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| # CHANGELOG | ||
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| ## [0.2.0] - 2022-05-02 | ||
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| ### Warp Core | ||
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| - 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) | ||
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| ### Warp Kit | ||
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| - 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 | ||
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| ### Warp Sim | ||
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| - 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 | ||
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| ### Breaking Changes | ||
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| - `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 | ||
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| ## [0.1.25] - 2022-03-20 | ||
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| - 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 | ||
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| ## [0.1.24] - 2022-03-03 | ||
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| ### Warp Core | ||
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| - 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 | ||
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| ## [0.1.23] - 2022-02-17 | ||
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| ### Warp Core | ||
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| - 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 | ||
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| ## [0.1.22] - 2022-02-14 | ||
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| ### Warp Core | ||
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| - 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 | ||
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| ### Warp Sim | ||
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| - Add support for universal and compound joint types | ||
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| ## [0.1.21] - 2022-01-19 | ||
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| ### Warp Core | ||
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| - 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) | ||
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| ### Warp Sim | ||
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| - Bundle import of multiple shapes for simulation nodes | ||
| - New OgnParticleVolume node for sampling shapes -> particles | ||
| - New OgnParticleSolver node for DEM style granular materials | ||
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| ## [0.1.20] - 2021-11-02 | ||
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| - Updates to the ripple solver for GTC (support for multiple colliders, buoyancy, etc) | ||
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| ## [0.1.19] - 2021-10-15 | ||
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| - Publish from 2021.3 to avoid omni.graph database incompatabilities | ||
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| ## [0.1.18] - 2021-10-08 | ||
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| - Enable Linux support (tested on 20.04) | ||
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| ## [0.1.17] - 2021-09-30 | ||
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| - 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 | ||
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| ## [0.1.16] - 2021-09-06 | ||
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| - Fix for case where simple assignments (a = b) incorrectly generated reference rather than value copy | ||
| - Handle passing zero-length (empty) arrays to kernels | ||
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| ## [0.1.15] - 2021-09-03 | ||
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| - 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 | ||
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| ## [0.1.14] - 2021-08-09 | ||
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| - 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 | ||
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| ## [0.1.13] - 2021-07-29 | ||
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| - Remove OgnShrinkWrap.py test node | ||
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| ## [0.1.12] - 2021-07-29 | ||
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| - Switch to Woop et al.'s watertight ray-tri intersection test | ||
| - Disable --fast-math in CUDA compilation step for improved precision | ||
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| ## [0.1.11] - 2021-07-28 | ||
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| - Fix for mesh_query_ray() returning incorrect t-value | ||
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| ## [0.1.10] - 2021-07-28 | ||
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| - Fix for OV extension fwatcher filters to avoid hot-reload loop due to OGN regeneration | ||
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| ## [0.1.9] - 2021-07-21 | ||
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| - 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() | ||
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| ## [0.1.8] - 2021-07-14 | ||
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| - 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) | ||
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| ## [0.1.7] - 2021-07-05 | ||
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| - Switch to NVRTC for CUDA runtime | ||
| - Allow running without host compiler | ||
| - Disable asserts in kernel release mode (small perf. improvement) | ||
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| ## [0.1.6] - 2021-06-14 | ||
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| - Look for CUDA toolchain in target-deps | ||
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| ## [0.1.5] - 2021-06-14 | ||
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| - Rename OgLang -> Warp | ||
| - Improve CUDA environment error checking | ||
| - Clean-up some logging, add verbose mode (warp.config.verbose) | ||
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| ## [0.1.4] - 2021-06-10 | ||
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| - Add support for mesh raycast | ||
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| ## [0.1.3] - 2021-06-09 | ||
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| - 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 | ||
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| ## [0.1.2] - 2021-06-03 | ||
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| - 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) | ||
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| - Fix for Linux/macOS support | ||
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| ## [0.1.1] - 2021-05-18 | ||
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| - Fix bug with conflicting CUDA contexts | ||
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| ## [0.1.0] - 2021-05-17 | ||
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| - Initial publish for alpha testing | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1 +1 @@ | ||
| 0.1.25 | ||
| 0.2.0 |
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