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Commit888c05b

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Merge branch 'ershi/more-release-1.3.2' into 'release-1.3'
More Release 1.3.2 FixesSee merge request omniverse/warp!708
2 parentsd79ebbd +276cce5 commit888c05b

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5 files changed

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‎CHANGELOG.md

Lines changed: 3 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -5,7 +5,7 @@
55
- Bug fixes
66
- Fix accuracy of 3x3 SVD``wp.svd3`` with fp64 numbers ([GH-281](https://github.com/NVIDIA/warp/issues/281)).
77
- Fix module hashing when a kernel argument contained a struct array ([GH-287](https://github.com/NVIDIA/warp/issues/287)).
8-
- Fix a bug in`wp.bvh_query_aabb()` where the direction instead of the reciprocal direction was used
8+
- Fix a bug in`wp.bvh_query_ray()` where the direction instead of the reciprocal direction was used
99
([GH-288](https://github.com/NVIDIA/warp/issues/288)).
1010
- Fix errors when launching a CUDA graph after a module is reloaded. Modules that were used during graph capture
1111
will no longer be unloaded before the graph is released.
@@ -18,10 +18,11 @@
1818
- Fix`ModelBuilder.collapse_fixed_joints()` to correctly update the body centers of mass and the
1919
`ModelBuilder.articulation_start` array.
2020
- Fix precedence of closure constants over global constants.
21+
- Fix quadrature point indexing in`wp.fem.ExplicitQuadrature` (regression from 1.3.0).
2122
- Documentation improvements
2223
- Add missing return types for built-in functions.
2324
- Clarify that atomic operations also return the previous value.
24-
- Clarify that`wp.bvh_query_aabb` returns parts that overlap the bounding volume.
25+
- Clarify that`wp.bvh_query_aabb()` returns parts that overlap the bounding volume.
2526

2627
##[1.3.1] - 2024-07-27
2728

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

Lines changed: 3 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -5,7 +5,7 @@
55
- Bug fixes
66
- Fix accuracy of 3x3 SVD``wp.svd3`` with fp64 numbers ([GH-281](https://github.com/NVIDIA/warp/issues/281)).
77
- Fix module hashing when a kernel argument contained a struct array ([GH-287](https://github.com/NVIDIA/warp/issues/287)).
8-
- Fix a bug in`wp.bvh_query_aabb()` where the direction instead of the reciprocal direction was used
8+
- Fix a bug in`wp.bvh_query_ray()` where the direction instead of the reciprocal direction was used
99
([GH-288](https://github.com/NVIDIA/warp/issues/288)).
1010
- Fix errors when launching a CUDA graph after a module is reloaded. Modules that were used during graph capture
1111
will no longer be unloaded before the graph is released.
@@ -18,10 +18,11 @@
1818
- Fix`ModelBuilder.collapse_fixed_joints()` to correctly update the body centers of mass and the
1919
`ModelBuilder.articulation_start` array.
2020
- Fix precedence of closure constants over global constants.
21+
- Fix quadrature point indexing in`wp.fem.ExplicitQuadrature` (regression from 1.3.0).
2122
- Documentation improvements
2223
- Add missing return types for built-in functions.
2324
- Clarify that atomic operations also return the previous value.
24-
- Clarify that`wp.bvh_query_aabb` returns parts that overlap the bounding volume.
25+
- Clarify that`wp.bvh_query_aabb()` returns parts that overlap the bounding volume.
2526

2627
##[1.3.1] - 2024-07-27
2728

‎exts/omni.warp/docs/CHANGELOG.md

Lines changed: 3 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -5,7 +5,7 @@
55
- Bug fixes
66
- Fix accuracy of 3x3 SVD``wp.svd3`` with fp64 numbers ([GH-281](https://github.com/NVIDIA/warp/issues/281)).
77
- Fix module hashing when a kernel argument contained a struct array ([GH-287](https://github.com/NVIDIA/warp/issues/287)).
8-
- Fix a bug in`wp.bvh_query_aabb()` where the direction instead of the reciprocal direction was used
8+
- Fix a bug in`wp.bvh_query_ray()` where the direction instead of the reciprocal direction was used
99
([GH-288](https://github.com/NVIDIA/warp/issues/288)).
1010
- Fix errors when launching a CUDA graph after a module is reloaded. Modules that were used during graph capture
1111
will no longer be unloaded before the graph is released.
@@ -18,10 +18,11 @@
1818
- Fix`ModelBuilder.collapse_fixed_joints()` to correctly update the body centers of mass and the
1919
`ModelBuilder.articulation_start` array.
2020
- Fix precedence of closure constants over global constants.
21+
- Fix quadrature point indexing in`wp.fem.ExplicitQuadrature` (regression from 1.3.0).
2122
- Documentation improvements
2223
- Add missing return types for built-in functions.
2324
- Clarify that atomic operations also return the previous value.
24-
- Clarify that`wp.bvh_query_aabb` returns parts that overlap the bounding volume.
25+
- Clarify that`wp.bvh_query_aabb()` returns parts that overlap the bounding volume.
2526

2627
##[1.3.1] - 2024-07-27
2728

‎warp/fem/quadrature/quadrature.py

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -336,6 +336,7 @@ def max_points_per_element(self):
336336
@cache.cached_arg_value
337337
defarg_value(self,device):
338338
arg=self.Arg()
339+
arg.points_per_cell=self._points_per_cell
339340
arg.points=self._points.to(device)
340341
arg.weights=self._weights.to(device)
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‎warp/tests/test_fem.py

Lines changed: 10 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -1252,6 +1252,8 @@ def test_particle_quadratures(test, device):
12521252
geo=fem.Grid2D(res=wp.vec2i(2))
12531253

12541254
domain=fem.Cells(geo)
1255+
1256+
# Explicit quadrature
12551257
points,weights=domain.reference_element().instantiate_quadrature(order=4,family=fem.Polynomial.GAUSS_LEGENDRE)
12561258
points_per_cell=len(points)
12571259

@@ -1266,9 +1268,16 @@ def test_particle_quadratures(test, device):
12661268
test.assertEqual(explicit_quadrature.max_points_per_element(),points_per_cell)
12671269
test.assertEqual(explicit_quadrature.total_point_count(),points_per_cell*geo.cell_count())
12681270

1271+
# test integration accuracy
12691272
val=fem.integrate(_bicubic,quadrature=explicit_quadrature)
12701273
test.assertAlmostEqual(val,1.0/16,places=5)
12711274

1275+
# test indexing validity
1276+
arr=wp.empty(explicit_quadrature.total_point_count(),dtype=float)
1277+
fem.interpolate(_piecewise_constant,dest=arr,quadrature=explicit_quadrature)
1278+
assert_np_equal(arr.numpy(),np.arange(geo.cell_count()).repeat(points_per_cell))
1279+
1280+
# PIC quadrature
12721281
element_indices=wp.array([3,3,2],dtype=int,device=device)
12731282
element_coords=wp.array(
12741283
[
@@ -1286,6 +1295,7 @@ def test_particle_quadratures(test, device):
12861295
test.assertEqual(pic_quadrature.total_point_count(),3)
12871296
test.assertEqual(pic_quadrature.active_cell_count(),2)
12881297

1298+
# Test integration accuracy
12891299
val=fem.integrate(_piecewise_constant,quadrature=pic_quadrature)
12901300
test.assertAlmostEqual(val,1.25,places=5)
12911301

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