diff --git a/CHANGELOG.md b/CHANGELOG.md index d6cdd8762..32720f653 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,5 +1,29 @@ # CHANGELOG +## [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 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 ouput USD at 60 timecodes per-second (better Kit compatability) + + ## [0.2.3] - 2022-06-13 - Fix for incorrect 4d array bounds checking diff --git a/VERSION.md b/VERSION.md index 717903969..0d91a54c7 100644 --- a/VERSION.md +++ b/VERSION.md @@ -1 +1 @@ -0.2.3 +0.3.0 diff --git a/docs/_build/html/_sources/modules/functions.rst.txt b/docs/_build/html/_sources/modules/functions.rst.txt index 8234adf96..96270cae8 100644 --- a/docs/_build/html/_sources/modules/functions.rst.txt +++ b/docs/_build/html/_sources/modules/functions.rst.txt @@ -16,6 +16,7 @@ Scalar Types .. autoclass:: uint32 .. autoclass:: int64 .. autoclass:: uint64 +.. autoclass:: float16 .. autoclass:: float32 .. autoclass:: float64 Vector Types @@ -154,6 +155,16 @@ Scalar Math Return the natural log (base-e) of x, where x is positive. +.. function:: log2(x: float32) -> float + + Return the natural log (base-2) of x, where x is positive. + + +.. function:: log10(x: float32) -> float + + Return the natural log (base-10) of x, where x is positive. + + .. function:: exp(x: float32) -> float Return base-e exponential, e^x. @@ -733,6 +744,36 @@ Utility Atomically subtract ``value`` onto the array at location given by indices. +.. function:: index(a: vec2, i: int32) -> float + + +.. function:: index(a: vec3, i: int32) -> float + + +.. function:: index(a: vec4, i: int32) -> float + + +.. function:: index(a: quat, i: int32) -> float + + +.. function:: index(a: mat22, i: int32) -> vec2 + + +.. function:: index(a: mat22, i: int32, j: int32) -> float + + +.. function:: index(a: mat33, i: int32) -> vec3 + + +.. function:: index(a: mat33, i: int32, j: int32) -> float + + +.. function:: index(a: mat44, i: int32) -> vec4 + + +.. function:: index(a: mat44, i: int32, j: int32) -> float + + .. function:: expect_eq(arg1: int8, arg2: int8) -> None Prints an error to stdout if arg1 and arg2 are not equal @@ -773,6 +814,11 @@ Utility Prints an error to stdout if arg1 and arg2 are not equal +.. function:: expect_eq(arg1: float16, arg2: float16) -> None + + Prints an error to stdout if arg1 and arg2 are not equal + + .. function:: expect_eq(arg1: float32, arg2: float32) -> None Prints an error to stdout if arg1 and arg2 are not equal @@ -833,6 +879,11 @@ Utility Prints an error to stdout if arg1 and arg2 are not equal +.. function:: lerp(a: float16, b: float16, t: float32) -> float16 + + Linearly interpolate two values a and b using factor t, computed as ``a*(1-t) + b*t`` + + .. function:: lerp(a: float32, b: float32, t: float32) -> float32 Linearly interpolate two values a and b using factor t, computed as ``a*(1-t) + b*t`` @@ -1240,6 +1291,15 @@ Operators .. function:: mul(x: float32, y: quat) -> quat +.. function:: mul(x: float32, y: mat22) -> mat22 + + +.. function:: mul(x: float32, y: mat33) -> mat33 + + +.. function:: mul(x: float32, y: mat44) -> mat44 + + .. function:: mul(x: vec2, y: float32) -> vec2 diff --git a/docs/_build/html/genindex.html b/docs/_build/html/genindex.html index 4e7723421..1c0193f63 100644 --- a/docs/_build/html/genindex.html +++ b/docs/_build/html/genindex.html @@ -69,7 +69,7 @@
- 0.2.3 + 0.3.0
@@ -197,7 +197,7 @@

A

  • acos() (in module warp)
    • -
  • add() (in module warp), [1], [2], [3], [4], [5], [6], [7], [8], [9], [10] +
  • add() (in module warp), [1], [2], [3], [4], [5], [6], [7], [8], [9], [10]
  • array (class in warp)
    • @@ -249,7 +249,7 @@

    C

  • cross() (in module warp)
    • -
  • curlnoise() (in module warp), [1], [2] +
  • curlnoise() (in module warp), [1], [2]
  • cw_div() (in module warp), [1], [2]
    • @@ -273,7 +273,7 @@

    D

    -
  • int16 (class in warp) +
  • index() (in module warp), [1], [2], [3], [4], [5], [6], [7], [8], [9]
    • -
  • int32 (class in warp) +
  • int16 (class in warp)
    • @@ -419,9 +427,9 @@

    M

  • mlp() (in module warp)
    • -
  • mod() (in module warp), [1] +
  • mod() (in module warp), [1]
    • -
  • mul() (in module warp), [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11], [12], [13], [14], [15], [16], [17], [18], [19], [20], [21], [22], [23] +
  • mul() (in module warp), [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11], [12], [13], [14], [15], [16], [17], [18], [19], [20], [21], [22], [23], [24], [25], [26]
    • @@ -429,9 +437,9 @@

    M

    N

      @@ -453,7 +461,7 @@

      O

      P

        -
      • pnoise() (in module warp), [1], [2], [3] +
      • pnoise() (in module warp), [1], [2], [3]
      • pow() (in module warp)
        • @@ -497,11 +505,11 @@

        Q

        R

          @@ -559,7 +567,7 @@

          S

        • step() (in module warp)
          • -
        • sub() (in module warp), [1], [2], [3], [4], [5], [6], [7], [8], [9] +
        • sub() (in module warp), [1], [2], [3], [4], [5], [6], [7], [8], [9]
        • svd3() (in module warp)
          • diff --git a/docs/_build/html/index.html b/docs/_build/html/index.html index f61cad043..86355afa1 100644 --- a/docs/_build/html/index.html +++ b/docs/_build/html/index.html @@ -70,7 +70,7 @@
          - 0.2.3 + 0.3.0
          diff --git a/docs/_build/html/modules/functions.html b/docs/_build/html/modules/functions.html index d34b71b25..73d1a7133 100644 --- a/docs/_build/html/modules/functions.html +++ b/docs/_build/html/modules/functions.html @@ -70,7 +70,7 @@
          - 0.2.3 + 0.3.0
          @@ -225,6 +225,11 @@

          Scalar Typesclass warp.uint64(x=0)
          +
          +
          +class warp.float16(x=0.0)
          +
          +
          class warp.float32(x=0.0)
          @@ -435,6 +440,18 @@

          Scalar Math +
          +warp.log2(x: float32) → float
          +

          Return the natural log (base-2) of x, where x is positive.

          +

          + +
          +
          +warp.log10(x: float32) → float
          +

          Return the natural log (base-10) of x, where x is positive.

          +
          +
          warp.exp(x: float32) → float
          @@ -1125,6 +1142,56 @@

          Utilityvalue onto the array at location given by indices.

          +
          +
          +warp.index(a: vec2, i: int32) → float
          +
          + +
          +
          +warp.index(a: vec3, i: int32) → float
          +
          + +
          +
          +warp.index(a: vec4, i: int32) → float
          +
          + +
          +
          +warp.index(a: quat, i: int32) → float
          +
          + +
          +
          +warp.index(a: mat22, i: int32) → vec2
          +
          + +
          +
          +warp.index(a: mat22, i: int32, j: int32) → float
          +
          + +
          +
          +warp.index(a: mat33, i: int32) → vec3
          +
          + +
          +
          +warp.index(a: mat33, i: int32, j: int32) → float
          +
          + +
          +
          +warp.index(a: mat44, i: int32) → vec4
          +
          + +
          +
          +warp.index(a: mat44, i: int32, j: int32) → float
          +
          +
          warp.expect_eq(arg1: int8, arg2: int8) → None
          @@ -1132,188 +1199,200 @@

          Utility -
          -warp.expect_eq(arg1: uint8, arg2: uint8) → None
          +
          +warp.expect_eq(arg1: uint8, arg2: uint8) → None

          Prints an error to stdout if arg1 and arg2 are not equal

          -
          -warp.expect_eq(arg1: int16, arg2: int16) → None
          +
          +warp.expect_eq(arg1: int16, arg2: int16) → None

          Prints an error to stdout if arg1 and arg2 are not equal

          -
          -warp.expect_eq(arg1: uint16, arg2: uint16) → None
          +
          +warp.expect_eq(arg1: uint16, arg2: uint16) → None

          Prints an error to stdout if arg1 and arg2 are not equal

          -
          -warp.expect_eq(arg1: int32, arg2: int32) → None
          +
          +warp.expect_eq(arg1: int32, arg2: int32) → None

          Prints an error to stdout if arg1 and arg2 are not equal

          -
          -warp.expect_eq(arg1: uint32, arg2: uint32) → None
          +
          +warp.expect_eq(arg1: uint32, arg2: uint32) → None

          Prints an error to stdout if arg1 and arg2 are not equal

          -
          -warp.expect_eq(arg1: int64, arg2: int64) → None
          +
          +warp.expect_eq(arg1: int64, arg2: int64) → None

          Prints an error to stdout if arg1 and arg2 are not equal

          -
          -warp.expect_eq(arg1: uint64, arg2: uint64) → None
          +
          +warp.expect_eq(arg1: uint64, arg2: uint64) → None

          Prints an error to stdout if arg1 and arg2 are not equal

          -
          -warp.expect_eq(arg1: float32, arg2: float32) → None
          +
          +warp.expect_eq(arg1: float16, arg2: float16) → None

          Prints an error to stdout if arg1 and arg2 are not equal

          -
          -warp.expect_eq(arg1: float64, arg2: float64) → None
          +
          +warp.expect_eq(arg1: float32, arg2: float32) → None

          Prints an error to stdout if arg1 and arg2 are not equal

          -
          -warp.expect_eq(arg1: vec2, arg2: vec2) → None
          +
          +warp.expect_eq(arg1: float64, arg2: float64) → None

          Prints an error to stdout if arg1 and arg2 are not equal

          -
          -warp.expect_eq(arg1: vec3, arg2: vec3) → None
          +
          +warp.expect_eq(arg1: vec2, arg2: vec2) → None

          Prints an error to stdout if arg1 and arg2 are not equal

          -
          -warp.expect_eq(arg1: vec4, arg2: vec4) → None
          +
          +warp.expect_eq(arg1: vec3, arg2: vec3) → None

          Prints an error to stdout if arg1 and arg2 are not equal

          -
          -warp.expect_eq(arg1: mat22, arg2: mat22) → None
          +
          +warp.expect_eq(arg1: vec4, arg2: vec4) → None

          Prints an error to stdout if arg1 and arg2 are not equal

          -
          -warp.expect_eq(arg1: mat33, arg2: mat33) → None
          +
          +warp.expect_eq(arg1: mat22, arg2: mat22) → None

          Prints an error to stdout if arg1 and arg2 are not equal

          -
          -warp.expect_eq(arg1: mat44, arg2: mat44) → None
          +
          +warp.expect_eq(arg1: mat33, arg2: mat33) → None

          Prints an error to stdout if arg1 and arg2 are not equal

          -
          -warp.expect_eq(arg1: quat, arg2: quat) → None
          +
          +warp.expect_eq(arg1: mat44, arg2: mat44) → None

          Prints an error to stdout if arg1 and arg2 are not equal

          -
          -warp.expect_eq(arg1: transform, arg2: transform) → None
          +
          +warp.expect_eq(arg1: quat, arg2: quat) → None

          Prints an error to stdout if arg1 and arg2 are not equal

          -
          -warp.expect_eq(arg1: spatial_vector, arg2: spatial_vector) → None
          +
          +warp.expect_eq(arg1: transform, arg2: transform) → None

          Prints an error to stdout if arg1 and arg2 are not equal

          -
          -warp.expect_eq(arg1: spatial_matrix, arg2: spatial_matrix) → None
          +
          +warp.expect_eq(arg1: spatial_vector, arg2: spatial_vector) → None
          +

          Prints an error to stdout if arg1 and arg2 are not equal

          +
          + +
          +
          +warp.expect_eq(arg1: spatial_matrix, arg2: spatial_matrix) → None

          Prints an error to stdout if arg1 and arg2 are not equal

          -warp.lerp(a: float32, b: float32, t: float32) → float32
          +warp.lerp(a: float16, b: float16, t: float32) → float16

          Linearly interpolate two values a and b using factor t, computed as a*(1-t) + b*t

          -
          -warp.lerp(a: float64, b: float64, t: float32) → float64
          +
          +warp.lerp(a: float32, b: float32, t: float32) → float32

          Linearly interpolate two values a and b using factor t, computed as a*(1-t) + b*t

          -
          -warp.lerp(a: vec2, b: vec2, t: float32) → vec2
          +
          +warp.lerp(a: float64, b: float64, t: float32) → float64

          Linearly interpolate two values a and b using factor t, computed as a*(1-t) + b*t

          -
          -warp.lerp(a: vec3, b: vec3, t: float32) → vec3
          +
          +warp.lerp(a: vec2, b: vec2, t: float32) → vec2

          Linearly interpolate two values a and b using factor t, computed as a*(1-t) + b*t

          -
          -warp.lerp(a: vec4, b: vec4, t: float32) → vec4
          +
          +warp.lerp(a: vec3, b: vec3, t: float32) → vec3

          Linearly interpolate two values a and b using factor t, computed as a*(1-t) + b*t

          -
          -warp.lerp(a: mat22, b: mat22, t: float32) → mat22
          +
          +warp.lerp(a: vec4, b: vec4, t: float32) → vec4

          Linearly interpolate two values a and b using factor t, computed as a*(1-t) + b*t

          -
          -warp.lerp(a: mat33, b: mat33, t: float32) → mat33
          +
          +warp.lerp(a: mat22, b: mat22, t: float32) → mat22

          Linearly interpolate two values a and b using factor t, computed as a*(1-t) + b*t

          -
          -warp.lerp(a: mat44, b: mat44, t: float32) → mat44
          +
          +warp.lerp(a: mat33, b: mat33, t: float32) → mat33

          Linearly interpolate two values a and b using factor t, computed as a*(1-t) + b*t

          -
          -warp.lerp(a: quat, b: quat, t: float32) → quat
          +
          +warp.lerp(a: mat44, b: mat44, t: float32) → mat44

          Linearly interpolate two values a and b using factor t, computed as a*(1-t) + b*t

          -
          -warp.lerp(a: transform, b: transform, t: float32) → transform
          +
          +warp.lerp(a: quat, b: quat, t: float32) → quat

          Linearly interpolate two values a and b using factor t, computed as a*(1-t) + b*t

          -
          -warp.lerp(a: spatial_vector, b: spatial_vector, t: float32) → spatial_vector
          +
          +warp.lerp(a: transform, b: transform, t: float32) → transform

          Linearly interpolate two values a and b using factor t, computed as a*(1-t) + b*t

          -
          -warp.lerp(a: spatial_matrix, b: spatial_matrix, t: float32) → spatial_matrix
          +
          +warp.lerp(a: spatial_vector, b: spatial_vector, t: float32) → spatial_vector
          +

          Linearly interpolate two values a and b using factor t, computed as a*(1-t) + b*t

          +
          + +
          +
          +warp.lerp(a: spatial_matrix, b: spatial_matrix, t: float32) → spatial_matrix

          Linearly interpolate two values a and b using factor t, computed as a*(1-t) + b*t

          @@ -1324,8 +1403,8 @@

          Utility -
          -warp.expect_near(arg1: vec3, arg2: vec3, tolerance: float32) → None
          +
          +warp.expect_near(arg1: vec3, arg2: vec3, tolerance: float32) → None

          Prints an error to stdout if any element of arg1 and arg2 are not closer than tolerance in magnitude

          @@ -1532,8 +1611,8 @@

          Random -
          -warp.rand_init(seed: int32, offset: int32) → uint32
          +
          +warp.rand_init(seed: int32, offset: int32) → uint32

          Initialize a new random number generator given a user-defined seed and an offset. This alternative constructor can be useful in parallel programs, where a kernel as a whole should share a seed, but each thread should generate uncorrelated values. In this case usage should be r = rand_init(seed, tid)

          @@ -1546,8 +1625,8 @@

          Random -
          -warp.randi(state: uint32, min: int32, max: int32) → int
          +
          +warp.randi(state: uint32, min: int32, max: int32) → int

          Return a random integer between [min, max)

          @@ -1558,8 +1637,8 @@

          Random -
          -warp.randf(state: uint32, min: float32, max: float32) → float
          +
          +warp.randf(state: uint32, min: float32, max: float32) → float

          Return a random float between [min, max)

          @@ -1576,20 +1655,20 @@

          Random -
          -warp.noise(state: uint32, xy: vec2) → float
          +
          +warp.noise(state: uint32, xy: vec2) → float

          Non-periodic Perlin-style noise in 2d.

          -
          -warp.noise(state: uint32, xyz: vec3) → float
          +
          +warp.noise(state: uint32, xyz: vec3) → float

          Non-periodic Perlin-style noise in 3d.

          -
          -warp.noise(state: uint32, xyzt: vec4) → float
          +
          +warp.noise(state: uint32, xyzt: vec4) → float

          Non-periodic Perlin-style noise in 4d.

          @@ -1600,20 +1679,20 @@

          Random -
          -warp.pnoise(state: uint32, xy: vec2, px: int32, py: int32) → float
          +
          +warp.pnoise(state: uint32, xy: vec2, px: int32, py: int32) → float

          Periodic Perlin-style noise in 2d.

          -
          -warp.pnoise(state: uint32, xyz: vec3, px: int32, py: int32, pz: int32) → float
          +
          +warp.pnoise(state: uint32, xyz: vec3, px: int32, py: int32, pz: int32) → float

          Periodic Perlin-style noise in 3d.

          -
          -warp.pnoise(state: uint32, xyzt: vec4, px: int32, py: int32, pz: int32, pt: int32) → float
          +
          +warp.pnoise(state: uint32, xyzt: vec4, px: int32, py: int32, pz: int32, pt: int32) → float

          Periodic Perlin-style noise in 4d.

          @@ -1624,14 +1703,14 @@

          Random -
          -warp.curlnoise(state: uint32, xyz: vec3) → vec3
          +
          +warp.curlnoise(state: uint32, xyz: vec3) → vec3

          Divergence-free vector field based on the curl of three Perlin noise functions.

          -
          -warp.curlnoise(state: uint32, xyzt: vec4) → vec3
          +
          +warp.curlnoise(state: uint32, xyzt: vec4) → vec3

          Divergence-free vector field based on the curl of three Perlin noise functions.

          @@ -1644,53 +1723,53 @@

          Operators -
          -warp.add(x: float32, y: float32) → float
          +
          +warp.add(x: float32, y: float32) → float
          -
          -warp.add(x: vec2, y: vec2) → vec2
          +
          +warp.add(x: vec2, y: vec2) → vec2
          -
          -warp.add(x: vec3, y: vec3) → vec3
          +
          +warp.add(x: vec3, y: vec3) → vec3
          -
          -warp.add(x: vec4, y: vec4) → vec4
          +
          +warp.add(x: vec4, y: vec4) → vec4
          -
          -warp.add(x: quat, y: quat) → quat
          +
          +warp.add(x: quat, y: quat) → quat
          -
          -warp.add(x: mat22, y: mat22) → mat22
          +
          +warp.add(x: mat22, y: mat22) → mat22
          -
          -warp.add(x: mat33, y: mat33) → mat33
          +
          +warp.add(x: mat33, y: mat33) → mat33
          -
          -warp.add(x: mat44, y: mat44) → mat44
          +
          +warp.add(x: mat44, y: mat44) → mat44
          -
          -warp.add(x: spatial_vector, y: spatial_vector) → spatial_vector
          +
          +warp.add(x: spatial_vector, y: spatial_vector) → spatial_vector
          -
          -warp.add(x: spatial_matrix, y: spatial_matrix) → spatial_matrix
          +
          +warp.add(x: spatial_matrix, y: spatial_matrix) → spatial_matrix
          @@ -1699,48 +1778,48 @@

          Operators -
          -warp.sub(x: float32, y: float32) → float
          +
          +warp.sub(x: float32, y: float32) → float

          -
          -warp.sub(x: vec2, y: vec2) → vec2
          +
          +warp.sub(x: vec2, y: vec2) → vec2
          -
          -warp.sub(x: vec3, y: vec3) → vec3
          +
          +warp.sub(x: vec3, y: vec3) → vec3
          -
          -warp.sub(x: vec4, y: vec4) → vec4
          +
          +warp.sub(x: vec4, y: vec4) → vec4
          -
          -warp.sub(x: mat22, y: mat22) → mat22
          +
          +warp.sub(x: mat22, y: mat22) → mat22
          -
          -warp.sub(x: mat33, y: mat33) → mat33
          +
          +warp.sub(x: mat33, y: mat33) → mat33
          -
          -warp.sub(x: mat44, y: mat44) → mat44
          +
          +warp.sub(x: mat44, y: mat44) → mat44
          -
          -warp.sub(x: spatial_vector, y: spatial_vector) → spatial_vector
          +
          +warp.sub(x: spatial_vector, y: spatial_vector) → spatial_vector
          -
          -warp.sub(x: spatial_matrix, y: spatial_matrix) → spatial_matrix
          +
          +warp.sub(x: spatial_matrix, y: spatial_matrix) → spatial_matrix
          @@ -1749,118 +1828,133 @@

          Operators -
          -warp.mul(x: float32, y: float32) → float
          +
          +warp.mul(x: float32, y: float32) → float

          -
          -warp.mul(x: float32, y: vec2) → vec2
          +
          +warp.mul(x: float32, y: vec2) → vec2
          -
          -warp.mul(x: float32, y: vec3) → vec3
          +
          +warp.mul(x: float32, y: vec3) → vec3
          -
          -warp.mul(x: float32, y: vec4) → vec4
          +
          +warp.mul(x: float32, y: vec4) → vec4
          -
          -warp.mul(x: float32, y: quat) → quat
          +
          +warp.mul(x: float32, y: quat) → quat
          -
          -warp.mul(x: vec2, y: float32) → vec2
          +
          +warp.mul(x: float32, y: mat22) → mat22
          -
          -warp.mul(x: vec3, y: float32) → vec3
          +
          +warp.mul(x: float32, y: mat33) → mat33
          -
          -warp.mul(x: vec4, y: float32) → vec4
          +
          +warp.mul(x: float32, y: mat44) → mat44
          -
          -warp.mul(x: quat, y: float32) → quat
          +
          +warp.mul(x: vec2, y: float32) → vec2
          -
          -warp.mul(x: quat, y: quat) → quat
          +
          +warp.mul(x: vec3, y: float32) → vec3
          -
          -warp.mul(x: mat22, y: float32) → mat22
          +
          +warp.mul(x: vec4, y: float32) → vec4
          -
          -warp.mul(x: mat22, y: vec2) → vec2
          +
          +warp.mul(x: quat, y: float32) → quat
          -
          -warp.mul(x: mat22, y: mat22) → mat22
          +
          +warp.mul(x: quat, y: quat) → quat
          -
          -warp.mul(x: mat33, y: float32) → mat33
          +
          +warp.mul(x: mat22, y: float32) → mat22
          -
          -warp.mul(x: mat33, y: vec3) → vec3
          +
          +warp.mul(x: mat22, y: vec2) → vec2
          -
          -warp.mul(x: mat33, y: mat33) → mat33
          +
          +warp.mul(x: mat22, y: mat22) → mat22
          -
          -warp.mul(x: mat44, y: float32) → mat44
          +
          +warp.mul(x: mat33, y: float32) → mat33
          -
          -warp.mul(x: mat44, y: vec4) → vec4
          +
          +warp.mul(x: mat33, y: vec3) → vec3
          -
          -warp.mul(x: mat44, y: mat44) → mat44
          +
          +warp.mul(x: mat33, y: mat33) → mat33
          -
          -warp.mul(x: spatial_vector, y: float32) → spatial_vector
          +
          +warp.mul(x: mat44, y: float32) → mat44
          -
          -warp.mul(x: spatial_matrix, y: spatial_matrix) → spatial_matrix
          +
          +warp.mul(x: mat44, y: vec4) → vec4
          -
          -warp.mul(x: spatial_matrix, y: spatial_vector) → spatial_vector
          +
          +warp.mul(x: mat44, y: mat44) → mat44
          -
          -warp.mul(x: transform, y: transform) → transform
          +
          +warp.mul(x: spatial_vector, y: float32) → spatial_vector
          +
          + +
          +
          +warp.mul(x: spatial_matrix, y: spatial_matrix) → spatial_matrix
          +
          + +
          +
          +warp.mul(x: spatial_matrix, y: spatial_vector) → spatial_vector
          +
          + +
          +
          +warp.mul(x: transform, y: transform) → transform
          @@ -1869,8 +1963,8 @@

          Operators -
          -warp.mod(x: float32, y: float32) → float
          +
          +warp.mod(x: float32, y: float32) → float

          @@ -1879,23 +1973,23 @@

          Operators -
          -warp.div(x: float32, y: float32) → float
          +
          +warp.div(x: float32, y: float32) → float

          -
          -warp.div(x: vec2, y: float32) → vec2
          +
          +warp.div(x: vec2, y: float32) → vec2
          -
          -warp.div(x: vec3, y: float32) → vec3
          +
          +warp.div(x: vec3, y: float32) → vec3
          -
          -warp.div(x: vec4, y: float32) → vec4
          +
          +warp.div(x: vec4, y: float32) → vec4
          @@ -1904,8 +1998,8 @@

          Operators -
          -warp.floordiv(x: float32, y: float32) → float
          +
          +warp.floordiv(x: float32, y: float32) → float

          @@ -1914,38 +2008,38 @@

          Operators -
          -warp.neg(x: float32) → float
          +
          +warp.neg(x: float32) → float

          -
          -warp.neg(x: vec2) → vec2
          +
          +warp.neg(x: vec2) → vec2
          -
          -warp.neg(x: vec3) → vec3
          +
          +warp.neg(x: vec3) → vec3
          -
          -warp.neg(x: vec4) → vec4
          +
          +warp.neg(x: vec4) → vec4
          -
          -warp.neg(x: quat) → quat
          +
          +warp.neg(x: quat) → quat
          -
          -warp.neg(x: mat33) → mat33
          +
          +warp.neg(x: mat33) → mat33
          -
          -warp.neg(x: mat44) → mat44
          +
          +warp.neg(x: mat44) → mat44
          diff --git a/docs/_build/html/modules/introduction.html b/docs/_build/html/modules/introduction.html index 74ea8a6e5..f90810e6d 100644 --- a/docs/_build/html/modules/introduction.html +++ b/docs/_build/html/modules/introduction.html @@ -71,7 +71,7 @@
          - 0.2.3 + 0.3.0
          diff --git a/docs/_build/html/modules/runtime.html b/docs/_build/html/modules/runtime.html index 694ad15ee..277fa1706 100644 --- a/docs/_build/html/modules/runtime.html +++ b/docs/_build/html/modules/runtime.html @@ -71,7 +71,7 @@
          - 0.2.3 + 0.3.0
          @@ -451,7 +451,7 @@

          Multi-dimensional arrays
          -class warp.array(data=None, dtype=None, shape=None, length=0, ptr=None, capacity=0, device=None, copy=True, owner=True, ndim=None, requires_grad=False)
          +class warp.array(data=None, dtype=None, shape=None, strides=None, length=0, ptr=None, capacity=0, device=None, copy=True, owner=True, ndim=None, requires_grad=False)

          Constructs a new Warp array object from existing data.

          When the data argument is a valid list, tuple, or ndarray the array will be constructed from this object’s data. For objects that are not stored sequentially in memory (e.g.: a list), then the data will first @@ -466,6 +466,7 @@

          Multi-dimensional arrayslist, tuple, ndarray]) –

        • dtype (Union) – One of the built-in types, e.g.: warp.mat33, if dtype is None and data an ndarray then it will be inferred from the array data type

        • shape (Tuple) – Dimensions of the array

          • +

        • strides (Tuple) – Number of bytes in each dimension between successive elements of the array

        • length (int) – Number of elements (rows) of the data type (deprecated, users should use shape argument)

        • ptr (uint64) – Address of an external memory address to alias (data should be None)

        • capacity (int) – Maximum size in bytes of the ptr allocation (data should be None)

          • diff --git a/docs/_build/html/objects.inv b/docs/_build/html/objects.inv index 763749083..29651712f 100644 Binary files a/docs/_build/html/objects.inv and b/docs/_build/html/objects.inv differ diff --git a/docs/_build/html/search.html b/docs/_build/html/search.html index d296b31b0..77fedace9 100644 --- a/docs/_build/html/search.html +++ b/docs/_build/html/search.html @@ -72,7 +72,7 @@
          - 0.2.3 + 0.3.0
          diff --git a/docs/_build/html/searchindex.js b/docs/_build/html/searchindex.js index 2b30afbcf..e8a6e6eda 100644 --- a/docs/_build/html/searchindex.js +++ b/docs/_build/html/searchindex.js @@ -1 +1 @@ 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Warp Documentation","Kernel Reference","Introduction","Runtime Reference"],titleterms:{"boolean":3,"function":3,arithmet:3,arrai:3,bound:3,built:2,check:3,comparison:3,compil:2,constant:3,content:0,convers:3,cuda:3,cupi:3,data:3,debug:3,detail:2,differenti:3,dimension:3,document:0,exampl:2,featur:2,geometri:1,graph:3,grid:3,hash:3,immut:2,indic:0,initi:3,instal:2,interop:3,introduct:2,jax:3,kernel:[1,3],languag:2,launch:3,math:1,memori:2,mesh:3,model:2,multi:3,numba:3,numpi:3,nvidia:0,oper:[1,3],print:3,pytorch:3,quaternion:1,random:1,refer:[1,3],runtim:3,scalar:[1,3],simul:3,spatial:1,step:3,strong:2,tabl:0,through:3,transform:1,type:[1,2,3],unsupport:2,usag:2,user:3,util:1,valu:3,vector:[1,3],verif:3,volum:[1,3],warp:0}}) \ No newline at end of file diff --git a/docs/conf.py b/docs/conf.py index d01ab9e0e..34fc0233a 100644 --- a/docs/conf.py +++ b/docs/conf.py @@ -21,7 +21,7 @@ copyright = '2022, NVIDIA' author = 'NVIDIA' -version = '0.2.3' +version = '0.3.0' # -- General configuration --------------------------------------------------- diff --git a/docs/modules/functions.rst b/docs/modules/functions.rst index 8234adf96..96270cae8 100644 --- a/docs/modules/functions.rst +++ b/docs/modules/functions.rst @@ -16,6 +16,7 @@ Scalar Types .. autoclass:: uint32 .. autoclass:: int64 .. autoclass:: uint64 +.. autoclass:: float16 .. autoclass:: float32 .. autoclass:: float64 Vector Types @@ -154,6 +155,16 @@ Scalar Math Return the natural log (base-e) of x, where x is positive. +.. function:: log2(x: float32) -> float + + Return the natural log (base-2) of x, where x is positive. + + +.. function:: log10(x: float32) -> float + + Return the natural log (base-10) of x, where x is positive. + + .. function:: exp(x: float32) -> float Return base-e exponential, e^x. @@ -733,6 +744,36 @@ Utility Atomically subtract ``value`` onto the array at location given by indices. +.. function:: index(a: vec2, i: int32) -> float + + +.. function:: index(a: vec3, i: int32) -> float + + +.. function:: index(a: vec4, i: int32) -> float + + +.. function:: index(a: quat, i: int32) -> float + + +.. function:: index(a: mat22, i: int32) -> vec2 + + +.. function:: index(a: mat22, i: int32, j: int32) -> float + + +.. function:: index(a: mat33, i: int32) -> vec3 + + +.. function:: index(a: mat33, i: int32, j: int32) -> float + + +.. function:: index(a: mat44, i: int32) -> vec4 + + +.. function:: index(a: mat44, i: int32, j: int32) -> float + + .. function:: expect_eq(arg1: int8, arg2: int8) -> None Prints an error to stdout if arg1 and arg2 are not equal @@ -773,6 +814,11 @@ Utility Prints an error to stdout if arg1 and arg2 are not equal +.. function:: expect_eq(arg1: float16, arg2: float16) -> None + + Prints an error to stdout if arg1 and arg2 are not equal + + .. function:: expect_eq(arg1: float32, arg2: float32) -> None Prints an error to stdout if arg1 and arg2 are not equal @@ -833,6 +879,11 @@ Utility Prints an error to stdout if arg1 and arg2 are not equal +.. function:: lerp(a: float16, b: float16, t: float32) -> float16 + + Linearly interpolate two values a and b using factor t, computed as ``a*(1-t) + b*t`` + + .. function:: lerp(a: float32, b: float32, t: float32) -> float32 Linearly interpolate two values a and b using factor t, computed as ``a*(1-t) + b*t`` @@ -1240,6 +1291,15 @@ Operators .. function:: mul(x: float32, y: quat) -> quat +.. function:: mul(x: float32, y: mat22) -> mat22 + + +.. function:: mul(x: float32, y: mat33) -> mat33 + + +.. function:: mul(x: float32, y: mat44) -> mat44 + + .. function:: mul(x: vec2, y: float32) -> vec2 diff --git a/exts/omni.warp/config/extension.toml b/exts/omni.warp/config/extension.toml index 2fb0a18b1..bd5caa61f 100644 --- a/exts/omni.warp/config/extension.toml +++ b/exts/omni.warp/config/extension.toml @@ -1,7 +1,7 @@ [package] # Semantic Versioning is used: https://semver.org/ -version = "0.2.3" +version = "0.3.0" authors = ["Miles Macklin"] title = "Warp" description="A Python framework for high-performance simulation and graphics programming" diff --git a/exts/omni.warp/docs/CHANGELOG.md b/exts/omni.warp/docs/CHANGELOG.md index d6cdd8762..32720f653 100644 --- a/exts/omni.warp/docs/CHANGELOG.md +++ b/exts/omni.warp/docs/CHANGELOG.md @@ -1,5 +1,29 @@ # CHANGELOG +## [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 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 ouput USD at 60 timecodes per-second (better Kit compatability) + + ## [0.2.3] - 2022-06-13 - Fix for incorrect 4d array bounds checking diff --git a/setup.py b/setup.py index 5361b6d76..3e1f31db4 100644 --- a/setup.py +++ b/setup.py @@ -2,7 +2,7 @@ setuptools.setup( name="warp-lang", - version="0.2.3", + version="0.3.0", author="NVIDIA", author_email="mmacklin@nvidia.com", description="A Python framework for high-performance simulation and graphics programming", diff --git a/warp/config.py b/warp/config.py index c00c9d1e0..7a9f7e37b 100644 --- a/warp/config.py +++ b/warp/config.py @@ -7,7 +7,7 @@ import os -version = "0.2.3" +version = "0.3.0" cuda_path = None # path to local CUDA toolchain, if None at init time warp will attempt to find the SDK using CUDA_PATH env var diff --git a/warp/native/builtin.h b/warp/native/builtin.h index 8af5c8a75..e188ba7e0 100644 --- a/warp/native/builtin.h +++ b/warp/native/builtin.h @@ -960,6 +960,13 @@ CUDA_CALLABLE inline T lerp(const T& a, const T& b, float t) return a*(1.0-t) + b*t; } +template <> +CUDA_CALLABLE inline float16 lerp(const float16& a, const float16& b, float t) +{ + return float(a)*(1.0-t) + float(b)*t; +} + + template CUDA_CALLABLE inline void adj_lerp(const T& a, const T& b, float t, T& adj_a, T& adj_b, float& adj_t, const T& adj_ret) { diff --git a/warp/stubs.py b/warp/stubs.py index 096a593df..30cfeb8fc 100644 --- a/warp/stubs.py +++ b/warp/stubs.py @@ -5,7 +5,7 @@ from typing import Callable from typing import overload from warp.types import array, array2d, array3d, array4d, constant -from warp.types import int8, uint8, int16, uint16, int32, uint32, int64, uint64, float32, float64 +from warp.types import int8, uint8, int16, uint16, int32, uint32, int64, uint64, float16, float32, float64 from warp.types import vec2, vec3, vec4, mat22, mat33, mat44, quat, transform, spatial_vector, spatial_matrix from warp.types import mesh_query_aabb_t, hash_grid_query_t @@ -178,6 +178,20 @@ def log(x: float32) -> float: """ ... +@overload +def log2(x: float32) -> float: + """ + Return the natural log (base-2) of x, where x is positive. + """ + ... + +@overload +def log10(x: float32) -> float: + """ + Return the natural log (base-10) of x, where x is positive. + """ + ... + @overload def exp(x: float32) -> float: """ @@ -1091,6 +1105,76 @@ def atomic_sub(a: array[Any], i: int32, j: int32, k: int32, l: int32, value: Any """ ... +@overload +def index(a: vec2, i: int32) -> float: + """ + + """ + ... + +@overload +def index(a: vec3, i: int32) -> float: + """ + + """ + ... + +@overload +def index(a: vec4, i: int32) -> float: + """ + + """ + ... + +@overload +def index(a: quat, i: int32) -> float: + """ + + """ + ... + +@overload +def index(a: mat22, i: int32) -> vec2: + """ + + """ + ... + +@overload +def index(a: mat22, i: int32, j: int32) -> float: + """ + + """ + ... + +@overload +def index(a: mat33, i: int32) -> vec3: + """ + + """ + ... + +@overload +def index(a: mat33, i: int32, j: int32) -> float: + """ + + """ + ... + +@overload +def index(a: mat44, i: int32) -> vec4: + """ + + """ + ... + +@overload +def index(a: mat44, i: int32, j: int32) -> float: + """ + + """ + ... + @overload def expect_eq(arg1: int8, arg2: int8): """ @@ -1147,6 +1231,13 @@ def expect_eq(arg1: uint64, arg2: uint64): """ ... +@overload +def expect_eq(arg1: float16, arg2: float16): + """ + Prints an error to stdout if arg1 and arg2 are not equal + """ + ... + @overload def expect_eq(arg1: float32, arg2: float32): """ @@ -1231,6 +1322,13 @@ def expect_eq(arg1: spatial_matrix, arg2: spatial_matrix): """ ... +@overload +def lerp(a: float16, b: float16, t: float32) -> float16: + """ + Linearly interpolate two values a and b using factor t, computed as ``a*(1-t) + b*t`` + """ + ... + @overload def lerp(a: float32, b: float32, t: float32) -> float32: """ @@ -1518,6 +1616,27 @@ def mul(x: float32, y: quat) -> quat: """ ... +@overload +def mul(x: float32, y: mat22) -> mat22: + """ + + """ + ... + +@overload +def mul(x: float32, y: mat33) -> mat33: + """ + + """ + ... + +@overload +def mul(x: float32, y: mat44) -> mat44: + """ + + """ + ... + @overload def mul(x: vec2, y: float32) -> vec2: """