Merge branch 'ershi/1.3.3' into 'release-1.3'

Changes for Warp 1.3.3

See merge request omniverse/warp!717

CHANGELOG.md

@@ -1,5 +1,11 @@
 # CHANGELOG
 
+## [1.3.3] - 2024-09-04
+
+- Bug fixes
+  - Fix an aliasing issue with zero-copy array initialization from NumPy introduced in Warp 1.3.0.
+  - Fix `wp.Volume.load_from_numpy()` behavior when `bg_value` is a sequence of values.
+
 ## [1.3.2] - 2024-08-30
 
 - Bug fixes
@@ -11,7 +17,6 @@
     will no longer be unloaded before the graph is released.
   - Fix a bug in `wp.sim.collide.triangle_closest_point_barycentric()` where the returned barycentric coordinates may be
     incorrect when the closest point lies on an edge.
-  - Fix an aliasing issue with zero-copy array initialization from NumPy introduced in Warp 1.3.0.
   - Fix 32-bit overflow when array shape is specified using `np.int32`.
   - Fix handling of integer indices in the `input_output_mask` argument to `autograd.jacobian` and
     `autograd.jacobian_fd` ([GH-289](https://github.com/NVIDIA/warp/issues/289)).

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/v1.3.2/warp_lang-1.3.2+cu11-py3-none-manylinux2014_aarch64.whl` |
-| Linux x86-64    | `pip install https://github.com/NVIDIA/warp/releases/download/v1.3.2/warp_lang-1.3.2+cu11-py3-none-manylinux2014_x86_64.whl`  |
-| Windows x86-64  | `pip install https://github.com/NVIDIA/warp/releases/download/v1.3.2/warp_lang-1.3.2+cu11-py3-none-win_amd64.whl`             |
+| 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`             |
 
 The `--force-reinstall` option may need to be used to overwrite a previous installation.
 

VERSION.md

@@ -1 +1 @@
-1.3.2
+1.3.3

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

@@ -1,6 +1,6 @@
 [package]
 # Semantic Versioning is used: https://semver.org/
-version = "1.3.2"
+version = "1.3.3"
 authors = ["NVIDIA"]
 title = "Warp Core"
 description="The core Warp Python module"

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

@@ -1,5 +1,11 @@
 # CHANGELOG
 
+## [1.3.3] - 2024-09-04
+
+- Bug fixes
+  - Fix an aliasing issue with zero-copy array initialization from NumPy introduced in Warp 1.3.0.
+  - Fix `wp.Volume.load_from_numpy()` behavior when `bg_value` is a sequence of values.
+
 ## [1.3.2] - 2024-08-30
 
 - Bug fixes

exts/omni.warp/config/extension.toml

@@ -1,6 +1,6 @@
 [package]
 # Semantic Versioning is used: https://semver.org/
-version = "1.3.2"
+version = "1.3.3"
 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 = "1.3.2", exact = true}
+"omni.warp.core" = {version = "1.3.3", exact = true}
 
 [[python.module]]
 name = "omni.warp._extension"

exts/omni.warp/docs/CHANGELOG.md

@@ -1,5 +1,11 @@
 # CHANGELOG
 
+## [1.3.3] - 2024-09-04
+
+- Bug fixes
+  - Fix an aliasing issue with zero-copy array initialization from NumPy introduced in Warp 1.3.0.
+  - Fix `wp.Volume.load_from_numpy()` behavior when `bg_value` is a sequence of values.
+
 ## [1.3.2] - 2024-08-30
 
 - Bug fixes

tools/packman/bootstrap/configure.bat

@@ -12,7 +12,7 @@
 :: See the License for the specific language governing permissions and
 :: limitations under the License.
 
-set PM_PACKMAN_VERSION=7.23.1
+set PM_PACKMAN_VERSION=7.24.1
 
 :: Specify where packman command is rooted
 set PM_INSTALL_PATH=%~dp0..

tools/packman/bootstrap/install_package.py

@@ -142,7 +142,7 @@ def generate_sha256_for_file(file_path: Union[str, os.PathLike]) -> str:
 
 
 def install_common_module(package_path, install_path):
-    COMMON_SHA256 = "0a2064434cca0170411c86f23349f9618556dc380d3589a2361db38ffeea9cac"
+    COMMON_SHA256 = "ce46783c5a938082514e796a014f8cca5870d6466c6a7147c35e230911dff143"
     package_sha256 = generate_sha256_for_file(package_path)
     if package_sha256 != COMMON_SHA256:
         raise RuntimeError(

tools/packman/packman

@@ -24,7 +24,7 @@ else
 	PM_CURL_SILENT="-s -S"
 	PM_WGET_QUIET="--quiet"
 fi
-export PM_PACKMAN_VERSION=7.23.1
+export PM_PACKMAN_VERSION=7.24.1
 
 # This is necessary for newer macOS
 if [ `uname` == 'Darwin' ]; then
@@ -60,17 +60,49 @@ if [ ! -d "$PM_PACKAGES_ROOT" ]; then
 	mkdir -p -m a+rwx "$PM_PACKAGES_ROOT"
 fi
 
+execute_with_retry()
+{
+    # Don't exit on error, we need to handle them
+    set +e
+
+    local CMD="$1"
+    local MAX_TRIES=4
+    local DELAY=2
+    local TRIES=0
+    local exit_code
+
+    while [ $TRIES -lt $MAX_TRIES ]
+    do
+        ((TRIES++))
+        eval $CMD
+        exit_code=$?
+        if [ $exit_code -eq 0 ]; then
+            return 0
+        fi
+
+        if [ $TRIES -lt $MAX_TRIES ]; then
+            echo "Attempt $TRIES failed. Retrying in $DELAY seconds ..."
+            sleep $DELAY
+			DELAY=$((DELAY * DELAY))
+			echo "Retrying ..."
+        fi
+    done
+
+    echo "Command failed after $MAX_TRIES attempts: $CMD"
+    return $exit_code
+}
+
 fetch_file_from_s3()
 {
-	SOURCE=$1
-	SOURCE_URL=http://bootstrap.packman.nvidia.com/$SOURCE
-	TARGET=$2
+	local SOURCE=$1
+	local SOURCE_URL=http://bootstrap.packman.nvidia.com/$SOURCE
+	local TARGET=$2
 	echo "Fetching $SOURCE from bootstrap.packman.nvidia.com ..."
+	local CMD="curl -o $TARGET $SOURCE_URL $PM_CURL_SILENT"
 	if command -v wget >/dev/null 2>&1; then
-		wget $PM_WGET_QUIET -O$TARGET $SOURCE_URL
-	else
-		curl -o $TARGET $SOURCE_URL $PM_CURL_SILENT
+		CMD="wget $PM_WGET_QUIET -O$TARGET $SOURCE_URL"
 	fi
+	execute_with_retry "$CMD"
 }
 
 generate_temp_file_name()

tools/packman/packmanconf.py

@@ -98,7 +98,13 @@ def get_module_dir(conf_dir, packages_root: str, version: str) -> str:
         tf = tempfile.NamedTemporaryFile(delete=False)
         target_name = tf.name
         tf.close()
-        url = f"http://bootstrap.packman.nvidia.com/packman-common@{version}.zip"
+        # Using http here and not https is by design. Unfortunately SSL keeps getting revised
+        # which breaks old clients when servers are forced to upgrade to newer version of TLS
+        # and refuse to downgrade when asked. Instead of relying on SSL for transport security
+        # packman does SHA256 verification of the downloaded package in the `install_package`
+        # method. We therefore inform SonarQube to stop complaining about the line below.
+        # See issue #367 for more detail.
+        url = f"http://bootstrap.packman.nvidia.com/packman-common@{version}.zip"  # NOSONAR
         print(f"Downloading '{url}' ...")
         import urllib.request
 

warp/config.py

@@ -7,7 +7,7 @@
 
 from typing import Optional
 
-version: str = "1.3.2"
+version: str = "1.3.3"
 """Warp version string"""
 
 verify_fp: bool = False

warp/tests/test_array.py

@@ -2295,6 +2295,39 @@ def test_array_from_numpy(test, device):
     assert_np_equal(result.numpy(), expected.numpy())
 
 
+def test_array_aliasing_from_numpy(test, device):
+    device = wp.get_device(device)
+    assert device.is_cpu
+
+    a_np = np.ones(8, dtype=np.int32)
+    a_wp = wp.array(a_np, dtype=int, copy=False, device=device)
+    test.assertIs(a_wp._ref, a_np)  # check that some ref is kept to original array
+    test.assertEqual(a_wp.ptr, a_np.ctypes.data)
+
+    a_np_2 = a_wp.numpy()
+    test.assertTrue((a_np_2 == 1).all())
+
+    # updating source array should update aliased array
+    a_np.fill(2)
+    test.assertTrue((a_np_2 == 2).all())
+
+    # trying to alias from a different type should do a copy
+    # do it twice to check that the copy buffer is not being reused for different arrays
+
+    b_np = np.ones(8, dtype=np.int64)
+    c_np = np.zeros(8, dtype=np.int64)
+    b_wp = wp.array(b_np, dtype=int, copy=False, device=device)
+    c_wp = wp.array(c_np, dtype=int, copy=False, device=device)
+
+    test.assertNotEqual(b_wp.ptr, b_np.ctypes.data)
+    test.assertNotEqual(b_wp.ptr, c_wp.ptr)
+
+    b_np_2 = b_wp.numpy()
+    c_np_2 = c_wp.numpy()
+    test.assertTrue((b_np_2 == 1).all())
+    test.assertTrue((c_np_2 == 0).all())
+
+
 def test_array_from_cai(test, device):
     import torch
 
@@ -2447,6 +2480,7 @@ def test_array_new_del(self):
 add_function_test(TestArray, "test_array_of_structs_from_numpy", test_array_of_structs_from_numpy, devices=devices)
 add_function_test(TestArray, "test_array_of_structs_roundtrip", test_array_of_structs_roundtrip, devices=devices)
 add_function_test(TestArray, "test_array_from_numpy", test_array_from_numpy, devices=devices)
+add_function_test(TestArray, "test_array_aliasing_from_numpy", test_array_aliasing_from_numpy, devices=["cpu"])
 
 add_function_test(TestArray, "test_direct_from_numpy", test_direct_from_numpy, devices=["cpu"])
 add_function_test(TestArray, "test_kernel_array_from_ptr", test_kernel_array_from_ptr, devices=devices)

warp/tests/test_volume.py

@@ -843,6 +843,33 @@ def test_volume_from_numpy(test, device):
     test.assertIsNone(sphere_vdb_array.deleter)
 
 
+def test_volume_from_numpy_3d(test, device):
+    # Volume.allocate_from_tiles() is only available with CUDA
+    mins = np.array([-3.0, -3.0, -3.0])
+    voxel_size = 0.2
+    maxs = np.array([3.0, 3.0, 3.0])
+    nums = np.ceil((maxs - mins) / (voxel_size)).astype(dtype=int)
+    centers = np.array([[-1.0, -1.0, -1.0], [0.0, 0.0, 0.0], [1.0, 1.0, 1.0]])
+    rad = 2.5
+    sphere_sdf_np = np.zeros(tuple(nums) + (3,))
+    for x in range(nums[0]):
+        for y in range(nums[1]):
+            for z in range(nums[2]):
+                for k in range(3):
+                    pos = mins + voxel_size * np.array([x, y, z])
+                    dis = np.linalg.norm(pos - centers[k])
+                    sphere_sdf_np[x, y, z, k] = dis - rad
+    sphere_vdb = wp.Volume.load_from_numpy(
+        sphere_sdf_np, mins, voxel_size, (rad + 3.0 * voxel_size,) * 3, device=device
+    )
+
+    test.assertNotEqual(sphere_vdb.id, 0)
+
+    sphere_vdb_array = sphere_vdb.array()
+    test.assertEqual(sphere_vdb_array.dtype, wp.uint8)
+    test.assertIsNone(sphere_vdb_array.deleter)
+
+
 def test_volume_aniso_transform(test, device):
     # XY-rotation + z scale
     transform = [
@@ -894,6 +921,9 @@ def test_volume_new_del(self):
 add_function_test(
     TestVolume, "test_volume_from_numpy", test_volume_from_numpy, devices=get_selected_cuda_test_devices()
 )
+add_function_test(
+    TestVolume, "test_volume_from_numpy_3d", test_volume_from_numpy_3d, devices=get_selected_cuda_test_devices()
+)
 add_function_test(
     TestVolume, "test_volume_aniso_transform", test_volume_aniso_transform, devices=get_selected_cuda_test_devices()
 )

warp/types.py

@@ -1601,6 +1601,9 @@ def __init__(
         self._array_interface = None
         self.is_transposed = False
 
+        # reference to other array
+        self._ref = None
+
         # canonicalize dtype
         if dtype == int:
             dtype = int32
@@ -1652,9 +1655,6 @@ def __init__(
                 if requires_grad:
                     self._alloc_grad()
 
-        # reference to other array
-        self._ref = None
-
     def _init_from_data(self, data, dtype, shape, device, copy, pinned):
         if not hasattr(data, "__len__"):
             raise RuntimeError(f"Data must be a sequence or array, got scalar {data}")
@@ -2991,7 +2991,7 @@ def __init__(self, points=None, indices=None, velocities=None, support_winding_n
 
         Args:
             points (:class:`warp.array`): Array of vertex positions of type :class:`warp.vec3`
-            indices (:class:`warp.array`): Array of triangle indices of type :class:`warp.int32`, should be a 1d array with shape (num_tris, 3)
+            indices (:class:`warp.array`): Array of triangle indices of type :class:`warp.int32`, should be a 1d array with shape (num_tris * 3)
             velocities (:class:`warp.array`): Array of vertex velocities of type :class:`warp.vec3` (optional)
             support_winding_number (bool): If true the mesh will build additional datastructures to support `wp.mesh_query_point_sign_winding_number()` queries
         """
@@ -3529,8 +3529,9 @@ def load_from_numpy(
         )
         if hasattr(bg_value, "__len__"):
             # vec3, assuming the numpy array is 4D
-            padded_array = np.array((target_shape[0], target_shape[1], target_shape[2], 3), dtype=np.single)
-            padded_array[:, :, :, :] = np.array(bg_value)
+            padded_array = np.full(
+                shape=(target_shape[0], target_shape[1], target_shape[2], 3), fill_value=bg_value, dtype=np.single
+            )
             padded_array[0 : ndarray.shape[0], 0 : ndarray.shape[1], 0 : ndarray.shape[2], :] = ndarray
         else:
             padded_amount = (