Miles Macklin comments

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                                            Miles Macklin

Actuation model like Mujoco

@eric-heiden should be able to help.

Enable alternative material models for triangle/tetrahedra mesh

Hi @ShaoxiongYao , I think having the material models on a flag is a good idea - it hasn't been a high priority, but it should be fairly straightforward to...

Gradient `tape` vs. `adjoint=True`

Hi @johannespitz, in general you can use the `adjoint=True` flag to manually invoke the backward version of a kernel. This is what the `wp.Tape` object does, but it also takes...

[QUESTION] License in plain language -- does it allow for non-commercial derivative works?

Hi @maria-korosteleva, as you noticed the license was updated recently to be more permissive regarding derived works and commercial use. Forking the project is fine and should be covered by...

Suggestion: Make `wp.array` class Generic

Ah, this is a great suggestion, thanks @lebrice! I will look into what it would mean for the code base.

[feature request] Cooperative groups

Hi @sweeneychris, thanks for the feedback - you're the first person I've had ask for cooperative groups! In general we want to support more cooperative operations in Warp, the challenge...

FeatureRequest: User draw calls from OpenGLRenderer

Hi @jc211, sorry we some legal things to clear before we can take PRs - but this seems like a good idea, if you have a solution please propose it...

FeatureRequest: User draw calls from OpenGLRenderer

Hi @jc211 , just an update since we can now take PRs we'd be happy to take this change if you have it.

FeatureRequest: Multistream

Thanks @jc211, I hadn't seen this before - indeed looks like it could be a useful pattern. It seems to rely only on standard CUDA stream behaviors, so I think...

Ability to invoke adjoint functions

Hi @jc211, Currently we don't provide a way to call the derivative directly - however this would not be too difficult and I can imagine could be quite useful. I...