CHANGELOG.md

CHANGELOG

[0.5.0] - 2022-10-31

• Add smoothed particle hydrodynamics (SPH) example, see example_sph.py
• Add support for accessing array.shape inside kernels, e.g.: width = arr.shape[0]
• Add dependency tracking to hot-reload modules if dependencies were modified
• Add lazy acquisition of CUDA kernel contexts (save ~300Mb of GPU memory in MGPU environments)
• Add BVH object, see wp.Bvh and bvh_query_ray(), bvh_query_aabb() functions
• Add component index operations for spatial_vector, spatial_matrix types
• Add wp.lerp() and wp.smoothstep() builtins
• Add wp.optim module with implementation of the Adam optimizer for float and vector types
• Add support for transient Python modules (fix for Houdini integration)
• Add wp.length_sq(), wp.trace() for vector / matrix types respectively
• Add missing adjoints for wp.quat_rpy(), wp.determinant()
• Add wp.atomic_min(), wp.atomic_max() operators
• Add vectorized version of warp.sim.model.add_cloth_mesh()
• Add NVDB volume allocation API, see wp.Volume.allocate(), and wp.Volume.allocate_by_tiles()
• Add NVDB volume write methods, see wp.volume_store_i(), wp.volume_store_f(), wp.volume_store_v()
• Add MGPU documentation
• Add example showing how to compute Jacobian of multiple environements in parallel, see example_jacobian_ik.py
• Add wp.Tape.zero() support for wp.struct types
• Make SampleBrowser an optional dependency for Kit extension
• Make wp.Mesh object accept both 1d and 2d arrays of face vertex indices
• Fix for reloading of class member kernel / function definitions using importlib.reload()
• Fix for hashing of wp.constants() not invalidating kernels
• Fix for reload when multiple .ptx versions are present
• Improved error reporting during code-gen

[0.4.3] - 2022-09-20

• Update all samples to use GPU interop path by default
• Fix for arrays > 2GB in length
• Add support for per-vertex USD mesh colors with warp.render class

[0.4.2] - 2022-09-07

• Register Warp samples to the sample browser in Kit
• Add NDEBUG flag to release mode kernel builds
• Fix for particle solver node when using a large number of particles
• Fix for broken cameras in Warp sample scenes

[0.4.1] - 2022-08-30

• Add geometry sampling methods, see wp.sample_unit_cube(), wp.sample_unit_disk(), etc
• Add wp.lower_bound() for searching sorted arrays
• Add an option for disabling code-gen of backward pass to improve compilation times, see wp.set_module_options({"enable_backward": False}), True by default
• Fix for using Warp from Script Editor or when module does not have a __file__ attribute
• Fix for hot reload of modules containing wp.func() definitions
• Fix for debug flags not being set correctly on CUDA when wp.config.mode == "debug", this enables bounds checking on CUDA kernels in debug mode
• Fix for code gen of functions that do not return a value

[0.4.0] - 2022-08-09

• Fix for FP16 conversions on GPUs without hardware support
• Fix for runtime = None errors when reloading the Warp module
• Fix for PTX architecture version when running with older drivers, see wp.config.ptx_target_arch
• Fix for USD imports from __init__.py, defer them to individual functions that need them
• Fix for robustness issues with sign determination for wp.mesh_query_point()
• Fix for wp.HashGrid memory leak when creating/destroying grids
• Add CUDA version checks for toolkit and driver
• Add support for cross-module @wp.struct references
• Support running even if CUDA initialization failed, use wp.is_cuda_available() to check availability
• Statically linking with the CUDA runtime library to avoid deployment issues

Breaking Changes

• Removed wp.runtime reference from the top-level module, as it should be considered private

[0.3.2] - 2022-07-19

• Remove Torch import from __init__.py, defer import to wp.from_torch(), wp.to_torch()

[0.3.1] - 2022-07-12

• Fix for marching cubes reallocation after initialization
• Add support for closest point between line segment tests, see wp.closest_point_edge_edge() builtin
• Add support for per-triangle elasticity coefficients in simulation, see wp.sim.ModelBuilder.add_cloth_mesh()
• Add support for specifying default device, see wp.set_device(), wp.get_device(), wp.ScopedDevice
• Add support for multiple GPUs (e.g., "cuda:0", "cuda:1"), see wp.get_cuda_devices(), wp.get_cuda_device_count(), wp.get_cuda_device()
• Add support for explicitly targeting the current CUDA context using device alias "cuda"
• Add support for using arbitrary external CUDA contexts, see wp.map_cuda_device(), wp.unmap_cuda_device()
• Add PyTorch device aliasing functions, see wp.device_from_torch(), wp.device_to_torch()

Breaking Changes

• A CUDA device is used by default, if available (aligned with wp.get_preferred_device())
• wp.ScopedCudaGuard is deprecated, use wp.ScopedDevice instead
• wp.synchronize() now synchronizes all devices; for finer-grained control, use wp.synchronize_device()
• Device alias "cuda" now refers to the current CUDA context, rather than a specific device like "cuda:0" or "cuda:1"

[0.3.0] - 2022-07-08

• Add support for FP16 storage type, see wp.float16
• Add support for per-dimension byte strides, see wp.array.strides
• Add support for passing Python classes as kernel arguments, see @wp.struct decorator
• Add additional bounds checks for builtin matrix types
• Add additional floating point checks, see wp.config.verify_fp
• Add interleaved user source with generated code to aid debugging
• Add generalized GPU marching cubes implementation, see wp.MarchingCubes class
• Add additional scalar*matrix vector operators
• Add support for retrieving a single row from builtin types, e.g.: r = m33[i]
• Add wp.log2() and wp.log10() builtins
• Add support for quickly instancing wp.sim.ModelBuilder objects to improve env. creation performance for RL
• Remove custom CUB version and improve compatability with CUDA 11.7
• Fix to preserve external user-gradients when calling wp.Tape.zero()
• Fix to only allocate gradient of a Torch tensor if requires_grad=True
• Fix for missing wp.mat22 constructor adjoint
• Fix for ray-cast precision in edge case on GPU (watertightness issue)
• Fix for kernel hot-reload when definition changes
• Fix for NVCC warnings on Linux
• Fix for generated function names when kernels are defined as class functions
• Fix for reload of generated CPU kernel code on Linux
• Fix for example scripts to output USD at 60 timecodes per-second (better Kit compatibility)

[0.2.3] - 2022-06-13

• Fix for incorrect 4d array bounds checking
• Fix for wp.constant changes not updating module hash
• Fix for stale CUDA kernel cache when CPU kernels launched first
• Array gradients are now allocated along with the arrays and accessible as wp.array.grad, users should take care to always call wp.Tape.zero() to clear gradients between different invocations of wp.Tape.backward()
• Added wp.array.fill_() to set all entries to a scalar value (4-byte values only currently)

Breaking Changes

• Tape capture option has been removed, users can now capture tapes inside existing CUDA graphs (e.g.: inside Torch)
• Scalar loss arrays should now explicitly set requires_grad=True at creation time

[0.2.2] - 2022-05-30

• Fix for from import * inside Warp initialization
• Fix for body space velocity when using deforming Mesh objects with scale
• Fix for noise gradient discontinuities affecting wp.curlnoise()
• Fix for wp.from_torch() to correctly preserve shape
• Fix for URDF parser incorrectly passing density to scale parameter
• Optimizations for startup time from 3s -> 0.3s
• Add support for custom kernel cache location, Warp will now store generated binaries in the user's application directory
• Add support for cross-module function references, e.g.: call another modules @wp.func functions
• Add support for overloading @wp.func functions based on argument type
• Add support for calling built-in functions directly from Python interpreter outside kernels (experimental)
• Add support for auto-complete and docstring lookup for builtins in IDEs like VSCode, PyCharm, etc
• Add support for doing partial array copys, see wp.copy() for details
• Add support for accessing mesh data directly in kernels, see wp.mesh_get_point(), wp.mesh_get_index(), wp.mesh_eval_face_normal()
• Change to only compile for targets where kernel is launched (e.g.: will not compile CPU unless explicitly requested)

Breaking Changes

• Builtin methods such as wp.quat_identity() now call the Warp native implementation directly and will return a wp.quat object instead of NumPy array
• NumPy implementations of many builtin methods have been moved to warp.utils and will be deprecated
• Local @wp.func functions should not be namespaced when called, e.g.: previously wp.myfunc() would work even if myfunc() was not a builtin
• Removed wp.rpy2quat(), please use wp.quat_rpy() instead

[0.2.1] - 2022-05-11

• Fix for unit tests in Kit

[0.2.0] - 2022-05-02

Warp Core

• Fix for unrolling loops with negative bounds
• Fix for unresolved symbol hash_grid_build_device() not found when lib is compiled without CUDA support
• Fix for failure to load nvrtc-builtins64_113.dll when user has a newer CUDA toolkit installed on their machine
• Fix for conversion of Torch tensors to wp.arrays() with a vector dtype (incorrect row count)
• Fix for warp.dll not found on some Windows installations
• Fix for macOS builds on Clang 13.x
• Fix for step-through debugging of kernels on Linux
• Add argument type checking for user defined @wp.func functions
• Add support for custom iterable types, supports ranges, hash grid, and mesh query objects
• Add support for multi-dimensional arrays, for example use x = array[i,j,k] syntax to address a 3-dimensional array
• Add support for multi-dimensional kernel launches, use launch(kernel, dim=(i,j,k), ... and i,j,k = wp.tid() to obtain thread indices
• Add support for bounds-checking array memory accesses in debug mode, use wp.config.mode = "debug" to enable
• Add support for differentiating through dynamic and nested for-loops
• Add support for evaluating MLP neural network layers inside kernels with custom activation functions, see wp.mlp()
• Add additional NVDB sampling methods and adjoints, see wp.volume_sample_i(), wp.volume_sample_f(), and wp.volume_sample_vec()
• Add support for loading zlib compressed NVDB volumes, see wp.Volume.load_from_nvdb()
• Add support for triangle intersection testing, see wp.intersect_tri_tri()
• Add support for NVTX profile zones in wp.ScopedTimer()
• Add support for additional transform and quaternion math operations, see wp.inverse(), wp.quat_to_matrix(), wp.quat_from_matrix()
• Add fast math (--fast-math) to kernel compilation by default
• Add warp.torch import by default (if PyTorch is installed)

Warp Kit

• Add Kit menu for browsing Warp documentation and example scenes under 'Window->Warp'
• Fix for OgnParticleSolver.py example when collider is coming from Read Prim into Bundle node

Warp Sim

• Fix for joint attachment forces
• Fix for URDF importer and floating base support
• Add examples showing how to use differentiable forward kinematics to solve inverse kinematics
• Add examples for URDF cartpole and quadruped simulation

Breaking Changes

• wp.volume_sample_world() is now replaced by wp.volume_sample_f/i/vec() which operate in index (local) space. Users should use wp.volume_world_to_index() to transform points from world space to index space before sampling.
• wp.mlp() expects multi-dimensional arrays instead of one-dimensional arrays for inference, all other semantics remain the same as earlier versions of this API.
• wp.array.length member has been removed, please use wp.array.shape to access array dimensions, or use wp.array.size to get total element count
• Marking dense_gemm(), dense_chol(), etc methods as experimental until we revisit them

[0.1.25] - 2022-03-20

• Add support for class methods to be Warp kernels
• Add HashGrid reserve() so it can be used with CUDA graphs
• Add support for CUDA graph capture of tape forward/backward passes
• Add support for Python 3.8.x and 3.9.x
• Add hyperbolic trigonometric functions, see wp.tanh(), wp.sinh(), wp.cosh()
• Add support for floored division on integer types
• Move tests into core library so they can be run in Kit environment

[0.1.24] - 2022-03-03

Warp Core

• Add NanoVDB support, see wp.volume_sample*() methods
• Add support for reading compile-time constants in kernels, see wp.constant()
• Add support for cuda_array_interface protocol for zero-copy interop with PyTorch, see wp.torch.to_torch()
• Add support for additional numeric types, i8, u8, i16, u16, etc
• Add better checks for device strings during allocation / launch
• Add support for sampling random numbers with a normal distribution, see wp.randn()
• Upgrade to CUDA 11.3
• Update example scenes to Kit 103.1
• Deduce array dtype from np.array when one is not provided
• Fix for ranged for loops with negative step sizes
• Fix for 3d and 4d spherical gradient distributions

[0.1.23] - 2022-02-17

Warp Core

• Fix for generated code folder being removed during Showroom installation
• Fix for macOS support
• Fix for dynamic for-loop code gen edge case
• Add procedural noise primitives, see noise(), pnoise(), curlnoise()
• Move simulation helpers our of test into warp.sim module

[0.1.22] - 2022-02-14

Warp Core

• Fix for .so reloading on Linux
• Fix for while loop code-gen in some edge cases
• Add rounding functions round(), rint(), trunc(), floor(), ceil()
• Add support for printing strings and formatted strings from kernels
• Add MSVC compiler version detection and require minimum

Warp Sim

• Add support for universal and compound joint types

[0.1.21] - 2022-01-19

Warp Core

• Fix for exception on shutdown in empty wp.array objects
• Fix for hot reload of CPU kernels in Kit
• Add hash grid primitive for point-based spatial queries, see hash_grid_query(), hash_grid_query_next()
• Add new PRNG methods using PCG-based generators, see rand_init(), randf(), randi()
• Add support for AABB mesh queries, see mesh_query_aabb(), mesh_query_aabb_next()
• Add support for all Python range() loop variants
• Add builtin vec2 type and additional math operators, pow(), tan(), atan(), atan2()
• Remove dependency on CUDA driver library at build time
• Remove unused NVRTC binary dependencies (50mb smaller Linux distribution)

Warp Sim

• Bundle import of multiple shapes for simulation nodes
• New OgnParticleVolume node for sampling shapes -> particles
• New OgnParticleSolver node for DEM style granular materials

[0.1.20] - 2021-11-02

• Updates to the ripple solver for GTC (support for multiple colliders, buoyancy, etc)

[0.1.19] - 2021-10-15

• Publish from 2021.3 to avoid omni.graph database incompatabilities

[0.1.18] - 2021-10-08

• Enable Linux support (tested on 20.04)

[0.1.17] - 2021-09-30

• Fix for 3x3 SVD adjoint
• Fix for A6000 GPU (bump compute model to sm_52 minimum)
• Fix for .dll unload on rebuild
• Fix for possible array destruction warnings on shutdown
• Rename spatial_transform -> transform
• Documentation update

[0.1.16] - 2021-09-06

• Fix for case where simple assignments (a = b) incorrectly generated reference rather than value copy
• Handle passing zero-length (empty) arrays to kernels

[0.1.15] - 2021-09-03

• Add additional math library functions (asin, etc)
• Add builtin 3x3 SVD support
• Add support for named constants (True, False, None)
• Add support for if/else statements (differentiable)
• Add custom memset kernel to avoid CPU overhead of cudaMemset()
• Add rigid body joint model to warp.sim (based on Brax)
• Add Linux, MacOS support in core library
• Fix for incorrectly treating pure assignment as reference instead of value copy
• Removes the need to transfer array to CPU before numpy conversion (will be done implicitly)
• Update the example OgnRipple wave equation solver to use bundles

[0.1.14] - 2021-08-09

• Fix for out-of-bounds memory access in CUDA BVH
• Better error checking after kernel launches (use warp.config.verify_cuda=True)
• Fix for vec3 normalize adjoint code

[0.1.13] - 2021-07-29

• Remove OgnShrinkWrap.py test node

[0.1.12] - 2021-07-29

• Switch to Woop et al.'s watertight ray-tri intersection test
• Disable --fast-math in CUDA compilation step for improved precision

[0.1.11] - 2021-07-28

• Fix for mesh_query_ray() returning incorrect t-value

[0.1.10] - 2021-07-28

• Fix for OV extension fwatcher filters to avoid hot-reload loop due to OGN regeneration

[0.1.9] - 2021-07-21

• Fix for loading sibling DLL paths
• Better type checking for built-in function arguments
• Added runtime docs, can now list all builtins using wp.print_builtins()

[0.1.8] - 2021-07-14

• Fix for hot-reload of CUDA kernels
• Add Tape object for replaying differentiable kernels
• Add helpers for Torch interop (convert torch.Tensor to wp.Array)

[0.1.7] - 2021-07-05

• Switch to NVRTC for CUDA runtime
• Allow running without host compiler
• Disable asserts in kernel release mode (small perf. improvement)

[0.1.6] - 2021-06-14

• Look for CUDA toolchain in target-deps

[0.1.5] - 2021-06-14

• Rename OgLang -> Warp
• Improve CUDA environment error checking
• Clean-up some logging, add verbose mode (warp.config.verbose)

[0.1.4] - 2021-06-10

• Add support for mesh raycast

[0.1.3] - 2021-06-09

• Add support for unary negation operator
• Add support for mutating variables during dynamic loops (non-differentiable)
• Add support for inplace operators
• Improve kernel cache start up times (avoids adjointing before cache check)
• Update README.md with requirements / examples

[0.1.2] - 2021-06-03

• Add support for querying mesh velocities

• Add CUDA graph support, see warp.capture_begin(), warp.capture_end(), warp.capture_launch()

• Add explicit initialization phase, warp.init()

• Add variational Euler solver (sim)

• Add contact caching, switch to nonlinear friction model (sim)

• Fix for Linux/macOS support

[0.1.1] - 2021-05-18

• Fix bug with conflicting CUDA contexts

[0.1.0] - 2021-05-17

• Initial publish for alpha testing