Built-Ins

Warp built-in types and functions.

Built-in types and functions are available within Warp kernels and optionally also from the Warp Python runtime API.

Each built-in function is tagged to indicate where it can be used:

• Kernel - Can be called from inside a Warp kernel

• Python - Can be called at the Python scope

• Differentiable - Propagates gradients when used in reverse mode automatic differentiation

For a listing of the API that is exclusively intended to be used at the Python scope and run inside the CPython interpreter, see warp.

Scalar Math

abs	Compute the absolute value of x.
acos	Compute arccos of x in radians.
asin	Compute arcsin of x in radians.
atan	Compute the arctangent of x in radians.
atan2	Compute the 2-argument arctangent, atan2, of the point (x, y) in radians.
cbrt	Compute the cube root of x.
ceil	Compute the smallest integer that is greater than or equal to x.
clamp	Clamp the value of x to the range [low, high].
cos	Compute the cosine of x in radians.
cosh	Compute the cosh of x.
degrees	Convert x from radians into degrees.
erf	Compute the error function of x.
erfc	Compute the complementary error function of x.
erfcinv	Compute the inverse complementary error function of x.
erfinv	Compute the inverse error function of x.
exp	Compute the value of the exponential function \(e^x\).
floor	Compute the largest integer that is less than or equal to x.
frac	Retrieve the fractional part of x.
isfinite	Check if all elements of a are finite.
isinf	Check if any element of a is positive or negative infinity.
isnan	Check if any element of a is NaN.
log	Compute the natural logarithm (base-e) of x, where x is positive.
log2	Compute the binary logarithm (base-2) of x, where x is positive.
log10	Compute the common logarithm (base-10) of x, where x is positive.
max	Compute the maximum value.
min	Compute the minimum value.
nonzero	Compute 1.0 if x is not equal to zero, otherwise 0.0.
pow	Compute x raised to the power of y.
radians	Convert x from degrees into radians.
rint	Compute the nearest integer value to x, rounding halfway cases to nearest even integer.
round	Compute the nearest integer value to x, rounding halfway cases away from zero.
sign	Compute the sign of x.
sin	Compute the sine of x in radians.
sinh	Compute the sinh of x.
sqrt	Compute the square root of x, where x is positive.
step	Compute 1.0 if x < 0.0, otherwise 0.0.
tan	Compute the tangent of x in radians.
tanh	Compute the tanh of x.
trunc	Compute the nearest integer that is closer to zero than x.

Vector Math

argmax	Compute the index of the maximum element of vector a.
argmin	Compute the index of the minimum element of vector a.
cross	Compute the cross product of two 3D vectors.
cw_div	Compute the component-wise division of a by b.
cw_mul	Compute the component-wise product of a and b.
ddot	Compute the double dot product between two matrices.
determinant	Compute the determinant of matrix a.
diag	Construct a matrix with the components of vector vec on the diagonal.
dot	Compute the dot product.
eig3	Compute the eigendecomposition of a 3x3 matrix A.
get_diag	Extract a vector containing the diagonal elements of square matrix mat.
identity	Create an identity matrix with shape=(n,n) with the type given by dtype.
inverse	Compute the inverse of matrix a.
length	Compute the length of a.
length_sq	Compute the squared length of a.
matrix	Construct a matrix.
matrix_from_cols	Construct a matrix with each vector argument as a column.
matrix_from_rows	Construct a matrix with each vector argument as a row.
norm_huber	Compute the Huber norm of a vector v with a given delta.
norm_l1	Compute the L1 norm of a vector v.
norm_l2	Compute the L2 norm of a vector v.
norm_pseudo_huber	Compute the "pseudo" Huber norm of a vector v with a given delta.
normalize	Compute the normalized value of a.
outer	Compute the outer product a*b^T for two vectors.
qr3	Compute the QR decomposition of a 3x3 matrix A.
skew	Compute the skew-symmetric 3x3 matrix for a 3D vector vec.
smooth_normalize	Normalize a vector using the pseudo-Huber norm.
svd2	Compute the SVD of a 2x2 matrix A.
svd3	Compute the SVD of a 3x3 matrix A.
trace	Compute the trace of matrix a.
transpose	Compute the transpose of matrix a.
vector	Construct a vector of given length and dtype.

Quaternion Math

quat_from_axis_angle	Construct a quaternion representing a rotation of angle radians around the given axis.
quat_from_matrix	Construct a quaternion from a matrix.
quat_identity	Construct an identity quaternion with zero imaginary part and real part of 1.0.
quat_inverse	Compute quaternion conjugate.
quat_rotate	Rotate a vector by a quaternion.
quat_rotate_inv	Rotate a vector by the inverse of a quaternion.
quat_rpy	Construct a quaternion representing a combined roll (z), pitch (x), yaw rotations (y) in radians.
quat_slerp	Linearly interpolate between two quaternions.
quat_to_axis_angle	Extract the rotation axis and angle radians a quaternion represents.
quat_to_matrix	Convert a quaternion to a 3x3 rotation matrix.
quaternion	Construct a quaternion.

Transformations

transform_compose	Compose a 4x4 transformation matrix from a 3D position, quaternion orientation, and 3D scale.
transform_decompose	Decompose a 4x4 transformation matrix into 3D position, quaternion orientation, and 3D scale.
transform_from_matrix	Construct a transformation from a 4x4 matrix.
transform_get_rotation	Extract the rotational part of transform xform.
transform_get_translation	Extract the translational part of transform xform.
transform_identity	Construct an identity transform with zero translation and identity rotation.
transform_inverse	Compute the inverse of the transformation xform.
transform_multiply	Multiply two rigid body transformations together.
transform_point	Apply a transform to a point.
transform_set_rotation	Set the rotational part of a transform xform.
transform_set_translation	Set the translational part of a transform xform.
transform_to_matrix	Convert a transformation to a 4x4 matrix.
transform_vector	Apply a transform to a vector.
transformation	Construct a transformation.

Spatial Math

spatial_adjoint	Construct a 6x6 spatial inertial matrix from two 3x3 diagonal blocks.
spatial_bottom	Extract the bottom (second) part of a 6D screw vector.
spatial_cross	Compute the cross product of two 6D screw vectors.
spatial_cross_dual	Compute the dual cross product of two 6D screw vectors.
spatial_dot	Compute the dot product of two 6D screw vectors.
spatial_jacobian	Compute the spatial Jacobian matrix for a kinematic chain.
spatial_mass	Compute the composite rigid-body mass matrix for a kinematic chain.
spatial_top	Extract the top (first) part of a 6D screw vector.
spatial_vector	Construct a 6D screw vector.

Tile Primitives

tile	Construct a new tile from per-thread kernel values.
tile_arange	Generate a tile of linearly spaced elements.
tile_argmax	Cooperatively compute the index of the maximum element in the tile using all threads in the block.
tile_argmin	Cooperatively compute the index of the minimum element in the tile using all threads in the block.
tile_assign	Assign a tile to a subrange of a destination tile.
tile_astype	Create a new tile with the same data as the input tile, but with a different data type.
tile_atomic_add	Atomically add a tile onto the array a.
tile_atomic_add_indexed	Atomically add a tile to a global memory array, with storage along a specified axis mapped according to a 1D tile of indices.
tile_broadcast	Broadcast a tile.
tile_bvh_query_aabb	Construct an axis-aligned bounding box query against a BVH object for thread-block parallel traversal.
tile_bvh_query_next	Move to the next bound in a thread-block parallel BVH query and return results as a tile.
tile_bvh_query_ray	Construct a ray query against a BVH object for thread-block parallel traversal.
tile_cholesky	Compute the Cholesky factorization L of a matrix A.
tile_cholesky_inplace	Compute the Cholesky factorization L of a matrix A.
tile_cholesky_solve	Solve for x in Ax = y.
tile_cholesky_solve_inplace	Solve for x in Ax = y by overwriting y with x.
tile_diag_add	Add a square matrix and a diagonal matrix d represented as a 1D tile.
tile_extract	Extract a single element from the tile.
tile_fft	Compute the forward FFT along the second dimension of a 2D tile of data.
tile_full	Allocate a tile filled with the specified value.
tile_ifft	Compute the inverse FFT along the second dimension of a 2D tile of data.
tile_load	Load a tile from a global memory array.
tile_load_indexed	Load a tile from a global memory array, with loads along a specified axis mapped according to a 1D tile of indices.
tile_lower_solve	Solve for z in Lz = y, where L is a lower triangular matrix.
tile_lower_solve_inplace	Solve for z in Lz = y, where L is a lower triangular matrix by overwriting y with z.
tile_map	Apply a function to tile elements.
tile_matmul	Compute the matrix product a*b.
tile_max	Cooperatively compute the maximum of the tile elements using all threads in the block.
tile_mesh_query_aabb	Construct an axis-aligned bounding box query against a warp.Mesh for thread-block parallel traversal.
tile_mesh_query_aabb_next	Move to the next triangle in a thread-block parallel mesh AABB query and return results as a tile.
tile_min	Cooperatively compute the minimum of the tile elements using all threads in the block.
tile_ones	Allocate a tile of one-initialized items.
tile_randf	Generate a tile of random floats.
tile_randi	Generate a tile of random integers.
tile_reduce	Apply a custom reduction operator across a tile.
tile_reshape	Create a reshaped view of a tile with the same data.
tile_scan_exclusive	Exclusive scan (prefix sum) across the tile.
tile_scan_inclusive	Inclusive scan (prefix sum) across the tile.
tile_scan_max_inclusive	Inclusive max scan across the tile.
tile_scan_min_inclusive	Inclusive min scan across the tile.
tile_sort	Cooperatively sort the elements of two tiles in ascending order based on the keys, using all threads in the block.
tile_squeeze	Create a squeezed view of a tile with the same data.
tile_store	Store a tile to a global memory array.
tile_store_indexed	Store a tile to a global memory array, with storage along a specified axis mapped according to a 1D tile of indices.
tile_sum	Cooperatively compute the sum of the tile elements.
tile_transpose	Transpose a tile.
tile_upper_solve	Solve for x in Ux = z, where U is an upper triangular matrix.
tile_upper_solve_inplace	Solve for x in Ux = z, where U is an upper triangular matrix by overwriting z with x.
tile_view	Extract a slice of a given tile [offset, offset+shape], if shape is not specified it will be inferred from the unspecified offset dimensions.
tile_zeros	Allocate a tile of zero-initialized items.
untile	Convert a tile back to per-thread values.

Geometry

bvh_get_group_root	Get the root of a group in a BVH.
bvh_query_aabb	Construct an axis-aligned bounding box query against a BVH object.
bvh_query_aabb_tiled	Construct an axis-aligned bounding box query against a BVH object for thread-block parallel traversal.
bvh_query_next	Move to the next bound returned by the query.
bvh_query_next_tiled	Move to the next bound in a thread-block parallel BVH query and return results as a tile.
bvh_query_ray	Construct a ray query against a BVH object.
bvh_query_ray_tiled	Construct a ray query against a BVH object for thread-block parallel traversal.
closest_point_edge_edge	Find the closest points between two edges.
hash_grid_point_id	Query the index of a point in the warp.HashGrid.
hash_grid_query	Construct a point query against a warp.HashGrid.
hash_grid_query_next	Move to the next point in the hash grid query.
intersect_tri_tri	Test for intersection between two triangles (v0, v1, v2) and (u0, u1, u2) using Möller's method.
mesh_eval_face_normal	Evaluate the face normal the mesh given a face index.
mesh_eval_position	Evaluate the position on the warp.Mesh given a face index and barycentric coordinates.
mesh_eval_velocity	Evaluate the velocity on the warp.Mesh given a face index and barycentric coordinates.
mesh_get	Retrieve the mesh given its index.
mesh_get_group_root	Get the root of a group in a warp.Mesh.
mesh_get_index	Query the point-index of the mesh given a face-vertex index.
mesh_get_point	Query the point of the mesh given an index.
mesh_get_velocity	Query the velocity of the mesh given an index.
mesh_query_aabb	Construct an axis-aligned bounding box query against a warp.Mesh.
mesh_query_aabb_next	Move to the next triangle whose bounding box overlaps the query bounding box.
mesh_query_aabb_next_tiled	Move to the next triangle in a thread-block parallel mesh AABB query and return results as a tile.
mesh_query_aabb_tiled	Construct an axis-aligned bounding box query against a warp.Mesh for thread-block parallel traversal.
mesh_query_furthest_point_no_sign	Compute the furthest point on the warp.Mesh with identifier id to the given point in space.
mesh_query_point	Compute the closest point on the warp.Mesh with identifier id to the given point in space.
mesh_query_point_no_sign	Compute the closest point on the warp.Mesh with identifier id to the given point in space.
mesh_query_point_sign_normal	Compute the closest point on the warp.Mesh with identifier id to the given point in space.
mesh_query_point_sign_parity	Compute the closest point on the warp.Mesh with identifier id to the given point in space.
mesh_query_point_sign_winding_number	Compute the closest point on the warp.Mesh with identifier id to the given point in space.
mesh_query_ray	Compute the closest ray hit on the warp.Mesh with identifier id, returns True if a hit < max_t is found.
mesh_query_ray_anyhit	Check for any ray hit on the warp.Mesh with identifier id.
mesh_query_ray_count_intersections	Count the number of intersections between a ray and a warp.Mesh.

Volumes

volume_index_to_world	Transform a point uvw defined in volume index space to world space given the volume's intrinsic affine transformation.
volume_index_to_world_dir	Transform a direction uvw defined in volume index space to world space given the volume's intrinsic affine transformation.
volume_lookup	Query the value of voxel with coordinates i, j, k for a volume of type dtype.
volume_lookup_f	Query the value of voxel with coordinates i, j, k.
volume_lookup_i	Query the int32 value of voxel with coordinates i, j, k.
volume_lookup_index	Query the index associated with the voxel at coordinates i, j, k.
volume_lookup_v	Query the vector value of voxel with coordinates i, j, k.
volume_sample	Sample the volume of type dtype given by id at the volume local-space point uvw.
volume_sample_f	Sample the volume given by id at the volume local-space point uvw.
volume_sample_grad	Sample the volume given by id and its gradient at the volume local-space point uvw.
volume_sample_grad_f	Sample the volume and its gradient given by id at the volume local-space point uvw.
volume_sample_grad_index	Sample the volume given by id and its gradient at the volume local-space point uvw.
volume_sample_i	Sample the int32 volume given by id at the volume local-space point uvw.
volume_sample_index	Sample the volume given by id at the volume local-space point uvw.
volume_sample_v	Sample the vector volume given by id at the volume local-space point uvw.
volume_store	Store value at the voxel with coordinates i, j, k.
volume_store_f	Store value at the voxel with coordinates i, j, k.
volume_store_i	Store value at the voxel with coordinates i, j, k.
volume_store_v	Store value at the voxel with coordinates i, j, k.
volume_world_to_index	Transform a point xyz defined in volume world space to the volume's index space given the volume's intrinsic affine transformation.
volume_world_to_index_dir	Transform a direction xyz defined in volume world space to the volume's index space given the volume's intrinsic affine transformation.

Random

curlnoise	Divergence-free vector field based on Perlin noise.
noise	Non-periodic Perlin-style noise.
pnoise	Periodic Perlin-style noise.
poisson	Generate a random sample from a Poisson distribution.
rand_init	Initialize a random number generator.
randf	Generate a random float.
randi	Generate a random integer.
randn	Sample a normal (Gaussian) distribution of mean 0 and variance 1.
randu	Generate a random unsigned integer.
sample_cdf	Inverse-transform sample a cumulative distribution function.
sample_triangle	Uniformly sample a triangle.
sample_unit_cube	Uniformly sample a unit cube.
sample_unit_disk	Uniformly sample a disk in the xy plane.
sample_unit_hemisphere	Uniformly sample a unit hemisphere.
sample_unit_hemisphere_surface	Uniformly sample a unit hemisphere surface.
sample_unit_ring	Uniformly sample a ring in the xy plane.
sample_unit_sphere	Uniformly sample a unit sphere.
sample_unit_sphere_surface	Uniformly sample a unit sphere surface.
sample_unit_square	Uniformly sample a unit square.

Utility

array	Construct an array from a memory pointer, shape, and data type.
atomic_add	Atomically adds value onto arr[i] and returns the original value of arr[i].
atomic_and	Atomically performs a bitwise AND between value and arr[i], atomically update the array, and return the old value.
atomic_cas	Atomically compare and swap value with arr[i] if arr[i] equals compare, and return the old value.
atomic_exch	Atomically exchange value with arr[i] and return the old value.
atomic_max	Compute the maximum of value and arr[i], atomically update the array, and return the old value.
atomic_min	Compute the minimum of value and arr[i], atomically update the array, and return the old value.
atomic_or	Atomically performs a bitwise OR between value and arr[i], atomically update the array, and return the old value.
atomic_sub	Atomically subtracts value onto arr[i] and returns the original value of arr[i].
atomic_xor	Atomically performs a bitwise XOR between value and arr[i], atomically update the array, and return the old value.
block_dim	Query the number of threads in the current block.
breakpoint	Trigger a debugger breakpoint.
cast	Reinterpret a value as a different type while preserving its bit pattern.
expect_near	Print an error to stdout if a and b differ by more than tolerance.
len	Query the number of elements in a vector.
lerp	Linearly interpolate two values a and b using factor t, computed as a*(1-t) + b*t.
print	Print a variable to stdout.
printf	Allows printing formatted strings using C-style format specifiers.
select	Select between two arguments, if cond is False then return value_if_false, otherwise return value_if_true.
smoothstep	Smoothly interpolate between two values a and b using a factor x, and return a result between 0 and 1 using a cubic Hermite interpolation after clamping.
tid	Query the current thread index or indices.
where	Select between two arguments, if cond is True then return value_if_true, otherwise return value_if_false.
zeros	Create a zero-initialized fixed-size array of the given shape and dtype.

Other

lower_bound

Search a sorted array arr for the closest element greater than or equal to value.

Operators

add	Add a and b.
bit_and	Compute the bitwise AND of a and b.
bit_or	Compute the bitwise OR of a and b.
bit_xor	Compute the bitwise XOR of a and b.
div	Divide two values.
floordiv	Divide two scalars using floor division.
invert	Compute the bitwise complement of a.
lshift	Compute a left-shifted by b bits.
mod	Modulo operation using truncated division.
mul	Multiply two values.
neg	Negate x.
pos	Pass x unchanged.
rshift	Compute a right-shifted by b bits.
sub	Subtract b from a.
unot	Compute logical NOT of a.

Code Generation

static

Evaluate a static Python expression and replaces it with its result.