warp-lang 1.9.1__py3-none-win_amd64.whl → 1.10.0rc2__py3-none-win_amd64.whl
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- warp/__init__.py +301 -287
- warp/__init__.pyi +794 -305
- warp/_src/__init__.py +14 -0
- warp/_src/autograd.py +1075 -0
- warp/_src/build.py +618 -0
- warp/_src/build_dll.py +640 -0
- warp/{builtins.py → _src/builtins.py} +1382 -377
- warp/_src/codegen.py +4359 -0
- warp/{config.py → _src/config.py} +178 -169
- warp/_src/constants.py +57 -0
- warp/_src/context.py +8294 -0
- warp/_src/dlpack.py +462 -0
- warp/_src/fabric.py +355 -0
- warp/_src/fem/__init__.py +14 -0
- warp/_src/fem/adaptivity.py +508 -0
- warp/_src/fem/cache.py +687 -0
- warp/_src/fem/dirichlet.py +188 -0
- warp/{fem → _src/fem}/domain.py +40 -30
- warp/_src/fem/field/__init__.py +131 -0
- warp/_src/fem/field/field.py +701 -0
- warp/{fem → _src/fem}/field/nodal_field.py +30 -15
- warp/{fem → _src/fem}/field/restriction.py +1 -1
- warp/{fem → _src/fem}/field/virtual.py +53 -27
- warp/_src/fem/geometry/__init__.py +32 -0
- warp/{fem → _src/fem}/geometry/adaptive_nanogrid.py +77 -163
- warp/_src/fem/geometry/closest_point.py +97 -0
- warp/{fem → _src/fem}/geometry/deformed_geometry.py +14 -22
- warp/{fem → _src/fem}/geometry/element.py +32 -10
- warp/{fem → _src/fem}/geometry/geometry.py +48 -20
- warp/{fem → _src/fem}/geometry/grid_2d.py +12 -23
- warp/{fem → _src/fem}/geometry/grid_3d.py +12 -23
- warp/{fem → _src/fem}/geometry/hexmesh.py +40 -63
- warp/{fem → _src/fem}/geometry/nanogrid.py +255 -248
- warp/{fem → _src/fem}/geometry/partition.py +121 -63
- warp/{fem → _src/fem}/geometry/quadmesh.py +26 -45
- warp/{fem → _src/fem}/geometry/tetmesh.py +40 -63
- warp/{fem → _src/fem}/geometry/trimesh.py +26 -45
- warp/{fem → _src/fem}/integrate.py +164 -158
- warp/_src/fem/linalg.py +383 -0
- warp/_src/fem/operator.py +396 -0
- warp/_src/fem/polynomial.py +229 -0
- warp/{fem → _src/fem}/quadrature/pic_quadrature.py +15 -20
- warp/{fem → _src/fem}/quadrature/quadrature.py +95 -47
- warp/_src/fem/space/__init__.py +248 -0
- warp/{fem → _src/fem}/space/basis_function_space.py +20 -11
- warp/_src/fem/space/basis_space.py +679 -0
- warp/{fem → _src/fem}/space/dof_mapper.py +3 -3
- warp/{fem → _src/fem}/space/function_space.py +14 -13
- warp/{fem → _src/fem}/space/grid_2d_function_space.py +4 -7
- warp/{fem → _src/fem}/space/grid_3d_function_space.py +4 -4
- warp/{fem → _src/fem}/space/hexmesh_function_space.py +4 -10
- warp/{fem → _src/fem}/space/nanogrid_function_space.py +3 -9
- warp/{fem → _src/fem}/space/partition.py +117 -60
- warp/{fem → _src/fem}/space/quadmesh_function_space.py +4 -10
- warp/{fem → _src/fem}/space/restriction.py +66 -33
- warp/_src/fem/space/shape/__init__.py +152 -0
- warp/{fem → _src/fem}/space/shape/cube_shape_function.py +9 -9
- warp/{fem → _src/fem}/space/shape/shape_function.py +8 -9
- warp/{fem → _src/fem}/space/shape/square_shape_function.py +6 -6
- warp/{fem → _src/fem}/space/shape/tet_shape_function.py +3 -3
- warp/{fem → _src/fem}/space/shape/triangle_shape_function.py +3 -3
- warp/{fem → _src/fem}/space/tetmesh_function_space.py +3 -9
- warp/_src/fem/space/topology.py +459 -0
- warp/{fem → _src/fem}/space/trimesh_function_space.py +3 -9
- warp/_src/fem/types.py +112 -0
- warp/_src/fem/utils.py +486 -0
- warp/_src/jax.py +186 -0
- warp/_src/jax_experimental/__init__.py +14 -0
- warp/_src/jax_experimental/custom_call.py +387 -0
- warp/_src/jax_experimental/ffi.py +1284 -0
- warp/_src/jax_experimental/xla_ffi.py +656 -0
- warp/_src/marching_cubes.py +708 -0
- warp/_src/math.py +414 -0
- warp/_src/optim/__init__.py +14 -0
- warp/_src/optim/adam.py +163 -0
- warp/_src/optim/linear.py +1606 -0
- warp/_src/optim/sgd.py +112 -0
- warp/_src/paddle.py +406 -0
- warp/_src/render/__init__.py +14 -0
- warp/_src/render/imgui_manager.py +289 -0
- warp/_src/render/render_opengl.py +3636 -0
- warp/_src/render/render_usd.py +937 -0
- warp/_src/render/utils.py +160 -0
- warp/_src/sparse.py +2716 -0
- warp/_src/tape.py +1206 -0
- warp/{thirdparty → _src/thirdparty}/unittest_parallel.py +9 -2
- warp/_src/torch.py +391 -0
- warp/_src/types.py +5870 -0
- warp/_src/utils.py +1693 -0
- warp/autograd.py +12 -1054
- warp/bin/warp-clang.dll +0 -0
- warp/bin/warp.dll +0 -0
- warp/build.py +8 -588
- warp/build_dll.py +6 -721
- warp/codegen.py +6 -4251
- warp/constants.py +6 -39
- warp/context.py +12 -8062
- warp/dlpack.py +6 -444
- warp/examples/distributed/example_jacobi_mpi.py +4 -5
- warp/examples/fem/example_adaptive_grid.py +1 -1
- warp/examples/fem/example_apic_fluid.py +1 -1
- warp/examples/fem/example_burgers.py +8 -8
- warp/examples/fem/example_diffusion.py +1 -1
- warp/examples/fem/example_distortion_energy.py +1 -1
- warp/examples/fem/example_mixed_elasticity.py +2 -2
- warp/examples/fem/example_navier_stokes.py +1 -1
- warp/examples/fem/example_nonconforming_contact.py +7 -7
- warp/examples/fem/example_stokes.py +1 -1
- warp/examples/fem/example_stokes_transfer.py +1 -1
- warp/examples/fem/utils.py +2 -2
- warp/examples/interop/example_jax_callable.py +1 -1
- warp/examples/interop/example_jax_ffi_callback.py +1 -1
- warp/examples/interop/example_jax_kernel.py +1 -1
- warp/examples/tile/example_tile_mcgp.py +191 -0
- warp/fabric.py +6 -337
- warp/fem/__init__.py +159 -97
- warp/fem/adaptivity.py +7 -489
- warp/fem/cache.py +9 -648
- warp/fem/dirichlet.py +6 -184
- warp/fem/field/__init__.py +8 -109
- warp/fem/field/field.py +7 -652
- warp/fem/geometry/__init__.py +7 -18
- warp/fem/geometry/closest_point.py +11 -77
- warp/fem/linalg.py +18 -366
- warp/fem/operator.py +11 -369
- warp/fem/polynomial.py +9 -209
- warp/fem/space/__init__.py +5 -211
- warp/fem/space/basis_space.py +6 -662
- warp/fem/space/shape/__init__.py +41 -118
- warp/fem/space/topology.py +6 -437
- warp/fem/types.py +6 -81
- warp/fem/utils.py +11 -444
- warp/jax.py +8 -165
- warp/jax_experimental/__init__.py +14 -1
- warp/jax_experimental/custom_call.py +8 -365
- warp/jax_experimental/ffi.py +17 -873
- warp/jax_experimental/xla_ffi.py +5 -605
- warp/marching_cubes.py +5 -689
- warp/math.py +16 -393
- warp/native/array.h +385 -37
- warp/native/builtin.h +314 -37
- warp/native/bvh.cpp +43 -9
- warp/native/bvh.cu +62 -27
- warp/native/bvh.h +310 -309
- warp/native/clang/clang.cpp +102 -97
- warp/native/coloring.cpp +0 -1
- warp/native/crt.h +208 -0
- warp/native/exports.h +156 -0
- warp/native/hashgrid.cu +2 -0
- warp/native/intersect.h +24 -1
- warp/native/intersect_tri.h +44 -35
- warp/native/mat.h +1456 -276
- warp/native/mesh.cpp +4 -4
- warp/native/mesh.cu +4 -2
- warp/native/mesh.h +176 -61
- warp/native/quat.h +0 -52
- warp/native/scan.cu +2 -0
- warp/native/sparse.cu +7 -3
- warp/native/spatial.h +12 -0
- warp/native/tile.h +681 -89
- warp/native/tile_radix_sort.h +1 -1
- warp/native/tile_reduce.h +394 -46
- warp/native/tile_scan.h +4 -4
- warp/native/vec.h +469 -0
- warp/native/version.h +23 -0
- warp/native/volume.cpp +1 -1
- warp/native/volume.cu +1 -0
- warp/native/volume.h +1 -1
- warp/native/volume_builder.cu +2 -0
- warp/native/warp.cpp +57 -29
- warp/native/warp.cu +253 -171
- warp/native/warp.h +11 -8
- warp/optim/__init__.py +6 -3
- warp/optim/adam.py +6 -145
- warp/optim/linear.py +14 -1585
- warp/optim/sgd.py +6 -94
- warp/paddle.py +6 -388
- warp/render/__init__.py +8 -4
- warp/render/imgui_manager.py +7 -267
- warp/render/render_opengl.py +6 -3618
- warp/render/render_usd.py +6 -919
- warp/render/utils.py +6 -142
- warp/sparse.py +37 -2563
- warp/tape.py +6 -1188
- warp/tests/__main__.py +1 -1
- warp/tests/cuda/test_async.py +4 -4
- warp/tests/cuda/test_conditional_captures.py +1 -1
- warp/tests/cuda/test_multigpu.py +1 -1
- warp/tests/cuda/test_streams.py +58 -1
- warp/tests/geometry/test_bvh.py +157 -22
- warp/tests/geometry/test_marching_cubes.py +0 -1
- warp/tests/geometry/test_mesh.py +5 -3
- warp/tests/geometry/test_mesh_query_aabb.py +5 -12
- warp/tests/geometry/test_mesh_query_point.py +5 -2
- warp/tests/geometry/test_mesh_query_ray.py +15 -3
- warp/tests/geometry/test_volume_write.py +5 -5
- warp/tests/interop/test_dlpack.py +14 -14
- warp/tests/interop/test_jax.py +772 -49
- warp/tests/interop/test_paddle.py +1 -1
- warp/tests/test_adam.py +0 -1
- warp/tests/test_arithmetic.py +9 -9
- warp/tests/test_array.py +527 -100
- warp/tests/test_array_reduce.py +3 -3
- warp/tests/test_atomic.py +12 -8
- warp/tests/test_atomic_bitwise.py +209 -0
- warp/tests/test_atomic_cas.py +4 -4
- warp/tests/test_bool.py +2 -2
- warp/tests/test_builtins_resolution.py +5 -571
- warp/tests/test_codegen.py +33 -14
- warp/tests/test_conditional.py +1 -1
- warp/tests/test_context.py +6 -6
- warp/tests/test_copy.py +242 -161
- warp/tests/test_ctypes.py +3 -3
- warp/tests/test_devices.py +24 -2
- warp/tests/test_examples.py +16 -84
- warp/tests/test_fabricarray.py +35 -35
- warp/tests/test_fast_math.py +0 -2
- warp/tests/test_fem.py +56 -10
- warp/tests/test_fixedarray.py +3 -3
- warp/tests/test_func.py +8 -5
- warp/tests/test_generics.py +1 -1
- warp/tests/test_indexedarray.py +24 -24
- warp/tests/test_intersect.py +39 -9
- warp/tests/test_large.py +1 -1
- warp/tests/test_lerp.py +3 -1
- warp/tests/test_linear_solvers.py +1 -1
- warp/tests/test_map.py +35 -4
- warp/tests/test_mat.py +52 -62
- warp/tests/test_mat_constructors.py +4 -5
- warp/tests/test_mat_lite.py +1 -1
- warp/tests/test_mat_scalar_ops.py +121 -121
- warp/tests/test_math.py +34 -0
- warp/tests/test_module_aot.py +4 -4
- warp/tests/test_modules_lite.py +28 -2
- warp/tests/test_print.py +11 -11
- warp/tests/test_quat.py +93 -58
- warp/tests/test_runlength_encode.py +1 -1
- warp/tests/test_scalar_ops.py +38 -10
- warp/tests/test_smoothstep.py +1 -1
- warp/tests/test_sparse.py +126 -15
- warp/tests/test_spatial.py +105 -87
- warp/tests/test_special_values.py +6 -6
- warp/tests/test_static.py +7 -7
- warp/tests/test_struct.py +13 -2
- warp/tests/test_triangle_closest_point.py +48 -1
- warp/tests/test_types.py +27 -15
- warp/tests/test_utils.py +52 -52
- warp/tests/test_vec.py +29 -29
- warp/tests/test_vec_constructors.py +5 -5
- warp/tests/test_vec_scalar_ops.py +97 -97
- warp/tests/test_version.py +75 -0
- warp/tests/tile/test_tile.py +178 -0
- warp/tests/tile/test_tile_atomic_bitwise.py +403 -0
- warp/tests/tile/test_tile_cholesky.py +7 -4
- warp/tests/tile/test_tile_load.py +26 -2
- warp/tests/tile/test_tile_mathdx.py +3 -3
- warp/tests/tile/test_tile_matmul.py +1 -1
- warp/tests/tile/test_tile_mlp.py +2 -4
- warp/tests/tile/test_tile_reduce.py +214 -13
- warp/tests/unittest_suites.py +6 -14
- warp/tests/unittest_utils.py +10 -9
- warp/tests/walkthrough_debug.py +3 -1
- warp/torch.py +6 -373
- warp/types.py +29 -5764
- warp/utils.py +10 -1659
- {warp_lang-1.9.1.dist-info → warp_lang-1.10.0rc2.dist-info}/METADATA +46 -99
- warp_lang-1.10.0rc2.dist-info/RECORD +468 -0
- warp_lang-1.10.0rc2.dist-info/licenses/licenses/Gaia-LICENSE.txt +6 -0
- warp_lang-1.10.0rc2.dist-info/licenses/licenses/appdirs-LICENSE.txt +22 -0
- warp_lang-1.10.0rc2.dist-info/licenses/licenses/asset_pixel_jpg-LICENSE.txt +3 -0
- warp_lang-1.10.0rc2.dist-info/licenses/licenses/cuda-LICENSE.txt +1582 -0
- warp_lang-1.10.0rc2.dist-info/licenses/licenses/dlpack-LICENSE.txt +201 -0
- warp_lang-1.10.0rc2.dist-info/licenses/licenses/fp16-LICENSE.txt +28 -0
- warp_lang-1.10.0rc2.dist-info/licenses/licenses/libmathdx-LICENSE.txt +220 -0
- warp_lang-1.10.0rc2.dist-info/licenses/licenses/llvm-LICENSE.txt +279 -0
- warp_lang-1.10.0rc2.dist-info/licenses/licenses/moller-LICENSE.txt +16 -0
- warp_lang-1.10.0rc2.dist-info/licenses/licenses/nanovdb-LICENSE.txt +2 -0
- warp_lang-1.10.0rc2.dist-info/licenses/licenses/nvrtc-LICENSE.txt +1592 -0
- warp_lang-1.10.0rc2.dist-info/licenses/licenses/svd-LICENSE.txt +23 -0
- warp_lang-1.10.0rc2.dist-info/licenses/licenses/unittest_parallel-LICENSE.txt +21 -0
- warp_lang-1.10.0rc2.dist-info/licenses/licenses/usd-LICENSE.txt +213 -0
- warp_lang-1.10.0rc2.dist-info/licenses/licenses/windingnumber-LICENSE.txt +21 -0
- warp/examples/assets/cartpole.urdf +0 -110
- warp/examples/assets/crazyflie.usd +0 -0
- warp/examples/assets/nv_ant.xml +0 -92
- warp/examples/assets/nv_humanoid.xml +0 -183
- warp/examples/assets/quadruped.urdf +0 -268
- warp/examples/optim/example_bounce.py +0 -266
- warp/examples/optim/example_cloth_throw.py +0 -228
- warp/examples/optim/example_drone.py +0 -870
- warp/examples/optim/example_inverse_kinematics.py +0 -182
- warp/examples/optim/example_inverse_kinematics_torch.py +0 -191
- warp/examples/optim/example_softbody_properties.py +0 -400
- warp/examples/optim/example_spring_cage.py +0 -245
- warp/examples/optim/example_trajectory.py +0 -227
- warp/examples/sim/example_cartpole.py +0 -143
- warp/examples/sim/example_cloth.py +0 -225
- warp/examples/sim/example_cloth_self_contact.py +0 -316
- warp/examples/sim/example_granular.py +0 -130
- warp/examples/sim/example_granular_collision_sdf.py +0 -202
- warp/examples/sim/example_jacobian_ik.py +0 -244
- warp/examples/sim/example_particle_chain.py +0 -124
- warp/examples/sim/example_quadruped.py +0 -203
- warp/examples/sim/example_rigid_chain.py +0 -203
- warp/examples/sim/example_rigid_contact.py +0 -195
- warp/examples/sim/example_rigid_force.py +0 -133
- warp/examples/sim/example_rigid_gyroscopic.py +0 -115
- warp/examples/sim/example_rigid_soft_contact.py +0 -140
- warp/examples/sim/example_soft_body.py +0 -196
- warp/examples/tile/example_tile_walker.py +0 -327
- warp/sim/__init__.py +0 -74
- warp/sim/articulation.py +0 -793
- warp/sim/collide.py +0 -2570
- warp/sim/graph_coloring.py +0 -307
- warp/sim/import_mjcf.py +0 -791
- warp/sim/import_snu.py +0 -227
- warp/sim/import_urdf.py +0 -579
- warp/sim/import_usd.py +0 -898
- warp/sim/inertia.py +0 -357
- warp/sim/integrator.py +0 -245
- warp/sim/integrator_euler.py +0 -2000
- warp/sim/integrator_featherstone.py +0 -2101
- warp/sim/integrator_vbd.py +0 -2487
- warp/sim/integrator_xpbd.py +0 -3295
- warp/sim/model.py +0 -4821
- warp/sim/particles.py +0 -121
- warp/sim/render.py +0 -431
- warp/sim/utils.py +0 -431
- warp/tests/sim/disabled_kinematics.py +0 -244
- warp/tests/sim/test_cloth.py +0 -863
- warp/tests/sim/test_collision.py +0 -743
- warp/tests/sim/test_coloring.py +0 -347
- warp/tests/sim/test_inertia.py +0 -161
- warp/tests/sim/test_model.py +0 -226
- warp/tests/sim/test_sim_grad.py +0 -287
- warp/tests/sim/test_sim_grad_bounce_linear.py +0 -212
- warp/tests/sim/test_sim_kinematics.py +0 -98
- warp/thirdparty/__init__.py +0 -0
- warp_lang-1.9.1.dist-info/RECORD +0 -456
- /warp/{fem → _src/fem}/quadrature/__init__.py +0 -0
- /warp/{tests/sim → _src/thirdparty}/__init__.py +0 -0
- /warp/{thirdparty → _src/thirdparty}/appdirs.py +0 -0
- /warp/{thirdparty → _src/thirdparty}/dlpack.py +0 -0
- {warp_lang-1.9.1.dist-info → warp_lang-1.10.0rc2.dist-info}/WHEEL +0 -0
- {warp_lang-1.9.1.dist-info → warp_lang-1.10.0rc2.dist-info}/licenses/LICENSE.md +0 -0
- {warp_lang-1.9.1.dist-info → warp_lang-1.10.0rc2.dist-info}/top_level.txt +0 -0
warp/jax.py
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# SPDX-FileCopyrightText: Copyright (c)
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# SPDX-FileCopyrightText: Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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# SPDX-License-Identifier: Apache-2.0
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# Licensed under the Apache License, Version 2.0 (the "License");
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# isort: skip_file
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from warp._src.jax import get_jax_device as get_jax_device
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if jax_device.platform == "cpu":
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return warp.get_device("cpu")
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elif jax_device.platform == "gpu":
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return warp.get_cuda_device(jax_device.id)
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else:
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raise RuntimeError(f"Unsupported Jax device platform '{jax_device.platform}'")
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def get_jax_device():
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"""Get the current Jax device."""
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import jax
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# TODO: is there a simpler way of getting the Jax "current" device?
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# check if jax.default_device() context manager is active
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device = jax.config.jax_default_device
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# if default device is not set, use first device
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if device is None:
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device = jax.local_devices()[0]
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return device
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def dtype_to_jax(warp_dtype):
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"""Return the Jax dtype corresponding to a Warp dtype.
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Args:
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warp_dtype: A Warp data type that has a corresponding Jax data type.
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Raises:
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TypeError: Unable to find a corresponding Jax data type.
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"""
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# initialize lookup table on first call to defer jax import
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if dtype_to_jax.type_map is None:
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import jax.numpy as jp
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dtype_to_jax.type_map = {
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warp.float16: jp.float16,
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warp.float32: jp.float32,
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warp.float64: jp.float64,
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warp.int8: jp.int8,
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warp.int16: jp.int16,
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warp.int32: jp.int32,
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warp.int64: jp.int64,
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warp.uint8: jp.uint8,
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warp.uint16: jp.uint16,
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warp.uint32: jp.uint32,
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warp.uint64: jp.uint64,
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warp.bool: jp.bool_,
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}
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jax_dtype = dtype_to_jax.type_map.get(warp_dtype)
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if jax_dtype is not None:
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return jax_dtype
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else:
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raise TypeError(f"Cannot convert {warp_dtype} to a Jax type")
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def dtype_from_jax(jax_dtype):
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"""Return the Warp dtype corresponding to a Jax dtype.
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Raises:
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TypeError: Unable to find a corresponding Warp data type.
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114
|
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"""
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115
|
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# initialize lookup table on first call to defer jax import
|
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116
|
-
if dtype_from_jax.type_map is None:
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import jax.numpy as jp
|
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|
-
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|
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dtype_from_jax.type_map = {
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# Jax scalar types
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jp.float16: warp.float16,
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|
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jp.float32: warp.float32,
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|
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jp.float64: warp.float64,
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jp.int8: warp.int8,
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|
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jp.int16: warp.int16,
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|
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jp.int32: warp.int32,
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|
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jp.int64: warp.int64,
|
|
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|
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jp.uint8: warp.uint8,
|
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|
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jp.uint16: warp.uint16,
|
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|
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jp.uint32: warp.uint32,
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|
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jp.uint64: warp.uint64,
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|
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jp.bool_: warp.bool,
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# Jax dtype objects
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|
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jp.dtype(jp.float16): warp.float16,
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|
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jp.dtype(jp.float32): warp.float32,
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|
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jp.dtype(jp.float64): warp.float64,
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jp.dtype(jp.int8): warp.int8,
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|
-
jp.dtype(jp.int16): warp.int16,
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|
-
jp.dtype(jp.int32): warp.int32,
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140
|
-
jp.dtype(jp.int64): warp.int64,
|
|
141
|
-
jp.dtype(jp.uint8): warp.uint8,
|
|
142
|
-
jp.dtype(jp.uint16): warp.uint16,
|
|
143
|
-
jp.dtype(jp.uint32): warp.uint32,
|
|
144
|
-
jp.dtype(jp.uint64): warp.uint64,
|
|
145
|
-
jp.dtype(jp.bool_): warp.bool,
|
|
146
|
-
}
|
|
147
|
-
|
|
148
|
-
wp_dtype = dtype_from_jax.type_map.get(jax_dtype)
|
|
149
|
-
if wp_dtype is not None:
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150
|
-
return wp_dtype
|
|
151
|
-
else:
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152
|
-
raise TypeError(f"Cannot convert {jax_dtype} to a Warp type")
|
|
153
|
-
|
|
154
|
-
|
|
155
|
-
# lookup tables initialized when needed
|
|
156
|
-
dtype_from_jax.type_map = None
|
|
157
|
-
dtype_to_jax.type_map = None
|
|
158
|
-
|
|
159
|
-
|
|
160
|
-
def to_jax(warp_array):
|
|
161
|
-
"""
|
|
162
|
-
Convert a Warp array to a Jax array without copying the data.
|
|
163
|
-
|
|
164
|
-
Args:
|
|
165
|
-
warp_array (warp.array): The Warp array to convert.
|
|
166
|
-
|
|
167
|
-
Returns:
|
|
168
|
-
jax.Array: The converted Jax array.
|
|
169
|
-
"""
|
|
170
|
-
import jax.dlpack
|
|
171
|
-
|
|
172
|
-
return jax.dlpack.from_dlpack(warp_array)
|
|
173
|
-
|
|
174
|
-
|
|
175
|
-
def from_jax(jax_array, dtype=None) -> warp.array:
|
|
176
|
-
"""Convert a Jax array to a Warp array without copying the data.
|
|
177
|
-
|
|
178
|
-
Args:
|
|
179
|
-
jax_array (jax.Array): The Jax array to convert.
|
|
180
|
-
dtype (optional): The target data type of the resulting Warp array. Defaults to the Jax array's data type mapped to a Warp data type.
|
|
181
|
-
|
|
182
|
-
Returns:
|
|
183
|
-
warp.array: The converted Warp array.
|
|
184
|
-
"""
|
|
185
|
-
|
|
186
|
-
return warp.from_dlpack(jax_array, dtype=dtype)
|
|
29
|
+
return get_deprecated_api(_jax, "wp", name)
|
|
@@ -13,4 +13,17 @@
|
|
|
13
13
|
# See the License for the specific language governing permissions and
|
|
14
14
|
# limitations under the License.
|
|
15
15
|
|
|
16
|
-
|
|
16
|
+
# isort: skip_file
|
|
17
|
+
|
|
18
|
+
from warp._src.jax_experimental.ffi import GraphMode as GraphMode
|
|
19
|
+
from warp._src.jax_experimental.ffi import jax_kernel as jax_kernel
|
|
20
|
+
from warp._src.jax_experimental.ffi import jax_callable as jax_callable
|
|
21
|
+
from warp._src.jax_experimental.ffi import register_ffi_callback as register_ffi_callback
|
|
22
|
+
|
|
23
|
+
from warp._src.jax_experimental.ffi import (
|
|
24
|
+
get_jax_callable_default_graph_cache_max as get_jax_callable_default_graph_cache_max,
|
|
25
|
+
)
|
|
26
|
+
from warp._src.jax_experimental.ffi import (
|
|
27
|
+
set_jax_callable_default_graph_cache_max as set_jax_callable_default_graph_cache_max,
|
|
28
|
+
)
|
|
29
|
+
from warp._src.jax_experimental.ffi import clear_jax_callable_graph_cache as clear_jax_callable_graph_cache
|
|
@@ -1,4 +1,4 @@
|
|
|
1
|
-
# SPDX-FileCopyrightText: Copyright (c)
|
|
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");
|
|
@@ -13,374 +13,17 @@
|
|
|
13
13
|
# See the License for the specific language governing permissions and
|
|
14
14
|
# limitations under the License.
|
|
15
15
|
|
|
16
|
-
|
|
16
|
+
# isort: skip_file
|
|
17
17
|
|
|
18
|
-
|
|
19
|
-
from warp.context import type_str
|
|
20
|
-
from warp.jax import get_jax_device
|
|
21
|
-
from warp.types import array_t, launch_bounds_t, strides_from_shape
|
|
22
|
-
from warp.utils import warn
|
|
18
|
+
from warp._src.jax_experimental.custom_call import jax_kernel as jax_kernel
|
|
23
19
|
|
|
24
|
-
_jax_warp_p = None
|
|
25
20
|
|
|
26
|
-
#
|
|
27
|
-
_cc_callback = None
|
|
28
|
-
_registered_kernels = [None]
|
|
29
|
-
_registered_kernel_to_id = {}
|
|
21
|
+
# TODO: Remove after cleaning up the public API.
|
|
30
22
|
|
|
23
|
+
from warp._src.jax_experimental import custom_call as _custom_call
|
|
31
24
|
|
|
32
|
-
def jax_kernel(kernel, launch_dims=None, quiet=False):
|
|
33
|
-
"""Create a Jax primitive from a Warp kernel.
|
|
34
25
|
|
|
35
|
-
|
|
26
|
+
def __getattr__(name):
|
|
27
|
+
from warp._src.utils import get_deprecated_api
|
|
36
28
|
|
|
37
|
-
|
|
38
|
-
kernel: The Warp kernel to be wrapped.
|
|
39
|
-
launch_dims: Optional. Specify the kernel launch dimensions. If None,
|
|
40
|
-
dimensions are inferred from the shape of the first argument.
|
|
41
|
-
This option when set will specify the output dimensions.
|
|
42
|
-
quiet: Optional. If True, suppress deprecation warnings with newer JAX versions.
|
|
43
|
-
|
|
44
|
-
Limitations:
|
|
45
|
-
- All kernel arguments must be contiguous arrays.
|
|
46
|
-
- Input arguments are followed by output arguments in the Warp kernel definition.
|
|
47
|
-
- There must be at least one input argument and at least one output argument.
|
|
48
|
-
- Only the CUDA backend is supported.
|
|
49
|
-
"""
|
|
50
|
-
|
|
51
|
-
import jax
|
|
52
|
-
|
|
53
|
-
# check if JAX version supports this
|
|
54
|
-
if jax.__version_info__ < (0, 4, 25) or jax.__version_info__ >= (0, 8, 0):
|
|
55
|
-
msg = (
|
|
56
|
-
"This version of jax_kernel() requires JAX version 0.4.25 - 0.7.x, "
|
|
57
|
-
f"but installed JAX version is {jax.__version_info__}."
|
|
58
|
-
)
|
|
59
|
-
if jax.__version_info__ >= (0, 8, 0):
|
|
60
|
-
msg += " Please use warp.jax_experimental.ffi.jax_kernel instead."
|
|
61
|
-
raise RuntimeError(msg)
|
|
62
|
-
|
|
63
|
-
# deprecation warning
|
|
64
|
-
if jax.__version_info__ >= (0, 5, 0) and not quiet:
|
|
65
|
-
warn(
|
|
66
|
-
"This version of jax_kernel() is deprecated and will not be supported with newer JAX versions. "
|
|
67
|
-
"Please use the newer FFI version instead (warp.jax_experimental.ffi.jax_kernel). "
|
|
68
|
-
"In Warp release 1.10, the FFI version will become the default implementation of jax_kernel().",
|
|
69
|
-
DeprecationWarning,
|
|
70
|
-
)
|
|
71
|
-
|
|
72
|
-
if _jax_warp_p is None:
|
|
73
|
-
# Create and register the primitive
|
|
74
|
-
_create_jax_warp_primitive()
|
|
75
|
-
if kernel not in _registered_kernel_to_id:
|
|
76
|
-
id = len(_registered_kernels)
|
|
77
|
-
_registered_kernels.append(kernel)
|
|
78
|
-
_registered_kernel_to_id[kernel] = id
|
|
79
|
-
else:
|
|
80
|
-
id = _registered_kernel_to_id[kernel]
|
|
81
|
-
|
|
82
|
-
def bind(*args):
|
|
83
|
-
return _jax_warp_p.bind(*args, kernel=id, launch_dims=launch_dims)
|
|
84
|
-
|
|
85
|
-
return bind
|
|
86
|
-
|
|
87
|
-
|
|
88
|
-
def _warp_custom_callback(stream, buffers, opaque, opaque_len):
|
|
89
|
-
# The descriptor is the form
|
|
90
|
-
# <kernel-id>|<launch-dims>|<arg-dims-list>
|
|
91
|
-
# Example: 42|16,32|16,32;100;16,32
|
|
92
|
-
kernel_id_str, dim_str, args_str = opaque.decode().split("|")
|
|
93
|
-
|
|
94
|
-
# Get the kernel from the registry.
|
|
95
|
-
kernel_id = int(kernel_id_str)
|
|
96
|
-
kernel = _registered_kernels[kernel_id]
|
|
97
|
-
|
|
98
|
-
# Parse launch dimensions.
|
|
99
|
-
dims = [int(d) for d in dim_str.split(",")]
|
|
100
|
-
bounds = launch_bounds_t(dims)
|
|
101
|
-
|
|
102
|
-
# Parse arguments.
|
|
103
|
-
arg_strings = args_str.split(";")
|
|
104
|
-
num_args = len(arg_strings)
|
|
105
|
-
assert num_args == len(kernel.adj.args), "Incorrect number of arguments"
|
|
106
|
-
|
|
107
|
-
# First param is the launch bounds.
|
|
108
|
-
kernel_params = (ctypes.c_void_p * (1 + num_args))()
|
|
109
|
-
kernel_params[0] = ctypes.addressof(bounds)
|
|
110
|
-
|
|
111
|
-
# Parse array descriptors.
|
|
112
|
-
args = []
|
|
113
|
-
for i in range(num_args):
|
|
114
|
-
dtype = kernel.adj.args[i].type.dtype
|
|
115
|
-
shape = [int(d) for d in arg_strings[i].split(",")]
|
|
116
|
-
strides = strides_from_shape(shape, dtype)
|
|
117
|
-
|
|
118
|
-
arr = array_t(buffers[i], 0, len(shape), shape, strides)
|
|
119
|
-
args.append(arr) # keep a reference
|
|
120
|
-
arg_ptr = ctypes.addressof(arr)
|
|
121
|
-
|
|
122
|
-
kernel_params[i + 1] = arg_ptr
|
|
123
|
-
|
|
124
|
-
# Get current device.
|
|
125
|
-
device = wp.device_from_jax(get_jax_device())
|
|
126
|
-
|
|
127
|
-
# Get kernel hooks.
|
|
128
|
-
# Note: module was loaded during jit lowering.
|
|
129
|
-
hooks = kernel.module.get_kernel_hooks(kernel, device)
|
|
130
|
-
assert hooks.forward, "Failed to find kernel entry point"
|
|
131
|
-
|
|
132
|
-
# Launch the kernel.
|
|
133
|
-
wp.context.runtime.core.wp_cuda_launch_kernel(
|
|
134
|
-
device.context, hooks.forward, bounds.size, 0, 256, hooks.forward_smem_bytes, kernel_params, stream
|
|
135
|
-
)
|
|
136
|
-
|
|
137
|
-
|
|
138
|
-
def _create_jax_warp_primitive():
|
|
139
|
-
from functools import reduce
|
|
140
|
-
|
|
141
|
-
import jax
|
|
142
|
-
from jax._src.interpreters import batching
|
|
143
|
-
from jax.interpreters import mlir
|
|
144
|
-
from jax.interpreters.mlir import ir
|
|
145
|
-
from jaxlib.hlo_helpers import custom_call
|
|
146
|
-
|
|
147
|
-
global _jax_warp_p
|
|
148
|
-
global _cc_callback
|
|
149
|
-
|
|
150
|
-
# Create and register the primitive.
|
|
151
|
-
# TODO add default implementation that calls the kernel via warp.
|
|
152
|
-
try:
|
|
153
|
-
# newer JAX versions
|
|
154
|
-
import jax.extend
|
|
155
|
-
|
|
156
|
-
_jax_warp_p = jax.extend.core.Primitive("jax_warp")
|
|
157
|
-
except (ImportError, AttributeError):
|
|
158
|
-
# older JAX versions
|
|
159
|
-
_jax_warp_p = jax.core.Primitive("jax_warp")
|
|
160
|
-
_jax_warp_p.multiple_results = True
|
|
161
|
-
|
|
162
|
-
# TODO Just launch the kernel directly, but make sure the argument
|
|
163
|
-
# shapes are massaged the same way as below so that vmap works.
|
|
164
|
-
def impl(*args):
|
|
165
|
-
raise Exception("Not implemented")
|
|
166
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167
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_jax_warp_p.def_impl(impl)
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# Auto-batching. Make sure all the arguments are fully broadcasted
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# so that Warp is not confused about dimensions.
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def vectorized_multi_batcher(args, dims, **params):
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# Figure out the number of outputs.
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wp_kernel = _registered_kernels[params["kernel"]]
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output_count = len(wp_kernel.adj.args) - len(args)
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shape, dim = next((a.shape, d) for a, d in zip(args, dims) if d is not None)
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size = shape[dim]
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args = [batching.bdim_at_front(a, d, size) if len(a.shape) else a for a, d in zip(args, dims)]
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# Create the batched primitive.
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return _jax_warp_p.bind(*args, **params), [dims[0]] * output_count
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batching.primitive_batchers[_jax_warp_p] = vectorized_multi_batcher
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def get_vecmat_shape(warp_type):
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if hasattr(warp_type.dtype, "_shape_"):
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return warp_type.dtype._shape_
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return []
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def strip_vecmat_dimensions(warp_arg, actual_shape):
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shape = get_vecmat_shape(warp_arg.type)
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for i, s in enumerate(reversed(shape)):
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item = actual_shape[-i - 1]
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if s != item:
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raise Exception(f"The vector/matrix shape for argument {warp_arg.label} does not match")
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return actual_shape[: len(actual_shape) - len(shape)]
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196
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def collapse_into_leading_dimension(warp_arg, actual_shape):
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if len(actual_shape) < warp_arg.type.ndim:
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raise Exception(f"Argument {warp_arg.label} has too few non-matrix/vector dimensions")
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index_rest = len(actual_shape) - warp_arg.type.ndim + 1
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leading_size = reduce(lambda x, y: x * y, actual_shape[:index_rest])
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return [leading_size] + actual_shape[index_rest:]
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# Infer array dimensions from input type.
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def infer_dimensions(warp_arg, actual_shape):
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actual_shape = strip_vecmat_dimensions(warp_arg, actual_shape)
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return collapse_into_leading_dimension(warp_arg, actual_shape)
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208
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def base_type_to_jax(warp_dtype):
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if hasattr(warp_dtype, "_wp_scalar_type_"):
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return wp.dtype_to_jax(warp_dtype._wp_scalar_type_)
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return wp.dtype_to_jax(warp_dtype)
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212
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213
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def base_type_to_jax_ir(warp_dtype):
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warp_to_jax_dict = {
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wp.float16: ir.F16Type.get(),
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216
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wp.float32: ir.F32Type.get(),
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217
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wp.float64: ir.F64Type.get(),
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218
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wp.int8: ir.IntegerType.get_signless(8),
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219
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wp.int16: ir.IntegerType.get_signless(16),
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220
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wp.int32: ir.IntegerType.get_signless(32),
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221
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wp.int64: ir.IntegerType.get_signless(64),
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222
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wp.uint8: ir.IntegerType.get_unsigned(8),
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223
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wp.uint16: ir.IntegerType.get_unsigned(16),
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224
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wp.uint32: ir.IntegerType.get_unsigned(32),
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225
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wp.uint64: ir.IntegerType.get_unsigned(64),
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226
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}
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227
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if hasattr(warp_dtype, "_wp_scalar_type_"):
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228
|
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warp_dtype = warp_dtype._wp_scalar_type_
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229
|
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jax_dtype = warp_to_jax_dict.get(warp_dtype)
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230
|
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if jax_dtype is None:
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231
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raise TypeError(f"Invalid or unsupported data type: {warp_dtype}")
|
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232
|
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return jax_dtype
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233
|
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234
|
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def base_type_is_compatible(warp_type, jax_ir_type):
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235
|
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jax_ir_to_warp = {
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236
|
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"f16": wp.float16,
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237
|
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"f32": wp.float32,
|
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238
|
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"f64": wp.float64,
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239
|
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"i8": wp.int8,
|
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240
|
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"i16": wp.int16,
|
|
241
|
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"i32": wp.int32,
|
|
242
|
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"i64": wp.int64,
|
|
243
|
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"ui8": wp.uint8,
|
|
244
|
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"ui16": wp.uint16,
|
|
245
|
-
"ui32": wp.uint32,
|
|
246
|
-
"ui64": wp.uint64,
|
|
247
|
-
}
|
|
248
|
-
expected_warp_type = jax_ir_to_warp.get(str(jax_ir_type))
|
|
249
|
-
if expected_warp_type is not None:
|
|
250
|
-
if hasattr(warp_type, "_wp_scalar_type_"):
|
|
251
|
-
return warp_type._wp_scalar_type_ == expected_warp_type
|
|
252
|
-
else:
|
|
253
|
-
return warp_type == expected_warp_type
|
|
254
|
-
else:
|
|
255
|
-
raise TypeError(f"Invalid or unsupported data type: {jax_ir_type}")
|
|
256
|
-
|
|
257
|
-
# Abstract evaluation.
|
|
258
|
-
def jax_warp_abstract(*args, kernel=None, launch_dims=None):
|
|
259
|
-
wp_kernel = _registered_kernels[kernel]
|
|
260
|
-
# All the extra arguments to the warp kernel are outputs.
|
|
261
|
-
warp_outputs = [o.type for o in wp_kernel.adj.args[len(args) :]]
|
|
262
|
-
|
|
263
|
-
if launch_dims is None:
|
|
264
|
-
# Use the first input dimension to infer the output's dimensions if launch_dims is not provided
|
|
265
|
-
dims = strip_vecmat_dimensions(wp_kernel.adj.args[0], list(args[0].shape))
|
|
266
|
-
else:
|
|
267
|
-
dims = launch_dims
|
|
268
|
-
|
|
269
|
-
jax_outputs = []
|
|
270
|
-
for o in warp_outputs:
|
|
271
|
-
shape = list(dims) + list(get_vecmat_shape(o))
|
|
272
|
-
dtype = base_type_to_jax(o.dtype)
|
|
273
|
-
jax_outputs.append(jax.core.ShapedArray(shape, dtype))
|
|
274
|
-
return jax_outputs
|
|
275
|
-
|
|
276
|
-
_jax_warp_p.def_abstract_eval(jax_warp_abstract)
|
|
277
|
-
|
|
278
|
-
# Lowering to MLIR.
|
|
279
|
-
|
|
280
|
-
# Create python-land custom call target.
|
|
281
|
-
CCALLFUNC = ctypes.CFUNCTYPE(
|
|
282
|
-
ctypes.c_voidp, ctypes.c_void_p, ctypes.POINTER(ctypes.c_void_p), ctypes.c_char_p, ctypes.c_size_t
|
|
283
|
-
)
|
|
284
|
-
_cc_callback = CCALLFUNC(_warp_custom_callback)
|
|
285
|
-
ccall_address = ctypes.cast(_cc_callback, ctypes.c_void_p)
|
|
286
|
-
|
|
287
|
-
# Put the custom call into a capsule, as required by XLA.
|
|
288
|
-
PyCapsule_Destructor = ctypes.CFUNCTYPE(None, ctypes.py_object)
|
|
289
|
-
PyCapsule_New = ctypes.pythonapi.PyCapsule_New
|
|
290
|
-
PyCapsule_New.restype = ctypes.py_object
|
|
291
|
-
PyCapsule_New.argtypes = (ctypes.c_void_p, ctypes.c_char_p, PyCapsule_Destructor)
|
|
292
|
-
capsule = PyCapsule_New(ccall_address.value, b"xla._CUSTOM_CALL_TARGET", PyCapsule_Destructor(0))
|
|
293
|
-
|
|
294
|
-
# Register the callback in XLA.
|
|
295
|
-
try:
|
|
296
|
-
# newer JAX versions
|
|
297
|
-
jax.ffi.register_ffi_target("warp_call", capsule, platform="gpu", api_version=0)
|
|
298
|
-
except AttributeError:
|
|
299
|
-
# older JAX versions
|
|
300
|
-
jax.lib.xla_client.register_custom_call_target("warp_call", capsule, platform="gpu")
|
|
301
|
-
|
|
302
|
-
def default_layout(shape):
|
|
303
|
-
return range(len(shape) - 1, -1, -1)
|
|
304
|
-
|
|
305
|
-
def warp_call_lowering(ctx, *args, kernel=None, launch_dims=None):
|
|
306
|
-
if not kernel:
|
|
307
|
-
raise Exception("Unknown kernel id " + str(kernel))
|
|
308
|
-
wp_kernel = _registered_kernels[kernel]
|
|
309
|
-
|
|
310
|
-
# TODO This may not be necessary, but it is perhaps better not to be
|
|
311
|
-
# mucking with kernel loading while already running the workload.
|
|
312
|
-
module = wp_kernel.module
|
|
313
|
-
device = wp.device_from_jax(get_jax_device())
|
|
314
|
-
if not module.load(device):
|
|
315
|
-
raise Exception("Could not load kernel on device")
|
|
316
|
-
|
|
317
|
-
if launch_dims is None:
|
|
318
|
-
# Infer dimensions from the first input.
|
|
319
|
-
warp_arg0 = wp_kernel.adj.args[0]
|
|
320
|
-
actual_shape0 = ir.RankedTensorType(args[0].type).shape
|
|
321
|
-
dims = strip_vecmat_dimensions(warp_arg0, actual_shape0)
|
|
322
|
-
warp_dims = collapse_into_leading_dimension(warp_arg0, dims)
|
|
323
|
-
else:
|
|
324
|
-
dims = launch_dims
|
|
325
|
-
warp_dims = launch_dims
|
|
326
|
-
# Figure out the types and shapes of the input arrays.
|
|
327
|
-
arg_strings = []
|
|
328
|
-
operand_layouts = []
|
|
329
|
-
for actual, warg in zip(args, wp_kernel.adj.args):
|
|
330
|
-
wtype = warg.type
|
|
331
|
-
rtt = ir.RankedTensorType(actual.type)
|
|
332
|
-
|
|
333
|
-
if not isinstance(wtype, wp.array):
|
|
334
|
-
raise Exception("Only contiguous arrays are supported for Jax kernel arguments")
|
|
335
|
-
|
|
336
|
-
if not base_type_is_compatible(wtype.dtype, rtt.element_type):
|
|
337
|
-
raise TypeError(
|
|
338
|
-
f"Incompatible data type for argument '{warg.label}', expected {type_str(wtype.dtype)}, got {rtt.element_type}"
|
|
339
|
-
)
|
|
340
|
-
|
|
341
|
-
# Infer array dimension (by removing the vector/matrix dimensions and
|
|
342
|
-
# collapsing the initial dimensions).
|
|
343
|
-
shape = infer_dimensions(warg, rtt.shape)
|
|
344
|
-
|
|
345
|
-
if len(shape) != wtype.ndim:
|
|
346
|
-
raise TypeError(f"Incompatible array dimensionality for argument '{warg.label}'")
|
|
347
|
-
|
|
348
|
-
arg_strings.append(",".join([str(d) for d in shape]))
|
|
349
|
-
operand_layouts.append(default_layout(rtt.shape))
|
|
350
|
-
|
|
351
|
-
# Figure out the types and shapes of the output arrays.
|
|
352
|
-
result_types = []
|
|
353
|
-
result_layouts = []
|
|
354
|
-
for warg in wp_kernel.adj.args[len(args) :]:
|
|
355
|
-
wtype = warg.type
|
|
356
|
-
|
|
357
|
-
if not isinstance(wtype, wp.array):
|
|
358
|
-
raise Exception("Only contiguous arrays are supported for Jax kernel arguments")
|
|
359
|
-
|
|
360
|
-
# Infer dimensions from the first input.
|
|
361
|
-
arg_strings.append(",".join([str(d) for d in warp_dims]))
|
|
362
|
-
|
|
363
|
-
result_shape = list(dims) + list(get_vecmat_shape(wtype))
|
|
364
|
-
result_types.append(ir.RankedTensorType.get(result_shape, base_type_to_jax_ir(wtype.dtype)))
|
|
365
|
-
result_layouts.append(default_layout(result_shape))
|
|
366
|
-
|
|
367
|
-
# Build opaque descriptor for callback.
|
|
368
|
-
shape_str = ",".join([str(d) for d in warp_dims])
|
|
369
|
-
args_str = ";".join(arg_strings)
|
|
370
|
-
descriptor = f"{kernel}|{shape_str}|{args_str}"
|
|
371
|
-
|
|
372
|
-
out = custom_call(
|
|
373
|
-
b"warp_call",
|
|
374
|
-
result_types=result_types,
|
|
375
|
-
operands=args,
|
|
376
|
-
backend_config=descriptor.encode("utf-8"),
|
|
377
|
-
operand_layouts=operand_layouts,
|
|
378
|
-
result_layouts=result_layouts,
|
|
379
|
-
).results
|
|
380
|
-
return out
|
|
381
|
-
|
|
382
|
-
mlir.register_lowering(
|
|
383
|
-
_jax_warp_p,
|
|
384
|
-
warp_call_lowering,
|
|
385
|
-
platform="gpu",
|
|
386
|
-
)
|
|
29
|
+
return get_deprecated_api(_custom_call, "wp.jax_experimental", name)
|