Merge branch 'ershi/bump-version-1.4' into 'main'

Update version and changelog for 1.4.0

See merge request omniverse/warp!768

CHANGELOG.md

@@ -1,6 +1,6 @@
 # CHANGELOG
 
-## [Unreleased] - 2024-??
+## [1.4.0] - 2024-10-01
 
 ### Added
 
@@ -10,7 +10,7 @@
   in high-priority streams over pending work in low-priority streams when possible
   ([docs](https://nvidia.github.io/warp/modules/concurrency.html#stream-priorities)).
 - Adaptive sparse grid geometry to `warp.fem` ([docs](https://nvidia.github.io/warp/modules/fem.html#adaptivity)).
-- Support for `wp.kernel` and `wp.func` closures.
+- Support for defining `wp.kernel` and `wp.func` objects from within closures.
 - Support for defining multiple versions of kernels, functions, and structs without manually assigning unique keys.
 - Support for default argument values for user functions decorated with `wp.func`.
 - Allow passing custom launch dimensions to `jax_kernel()` ([GH-310](https://github.com/NVIDIA/warp/pull/310)).
@@ -19,7 +19,6 @@
 - Support `wp.mod()` for vector types ([GH-282](https://github.com/NVIDIA/warp/issues/282)).
 - Expose the modulo operator `%` to Python's runtime scalar and vector types.
 - Support for fp64 `atomic_add`, `atomic_max`, and `atomic_min` ([GH-284](https://github.com/NVIDIA/warp/issues/284)).
-- Support for local vec/mat/quat component gradient tracking in backwards mode.
 - Support for quaternion indexing (e.g. `q.w`).
 - Support shadowing builtin functions ([GH-308](https://github.com/NVIDIA/warp/issues/308)).
 - Support for redefining function overloads.
@@ -65,14 +64,14 @@
 - Fix code generation errors when overloading generic kernels defined in a Python function.
 - Fix issues with unrelated functions being treated as overloads (e.g., closures).
 - Fix handling of `stream` argument in `array.__dlpack__()`.
-- Fix some bugs related to module hashing and caching.
 - Fix a bug related to reloading CPU modules.
 - Fix a crash when kernel functions are not found in CPU modules.
 - Fix conditions not being evaluated as expected in `while` statements.
 - Fix printing Boolean and 8-bit integer values.
 - Fix array interface type strings used for Boolean and 8-bit integer values.
 - Fix initialization error when setting struct members.
 - Fix Warp not being initialized upon entering a `wp.Tape` context.
+- Use `kDLBool` instead of `kDLUInt` for DLPack interop of Booleans.
 
 ## [1.3.3] - 2024-09-04
 
@@ -1136,7 +1135,8 @@
 
 - Initial publish for alpha testing
 
-[Unreleased]: https://github.com/NVIDIA/warp/compare/v1.3.3...HEAD
+[Unreleased]: https://github.com/NVIDIA/warp/compare/v1.4.0...HEAD
+[1.4.0]: https://github.com/NVIDIA/warp/releases/tag/v1.4.0
 [1.3.3]: https://github.com/NVIDIA/warp/releases/tag/v1.3.3
 [1.3.2]: https://github.com/NVIDIA/warp/releases/tag/v1.3.2
 [1.3.1]: https://github.com/NVIDIA/warp/releases/tag/v1.3.1

README.md

@@ -45,9 +45,9 @@ the `pip install` command, e.g.
 
 | Platform        | Install Command                                                                                                               |
 | --------------- | ----------------------------------------------------------------------------------------------------------------------------- |
-| Linux aarch64   | `pip install https://github.com/NVIDIA/warp/releases/download/v1.3.3/warp_lang-1.3.3+cu11-py3-none-manylinux2014_aarch64.whl` |
-| Linux x86-64    | `pip install https://github.com/NVIDIA/warp/releases/download/v1.3.3/warp_lang-1.3.3+cu11-py3-none-manylinux2014_x86_64.whl`  |
-| Windows x86-64  | `pip install https://github.com/NVIDIA/warp/releases/download/v1.3.3/warp_lang-1.3.3+cu11-py3-none-win_amd64.whl`             |
+| Linux aarch64   | `pip install https://github.com/NVIDIA/warp/releases/download/v1.4.0/warp_lang-1.4.0+cu11-py3-none-manylinux2014_aarch64.whl` |
+| Linux x86-64    | `pip install https://github.com/NVIDIA/warp/releases/download/v1.4.0/warp_lang-1.4.0+cu11-py3-none-manylinux2014_x86_64.whl`  |
+| Windows x86-64  | `pip install https://github.com/NVIDIA/warp/releases/download/v1.4.0/warp_lang-1.4.0+cu11-py3-none-win_amd64.whl`             |
 
 The `--force-reinstall` option may need to be used to overwrite a previous installation.
 

VERSION.md

@@ -1 +1 @@
-1.3.3
+1.4.0

docs/installation.rst

@@ -25,11 +25,11 @@ the ``pip install`` command, e.g.
    * - Platform
      - Install Command
    * - Linux aarch64
-     - ``pip install https://github.com/NVIDIA/warp/releases/download/v1.3.3/warp_lang-1.3.3+cu11-py3-none-manylinux2014_aarch64.whl``
+     - ``pip install https://github.com/NVIDIA/warp/releases/download/v1.4.0/warp_lang-1.4.0+cu11-py3-none-manylinux2014_aarch64.whl``
    * - Linux x86-64
-     - ``pip install https://github.com/NVIDIA/warp/releases/download/v1.3.3/warp_lang-1.3.3+cu11-py3-none-manylinux2014_x86_64.whl``
+     - ``pip install https://github.com/NVIDIA/warp/releases/download/v1.4.0/warp_lang-1.4.0+cu11-py3-none-manylinux2014_x86_64.whl``
    * - Windows x86-64
-     - ``pip install https://github.com/NVIDIA/warp/releases/download/v1.3.3/warp_lang-1.3.3+cu11-py3-none-win_amd64.whl``
+     - ``pip install https://github.com/NVIDIA/warp/releases/download/v1.4.0/warp_lang-1.4.0+cu11-py3-none-win_amd64.whl``
 
 The ``--force-reinstall`` option may need to be used to overwrite a previous installation.
 

exts/omni.warp.core/config/extension.toml

@@ -1,6 +1,6 @@
 [package]
 # Semantic Versioning is used: https://semver.org/
-version = "1.3.3"
+version = "1.4.0"
 authors = ["NVIDIA"]
 title = "Warp Core"
 description="The core Warp Python module"

exts/omni.warp.core/docs/CHANGELOG.md

@@ -1,5 +1,78 @@
 # CHANGELOG
 
+## [1.4.0] - 2024-10-01
+
+### Added
+
+- Support for a new `wp.static(expr)` function that allows arbitrary Python expressions to be evaluated at the time of
+  function/kernel definition ([docs](https://nvidia.github.io/warp/codegen.html#static-expressions)).
+- Support for stream priorities to hint to the device that it should process pending work
+  in high-priority streams over pending work in low-priority streams when possible
+  ([docs](https://nvidia.github.io/warp/modules/concurrency.html#stream-priorities)).
+- Adaptive sparse grid geometry to `warp.fem` ([docs](https://nvidia.github.io/warp/modules/fem.html#adaptivity)).
+- Support for defining `wp.kernel` and `wp.func` objects from within closures.
+- Support for defining multiple versions of kernels, functions, and structs without manually assigning unique keys.
+- Support for default argument values for user functions decorated with `wp.func`.
+- Allow passing custom launch dimensions to `jax_kernel()` ([GH-310](https://github.com/NVIDIA/warp/pull/310)).
+- JAX interoperability examples for sharding and matrix multiplication ([docs](https://nvidia.github.io/warp/modules/interoperability.html#using-shardmap-for-distributed-computation)).
+- Interoperability support for the PaddlePaddle ML framework ([GH-318](https://github.com/NVIDIA/warp/pull/318)).
+- Support `wp.mod()` for vector types ([GH-282](https://github.com/NVIDIA/warp/issues/282)).
+- Expose the modulo operator `%` to Python's runtime scalar and vector types.
+- Support for fp64 `atomic_add`, `atomic_max`, and `atomic_min` ([GH-284](https://github.com/NVIDIA/warp/issues/284)).
+- Support for quaternion indexing (e.g. `q.w`).
+- Support shadowing builtin functions ([GH-308](https://github.com/NVIDIA/warp/issues/308)).
+- Support for redefining function overloads.
+- Add an ocean sample to the `omni.warp` extension.
+- Support for a new `wp.static(expr)` function that allows arbitrary Python expressions to be evaluated at the time of
+  function/kernel definition ([docs](https://nvidia.github.io/warp/codegen.html#static-expressions)).
+- Add a contributing guide to the Sphinx docs.
+- Add documentation for dynamic code generation.
+- Support for a new `wp.static(expr)` function that allows arbitrary Python expressions to be evaluated at the time of function/kernel definition ([docs](https://nvidia.github.io/warp/codegen.html#static-expressions)).
+- `warp.sim.VBDIntegrator` now supports body-particle collision.
+- Add a [contributing guide](https://nvidia.github.io/warp/modules/contribution_guide.html) to the Sphinx docs .
+- Add documentation for dynamic code generation ([docs](https://nvidia.github.io/warp/codegen.html#dynamic-kernel-creation)).
+
+### Changed
+
+- `wp.sim.Model.edge_indices` now includes boundary edges.
+- Unexposed `wp.rand*()`, `wp.sample*()`, and `wp.poisson()` from the Python scope.
+- Skip unused functions in module code generation, improving performance.
+- Avoid reloading modules if their content does not change, improving performance.
+- `wp.Mesh.points` is now a property instead of a raw data member, its reference can be changed after the mesh is initialized.
+- Improve error message when invalid objects are referenced in a Warp kernel.
+- `if`/`else`/`elif` statements with constant conditions are resolved at compile time with no branches being inserted in the generated code.
+- Include all non-hidden builtins in the stub file.
+- Improve accuracy of symmetric eigenvalues routine in `warp.fem`.
+
+### Fixed
+
+- Fix for `wp.func` erroring out when defining a `Tuple` as a return type hint ([GH-302](https://github.com/NVIDIA/warp/issues/302)).
+- Fix array in-place op (`+=`, `-=`) adjoints to compute gradients correctly in the backwards pass
+- Fix vector, matrix in-place assignment adjoints to compute gradients correctly in the backwards pass, e.g.: `v[1] = x`
+- Fix a bug in which Python docstrings would be created as local function variables in generated code.
+- Fix a bug with autograd array access validation in functions from different modules.
+- Fix a rare crash during error reporting on some systems due to glibc mismatches.
+- Handle `--num_tiles 1` in `example_render_opengl.py` ([GH-306](https://github.com/NVIDIA/warp/issues/306)).
+- Fix the computation of body contact forces in `FeatherstoneIntegrator` when bodies and particles collide.
+- Fix bug in `FeatherstoneIntegrator` where `eval_rigid_jacobian` could give incorrect results or reach an infinite
+  loop when the body and joint indices were not in the same order. Added `Model.joint_ancestor` to fix the indexing
+  from a joint to its parent joint in the articulation.
+- Fix wrong vertex index passed to `add_edges()` called from `ModelBuilder.add_cloth_mesh()` ([GH-319](https://github.com/NVIDIA/warp/issues/319)).
+- Add a workaround for uninitialized memory read warning in the `compute-sanitizer` initcheck tool when using `wp.Mesh`.
+- Fix name clashes when Warp functions and structs are returned from Python functions multiple times.
+- Fix name clashes between Warp functions and structs defined in different modules.
+- Fix code generation errors when overloading generic kernels defined in a Python function.
+- Fix issues with unrelated functions being treated as overloads (e.g., closures).
+- Fix handling of `stream` argument in `array.__dlpack__()`.
+- Fix a bug related to reloading CPU modules.
+- Fix a crash when kernel functions are not found in CPU modules.
+- Fix conditions not being evaluated as expected in `while` statements.
+- Fix printing Boolean and 8-bit integer values.
+- Fix array interface type strings used for Boolean and 8-bit integer values.
+- Fix initialization error when setting struct members.
+- Fix Warp not being initialized upon entering a `wp.Tape` context.
+- Use `kDLBool` instead of `kDLUInt` for DLPack interop of Booleans.
+
 ## [1.3.3] - 2024-09-04
 
 - Bug fixes

exts/omni.warp/config/extension.toml

@@ -1,6 +1,6 @@
 [package]
 # Semantic Versioning is used: https://semver.org/
-version = "1.3.3"
+version = "1.4.0"
 authors = ["NVIDIA"]
 title = "Warp"
 description="Warp OmniGraph Nodes and Sample Scenes"
@@ -35,7 +35,7 @@ exclude = ["Ogn*Database.py", "*/ogn*"]
 "omni.timeline" = {}
 "omni.ui" = {optional = true}
 "omni.usd" = {}
-"omni.warp.core" = {version = "1.3.3", exact = true}
+"omni.warp.core" = {version = "1.4.0", exact = true}
 
 [[python.module]]
 name = "omni.warp._extension"

exts/omni.warp/docs/CHANGELOG.md

@@ -1,5 +1,78 @@
 # CHANGELOG
 
+## [1.4.0] - 2024-10-01
+
+### Added
+
+- Support for a new `wp.static(expr)` function that allows arbitrary Python expressions to be evaluated at the time of
+  function/kernel definition ([docs](https://nvidia.github.io/warp/codegen.html#static-expressions)).
+- Support for stream priorities to hint to the device that it should process pending work
+  in high-priority streams over pending work in low-priority streams when possible
+  ([docs](https://nvidia.github.io/warp/modules/concurrency.html#stream-priorities)).
+- Adaptive sparse grid geometry to `warp.fem` ([docs](https://nvidia.github.io/warp/modules/fem.html#adaptivity)).
+- Support for defining `wp.kernel` and `wp.func` objects from within closures.
+- Support for defining multiple versions of kernels, functions, and structs without manually assigning unique keys.
+- Support for default argument values for user functions decorated with `wp.func`.
+- Allow passing custom launch dimensions to `jax_kernel()` ([GH-310](https://github.com/NVIDIA/warp/pull/310)).
+- JAX interoperability examples for sharding and matrix multiplication ([docs](https://nvidia.github.io/warp/modules/interoperability.html#using-shardmap-for-distributed-computation)).
+- Interoperability support for the PaddlePaddle ML framework ([GH-318](https://github.com/NVIDIA/warp/pull/318)).
+- Support `wp.mod()` for vector types ([GH-282](https://github.com/NVIDIA/warp/issues/282)).
+- Expose the modulo operator `%` to Python's runtime scalar and vector types.
+- Support for fp64 `atomic_add`, `atomic_max`, and `atomic_min` ([GH-284](https://github.com/NVIDIA/warp/issues/284)).
+- Support for quaternion indexing (e.g. `q.w`).
+- Support shadowing builtin functions ([GH-308](https://github.com/NVIDIA/warp/issues/308)).
+- Support for redefining function overloads.
+- Add an ocean sample to the `omni.warp` extension.
+- Support for a new `wp.static(expr)` function that allows arbitrary Python expressions to be evaluated at the time of
+  function/kernel definition ([docs](https://nvidia.github.io/warp/codegen.html#static-expressions)).
+- Add a contributing guide to the Sphinx docs.
+- Add documentation for dynamic code generation.
+- Support for a new `wp.static(expr)` function that allows arbitrary Python expressions to be evaluated at the time of function/kernel definition ([docs](https://nvidia.github.io/warp/codegen.html#static-expressions)).
+- `warp.sim.VBDIntegrator` now supports body-particle collision.
+- Add a [contributing guide](https://nvidia.github.io/warp/modules/contribution_guide.html) to the Sphinx docs .
+- Add documentation for dynamic code generation ([docs](https://nvidia.github.io/warp/codegen.html#dynamic-kernel-creation)).
+
+### Changed
+
+- `wp.sim.Model.edge_indices` now includes boundary edges.
+- Unexposed `wp.rand*()`, `wp.sample*()`, and `wp.poisson()` from the Python scope.
+- Skip unused functions in module code generation, improving performance.
+- Avoid reloading modules if their content does not change, improving performance.
+- `wp.Mesh.points` is now a property instead of a raw data member, its reference can be changed after the mesh is initialized.
+- Improve error message when invalid objects are referenced in a Warp kernel.
+- `if`/`else`/`elif` statements with constant conditions are resolved at compile time with no branches being inserted in the generated code.
+- Include all non-hidden builtins in the stub file.
+- Improve accuracy of symmetric eigenvalues routine in `warp.fem`.
+
+### Fixed
+
+- Fix for `wp.func` erroring out when defining a `Tuple` as a return type hint ([GH-302](https://github.com/NVIDIA/warp/issues/302)).
+- Fix array in-place op (`+=`, `-=`) adjoints to compute gradients correctly in the backwards pass
+- Fix vector, matrix in-place assignment adjoints to compute gradients correctly in the backwards pass, e.g.: `v[1] = x`
+- Fix a bug in which Python docstrings would be created as local function variables in generated code.
+- Fix a bug with autograd array access validation in functions from different modules.
+- Fix a rare crash during error reporting on some systems due to glibc mismatches.
+- Handle `--num_tiles 1` in `example_render_opengl.py` ([GH-306](https://github.com/NVIDIA/warp/issues/306)).
+- Fix the computation of body contact forces in `FeatherstoneIntegrator` when bodies and particles collide.
+- Fix bug in `FeatherstoneIntegrator` where `eval_rigid_jacobian` could give incorrect results or reach an infinite
+  loop when the body and joint indices were not in the same order. Added `Model.joint_ancestor` to fix the indexing
+  from a joint to its parent joint in the articulation.
+- Fix wrong vertex index passed to `add_edges()` called from `ModelBuilder.add_cloth_mesh()` ([GH-319](https://github.com/NVIDIA/warp/issues/319)).
+- Add a workaround for uninitialized memory read warning in the `compute-sanitizer` initcheck tool when using `wp.Mesh`.
+- Fix name clashes when Warp functions and structs are returned from Python functions multiple times.
+- Fix name clashes between Warp functions and structs defined in different modules.
+- Fix code generation errors when overloading generic kernels defined in a Python function.
+- Fix issues with unrelated functions being treated as overloads (e.g., closures).
+- Fix handling of `stream` argument in `array.__dlpack__()`.
+- Fix a bug related to reloading CPU modules.
+- Fix a crash when kernel functions are not found in CPU modules.
+- Fix conditions not being evaluated as expected in `while` statements.
+- Fix printing Boolean and 8-bit integer values.
+- Fix array interface type strings used for Boolean and 8-bit integer values.
+- Fix initialization error when setting struct members.
+- Fix Warp not being initialized upon entering a `wp.Tape` context.
+- Use `kDLBool` instead of `kDLUInt` for DLPack interop of Booleans.
+
 ## [1.3.3] - 2024-09-04
 
 - Bug fixes

warp/config.py

@@ -7,7 +7,7 @@
 
 from typing import Optional
 
-version: str = "1.3.3"
+version: str = "1.4.0"
 """Warp version string"""
 
 verify_fp: bool = False