warp-lang 1.9.0__py3-none-win_amd64.whl → 1.10.0rc2__py3-none-win_amd64.whl

warp/_src/fem/space/basis_space.py

@@ -0,0 +1,679 @@
+# 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 functools import cached_property
+from typing import ClassVar, Optional
+
+import numpy as np
+
+import warp as wp
+from warp._src.fem import cache
+from warp._src.fem.geometry import Geometry
+from warp._src.fem.quadrature import Quadrature
+from warp._src.fem.types import (
+    NULL_ELEMENT_INDEX,
+    NULL_QP_INDEX,
+    Coords,
+    ElementIndex,
+    QuadraturePointIndex,
+    make_free_sample,
+)
+from warp._src.types import type_repr, types_equal
+
+from .shape import ShapeFunction
+from .topology import SpaceTopology
+
+
+class BasisSpace:
+    """Interface class for defining a shape function space over a geometry.
+
+    A basis space makes it easy to define multiple function spaces sharing the same basis (and thus nodes) but with different valuation functions;
+    however, it is not a required component of a function space.
+
+    See also: :func:`make_polynomial_basis_space`, :func:`make_collocated_function_space`
+    """
+
+    @wp.struct
+    class BasisArg:
+        """Argument structure to be passed to device functions"""
+
+        pass
+
+    def __init__(self, topology: SpaceTopology):
+        self._topology = topology
+
+    @property
+    def topology(self) -> SpaceTopology:
+        """Underlying topology of the basis space"""
+        return self._topology
+
+    @property
+    def geometry(self) -> Geometry:
+        """Underlying geometry of the basis space"""
+        return self._topology.geometry
+
+    @property
+    def value(self) -> ShapeFunction.Value:
+        """Value type for the underlying shape functions"""
+        raise NotImplementedError()
+
+    @cache.cached_arg_value
+    def basis_arg_value(self, device) -> "BasisArg":
+        """Value for the argument structure to be passed to device functions"""
+        arg = self.BasisArg()
+        self.fill_basis_arg(arg, device)
+        return arg
+
+    def fill_basis_arg(self, arg, device):
+        pass
+
+    # Helpers for generating node positions
+
+    def node_positions(self, out: Optional[wp.array] = None) -> wp.array:
+        """Returns a temporary array containing the world position for each node"""
+
+        pos_type = cache.cached_vec_type(length=self.geometry.dimension, dtype=float)
+
+        node_coords_in_element = self.make_node_coords_in_element()
+
+        @cache.dynamic_kernel(suffix=self.name, kernel_options={"max_unroll": 4, "enable_backward": False})
+        def fill_node_positions(
+            geo_cell_arg: self.geometry.CellArg,
+            basis_arg: self.BasisArg,
+            topo_arg: self.topology.TopologyArg,
+            node_positions: wp.array(dtype=pos_type),
+        ):
+            element_index = wp.tid()
+
+            element_node_count = self.topology.element_node_count(geo_cell_arg, topo_arg, element_index)
+            for n in range(element_node_count):
+                node_index = self.topology.element_node_index(geo_cell_arg, topo_arg, element_index, n)
+                coords = node_coords_in_element(geo_cell_arg, basis_arg, element_index, n)
+
+                sample = make_free_sample(element_index, coords)
+                pos = self.geometry.cell_position(geo_cell_arg, sample)
+
+                node_positions[node_index] = pos
+
+        shape = (self.topology.node_count(),)
+        if out is None:
+            node_positions = wp.empty(
+                shape=shape,
+                dtype=pos_type,
+            )
+        else:
+            if out.shape != shape or not types_equal(pos_type, out.dtype):
+                raise ValueError(
+                    f"Out node positions array must have shape {shape} and data type {type_repr(pos_type)}"
+                )
+            node_positions = out
+
+        wp.launch(
+            dim=self.geometry.cell_count(),
+            kernel=fill_node_positions,
+            inputs=[
+                self.geometry.cell_arg_value(device=node_positions.device),
+                self.basis_arg_value(device=node_positions.device),
+                self.topology.topo_arg_value(device=node_positions.device),
+                node_positions,
+            ],
+        )
+
+        return node_positions
+
+    def make_node_coords_in_element(self):
+        raise NotImplementedError()
+
+    def make_node_quadrature_weight(self):
+        raise NotImplementedError()
+
+    def make_element_inner_weight(self):
+        raise NotImplementedError()
+
+    def make_element_outer_weight(self):
+        return self.make_element_inner_weight()
+
+    def make_element_inner_weight_gradient(self):
+        raise NotImplementedError()
+
+    def make_element_outer_weight_gradient(self):
+        return self.make_element_inner_weight_gradient()
+
+    def make_trace_node_quadrature_weight(self):
+        raise NotImplementedError()
+
+    def trace(self) -> "TraceBasisSpace":
+        return TraceBasisSpace(self)
+
+    @property
+    def weight_type(self):
+        if self.value is ShapeFunction.Value.Scalar:
+            return float
+
+        return cache.cached_vec_type(length=self.geometry.cell_dimension, dtype=float)
+
+    @property
+    def weight_gradient_type(self):
+        if self.value is ShapeFunction.Value.Scalar:
+            return wp.vec(length=self.geometry.cell_dimension, dtype=float)
+
+        return cache.cached_mat_type(shape=(self.geometry.cell_dimension, self.geometry.cell_dimension), dtype=float)
+
+
+class ShapeBasisSpace(BasisSpace):
+    """Base class for defining shape-function-based basis spaces."""
+
+    def __init__(self, topology: SpaceTopology, shape: ShapeFunction):
+        super().__init__(topology)
+        self._shape = shape
+
+        if self.value is not ShapeFunction.Value.Scalar:
+            self.BasisArg = self.topology.TopologyArg
+            self.basis_arg_value = self.topology.topo_arg_value
+            self.fill_basis_arg = self.topology.fill_topo_arg
+
+        self.ORDER = self._shape.ORDER
+
+        if hasattr(shape, "element_node_triangulation"):
+            self.node_triangulation = self._node_triangulation
+        if hasattr(shape, "element_node_tets"):
+            self.node_tets = self._node_tets
+        if hasattr(shape, "element_node_hexes"):
+            self.node_hexes = self._node_hexes
+        if hasattr(shape, "element_vtk_cells"):
+            self.vtk_cells = self._vtk_cells
+        if hasattr(topology, "node_grid"):
+            self.node_grid = topology.node_grid
+
+    @property
+    def shape(self) -> ShapeFunction:
+        """Shape functions used for defining individual element basis"""
+        return self._shape
+
+    @property
+    def value(self) -> ShapeFunction.Value:
+        return self.shape.value
+
+    @cached_property
+    def name(self):
+        return f"{self.topology.name}_{self._shape.name}"
+
+    def make_node_coords_in_element(self):
+        shape_node_coords_in_element = self._shape.make_node_coords_in_element()
+
+        @cache.dynamic_func(suffix=self.name)
+        def node_coords_in_element(
+            elt_arg: self.geometry.CellArg,
+            basis_arg: self.BasisArg,
+            element_index: ElementIndex,
+            node_index_in_elt: int,
+        ):
+            return shape_node_coords_in_element(node_index_in_elt)
+
+        return node_coords_in_element
+
+    def make_node_quadrature_weight(self):
+        shape_node_quadrature_weight = self._shape.make_node_quadrature_weight()
+
+        if shape_node_quadrature_weight is None:
+            return None
+
+        @cache.dynamic_func(suffix=self.name)
+        def node_quadrature_weight(
+            elt_arg: self.geometry.CellArg,
+            basis_arg: self.BasisArg,
+            element_index: ElementIndex,
+            node_index_in_elt: int,
+        ):
+            return shape_node_quadrature_weight(node_index_in_elt)
+
+        return node_quadrature_weight
+
+    def make_element_inner_weight(self):
+        shape_element_inner_weight = self._shape.make_element_inner_weight()
+
+        @cache.dynamic_func(suffix=self.name)
+        def element_inner_weight(
+            elt_arg: self.geometry.CellArg,
+            basis_arg: self.BasisArg,
+            element_index: ElementIndex,
+            coords: Coords,
+            node_index_in_elt: int,
+            qp_index: QuadraturePointIndex,
+        ):
+            if wp.static(self.value == ShapeFunction.Value.Scalar):
+                return shape_element_inner_weight(coords, node_index_in_elt)
+            else:
+                sign = self.topology.element_node_sign(elt_arg, basis_arg, element_index, node_index_in_elt)
+                return sign * shape_element_inner_weight(coords, node_index_in_elt)
+
+        return element_inner_weight
+
+    def make_element_inner_weight_gradient(self):
+        shape_element_inner_weight_gradient = self._shape.make_element_inner_weight_gradient()
+
+        @cache.dynamic_func(suffix=self.name)
+        def element_inner_weight_gradient(
+            elt_arg: self.geometry.CellArg,
+            basis_arg: self.BasisArg,
+            element_index: ElementIndex,
+            coords: Coords,
+            node_index_in_elt: int,
+            qp_index: QuadraturePointIndex,
+        ):
+            if wp.static(self.value == ShapeFunction.Value.Scalar):
+                return shape_element_inner_weight_gradient(coords, node_index_in_elt)
+            else:
+                sign = self.topology.element_node_sign(elt_arg, basis_arg, element_index, node_index_in_elt)
+                return sign * shape_element_inner_weight_gradient(coords, node_index_in_elt)
+
+        return element_inner_weight_gradient
+
+    def make_trace_node_quadrature_weight(self, trace_basis):
+        shape_trace_node_quadrature_weight = self._shape.make_trace_node_quadrature_weight()
+
+        if shape_trace_node_quadrature_weight is None:
+            return None
+
+        @cache.dynamic_func(suffix=self.name)
+        def trace_node_quadrature_weight(
+            geo_side_arg: trace_basis.geometry.SideArg,
+            basis_arg: trace_basis.BasisArg,
+            element_index: ElementIndex,
+            node_index_in_elt: int,
+        ):
+            neighbour_elem, index_in_neighbour = trace_basis.topology.neighbor_cell_index(
+                geo_side_arg, element_index, node_index_in_elt
+            )
+            return shape_trace_node_quadrature_weight(index_in_neighbour)
+
+        return trace_node_quadrature_weight
+
+    def trace(self) -> "TraceBasisSpace":
+        if self.ORDER == 0:
+            return PiecewiseConstantBasisSpaceTrace(self)
+
+        return TraceBasisSpace(self)
+
+    def _node_triangulation(self):
+        element_node_indices = self._topology.element_node_indices().numpy()
+        element_triangles = self._shape.element_node_triangulation()
+
+        tri_indices = element_node_indices[:, element_triangles].reshape(-1, 3)
+        return tri_indices
+
+    def _node_tets(self):
+        element_node_indices = self._topology.element_node_indices().numpy()
+        element_tets = self._shape.element_node_tets()
+
+        tet_indices = element_node_indices[:, element_tets].reshape(-1, 4)
+        return tet_indices
+
+    def _node_hexes(self):
+        element_node_indices = self._topology.element_node_indices().numpy()
+        element_hexes = self._shape.element_node_hexes()
+
+        hex_indices = element_node_indices[:, element_hexes].reshape(-1, 8)
+        return hex_indices
+
+    def _vtk_cells(self):
+        element_node_indices = self._topology.element_node_indices().numpy()
+        element_vtk_cells, element_vtk_cell_types = self._shape.element_vtk_cells()
+
+        idx_per_cell = element_vtk_cells.shape[1]
+        cell_indices = element_node_indices[:, element_vtk_cells].reshape(-1, idx_per_cell)
+        cells = np.hstack((np.full((cell_indices.shape[0], 1), idx_per_cell), cell_indices))
+
+        return cells.flatten(), np.tile(element_vtk_cell_types, element_node_indices.shape[0])
+
+
+class TraceBasisSpace(BasisSpace):
+    """Auto-generated trace space evaluating the cell-defined basis on the geometry sides"""
+
+    def __init__(self, basis: BasisSpace):
+        super().__init__(basis.topology.trace())
+
+        self.ORDER = basis.ORDER
+
+        self._basis = basis
+        self.BasisArg = self._basis.BasisArg
+        self.basis_arg_value = self._basis.basis_arg_value
+        self.fill_basis_arg = self._basis.fill_basis_arg
+
+    @property
+    def name(self):
+        return f"{self._basis.name}_Trace"
+
+    @property
+    def value(self) -> ShapeFunction.Value:
+        return self._basis.value
+
+    def make_node_coords_in_element(self):
+        node_coords_in_cell = self._basis.make_node_coords_in_element()
+
+        @cache.dynamic_func(suffix=self._basis.name)
+        def trace_node_coords_in_element(
+            geo_side_arg: self.geometry.SideArg,
+            basis_arg: self.BasisArg,
+            element_index: ElementIndex,
+            node_index_in_elt: int,
+        ):
+            neighbour_elem, index_in_neighbour = self.topology.neighbor_cell_index(
+                geo_side_arg, element_index, node_index_in_elt
+            )
+            geo_cell_arg = self.geometry.side_to_cell_arg(geo_side_arg)
+            neighbour_coords = node_coords_in_cell(
+                geo_cell_arg,
+                basis_arg,
+                neighbour_elem,
+                index_in_neighbour,
+            )
+
+            return self.geometry.side_from_cell_coords(geo_side_arg, element_index, neighbour_elem, neighbour_coords)
+
+        return trace_node_coords_in_element
+
+    def make_node_quadrature_weight(self):
+        return self._basis.make_trace_node_quadrature_weight(self)
+
+    def make_element_inner_weight(self):
+        cell_inner_weight = self._basis.make_element_inner_weight()
+
+        @cache.dynamic_func(suffix=self._basis.name)
+        def trace_element_inner_weight(
+            geo_side_arg: self.geometry.SideArg,
+            basis_arg: self.BasisArg,
+            element_index: ElementIndex,
+            coords: Coords,
+            node_index_in_elt: int,
+            qp_index: QuadraturePointIndex,
+        ):
+            cell_index, index_in_cell = self.topology.inner_cell_index(geo_side_arg, element_index, node_index_in_elt)
+            if cell_index == NULL_ELEMENT_INDEX:
+                return self.weight_type(0.0)
+
+            cell_coords = self.geometry.side_inner_cell_coords(geo_side_arg, element_index, coords)
+
+            geo_cell_arg = self.geometry.side_to_cell_arg(geo_side_arg)
+            return cell_inner_weight(geo_cell_arg, basis_arg, cell_index, cell_coords, index_in_cell, NULL_QP_INDEX)
+
+        return trace_element_inner_weight
+
+    def make_element_outer_weight(self):
+        cell_outer_weight = self._basis.make_element_outer_weight()
+
+        @cache.dynamic_func(suffix=self._basis.name)
+        def trace_element_outer_weight(
+            geo_side_arg: self.geometry.SideArg,
+            basis_arg: self.BasisArg,
+            element_index: ElementIndex,
+            coords: Coords,
+            node_index_in_elt: int,
+            qp_index: QuadraturePointIndex,
+        ):
+            cell_index, index_in_cell = self.topology.outer_cell_index(geo_side_arg, element_index, node_index_in_elt)
+            if cell_index == NULL_ELEMENT_INDEX:
+                return self.weight_type(0.0)
+
+            cell_coords = self.geometry.side_outer_cell_coords(geo_side_arg, element_index, coords)
+
+            geo_cell_arg = self.geometry.side_to_cell_arg(geo_side_arg)
+            return cell_outer_weight(geo_cell_arg, basis_arg, cell_index, cell_coords, index_in_cell, NULL_QP_INDEX)
+
+        return trace_element_outer_weight
+
+    def make_element_inner_weight_gradient(self):
+        cell_inner_weight_gradient = self._basis.make_element_inner_weight_gradient()
+
+        @cache.dynamic_func(suffix=self._basis.name)
+        def trace_element_inner_weight_gradient(
+            geo_side_arg: self.geometry.SideArg,
+            basis_arg: self.BasisArg,
+            element_index: ElementIndex,
+            coords: Coords,
+            node_index_in_elt: int,
+            qp_index: QuadraturePointIndex,
+        ):
+            cell_index, index_in_cell = self.topology.inner_cell_index(geo_side_arg, element_index, node_index_in_elt)
+            if cell_index == NULL_ELEMENT_INDEX:
+                return self.weight_gradient_type(0.0)
+
+            cell_coords = self.geometry.side_inner_cell_coords(geo_side_arg, element_index, coords)
+            geo_cell_arg = self.geometry.side_to_cell_arg(geo_side_arg)
+            return cell_inner_weight_gradient(
+                geo_cell_arg, basis_arg, cell_index, cell_coords, index_in_cell, NULL_QP_INDEX
+            )
+
+        return trace_element_inner_weight_gradient
+
+    def make_element_outer_weight_gradient(self):
+        cell_outer_weight_gradient = self._basis.make_element_outer_weight_gradient()
+
+        @cache.dynamic_func(suffix=self._basis.name)
+        def trace_element_outer_weight_gradient(
+            geo_side_arg: self.geometry.SideArg,
+            basis_arg: self.BasisArg,
+            element_index: ElementIndex,
+            coords: Coords,
+            node_index_in_elt: int,
+            qp_index: QuadraturePointIndex,
+        ):
+            cell_index, index_in_cell = self.topology.outer_cell_index(geo_side_arg, element_index, node_index_in_elt)
+            if cell_index == NULL_ELEMENT_INDEX:
+                return self.weight_gradient_type(0.0)
+
+            cell_coords = self.geometry.side_outer_cell_coords(geo_side_arg, element_index, coords)
+            geo_cell_arg = self.geometry.side_to_cell_arg(geo_side_arg)
+            return cell_outer_weight_gradient(
+                geo_cell_arg, basis_arg, cell_index, cell_coords, index_in_cell, NULL_QP_INDEX
+            )
+
+        return trace_element_outer_weight_gradient
+
+    def __eq__(self, other: "TraceBasisSpace") -> bool:
+        return self._topo == other._topo
+
+
+class PiecewiseConstantBasisSpaceTrace(TraceBasisSpace):
+    def make_node_coords_in_element(self):
+        # Makes the single node visible to all sides; useful for interpolating on boundaries
+        # For higher-order non-conforming elements direct interpolation on boundary is not possible,
+        # need to do proper integration then solve with mass matrix
+
+        CENTER_COORDS = Coords(self.geometry.reference_side().prototype.center())
+
+        @cache.dynamic_func(suffix=self._basis.name)
+        def trace_node_coords_in_element(
+            geo_side_arg: self.geometry.SideArg,
+            basis_arg: self.BasisArg,
+            element_index: ElementIndex,
+            node_index_in_elt: int,
+        ):
+            return CENTER_COORDS
+
+        return trace_node_coords_in_element
+
+
+class UnstructuredPointTopology(SpaceTopology):
+    """Topology for unstructured points defined from quadrature formula. See :class:`PointBasisSpace`"""
+
+    _dynamic_attribute_constructors: ClassVar = {
+        "element_node_index": lambda obj: obj._make_element_node_index(),
+        "element_node_count": lambda obj: obj._make_element_node_count(),
+        "side_neighbor_node_counts": lambda obj: obj._make_side_neighbor_node_counts(),
+    }
+
+    def __init__(self, quadrature: Quadrature):
+        if quadrature.max_points_per_element() is None:
+            raise ValueError("Quadrature must define a maximum number of points per element")
+
+        if quadrature.domain.element_count() != quadrature.domain.geometry_element_count():
+            raise ValueError("Point topology may only be defined on quadrature domains than span the whole geometry")
+
+        self._quadrature = quadrature
+        self.TopologyArg = quadrature.Arg
+        self.topo_arg_value = quadrature.arg_value
+        self.fill_topo_arg = quadrature.fill_arg
+
+        super().__init__(quadrature.domain.geometry, max_nodes_per_element=quadrature.max_points_per_element())
+
+        cache.setup_dynamic_attributes(self, cls=__class__)
+
+    def node_count(self):
+        return self._quadrature.total_point_count()
+
+    @property
+    def name(self):
+        return f"PointTopology_{self._quadrature}"
+
+    def topo_arg_value(self, device) -> SpaceTopology.TopologyArg:
+        """Value of the topology argument structure to be passed to device functions"""
+        return self._quadrature.arg_value(device)
+
+    def _make_element_node_index(self):
+        @cache.dynamic_func(suffix=self.name)
+        def element_node_index(
+            elt_arg: self.geometry.CellArg,
+            topo_arg: self.TopologyArg,
+            element_index: ElementIndex,
+            node_index_in_elt: int,
+        ):
+            return self._quadrature.point_index(elt_arg, topo_arg, element_index, element_index, node_index_in_elt)
+
+        return element_node_index
+
+    def _make_element_node_count(self):
+        @cache.dynamic_func(suffix=self.name)
+        def element_node_count(
+            elt_arg: self.geometry.CellArg,
+            topo_arg: self.TopologyArg,
+            element_index: ElementIndex,
+        ):
+            return self._quadrature.point_count(elt_arg, topo_arg, element_index, element_index)
+
+        return element_node_count
+
+    def _make_side_neighbor_node_counts(self):
+        MAX_NODES_PER_ELEMENT = self.MAX_NODES_PER_ELEMENT
+
+        @cache.dynamic_func(suffix=self.name)
+        def side_neighbor_node_counts(
+            side_arg: self.geometry.SideArg,
+            element_index: ElementIndex,
+        ):
+            return MAX_NODES_PER_ELEMENT, MAX_NODES_PER_ELEMENT
+
+        return side_neighbor_node_counts
+
+
+class PointBasisSpace(BasisSpace):
+    """An unstructured :class:`BasisSpace` that is non-zero at a finite set of points only.
+
+    The node locations and nodal quadrature weights are defined by a :class:`Quadrature` formula.
+    """
+
+    def __init__(self, quadrature: Quadrature):
+        self._quadrature = quadrature
+
+        topology = UnstructuredPointTopology(quadrature)
+        super().__init__(topology)
+
+        self.BasisArg = quadrature.Arg
+        self.basis_arg_value = quadrature.arg_value
+        self.fill_basis_arg = quadrature.fill_arg
+
+        self.ORDER = 0
+
+        self.make_element_outer_weight = self.make_element_inner_weight
+        self.make_element_outer_weight_gradient = self.make_element_outer_weight_gradient
+
+    @property
+    def name(self):
+        return f"{self._quadrature.name}_Point"
+
+    @property
+    def value(self) -> ShapeFunction.Value:
+        return ShapeFunction.Value.Scalar
+
+    def make_node_coords_in_element(self):
+        @cache.dynamic_func(suffix=self.name)
+        def node_coords_in_element(
+            elt_arg: self._quadrature.domain.ElementArg,
+            basis_arg: self.BasisArg,
+            element_index: ElementIndex,
+            node_index_in_elt: int,
+        ):
+            return self._quadrature.point_coords(elt_arg, basis_arg, element_index, element_index, node_index_in_elt)
+
+        return node_coords_in_element
+
+    def make_node_quadrature_weight(self):
+        @cache.dynamic_func(suffix=self.name)
+        def node_quadrature_weight(
+            elt_arg: self._quadrature.domain.ElementArg,
+            basis_arg: self.BasisArg,
+            element_index: ElementIndex,
+            node_index_in_elt: int,
+        ):
+            return self._quadrature.point_weight(elt_arg, basis_arg, element_index, element_index, node_index_in_elt)
+
+        return node_quadrature_weight
+
+    def make_element_inner_weight(self):
+        _DIRAC_INTEGRATION_RADIUS = wp.constant(1.0e-6)
+
+        @cache.dynamic_func(suffix=self.name)
+        def element_inner_weight(
+            elt_arg: self._quadrature.domain.ElementArg,
+            basis_arg: self.BasisArg,
+            element_index: ElementIndex,
+            coords: Coords,
+            node_index_in_elt: int,
+            qp_index: QuadraturePointIndex,
+        ):
+            qp_coord = self._quadrature.point_coords(
+                elt_arg, basis_arg, element_index, element_index, node_index_in_elt
+            )
+            return wp.where(wp.length_sq(coords - qp_coord) < _DIRAC_INTEGRATION_RADIUS, 1.0, 0.0)
+
+        return element_inner_weight
+
+    def make_element_inner_weight_gradient(self):
+        gradient_vec = cache.cached_vec_type(length=self.geometry.cell_dimension, dtype=float)
+
+        @cache.dynamic_func(suffix=self.name)
+        def element_inner_weight_gradient(
+            elt_arg: self._quadrature.domain.ElementArg,
+            basis_arg: self.BasisArg,
+            element_index: ElementIndex,
+            coords: Coords,
+            node_index_in_elt: int,
+            qp_index: QuadraturePointIndex,
+        ):
+            return gradient_vec(0.0)
+
+        return element_inner_weight_gradient
+
+    def make_trace_node_quadrature_weight(self, trace_basis):
+        @cache.dynamic_func(suffix=self.name)
+        def trace_node_quadrature_weight(
+            elt_arg: trace_basis.geometry.SideArg,
+            basis_arg: trace_basis.BasisArg,
+            element_index: ElementIndex,
+            node_index_in_elt: int,
+        ):
+            return 0.0
+
+        return trace_node_quadrature_weight

warp/{fem → _src/fem}/space/dof_mapper.py

@@ -18,9 +18,9 @@ from enum import Enum
 from typing import Any
 
 import warp as wp
-import warp.types
+from warp._src.types import type_size
 
-vec6 = wp.types.vector(length=6, dtype=wp.float32)
+vec6 = wp.vec(length=6, dtype=wp.float32)
 
 _SQRT_2 = wp.constant(math.sqrt(2.0))
 _SQRT_3 = wp.constant(math.sqrt(3.0))
@@ -57,7 +57,7 @@ class IdentityMapper(DofMapper):
         self.value_dtype = dtype
         self.dof_dtype = dtype
 
-        size = warp.types.type_size(dtype)
+        size = type_size(dtype)
         self.DOF_SIZE = wp.constant(size)
 
     @wp.func