The concept of the Warp Drive was initially a speculative idea based on a solution of Einstein's field equations in general relativity as proposed by Mexican theoretical physicist Miguel Alcubierre, by which a spacecraft could achieve apparent FTL if a configurable energy-density field lower than that of vacuum (that is, negative mass) could be created.
Rather than exceeding the speed of light within a local reference frame, a spacecraft would traverse distances by contracting space in front of it and expanding space behind it, resulting in effective FTL. Objects cannot accelerate to the speed of light within normal spacetime; instead, the Alcubierre drive shifts space around an object so that the object would arrive at its destination faster than light would in standard space without breaking any physical laws.
Initially, this form of FTL was considered to be impossible until a prototype vessel called the IXS Enterprise was constructed in 2331. At the say of its invention, many colonists took sub-warp trips to the outer solar system, which was vastly shortened from a month to only days. Since then, Humanity has been exploring and spreading throughout the Milky Way galaxy. The earliest non-prototype renditions of Warp Drive could only travel at prolonged speeds, making a journey to Earth's nearest star, Proxima Centauri, over half an Earth-year long. It also needed massive fusion reactors to operate.
Throughout the next few millennia, the technology improved, increasing the speed of the Warp Drive in increments. Soon enough, it plateaued, and the speed is now fast enough to make intergalactic travel possible (Although not recommended at all, resulting from better FTL technologies.)
The Warp Drive remains in many Humans and some CoB communities, used as a method for short-distance travel. While Hyper Drives, Tachyon Drives, and Wormholes make it entirely obsolete, it does not drop it as a very cheap, available, and symbolic invention from Humanity.
The Warp Drive is straightforward and relies on the Alcubierre Drive theory of expanding and contracting spacetime in a bubble around the ship. The Warp Drive uses hundreds of thousands of Casimir Nano Plates to create a negative energy density without the use of exotic matter. It then uses power from a high power source to alter spacetime with the negative vacuum energy. Both the Casimir effect and the Alcubierre metric have been known to science since ancient times.