warp-lang 1.7.2rc1__py3-none-macosx_10_13_universal2.whl → 1.8.1__py3-none-macosx_10_13_universal2.whl

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Files changed (192) hide show
  1. warp/__init__.py +3 -1
  2. warp/__init__.pyi +3489 -1
  3. warp/autograd.py +45 -122
  4. warp/bin/libwarp.dylib +0 -0
  5. warp/build.py +241 -252
  6. warp/build_dll.py +130 -26
  7. warp/builtins.py +1907 -384
  8. warp/codegen.py +272 -104
  9. warp/config.py +12 -1
  10. warp/constants.py +1 -1
  11. warp/context.py +770 -238
  12. warp/dlpack.py +1 -1
  13. warp/examples/benchmarks/benchmark_cloth.py +2 -2
  14. warp/examples/benchmarks/benchmark_tile_sort.py +155 -0
  15. warp/examples/core/example_sample_mesh.py +1 -1
  16. warp/examples/core/example_spin_lock.py +93 -0
  17. warp/examples/core/example_work_queue.py +118 -0
  18. warp/examples/fem/example_adaptive_grid.py +5 -5
  19. warp/examples/fem/example_apic_fluid.py +1 -1
  20. warp/examples/fem/example_burgers.py +1 -1
  21. warp/examples/fem/example_convection_diffusion.py +9 -6
  22. warp/examples/fem/example_darcy_ls_optimization.py +489 -0
  23. warp/examples/fem/example_deformed_geometry.py +1 -1
  24. warp/examples/fem/example_diffusion.py +2 -2
  25. warp/examples/fem/example_diffusion_3d.py +1 -1
  26. warp/examples/fem/example_distortion_energy.py +1 -1
  27. warp/examples/fem/example_elastic_shape_optimization.py +387 -0
  28. warp/examples/fem/example_magnetostatics.py +5 -3
  29. warp/examples/fem/example_mixed_elasticity.py +5 -3
  30. warp/examples/fem/example_navier_stokes.py +11 -9
  31. warp/examples/fem/example_nonconforming_contact.py +5 -3
  32. warp/examples/fem/example_streamlines.py +8 -3
  33. warp/examples/fem/utils.py +9 -8
  34. warp/examples/interop/example_jax_callable.py +34 -4
  35. warp/examples/interop/example_jax_ffi_callback.py +2 -2
  36. warp/examples/interop/example_jax_kernel.py +27 -1
  37. warp/examples/optim/example_drone.py +1 -1
  38. warp/examples/sim/example_cloth.py +1 -1
  39. warp/examples/sim/example_cloth_self_contact.py +48 -54
  40. warp/examples/tile/example_tile_block_cholesky.py +502 -0
  41. warp/examples/tile/example_tile_cholesky.py +2 -1
  42. warp/examples/tile/example_tile_convolution.py +1 -1
  43. warp/examples/tile/example_tile_filtering.py +1 -1
  44. warp/examples/tile/example_tile_matmul.py +1 -1
  45. warp/examples/tile/example_tile_mlp.py +2 -0
  46. warp/fabric.py +7 -7
  47. warp/fem/__init__.py +5 -0
  48. warp/fem/adaptivity.py +1 -1
  49. warp/fem/cache.py +152 -63
  50. warp/fem/dirichlet.py +2 -2
  51. warp/fem/domain.py +136 -6
  52. warp/fem/field/field.py +141 -99
  53. warp/fem/field/nodal_field.py +85 -39
  54. warp/fem/field/virtual.py +99 -52
  55. warp/fem/geometry/adaptive_nanogrid.py +91 -86
  56. warp/fem/geometry/closest_point.py +13 -0
  57. warp/fem/geometry/deformed_geometry.py +102 -40
  58. warp/fem/geometry/element.py +56 -2
  59. warp/fem/geometry/geometry.py +323 -22
  60. warp/fem/geometry/grid_2d.py +157 -62
  61. warp/fem/geometry/grid_3d.py +116 -20
  62. warp/fem/geometry/hexmesh.py +86 -20
  63. warp/fem/geometry/nanogrid.py +166 -86
  64. warp/fem/geometry/partition.py +59 -25
  65. warp/fem/geometry/quadmesh.py +86 -135
  66. warp/fem/geometry/tetmesh.py +47 -119
  67. warp/fem/geometry/trimesh.py +77 -270
  68. warp/fem/integrate.py +181 -95
  69. warp/fem/linalg.py +25 -58
  70. warp/fem/operator.py +124 -27
  71. warp/fem/quadrature/pic_quadrature.py +36 -14
  72. warp/fem/quadrature/quadrature.py +40 -16
  73. warp/fem/space/__init__.py +1 -1
  74. warp/fem/space/basis_function_space.py +66 -46
  75. warp/fem/space/basis_space.py +17 -4
  76. warp/fem/space/dof_mapper.py +1 -1
  77. warp/fem/space/function_space.py +2 -2
  78. warp/fem/space/grid_2d_function_space.py +4 -1
  79. warp/fem/space/hexmesh_function_space.py +4 -2
  80. warp/fem/space/nanogrid_function_space.py +3 -1
  81. warp/fem/space/partition.py +11 -2
  82. warp/fem/space/quadmesh_function_space.py +4 -1
  83. warp/fem/space/restriction.py +5 -2
  84. warp/fem/space/shape/__init__.py +10 -8
  85. warp/fem/space/tetmesh_function_space.py +4 -1
  86. warp/fem/space/topology.py +52 -21
  87. warp/fem/space/trimesh_function_space.py +4 -1
  88. warp/fem/utils.py +53 -8
  89. warp/jax.py +1 -2
  90. warp/jax_experimental/ffi.py +210 -67
  91. warp/jax_experimental/xla_ffi.py +37 -24
  92. warp/math.py +171 -1
  93. warp/native/array.h +103 -4
  94. warp/native/builtin.h +182 -35
  95. warp/native/coloring.cpp +6 -2
  96. warp/native/cuda_util.cpp +1 -1
  97. warp/native/exports.h +118 -63
  98. warp/native/intersect.h +5 -5
  99. warp/native/mat.h +8 -13
  100. warp/native/mathdx.cpp +11 -5
  101. warp/native/matnn.h +1 -123
  102. warp/native/mesh.h +1 -1
  103. warp/native/quat.h +34 -6
  104. warp/native/rand.h +7 -7
  105. warp/native/sparse.cpp +121 -258
  106. warp/native/sparse.cu +181 -274
  107. warp/native/spatial.h +305 -17
  108. warp/native/svd.h +23 -8
  109. warp/native/tile.h +603 -73
  110. warp/native/tile_radix_sort.h +1112 -0
  111. warp/native/tile_reduce.h +239 -13
  112. warp/native/tile_scan.h +240 -0
  113. warp/native/tuple.h +189 -0
  114. warp/native/vec.h +10 -20
  115. warp/native/warp.cpp +36 -4
  116. warp/native/warp.cu +588 -52
  117. warp/native/warp.h +47 -74
  118. warp/optim/linear.py +5 -1
  119. warp/paddle.py +7 -8
  120. warp/py.typed +0 -0
  121. warp/render/render_opengl.py +110 -80
  122. warp/render/render_usd.py +124 -62
  123. warp/sim/__init__.py +9 -0
  124. warp/sim/collide.py +253 -80
  125. warp/sim/graph_coloring.py +8 -1
  126. warp/sim/import_mjcf.py +4 -3
  127. warp/sim/import_usd.py +11 -7
  128. warp/sim/integrator.py +5 -2
  129. warp/sim/integrator_euler.py +1 -1
  130. warp/sim/integrator_featherstone.py +1 -1
  131. warp/sim/integrator_vbd.py +761 -322
  132. warp/sim/integrator_xpbd.py +1 -1
  133. warp/sim/model.py +265 -260
  134. warp/sim/utils.py +10 -7
  135. warp/sparse.py +303 -166
  136. warp/tape.py +54 -51
  137. warp/tests/cuda/test_conditional_captures.py +1046 -0
  138. warp/tests/cuda/test_streams.py +1 -1
  139. warp/tests/geometry/test_volume.py +2 -2
  140. warp/tests/interop/test_dlpack.py +9 -9
  141. warp/tests/interop/test_jax.py +0 -1
  142. warp/tests/run_coverage_serial.py +1 -1
  143. warp/tests/sim/disabled_kinematics.py +2 -2
  144. warp/tests/sim/{test_vbd.py → test_cloth.py} +378 -112
  145. warp/tests/sim/test_collision.py +159 -51
  146. warp/tests/sim/test_coloring.py +91 -2
  147. warp/tests/test_array.py +254 -2
  148. warp/tests/test_array_reduce.py +2 -2
  149. warp/tests/test_assert.py +53 -0
  150. warp/tests/test_atomic_cas.py +312 -0
  151. warp/tests/test_codegen.py +142 -19
  152. warp/tests/test_conditional.py +47 -1
  153. warp/tests/test_ctypes.py +0 -20
  154. warp/tests/test_devices.py +8 -0
  155. warp/tests/test_fabricarray.py +4 -2
  156. warp/tests/test_fem.py +58 -25
  157. warp/tests/test_func.py +42 -1
  158. warp/tests/test_grad.py +1 -1
  159. warp/tests/test_lerp.py +1 -3
  160. warp/tests/test_map.py +481 -0
  161. warp/tests/test_mat.py +23 -24
  162. warp/tests/test_quat.py +28 -15
  163. warp/tests/test_rounding.py +10 -38
  164. warp/tests/test_runlength_encode.py +7 -7
  165. warp/tests/test_smoothstep.py +1 -1
  166. warp/tests/test_sparse.py +83 -2
  167. warp/tests/test_spatial.py +507 -1
  168. warp/tests/test_static.py +48 -0
  169. warp/tests/test_struct.py +2 -2
  170. warp/tests/test_tape.py +38 -0
  171. warp/tests/test_tuple.py +265 -0
  172. warp/tests/test_types.py +2 -2
  173. warp/tests/test_utils.py +24 -18
  174. warp/tests/test_vec.py +38 -408
  175. warp/tests/test_vec_constructors.py +325 -0
  176. warp/tests/tile/test_tile.py +438 -131
  177. warp/tests/tile/test_tile_mathdx.py +518 -14
  178. warp/tests/tile/test_tile_matmul.py +179 -0
  179. warp/tests/tile/test_tile_reduce.py +307 -5
  180. warp/tests/tile/test_tile_shared_memory.py +136 -7
  181. warp/tests/tile/test_tile_sort.py +121 -0
  182. warp/tests/unittest_suites.py +14 -6
  183. warp/types.py +462 -308
  184. warp/utils.py +647 -86
  185. {warp_lang-1.7.2rc1.dist-info → warp_lang-1.8.1.dist-info}/METADATA +20 -6
  186. {warp_lang-1.7.2rc1.dist-info → warp_lang-1.8.1.dist-info}/RECORD +189 -175
  187. warp/stubs.py +0 -3381
  188. warp/tests/sim/test_xpbd.py +0 -399
  189. warp/tests/test_mlp.py +0 -282
  190. {warp_lang-1.7.2rc1.dist-info → warp_lang-1.8.1.dist-info}/WHEEL +0 -0
  191. {warp_lang-1.7.2rc1.dist-info → warp_lang-1.8.1.dist-info}/licenses/LICENSE.md +0 -0
  192. {warp_lang-1.7.2rc1.dist-info → warp_lang-1.8.1.dist-info}/top_level.txt +0 -0
warp/sim/utils.py CHANGED
@@ -13,7 +13,7 @@
13
13
  # See the License for the specific language governing permissions and
14
14
  # limitations under the License.
15
15
 
16
- from typing import List, Tuple
16
+ from __future__ import annotations
17
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  import numpy as np
19
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@@ -311,13 +311,16 @@ def vec_abs(a: wp.vec3):
311
311
  return wp.vec3(wp.abs(a[0]), wp.abs(a[1]), wp.abs(a[2]))
312
312
 
313
313
 
314
- def load_mesh(filename: str, method: str = None):
315
- """
316
- Loads a 3D triangular surface mesh from a file.
314
+ def load_mesh(filename: str, method: str | None = None):
315
+ """Load a 3D triangular surface mesh from a file.
317
316
 
318
317
  Args:
319
- filename (str): The path to the 3D model file (obj, and other formats supported by the different methods) to load.
320
- method (str): The method to use for loading the mesh (default None). Can be either `"trimesh"`, `"meshio"`, `"pcu"`, or `"openmesh"`. If None, every method is tried and the first successful mesh import where the number of vertices is greater than 0 is returned.
318
+ filename (str): The path to the 3D model file (obj, and other formats
319
+ supported by the different methods) to load.
320
+ method (str): The method to use for loading the mesh (default ``None``).
321
+ Can be either ``"trimesh"``, ``"meshio"``, ``"pcu"``, or ``"openmesh"``.
322
+ If ``None``, every method is tried and the first successful mesh import
323
+ where the number of vertices is greater than 0 is returned.
321
324
 
322
325
  Returns:
323
326
  Tuple of (mesh_points, mesh_indices), where mesh_points is a Nx3 numpy array of vertex positions (float32),
@@ -387,7 +390,7 @@ def load_mesh(filename: str, method: str = None):
387
390
 
388
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389
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  def visualize_meshes(
390
- meshes: List[Tuple[list, list]], num_cols=0, num_rows=0, titles=None, scale_axes=True, show_plot=True
393
+ meshes: list[tuple[list, list]], num_cols=0, num_rows=0, titles=None, scale_axes=True, show_plot=True
391
394
  ):
392
395
  # render meshes in a grid with matplotlib
393
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  import matplotlib.pyplot as plt