_count(elt_arg: Any, qp_arg: Arg, domain_element_index: ElementIndex, element_index: ElementIndex):
+        return qp_arg.points.shape[1]
+
+    @wp.func
+    def _point_coords_domain(
+        elt_arg: Any, qp_arg: Arg, domain_element_index: ElementIndex, element_index: ElementIndex, qp_index: int
+    ):
+        return qp_arg.points[domain_element_index, qp_index]
+
+    @wp.func
+    def _point_weight_domain(
+        elt_arg: Any, qp_arg: Arg, domain_element_index: ElementIndex, element_index: ElementIndex, qp_index: int
+    ):
+        return qp_arg.weights[domain_element_index, qp_index]
+
+    @wp.func
+    def _point_index_domain(
+        elt_arg: Any, qp_arg: Arg, domain_element_index: ElementIndex, element_index: ElementIndex, qp_index: int
+    ):
+        return qp_arg.points_per_cell * domain_element_index + qp_index
+
+    @wp.func
+    def _point_coords_geo(
+        elt_arg: Any, qp_arg: Arg, domain_element_index: ElementIndex, element_index: ElementIndex, qp_index: int
+    ):
+        return qp_arg.points[element_index, qp_index]
+
+    @wp.func
+    def _point_weight_geo(
+        elt_arg: Any, qp_arg: Arg, domain_element_index: ElementIndex, element_index: ElementIndex, qp_index: int
+    ):
+        return qp_arg.weights[element_index, qp_index]
+
+    @wp.func
+    def _point_index_geo(
+        elt_arg: Any, qp_arg: Arg, domain_element_index: ElementIndex, element_index: ElementIndex, qp_index: int
+    ):
+        return qp_arg.points_per_cell * element_index + qp_index