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

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Files changed (350) hide show
  1. warp/__init__.py +301 -287
  2. warp/__init__.pyi +2220 -313
  3. warp/_src/__init__.py +14 -0
  4. warp/_src/autograd.py +1075 -0
  5. warp/_src/build.py +618 -0
  6. warp/_src/build_dll.py +640 -0
  7. warp/{builtins.py → _src/builtins.py} +1497 -226
  8. warp/_src/codegen.py +4359 -0
  9. warp/{config.py → _src/config.py} +178 -169
  10. warp/_src/constants.py +57 -0
  11. warp/_src/context.py +8294 -0
  12. warp/_src/dlpack.py +462 -0
  13. warp/_src/fabric.py +355 -0
  14. warp/_src/fem/__init__.py +14 -0
  15. warp/_src/fem/adaptivity.py +508 -0
  16. warp/_src/fem/cache.py +687 -0
  17. warp/_src/fem/dirichlet.py +188 -0
  18. warp/{fem → _src/fem}/domain.py +40 -30
  19. warp/_src/fem/field/__init__.py +131 -0
  20. warp/_src/fem/field/field.py +701 -0
  21. warp/{fem → _src/fem}/field/nodal_field.py +30 -15
  22. warp/{fem → _src/fem}/field/restriction.py +1 -1
  23. warp/{fem → _src/fem}/field/virtual.py +53 -27
  24. warp/_src/fem/geometry/__init__.py +32 -0
  25. warp/{fem → _src/fem}/geometry/adaptive_nanogrid.py +77 -163
  26. warp/_src/fem/geometry/closest_point.py +97 -0
  27. warp/{fem → _src/fem}/geometry/deformed_geometry.py +14 -22
  28. warp/{fem → _src/fem}/geometry/element.py +32 -10
  29. warp/{fem → _src/fem}/geometry/geometry.py +48 -20
  30. warp/{fem → _src/fem}/geometry/grid_2d.py +12 -23
  31. warp/{fem → _src/fem}/geometry/grid_3d.py +12 -23
  32. warp/{fem → _src/fem}/geometry/hexmesh.py +40 -63
  33. warp/{fem → _src/fem}/geometry/nanogrid.py +255 -248
  34. warp/{fem → _src/fem}/geometry/partition.py +121 -63
  35. warp/{fem → _src/fem}/geometry/quadmesh.py +26 -45
  36. warp/{fem → _src/fem}/geometry/tetmesh.py +40 -63
  37. warp/{fem → _src/fem}/geometry/trimesh.py +26 -45
  38. warp/{fem → _src/fem}/integrate.py +164 -158
  39. warp/_src/fem/linalg.py +383 -0
  40. warp/_src/fem/operator.py +396 -0
  41. warp/_src/fem/polynomial.py +229 -0
  42. warp/{fem → _src/fem}/quadrature/pic_quadrature.py +15 -20
  43. warp/{fem → _src/fem}/quadrature/quadrature.py +95 -47
  44. warp/_src/fem/space/__init__.py +248 -0
  45. warp/{fem → _src/fem}/space/basis_function_space.py +20 -11
  46. warp/_src/fem/space/basis_space.py +679 -0
  47. warp/{fem → _src/fem}/space/dof_mapper.py +3 -3
  48. warp/{fem → _src/fem}/space/function_space.py +14 -13
  49. warp/{fem → _src/fem}/space/grid_2d_function_space.py +4 -7
  50. warp/{fem → _src/fem}/space/grid_3d_function_space.py +4 -4
  51. warp/{fem → _src/fem}/space/hexmesh_function_space.py +4 -10
  52. warp/{fem → _src/fem}/space/nanogrid_function_space.py +3 -9
  53. warp/{fem → _src/fem}/space/partition.py +117 -60
  54. warp/{fem → _src/fem}/space/quadmesh_function_space.py +4 -10
  55. warp/{fem → _src/fem}/space/restriction.py +66 -33
  56. warp/_src/fem/space/shape/__init__.py +152 -0
  57. warp/{fem → _src/fem}/space/shape/cube_shape_function.py +9 -9
  58. warp/{fem → _src/fem}/space/shape/shape_function.py +8 -9
  59. warp/{fem → _src/fem}/space/shape/square_shape_function.py +6 -6
  60. warp/{fem → _src/fem}/space/shape/tet_shape_function.py +3 -3
  61. warp/{fem → _src/fem}/space/shape/triangle_shape_function.py +3 -3
  62. warp/{fem → _src/fem}/space/tetmesh_function_space.py +3 -9
  63. warp/_src/fem/space/topology.py +459 -0
  64. warp/{fem → _src/fem}/space/trimesh_function_space.py +3 -9
  65. warp/_src/fem/types.py +112 -0
  66. warp/_src/fem/utils.py +486 -0
  67. warp/_src/jax.py +186 -0
  68. warp/_src/jax_experimental/__init__.py +14 -0
  69. warp/_src/jax_experimental/custom_call.py +387 -0
  70. warp/_src/jax_experimental/ffi.py +1284 -0
  71. warp/_src/jax_experimental/xla_ffi.py +656 -0
  72. warp/_src/marching_cubes.py +708 -0
  73. warp/_src/math.py +414 -0
  74. warp/_src/optim/__init__.py +14 -0
  75. warp/_src/optim/adam.py +163 -0
  76. warp/_src/optim/linear.py +1606 -0
  77. warp/_src/optim/sgd.py +112 -0
  78. warp/_src/paddle.py +406 -0
  79. warp/_src/render/__init__.py +14 -0
  80. warp/_src/render/imgui_manager.py +289 -0
  81. warp/_src/render/render_opengl.py +3636 -0
  82. warp/_src/render/render_usd.py +937 -0
  83. warp/_src/render/utils.py +160 -0
  84. warp/_src/sparse.py +2716 -0
  85. warp/_src/tape.py +1206 -0
  86. warp/{thirdparty → _src/thirdparty}/unittest_parallel.py +9 -2
  87. warp/_src/torch.py +391 -0
  88. warp/_src/types.py +5870 -0
  89. warp/_src/utils.py +1693 -0
  90. warp/autograd.py +12 -1054
  91. warp/bin/warp-clang.dll +0 -0
  92. warp/bin/warp.dll +0 -0
  93. warp/build.py +8 -588
  94. warp/build_dll.py +6 -471
  95. warp/codegen.py +6 -4246
  96. warp/constants.py +6 -39
  97. warp/context.py +12 -7851
  98. warp/dlpack.py +6 -444
  99. warp/examples/distributed/example_jacobi_mpi.py +4 -5
  100. warp/examples/fem/example_adaptive_grid.py +1 -1
  101. warp/examples/fem/example_apic_fluid.py +1 -1
  102. warp/examples/fem/example_burgers.py +8 -8
  103. warp/examples/fem/example_diffusion.py +1 -1
  104. warp/examples/fem/example_distortion_energy.py +1 -1
  105. warp/examples/fem/example_mixed_elasticity.py +2 -2
  106. warp/examples/fem/example_navier_stokes.py +1 -1
  107. warp/examples/fem/example_nonconforming_contact.py +7 -7
  108. warp/examples/fem/example_stokes.py +1 -1
  109. warp/examples/fem/example_stokes_transfer.py +1 -1
  110. warp/examples/fem/utils.py +2 -2
  111. warp/examples/interop/example_jax_callable.py +1 -1
  112. warp/examples/interop/example_jax_ffi_callback.py +1 -1
  113. warp/examples/interop/example_jax_kernel.py +3 -2
  114. warp/examples/tile/example_tile_mcgp.py +191 -0
  115. warp/fabric.py +6 -337
  116. warp/fem/__init__.py +159 -97
  117. warp/fem/adaptivity.py +7 -489
  118. warp/fem/cache.py +9 -648
  119. warp/fem/dirichlet.py +6 -184
  120. warp/fem/field/__init__.py +8 -109
  121. warp/fem/field/field.py +7 -652
  122. warp/fem/geometry/__init__.py +7 -18
  123. warp/fem/geometry/closest_point.py +11 -77
  124. warp/fem/linalg.py +18 -366
  125. warp/fem/operator.py +11 -369
  126. warp/fem/polynomial.py +9 -209
  127. warp/fem/space/__init__.py +5 -211
  128. warp/fem/space/basis_space.py +6 -662
  129. warp/fem/space/shape/__init__.py +41 -118
  130. warp/fem/space/topology.py +6 -437
  131. warp/fem/types.py +6 -81
  132. warp/fem/utils.py +11 -444
  133. warp/jax.py +8 -165
  134. warp/jax_experimental/__init__.py +14 -1
  135. warp/jax_experimental/custom_call.py +8 -342
  136. warp/jax_experimental/ffi.py +17 -853
  137. warp/jax_experimental/xla_ffi.py +5 -596
  138. warp/marching_cubes.py +5 -689
  139. warp/math.py +16 -393
  140. warp/native/array.h +385 -37
  141. warp/native/builtin.h +316 -39
  142. warp/native/bvh.cpp +43 -9
  143. warp/native/bvh.cu +62 -27
  144. warp/native/bvh.h +310 -309
  145. warp/native/clang/clang.cpp +102 -97
  146. warp/native/coloring.cpp +0 -1
  147. warp/native/crt.h +208 -0
  148. warp/native/exports.h +156 -0
  149. warp/native/hashgrid.cu +2 -0
  150. warp/native/intersect.h +24 -1
  151. warp/native/intersect_tri.h +44 -35
  152. warp/native/mat.h +1456 -276
  153. warp/native/mesh.cpp +4 -4
  154. warp/native/mesh.cu +4 -2
  155. warp/native/mesh.h +176 -61
  156. warp/native/quat.h +0 -52
  157. warp/native/scan.cu +2 -0
  158. warp/native/sort.cu +22 -13
  159. warp/native/sort.h +2 -0
  160. warp/native/sparse.cu +7 -3
  161. warp/native/spatial.h +12 -0
  162. warp/native/tile.h +837 -70
  163. warp/native/tile_radix_sort.h +1 -1
  164. warp/native/tile_reduce.h +394 -46
  165. warp/native/tile_scan.h +4 -4
  166. warp/native/vec.h +469 -53
  167. warp/native/version.h +23 -0
  168. warp/native/volume.cpp +1 -1
  169. warp/native/volume.cu +1 -0
  170. warp/native/volume.h +1 -1
  171. warp/native/volume_builder.cu +2 -0
  172. warp/native/warp.cpp +60 -32
  173. warp/native/warp.cu +313 -201
  174. warp/native/warp.h +14 -11
  175. warp/optim/__init__.py +6 -3
  176. warp/optim/adam.py +6 -145
  177. warp/optim/linear.py +14 -1585
  178. warp/optim/sgd.py +6 -94
  179. warp/paddle.py +6 -388
  180. warp/render/__init__.py +8 -4
  181. warp/render/imgui_manager.py +7 -267
  182. warp/render/render_opengl.py +6 -3616
  183. warp/render/render_usd.py +6 -918
  184. warp/render/utils.py +6 -142
  185. warp/sparse.py +37 -2563
  186. warp/tape.py +6 -1188
  187. warp/tests/__main__.py +1 -1
  188. warp/tests/cuda/test_async.py +4 -4
  189. warp/tests/cuda/test_conditional_captures.py +1 -1
  190. warp/tests/cuda/test_multigpu.py +1 -1
  191. warp/tests/cuda/test_streams.py +58 -1
  192. warp/tests/geometry/test_bvh.py +157 -22
  193. warp/tests/geometry/test_hash_grid.py +38 -0
  194. warp/tests/geometry/test_marching_cubes.py +0 -1
  195. warp/tests/geometry/test_mesh.py +5 -3
  196. warp/tests/geometry/test_mesh_query_aabb.py +5 -12
  197. warp/tests/geometry/test_mesh_query_point.py +5 -2
  198. warp/tests/geometry/test_mesh_query_ray.py +15 -3
  199. warp/tests/geometry/test_volume_write.py +5 -5
  200. warp/tests/interop/test_dlpack.py +14 -14
  201. warp/tests/interop/test_jax.py +1382 -79
  202. warp/tests/interop/test_paddle.py +1 -1
  203. warp/tests/test_adam.py +0 -1
  204. warp/tests/test_arithmetic.py +9 -9
  205. warp/tests/test_array.py +529 -100
  206. warp/tests/test_array_reduce.py +3 -3
  207. warp/tests/test_atomic.py +12 -8
  208. warp/tests/test_atomic_bitwise.py +209 -0
  209. warp/tests/test_atomic_cas.py +4 -4
  210. warp/tests/test_bool.py +2 -2
  211. warp/tests/test_builtins_resolution.py +5 -571
  212. warp/tests/test_codegen.py +34 -15
  213. warp/tests/test_conditional.py +1 -1
  214. warp/tests/test_context.py +6 -6
  215. warp/tests/test_copy.py +242 -161
  216. warp/tests/test_ctypes.py +3 -3
  217. warp/tests/test_devices.py +24 -2
  218. warp/tests/test_examples.py +16 -84
  219. warp/tests/test_fabricarray.py +35 -35
  220. warp/tests/test_fast_math.py +0 -2
  221. warp/tests/test_fem.py +60 -14
  222. warp/tests/test_fixedarray.py +3 -3
  223. warp/tests/test_func.py +8 -5
  224. warp/tests/test_generics.py +1 -1
  225. warp/tests/test_indexedarray.py +24 -24
  226. warp/tests/test_intersect.py +39 -9
  227. warp/tests/test_large.py +1 -1
  228. warp/tests/test_lerp.py +3 -1
  229. warp/tests/test_linear_solvers.py +1 -1
  230. warp/tests/test_map.py +49 -4
  231. warp/tests/test_mat.py +52 -62
  232. warp/tests/test_mat_constructors.py +4 -5
  233. warp/tests/test_mat_lite.py +1 -1
  234. warp/tests/test_mat_scalar_ops.py +121 -121
  235. warp/tests/test_math.py +34 -0
  236. warp/tests/test_module_aot.py +4 -4
  237. warp/tests/test_modules_lite.py +28 -2
  238. warp/tests/test_print.py +11 -11
  239. warp/tests/test_quat.py +93 -58
  240. warp/tests/test_runlength_encode.py +1 -1
  241. warp/tests/test_scalar_ops.py +38 -10
  242. warp/tests/test_smoothstep.py +1 -1
  243. warp/tests/test_sparse.py +126 -15
  244. warp/tests/test_spatial.py +105 -87
  245. warp/tests/test_special_values.py +6 -6
  246. warp/tests/test_static.py +7 -7
  247. warp/tests/test_struct.py +13 -2
  248. warp/tests/test_triangle_closest_point.py +48 -1
  249. warp/tests/test_tuple.py +96 -0
  250. warp/tests/test_types.py +82 -9
  251. warp/tests/test_utils.py +52 -52
  252. warp/tests/test_vec.py +29 -29
  253. warp/tests/test_vec_constructors.py +5 -5
  254. warp/tests/test_vec_scalar_ops.py +97 -97
  255. warp/tests/test_version.py +75 -0
  256. warp/tests/tile/test_tile.py +239 -0
  257. warp/tests/tile/test_tile_atomic_bitwise.py +403 -0
  258. warp/tests/tile/test_tile_cholesky.py +7 -4
  259. warp/tests/tile/test_tile_load.py +26 -2
  260. warp/tests/tile/test_tile_mathdx.py +3 -3
  261. warp/tests/tile/test_tile_matmul.py +1 -1
  262. warp/tests/tile/test_tile_mlp.py +2 -4
  263. warp/tests/tile/test_tile_reduce.py +214 -13
  264. warp/tests/unittest_suites.py +6 -14
  265. warp/tests/unittest_utils.py +10 -9
  266. warp/tests/walkthrough_debug.py +3 -1
  267. warp/torch.py +6 -373
  268. warp/types.py +29 -5750
  269. warp/utils.py +10 -1659
  270. {warp_lang-1.9.0.dist-info → warp_lang-1.10.0rc2.dist-info}/METADATA +47 -103
  271. warp_lang-1.10.0rc2.dist-info/RECORD +468 -0
  272. warp_lang-1.10.0rc2.dist-info/licenses/licenses/Gaia-LICENSE.txt +6 -0
  273. warp_lang-1.10.0rc2.dist-info/licenses/licenses/appdirs-LICENSE.txt +22 -0
  274. warp_lang-1.10.0rc2.dist-info/licenses/licenses/asset_pixel_jpg-LICENSE.txt +3 -0
  275. warp_lang-1.10.0rc2.dist-info/licenses/licenses/cuda-LICENSE.txt +1582 -0
  276. warp_lang-1.10.0rc2.dist-info/licenses/licenses/dlpack-LICENSE.txt +201 -0
  277. warp_lang-1.10.0rc2.dist-info/licenses/licenses/fp16-LICENSE.txt +28 -0
  278. warp_lang-1.10.0rc2.dist-info/licenses/licenses/libmathdx-LICENSE.txt +220 -0
  279. warp_lang-1.10.0rc2.dist-info/licenses/licenses/llvm-LICENSE.txt +279 -0
  280. warp_lang-1.10.0rc2.dist-info/licenses/licenses/moller-LICENSE.txt +16 -0
  281. warp_lang-1.10.0rc2.dist-info/licenses/licenses/nanovdb-LICENSE.txt +2 -0
  282. warp_lang-1.10.0rc2.dist-info/licenses/licenses/nvrtc-LICENSE.txt +1592 -0
  283. warp_lang-1.10.0rc2.dist-info/licenses/licenses/svd-LICENSE.txt +23 -0
  284. warp_lang-1.10.0rc2.dist-info/licenses/licenses/unittest_parallel-LICENSE.txt +21 -0
  285. warp_lang-1.10.0rc2.dist-info/licenses/licenses/usd-LICENSE.txt +213 -0
  286. warp_lang-1.10.0rc2.dist-info/licenses/licenses/windingnumber-LICENSE.txt +21 -0
  287. warp/examples/assets/cartpole.urdf +0 -110
  288. warp/examples/assets/crazyflie.usd +0 -0
  289. warp/examples/assets/nv_ant.xml +0 -92
  290. warp/examples/assets/nv_humanoid.xml +0 -183
  291. warp/examples/assets/quadruped.urdf +0 -268
  292. warp/examples/optim/example_bounce.py +0 -266
  293. warp/examples/optim/example_cloth_throw.py +0 -228
  294. warp/examples/optim/example_drone.py +0 -870
  295. warp/examples/optim/example_inverse_kinematics.py +0 -182
  296. warp/examples/optim/example_inverse_kinematics_torch.py +0 -191
  297. warp/examples/optim/example_softbody_properties.py +0 -400
  298. warp/examples/optim/example_spring_cage.py +0 -245
  299. warp/examples/optim/example_trajectory.py +0 -227
  300. warp/examples/sim/example_cartpole.py +0 -143
  301. warp/examples/sim/example_cloth.py +0 -225
  302. warp/examples/sim/example_cloth_self_contact.py +0 -316
  303. warp/examples/sim/example_granular.py +0 -130
  304. warp/examples/sim/example_granular_collision_sdf.py +0 -202
  305. warp/examples/sim/example_jacobian_ik.py +0 -244
  306. warp/examples/sim/example_particle_chain.py +0 -124
  307. warp/examples/sim/example_quadruped.py +0 -203
  308. warp/examples/sim/example_rigid_chain.py +0 -203
  309. warp/examples/sim/example_rigid_contact.py +0 -195
  310. warp/examples/sim/example_rigid_force.py +0 -133
  311. warp/examples/sim/example_rigid_gyroscopic.py +0 -115
  312. warp/examples/sim/example_rigid_soft_contact.py +0 -140
  313. warp/examples/sim/example_soft_body.py +0 -196
  314. warp/examples/tile/example_tile_walker.py +0 -327
  315. warp/sim/__init__.py +0 -74
  316. warp/sim/articulation.py +0 -793
  317. warp/sim/collide.py +0 -2570
  318. warp/sim/graph_coloring.py +0 -307
  319. warp/sim/import_mjcf.py +0 -791
  320. warp/sim/import_snu.py +0 -227
  321. warp/sim/import_urdf.py +0 -579
  322. warp/sim/import_usd.py +0 -898
  323. warp/sim/inertia.py +0 -357
  324. warp/sim/integrator.py +0 -245
  325. warp/sim/integrator_euler.py +0 -2000
  326. warp/sim/integrator_featherstone.py +0 -2101
  327. warp/sim/integrator_vbd.py +0 -2487
  328. warp/sim/integrator_xpbd.py +0 -3295
  329. warp/sim/model.py +0 -4821
  330. warp/sim/particles.py +0 -121
  331. warp/sim/render.py +0 -431
  332. warp/sim/utils.py +0 -431
  333. warp/tests/sim/disabled_kinematics.py +0 -244
  334. warp/tests/sim/test_cloth.py +0 -863
  335. warp/tests/sim/test_collision.py +0 -743
  336. warp/tests/sim/test_coloring.py +0 -347
  337. warp/tests/sim/test_inertia.py +0 -161
  338. warp/tests/sim/test_model.py +0 -226
  339. warp/tests/sim/test_sim_grad.py +0 -287
  340. warp/tests/sim/test_sim_grad_bounce_linear.py +0 -212
  341. warp/tests/sim/test_sim_kinematics.py +0 -98
  342. warp/thirdparty/__init__.py +0 -0
  343. warp_lang-1.9.0.dist-info/RECORD +0 -456
  344. /warp/{fem → _src/fem}/quadrature/__init__.py +0 -0
  345. /warp/{tests/sim → _src/thirdparty}/__init__.py +0 -0
  346. /warp/{thirdparty → _src/thirdparty}/appdirs.py +0 -0
  347. /warp/{thirdparty → _src/thirdparty}/dlpack.py +0 -0
  348. {warp_lang-1.9.0.dist-info → warp_lang-1.10.0rc2.dist-info}/WHEEL +0 -0
  349. {warp_lang-1.9.0.dist-info → warp_lang-1.10.0rc2.dist-info}/licenses/LICENSE.md +0 -0
  350. {warp_lang-1.9.0.dist-info → warp_lang-1.10.0rc2.dist-info}/top_level.txt +0 -0
warp/constants.py CHANGED
@@ -1,4 +1,4 @@
1
- # SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
1
+ # SPDX-FileCopyrightText: Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
2
2
  # SPDX-License-Identifier: Apache-2.0
3
3
  #
4
4
  # Licensed under the Apache License, Version 2.0 (the "License");
@@ -13,45 +13,12 @@
13
13
  # See the License for the specific language governing permissions and
14
14
  # limitations under the License.
15
15
 
16
- import math
16
+ # TODO: Remove after cleaning up the public API.
17
17
 
18
- from warp.types import constant
18
+ from warp._src import constants as _constants
19
19
 
20
- __all__ = [ # noqa: RUF022
21
- "E",
22
- "e",
23
- "INF",
24
- "inf",
25
- "LOG2E",
26
- "log2e",
27
- "LOG10E",
28
- "log10e",
29
- "LN2",
30
- "ln2",
31
- "LN10",
32
- "ln10",
33
- "NAN",
34
- "nan",
35
- "PHI",
36
- "phi",
37
- "PI",
38
- "pi",
39
- "HALF_PI",
40
- "half_pi",
41
- "TAU",
42
- "tau",
43
- ]
44
20
 
45
- E = e = constant(2.71828182845904523536) # e
46
- LOG2E = log2e = constant(1.44269504088896340736) # log2(e)
47
- LOG10E = log10e = constant(0.43429448190325182765) # log10(e)
48
- LN2 = ln2 = constant(0.69314718055994530942) # ln(2)
49
- LN10 = ln10 = constant(2.30258509299404568402) # ln(10)
50
- PHI = phi = constant(1.61803398874989484820) # golden constant
51
- PI = pi = constant(3.14159265358979323846) # pi
52
- HALF_PI = half_pi = constant(1.57079632679489661923) # half pi
53
- TAU = tau = constant(6.28318530717958647692) # 2 * pi
21
+ def __getattr__(name):
22
+ from warp._src.utils import get_deprecated_api
54
23
 
55
- INF = inf = constant(math.inf)
56
-
57
- NAN = nan = constant(float("nan"))
24
+ return get_deprecated_api(_constants, "wp", name)