v1.1.0

[1.1.0] - 2024-05-09

• Support returning a value from @wp.func_native CUDA functions using type hints
• Improved differentiability of the wp.sim.FeatherstoneIntegrator
• Fix gradient propagation for rigid body contacts in wp.sim.collide()
• Added support for event-based timing, see wp.ScopedTimer()
• Added Tape visualization and debugging functions, see wp.Tape.visualize()
• Support constructing Warp arrays from objects that define the __cuda_array_interface__ attribute
• Support copying a struct to another device, use struct.to(device) to migrate struct arrays
• Allow rigid shapes to not have any collisions with other shapes in wp.sim.Model
• Change default test behavior to test redundant GPUs (up to 2x)
• Test each example in an individual subprocess
• Polish and optimize various examples and tests
• Allow non-contiguous point arrays to be passed to wp.HashGrid.build()
• Upgrade LLVM to 18.1.3 for from-source builds and Linux x86-64 builds
• Build DLL source code as C++17 and require GCC 9.4 as a minimum
• Array clone, assign, and copy are now differentiable
• Use Ruff for formatting and linting
• Various documentation improvements (infinity, math constants, etc.)
• Improve URDF importer, handle joint armature
• Allow builtins.bool to be used in Warp data structures
• Use external gradient arrays in backward passes when passed to wp.launch()
• Add Conjugate Residual linear solver, see wp.optim.linear.cr()
• Fix propagation of gradients on aliased copy of variables in kernels
• Facilitate debugging and speed up import warp by eliminating raising any exceptions
• Improve support for nested vec/mat assignments in structs
• Recommend Python 3.9 or higher, which is required for JAX and soon PyTorch.
• Support gradient propagation for indexing sliced multi-dimensional arrays, i.e. a[i][j] vs. a[i, j]
• Provide an informative message if setting DLL C-types failed, instructing to try rebuilding the library

[1.0.3] - 2024-04-17

• Add a support_level entry to the configuration file of the extensions