v0.9.0

[0.9.0] - 2023-06-01

• Add support for in-place modifications to vector, matrix, and struct types inside kernels (will warn during backward pass with wp.verbose if using gradients)
• Add support for step-through VSCode debugging of kernel code with standalone LLVM compiler, see wp.breakpoint(), and test_debug.py
• Add support for default values on built-in functions
• Add support for multi-valued @wp.func functions
• Add support for pass, continue, and break statements
• Add missing __sincos_stret symbol for macOS
• Add support for gradient propagation through wp.Mesh.points, and other cases where arrays are passed to native functions
• Add support for Python @ operator as an alias for wp.matmul()
• Add XPBD support for particle-particle collision
• Add support for individual particle radii: ModelBuilder.add_particle has a new radius argument, Model.particle_radius is now a Warp array
• Add per-particle flags as a Model.particle_flags Warp array, introduce PARTICLE_FLAG_ACTIVE to define whether a particle is being simulated and participates in contact dynamics
• Add support for Python bitwise operators &, |, ~, <<, >>
• Switch to using standalone LLVM compiler by default for cpu devices
• Split omni.warp into omni.warp.core for Omniverse applications that want to use the Warp Python module with minimal additional dependencies
• Disable kernel gradient generation by default inside Omniverse for improved compile times
• Fix for bounds checking on element access of vector/matrix types
• Fix for stream initialization when a custom (non-primary) external CUDA context has been set on the calling thread
• Fix for duplicate @wp.struct registration during hot reload
• Fix for array unot() operator so kernel writers can use if not array: syntax
• Fix for case where dynamic loops are nested within unrolled loops
• Change wp.hash_grid_point_id() now returns -1 if the wp.HashGrid has not been reserved before
• Deprecate wp.Model.soft_contact_distance which is now replaced by wp.Model.particle_radius
• Deprecate single scalar particle radius (should be a per-particle array)