PyPI - warp-lang - Versions diffs - 1.8.0__py3-none-manylinux_2_34_aarch64.whl → 1.9.0__py3-none-manylinux_2_34_aarch64.whl - Mend

warp-lang 1.8.0__py3-none-manylinux_2_34_aarch64.whl → 1.9.0__py3-none-manylinux_2_34_aarch64.whl

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.

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Files changed (153) hide show

warp/__init__.py +282 -103
warp/__init__.pyi +482 -110
warp/bin/warp-clang.so +0 -0
warp/bin/warp.so +0 -0
warp/build.py +93 -30
warp/build_dll.py +48 -63
warp/builtins.py +955 -137
warp/codegen.py +327 -209
warp/config.py +1 -1
warp/context.py +1363 -800
warp/examples/core/example_marching_cubes.py +1 -0
warp/examples/core/example_render_opengl.py +100 -3
warp/examples/fem/example_apic_fluid.py +98 -52
warp/examples/fem/example_convection_diffusion_dg.py +25 -4
warp/examples/fem/example_diffusion_mgpu.py +8 -3
warp/examples/fem/utils.py +68 -22
warp/examples/interop/example_jax_callable.py +34 -4
warp/examples/interop/example_jax_kernel.py +27 -1
warp/fabric.py +1 -1
warp/fem/cache.py +27 -19
warp/fem/domain.py +2 -2
warp/fem/field/nodal_field.py +2 -2
warp/fem/field/virtual.py +266 -166
warp/fem/geometry/geometry.py +5 -5
warp/fem/integrate.py +200 -91
warp/fem/space/restriction.py +4 -0
warp/fem/space/shape/tet_shape_function.py +3 -10
warp/jax_experimental/custom_call.py +1 -1
warp/jax_experimental/ffi.py +203 -54
warp/marching_cubes.py +708 -0
warp/native/array.h +103 -8
warp/native/builtin.h +90 -9
warp/native/bvh.cpp +64 -28
warp/native/bvh.cu +58 -58
warp/native/bvh.h +2 -2
warp/native/clang/clang.cpp +7 -7
warp/native/coloring.cpp +13 -3
warp/native/crt.cpp +2 -2
warp/native/crt.h +3 -5
warp/native/cuda_util.cpp +42 -11
warp/native/cuda_util.h +10 -4
warp/native/exports.h +1842 -1908
warp/native/fabric.h +2 -1
warp/native/hashgrid.cpp +37 -37
warp/native/hashgrid.cu +2 -2
warp/native/initializer_array.h +1 -1
warp/native/intersect.h +4 -4
warp/native/mat.h +1913 -119
warp/native/mathdx.cpp +43 -43
warp/native/mesh.cpp +24 -24
warp/native/mesh.cu +26 -26
warp/native/mesh.h +5 -3
warp/native/nanovdb/GridHandle.h +179 -12
warp/native/nanovdb/HostBuffer.h +8 -7
warp/native/nanovdb/NanoVDB.h +517 -895
warp/native/nanovdb/NodeManager.h +323 -0
warp/native/nanovdb/PNanoVDB.h +2 -2
warp/native/quat.h +337 -16
warp/native/rand.h +7 -7
warp/native/range.h +7 -1
warp/native/reduce.cpp +10 -10
warp/native/reduce.cu +13 -14
warp/native/runlength_encode.cpp +2 -2
warp/native/runlength_encode.cu +5 -5
warp/native/scan.cpp +3 -3
warp/native/scan.cu +4 -4
warp/native/sort.cpp +10 -10
warp/native/sort.cu +22 -22
warp/native/sparse.cpp +8 -8
warp/native/sparse.cu +14 -14
warp/native/spatial.h +366 -17
warp/native/svd.h +23 -8
warp/native/temp_buffer.h +2 -2
warp/native/tile.h +303 -70
warp/native/tile_radix_sort.h +5 -1
warp/native/tile_reduce.h +16 -25
warp/native/tuple.h +2 -2
warp/native/vec.h +385 -18
warp/native/volume.cpp +54 -54
warp/native/volume.cu +1 -1
warp/native/volume.h +2 -1
warp/native/volume_builder.cu +30 -37
warp/native/warp.cpp +150 -149
warp/native/warp.cu +337 -193
warp/native/warp.h +227 -226
warp/optim/linear.py +736 -271
warp/render/imgui_manager.py +289 -0
warp/render/render_opengl.py +137 -57
warp/render/render_usd.py +0 -1
warp/sim/collide.py +1 -2
warp/sim/graph_coloring.py +2 -2
warp/sim/integrator_vbd.py +10 -2
warp/sparse.py +559 -176
warp/tape.py +2 -0
warp/tests/aux_test_module_aot.py +7 -0
warp/tests/cuda/test_async.py +3 -3
warp/tests/cuda/test_conditional_captures.py +101 -0
warp/tests/geometry/test_marching_cubes.py +233 -12
warp/tests/sim/test_cloth.py +89 -6
warp/tests/sim/test_coloring.py +82 -7
warp/tests/test_array.py +56 -5
warp/tests/test_assert.py +53 -0
warp/tests/test_atomic_cas.py +127 -114
warp/tests/test_codegen.py +3 -2
warp/tests/test_context.py +8 -15
warp/tests/test_enum.py +136 -0
warp/tests/test_examples.py +2 -2
warp/tests/test_fem.py +45 -2
warp/tests/test_fixedarray.py +229 -0
warp/tests/test_func.py +18 -15
warp/tests/test_future_annotations.py +7 -5
warp/tests/test_linear_solvers.py +30 -0
warp/tests/test_map.py +1 -1
warp/tests/test_mat.py +1540 -378
warp/tests/test_mat_assign_copy.py +178 -0
warp/tests/test_mat_constructors.py +574 -0
warp/tests/test_module_aot.py +287 -0
warp/tests/test_print.py +69 -0
warp/tests/test_quat.py +162 -34
warp/tests/test_quat_assign_copy.py +145 -0
warp/tests/test_reload.py +2 -1
warp/tests/test_sparse.py +103 -0
warp/tests/test_spatial.py +140 -34
warp/tests/test_spatial_assign_copy.py +160 -0
warp/tests/test_static.py +48 -0
warp/tests/test_struct.py +43 -3
warp/tests/test_tape.py +38 -0
warp/tests/test_types.py +0 -20
warp/tests/test_vec.py +216 -441
warp/tests/test_vec_assign_copy.py +143 -0
warp/tests/test_vec_constructors.py +325 -0
warp/tests/tile/test_tile.py +206 -152
warp/tests/tile/test_tile_cholesky.py +605 -0
warp/tests/tile/test_tile_load.py +169 -0
warp/tests/tile/test_tile_mathdx.py +2 -558
warp/tests/tile/test_tile_matmul.py +179 -0
warp/tests/tile/test_tile_mlp.py +1 -1
warp/tests/tile/test_tile_reduce.py +100 -11
warp/tests/tile/test_tile_shared_memory.py +16 -16
warp/tests/tile/test_tile_sort.py +59 -55
warp/tests/unittest_suites.py +16 -0
warp/tests/walkthrough_debug.py +1 -1
warp/thirdparty/unittest_parallel.py +108 -9
warp/types.py +554 -264
warp/utils.py +68 -86
{warp_lang-1.8.0.dist-info → warp_lang-1.9.0.dist-info}/METADATA +28 -65
{warp_lang-1.8.0.dist-info → warp_lang-1.9.0.dist-info}/RECORD +150 -138
warp/native/marching.cpp +0 -19
warp/native/marching.cu +0 -514
warp/native/marching.h +0 -19
{warp_lang-1.8.0.dist-info → warp_lang-1.9.0.dist-info}/WHEEL +0 -0
{warp_lang-1.8.0.dist-info → warp_lang-1.9.0.dist-info}/licenses/LICENSE.md +0 -0
{warp_lang-1.8.0.dist-info → warp_lang-1.9.0.dist-info}/top_level.txt +0 -0

warp/sim/integrator_vbd.py CHANGED Viewed

@@ -1379,6 +1379,8 @@ def VBD_solve_trimesh_no_self_contact(
     edge_rest_length: wp.array(dtype=float),
     edge_bending_properties: wp.array(dtype=float, ndim=2),
     adjacency: ForceElementAdjacencyInfo,
+    particle_forces: wp.array(dtype=wp.vec3),
+    particle_hessians: wp.array(dtype=wp.mat33),
     # contact info
     soft_contact_ke: float,
     soft_contact_kd: float,
@@ -1493,9 +1495,11 @@ def VBD_solve_trimesh_no_self_contact(
             dt,
         )
-        f = f + ground_contact_force
-        h = h + ground_contact_hessian
+        f += ground_contact_force
+        h += ground_contact_hessian
+    f += particle_forces[particle_index]
+    h += particle_hessians[particle_index]
     if abs(wp.determinant(h)) > 1e-5:
         hInv = wp.inverse(h)
         pos_new[particle_index] = particle_pos + hInv * f
@@ -2138,6 +2142,8 @@ class VBDIntegrator(Integrator):
         )
         for _iter in range(self.iterations):
+            self.particle_forces.zero_()
+            self.particle_hessians.zero_()
             for color in range(len(self.model.particle_color_groups)):
                 wp.launch(
                     kernel=VBD_accumulate_contact_force_and_hessian_no_self_contact,
@@ -2191,6 +2197,8 @@ class VBDIntegrator(Integrator):
                         self.model.edge_rest_length,
                         self.model.edge_bending_properties,
                         self.adjacency,
+                        self.particle_forces,
+                        self.particle_hessians,
                         self.model.soft_contact_ke,
                         self.model.soft_contact_kd,
                         self.model.soft_contact_mu,