warp-lang 1.8.1__py3-none-manylinux_2_34_aarch64.whl → 1.9.0__py3-none-manylinux_2_34_aarch64.whl

warp/tests/test_mat_assign_copy.py

@@ -0,0 +1,178 @@
+# 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.
+
+import unittest
+
+import numpy as np
+
+import warp as wp
+from warp.tests.unittest_utils import *
+
+
+def setUpModule():
+    wp.config.enable_vector_component_overwrites = True
+
+
+def tearDownModule():
+    wp.config.enable_vector_component_overwrites = False
+
+
+@wp.kernel
+def mat_assign_element(x: wp.array(dtype=float), y: wp.array(dtype=wp.mat22)):
+    i = wp.tid()
+
+    a = wp.mat22()
+    a[0, 0] = 1.0 * x[i]
+    a[0, 1] = 2.0 * x[i]
+    a[1, 0] = 3.0 * x[i]
+    a[1, 1] = 4.0 * x[i]
+
+    y[i] = a
+
+
+@wp.kernel
+def mat_assign_row(x: wp.array(dtype=wp.vec2), y: wp.array(dtype=wp.mat22)):
+    i = wp.tid()
+
+    a = wp.mat22()
+    a[0] = 1.0 * x[i]
+    a[1] = 2.0 * x[i]
+
+    y[i] = a
+
+
+def test_mat_assign(test, device):
+    # matrix element
+    x = wp.ones(1, dtype=float, requires_grad=True, device=device)
+    y = wp.zeros(1, dtype=wp.mat22, requires_grad=True, device=device)
+
+    tape = wp.Tape()
+    with tape:
+        wp.launch(mat_assign_element, 1, inputs=[x], outputs=[y], device=device)
+
+    y.grad = wp.ones_like(y)
+    tape.backward()
+
+    assert_np_equal(y.numpy(), np.array([[[1.0, 2.0], [3.0, 4.0]]], dtype=float))
+    assert_np_equal(x.grad.numpy(), np.array([10.0], dtype=float))
+
+    # matrix row
+    x = wp.ones(1, dtype=wp.vec2, requires_grad=True, device=device)
+    y = wp.zeros(1, dtype=wp.mat22, requires_grad=True, device=device)
+
+    tape = wp.Tape()
+    with tape:
+        wp.launch(mat_assign_row, 1, inputs=[x], outputs=[y], device=device)
+
+    y.grad = wp.ones_like(y)
+    tape.backward()
+
+    assert_np_equal(y.numpy(), np.array([[[1.0, 1.0], [2.0, 2.0]]], dtype=float))
+    assert_np_equal(x.grad.numpy(), np.array([[3.0, 3.0]], dtype=float))
+
+
+def test_matrix_assign_copy(test, device):
+    @wp.kernel(module="unique")
+    def mat_in_register_overwrite(x: wp.array2d(dtype=wp.mat22), y: wp.array(dtype=wp.vec2)):
+        i, j = wp.tid()
+
+        a = wp.mat22()
+        a[0] = y[i]
+        a[0, 1] = 3.0
+        x[i, j] = a
+
+    x = wp.zeros((1, 1), dtype=wp.mat22, device=device, requires_grad=True)
+    y = wp.ones(1, dtype=wp.vec2, device=device, requires_grad=True)
+
+    tape = wp.Tape()
+    with tape:
+        wp.launch(mat_in_register_overwrite, dim=(1, 1), inputs=[x, y], device=device)
+
+    tape.backward(grads={x: wp.ones_like(x, requires_grad=False)})
+
+    assert_np_equal(x.numpy(), np.array([[[[1.0, 3.0], [0.0, 0.0]]]], dtype=float))
+    assert_np_equal(y.grad.numpy(), np.array([[1.0, 0.0]], dtype=float))
+
+
+def test_mat_slicing_assign_backward(test, device):
+    mat23 = wp.mat((2, 3), float)
+
+    @wp.kernel(module="unique")
+    def kernel(
+        arr_x: wp.array(dtype=wp.vec2),
+        arr_y: wp.array(dtype=mat23),
+        arr_z: wp.array(dtype=wp.mat44),
+    ):
+        i = wp.tid()
+
+        z = arr_z[i]
+
+        z[0, :2] = arr_x[i]
+        z[:2, 1:] = arr_y[i]
+
+        z[:2, 3] += arr_x[i][:2]
+        z[1:-1, :2] += arr_y[i][::-1, :-1]
+
+        z[2:, 3] -= arr_x[i][0:]
+        z[3:, -1:] -= arr_y[i][:1, :1]
+
+        arr_z[i] = z
+
+    x = wp.ones(1, dtype=wp.vec2, requires_grad=True, device=device)
+    y = wp.ones(1, dtype=mat23, requires_grad=True, device=device)
+    z = wp.zeros(1, dtype=wp.mat44, requires_grad=True, device=device)
+
+    tape = wp.Tape()
+    with tape:
+        wp.launch(kernel, 1, inputs=(x, y), outputs=(z,), device=device)
+
+    z.grad = wp.ones_like(z)
+    tape.backward()
+
+    assert_np_equal(
+        z.numpy(),
+        np.array(
+            (
+                (
+                    (1.0, 1.0, 1.0, 2.0),
+                    (1.0, 2.0, 1.0, 2.0),
+                    (1.0, 1.0, 0.0, -1.0),
+                    (0.0, 0.0, 0.0, -2.0),
+                ),
+            ),
+            dtype=float,
+        ),
+    )
+    assert_np_equal(x.grad.numpy(), np.array(((1.0, 0.0),), dtype=float))
+    assert_np_equal(y.grad.numpy(), np.array((((1.0, 2.0, 1.0), (2.0, 2.0, 1.0)),), dtype=float))
+
+
+devices = get_test_devices()
+
+
+class TestMatAssignCopy(unittest.TestCase):
+    pass
+
+
+add_function_test(TestMatAssignCopy, "test_mat_assign", test_mat_assign, devices=devices)
+add_function_test(TestMatAssignCopy, "test_matrix_assign_copy", test_matrix_assign_copy, devices=devices)
+add_function_test(
+    TestMatAssignCopy, "test_mat_slicing_assign_backward", test_mat_slicing_assign_backward, devices=devices
+)
+
+
+if __name__ == "__main__":
+    wp.clear_kernel_cache()
+    unittest.main(verbosity=2, failfast=True)