Warp Core

• Fix for unrolling loops with negative bounds
• Fix for unresolved symbol hash_grid_build_device() not found when lib is compiled without CUDA support
• Fix for failure to load nvrtc-builtins64_113.dll when user has a newer CUDA toolkit installed on their machine
• Fix for conversion of Torch tensors to wp.arrays() with a vector dtype (incorrect row count)
• Fix for warp.dll not found on some Windows installations
• Fix for macOS builds on Clang 13.x
• Fix for step-through debugging of kernels on Linux
• Add argument type checking for user defined @wp.func functions
• Add support for custom iterable types, supports ranges, hash grid, and mesh query objects
• Add support for multi-dimensional arrays, for example use x = array[i,j,k] syntax to address a 3-dimensional array
• Add support for multi-dimensional kernel launches, use launch(kernel, dim=(i,j,k), ... and i,j,k = wp.tid() to obtain thread indices
• Add support for bounds-checking array memory accesses in debug mode, use wp.config.mode = "debug" to enable
• Add support for differentiating through dynamic and nested for-loops
• Add support for evaluating MLP neural network layers inside kernels with custom activation functions, see wp.mlp()
• Add additional NVDB sampling methods and adjoints, see wp.volume_sample_i(), wp.volume_sample_f(), and wp.volume_sample_vec()
• Add support for loading zlib compressed NVDB volumes, see wp.Volume.load_from_nvdb()
• Add support for triangle intersection testing, see wp.intersect_tri_tri()
• Add support for NVTX profile zones in wp.ScopedTimer()
• Add support for additional transform and quaternion math operations, see wp.inverse(), wp.quat_to_matrix(), wp.quat_from_matrix()
• Add fast math (--fast-math) to kernel compilation by default
• Add warp.torch import by default (if PyTorch is installed)

Warp Kit

• Add Kit menu for browsing Warp documentation and example scenes under 'Window->Warp'
• Fix for OgnParticleSolver.py example when collider is coming from Read Prim into Bundle node

Warp Sim

• Fix for joint attachment forces
• Fix for URDF importer and floating base support
• Add examples showing how to use differentiable forward kinematics to solve inverse kinematics
• Add examples for URDF cartpole and quadruped simulation

Breaking Changes

• wp.volume_sample_world() is now replaced by wp.volume_sample_f/i/vec() which operate in index (local) space. Users should use wp.volume_world_to_index() to transform points from world space to index space before sampling.
• wp.mlp() expects multi-dimensional arrays instead of one-dimensional arrays for inference, all other semantics remain the same as earlier versions of this API.
• wp.array.length member has been removed, please use wp.array.shape to access array dimensions, or use wp.array.size to get total element count
• Marking dense_gemm(), dense_chol(), etc methods as experimental until we revisit them