v1.5.0

Changelog

[1.5.0] - 2024-12-02

Added

• Support for cooperative tile-based primitives using cuBLASDx and cuFFTDx, please see the tile
  documentation for details.
• Expose a reversed() built-in for iterators (GH-311).
• Support for saving Volumes into .nvdb files with the save_to_nvdb method.
• warp.fem: Add wp.fem.Trimesh3D and wp.fem.Quadmesh3D geometry types for 3D surfaces with new example_distortion_energy example.
• warp.fem: Add "add" option to wp.fem.integrate() for accumulating integration result to existing output.
• warp.fem: Add "assembly" option to wp.fem.integrate() for selecting between more memory-efficient or more
  computationally efficient integration algorithms.
• warp.fem: Add Nédélec (first kind) and Raviart-Thomas vector-valued function spaces
  providing conforming discretization of curl and div operators, respectively.
• warp.sim: Add a graph coloring module that supports converting trimesh into a vertex graph and applying coloring.
  The wp.sim.ModelBuilder now includes methods to color particles for use with wp.sim.VBDIntegrator(),
  users should call builder.color() before finalizing assets.
• warp.sim: Add support for a per-particle radius for soft-body triangle contact using the wp.sim.Model.particle_radius
  array (docs), replacing the previous
  hard-coded value of 0.01 (GH-329).
• Add a particle_radius parameter to wp.sim.ModelBuilder.add_cloth_mesh() and wp.sim.ModelBuilder.add_cloth_grid()
  to set a uniform radius for the added particles.
• Document wp.array attributes (GH-364).
• Document time-to-compile tradeoffs when using vector component assignment statements in kernels.
• Add introductory Jupyter notebooks to the notebooks directory.

Changed

• Drop support for Python 3.7; Python 3.8 is now the minimum-supported version.
• Promote the wp.Int, wp.Float, and wp.Scalar generic annotation types to the public API.
• warp.fem: Simplify querying neighboring cell quantities when integrating on sides using new
  wp.fem.cells(), wp.fem.to_inner_cell(), wp.fem.to_outer_cell() operators.
• Show an error message when the type returned by a function differs from its annotation, which would have led to the compilation stage failing.
• Clarify that wp.randn() samples a normal distribution of mean 0 and variance 1.
• Raise error when passing more than 32 variadic argument to the wp.printf() built-in.

Fixed

• Fix place setting of paddle backend.
• warp.fem: Fix tri-cubic shape functions on quadrilateral meshes.
• warp.fem: Fix caching of integrand kernels when changing code-generation options.
• Fix wp.expect_neq() overloads missing for scalar types.
• Fix an error when a wp.kernel or a wp.func object is annotated to return a None value.
• Fix error when reading multi-volume, BLOSC-compressed .nvdb files.
• Fix wp.printf() erroring out when no variadic arguments are passed (GH-333).
• Fix memory access issues in soft-rigid contact collisions (GH-362).
• Fix gradient propagation for in-place addition/subtraction operations on custom vector-type arrays.
• Fix the OpenGL renderer's window not closing when clicking the X button.
• Fix the OpenGL renderer's camera snapping to a different direction from the initial camera's orientation when first looking around.
• Fix custom colors being ignored when rendering meshes in OpenGL (GH-343).
• Fix topology updates not being supported by the the OpenGL renderer.