warp-lang 1.1.0__py3-none-macosx_10_13_universal2.whl → 1.2.0__py3-none-macosx_10_13_universal2.whl

warp/context.py

@@ -6,6 +6,7 @@
 # license agreement from NVIDIA CORPORATION is strictly prohibited.
 
 import ast
+import builtins
 import ctypes
 import functools
 import hashlib
@@ -18,7 +19,8 @@ import platform
 import sys
 import types
 from copy import copy as shallowcopy
-from types import ModuleType
+from pathlib import Path
+from struct import pack as struct_pack
 from typing import Any, Callable, Dict, List, Mapping, Optional, Sequence, Tuple, Union
 
 import numpy as np
@@ -345,6 +347,8 @@ class Function:
 def call_builtin(func: Function, *params) -> Tuple[bool, Any]:
     uses_non_warp_array_type = False
 
+    warp.context.init()
+
     # Retrieve the built-in function from Warp's dll.
     c_func = getattr(warp.context.runtime.core, func.mangled_name)
 
@@ -1168,7 +1172,7 @@ def get_module(name):
             # clear out old kernels, funcs, struct definitions
             old_module.kernels = {}
             old_module.functions = {}
-            old_module.constants = []
+            old_module.constants = {}
             old_module.structs = {}
             old_module.loader = parent_loader
 
@@ -1315,7 +1319,7 @@ class Module:
 
         self.kernels = {}
         self.functions = {}
-        self.constants = []
+        self.constants = {}  # Any constants referenced in this module including those defined in other modules
         self.structs = {}
 
         self.cpu_module = None
@@ -1442,7 +1446,13 @@ class Module:
             if isinstance(arg.type, warp.codegen.Struct) and arg.type.module is not None:
                 add_ref(arg.type.module)
 
-    def hash_module(self):
+    def hash_module(self, recompute_content_hash=False):
+        """Recursively compute and return a hash for the module.
+
+        If ``recompute_content_hash`` is False, each module's previously
+        computed ``content_hash`` will be used.
+        """
+
         def get_annotations(obj: Any) -> Mapping[str, Any]:
             """Alternative to `inspect.get_annotations()` for Python 3.9 and older."""
             # See https://docs.python.org/3/howto/annotations.html#accessing-the-annotations-dict-of-an-object-in-python-3-9-and-older
@@ -1461,10 +1471,13 @@ class Module:
             # The visited set tracks modules already visited to avoid circular references.
 
             # check if we need to update the content hash
-            if not module.content_hash:
+            if not module.content_hash or recompute_content_hash:
                 # recompute content hash
                 ch = hashlib.sha256()
 
+                # Start with an empty constants dictionary in case any have been removed
+                module.constants = {}
+
                 # struct source
                 for struct in module.structs.values():
                     s = ",".join(
@@ -1474,28 +1487,33 @@ class Module:
                     ch.update(bytes(s, "utf-8"))
 
                 # functions source
-                for func in module.functions.values():
-                    s = func.adj.source
-                    ch.update(bytes(s, "utf-8"))
-
-                    if func.custom_grad_func:
-                        s = func.custom_grad_func.adj.source
-                        ch.update(bytes(s, "utf-8"))
-                    if func.custom_replay_func:
-                        s = func.custom_replay_func.adj.source
-                    if func.replay_snippet:
-                        s = func.replay_snippet
-                    if func.native_snippet:
-                        s = func.native_snippet
-                        ch.update(bytes(s, "utf-8"))
-                    if func.adj_native_snippet:
-                        s = func.adj_native_snippet
+                for function in module.functions.values():
+                    # include all overloads
+                    for sig, func in function.user_overloads.items():
+                        # signature
+                        ch.update(bytes(sig, "utf-8"))
+
+                        # source
+                        s = func.adj.source
                         ch.update(bytes(s, "utf-8"))
 
-                    # cache func arg types
-                    for arg, arg_type in func.adj.arg_types.items():
-                        s = f"{arg}: {get_type_name(arg_type)}"
-                        ch.update(bytes(s, "utf-8"))
+                        if func.custom_grad_func:
+                            s = func.custom_grad_func.adj.source
+                            ch.update(bytes(s, "utf-8"))
+                        if func.custom_replay_func:
+                            s = func.custom_replay_func.adj.source
+                        if func.replay_snippet:
+                            s = func.replay_snippet
+                        if func.native_snippet:
+                            s = func.native_snippet
+                            ch.update(bytes(s, "utf-8"))
+                        if func.adj_native_snippet:
+                            s = func.adj_native_snippet
+                            ch.update(bytes(s, "utf-8"))
+
+                        # Populate constants referenced in this function
+                        if func.adj:
+                            module.constants.update(func.adj.get_constant_references())
 
                 # kernel source
                 for kernel in module.kernels.values():
@@ -1511,6 +1529,34 @@ class Module:
                         for sig in sorted(kernel.overloads.keys()):
                             ch.update(bytes(sig, "utf-8"))
 
+                    # Populate constants referenced in this kernel
+                    module.constants.update(kernel.adj.get_constant_references())
+
+                # constants referenced in this module
+                for constant_name, constant_value in module.constants.items():
+                    ch.update(bytes(constant_name, "utf-8"))
+
+                    # hash the constant value
+                    if isinstance(constant_value, builtins.bool):
+                        # This needs to come before the check for `int` since all boolean
+                        # values are also instances of `int`.
+                        ch.update(struct_pack("?", constant_value))
+                    elif isinstance(constant_value, int):
+                        ch.update(struct_pack("<q", constant_value))
+                    elif isinstance(constant_value, float):
+                        ch.update(struct_pack("<d", constant_value))
+                    elif isinstance(constant_value, warp.types.float16):
+                        # float16 is a special case
+                        p = ctypes.pointer(ctypes.c_float(constant_value.value))
+                        ch.update(p.contents)
+                    elif isinstance(constant_value, tuple(warp.types.scalar_types)):
+                        p = ctypes.pointer(constant_value._type_(constant_value.value))
+                        ch.update(p.contents)
+                    elif isinstance(constant_value, ctypes.Array):
+                        ch.update(bytes(constant_value))
+                    else:
+                        raise RuntimeError(f"Invalid constant type: {type(constant_value)}")
+
                 module.content_hash = ch.digest()
 
             h = hashlib.sha256()
@@ -1529,10 +1575,6 @@ class Module:
 
             h.update(bytes(warp.config.mode, "utf-8"))
 
-            # compile-time constants (global)
-            if warp.types._constant_hash:
-                h.update(warp.types._constant_hash.digest())
-
             # recurse on references
             visited.add(module)
 
@@ -1546,7 +1588,7 @@ class Module:
 
         return hash_recursive(self, visited=set())
 
-    def load(self, device):
+    def load(self, device) -> bool:
         from warp.utils import ScopedTimer
 
         device = get_device(device)
@@ -1570,68 +1612,19 @@ class Module:
             if not warp.is_cuda_available():
                 raise RuntimeError("Failed to build CUDA module because CUDA is not available")
 
-        with ScopedTimer(f"Module {self.name} load on device '{device}'", active=not warp.config.quiet):
-            build_path = warp.build.kernel_bin_dir
-            gen_path = warp.build.kernel_gen_dir
-
-            if not os.path.exists(build_path):
-                os.makedirs(build_path)
-            if not os.path.exists(gen_path):
-                os.makedirs(gen_path)
+        module_name = "wp_" + self.name
+        module_hash = self.hash_module()
 
-            module_name = "wp_" + self.name
-            module_path = os.path.join(build_path, module_name)
-            module_hash = self.hash_module()
-
-            builder = ModuleBuilder(self, self.options)
+        # use a unique module path using the module short hash
+        module_dir = os.path.join(warp.config.kernel_cache_dir, f"{module_name}_{module_hash.hex()[:7]}")
 
+        with ScopedTimer(
+            f"Module {self.name} {module_hash.hex()[:7]} load on device '{device}'", active=not warp.config.quiet
+        ):
+            # -----------------------------------------------------------
+            # determine output paths
             if device.is_cpu:
-                obj_path = os.path.join(build_path, module_name)
-                obj_path = obj_path + ".o"
-                cpu_hash_path = module_path + ".cpu.hash"
-
-                # check cache
-                if warp.config.cache_kernels and os.path.isfile(cpu_hash_path) and os.path.isfile(obj_path):
-                    with open(cpu_hash_path, "rb") as f:
-                        cache_hash = f.read()
-
-                    if cache_hash == module_hash:
-                        runtime.llvm.load_obj(obj_path.encode("utf-8"), module_name.encode("utf-8"))
-                        self.cpu_module = module_name
-                        return True
-
-                # build
-                try:
-                    cpp_path = os.path.join(gen_path, module_name + ".cpp")
-
-                    # write cpp sources
-                    cpp_source = builder.codegen("cpu")
-
-                    cpp_file = open(cpp_path, "w")
-                    cpp_file.write(cpp_source)
-                    cpp_file.close()
-
-                    # build object code
-                    with ScopedTimer("Compile x86", active=warp.config.verbose):
-                        warp.build.build_cpu(
-                            obj_path,
-                            cpp_path,
-                            mode=self.options["mode"],
-                            fast_math=self.options["fast_math"],
-                            verify_fp=warp.config.verify_fp,
-                        )
-
-                    # update cpu hash
-                    with open(cpu_hash_path, "wb") as f:
-                        f.write(module_hash)
-
-                    # load the object code
-                    runtime.llvm.load_obj(obj_path.encode("utf-8"), module_name.encode("utf-8"))
-                    self.cpu_module = module_name
-
-                except Exception as e:
-                    self.cpu_build_failed = True
-                    raise (e)
+                output_name = "module_codegen.o"
 
             elif device.is_cuda:
                 # determine whether to use PTX or CUBIN
@@ -1650,62 +1643,138 @@ class Module:
 
                 if use_ptx:
                     output_arch = min(device.arch, warp.config.ptx_target_arch)
-                    output_path = module_path + f".sm{output_arch}.ptx"
+                    output_name = f"module_codegen.sm{output_arch}.ptx"
                 else:
                     output_arch = device.arch
-                    output_path = module_path + f".sm{output_arch}.cubin"
+                    output_name = f"module_codegen.sm{output_arch}.cubin"
+
+            # final object binary path
+            binary_path = os.path.join(module_dir, output_name)
+
+            # -----------------------------------------------------------
+            # check cache and build if necessary
+
+            build_dir = None
+
+            if not os.path.exists(binary_path) or not warp.config.cache_kernels:
+                builder = ModuleBuilder(self, self.options)
+
+                # create a temporary (process unique) dir for build outputs before moving to the binary dir
+                build_dir = os.path.join(
+                    warp.config.kernel_cache_dir, f"{module_name}_{module_hash.hex()[:7]}_p{os.getpid()}"
+                )
+
+                # dir may exist from previous attempts / runs / archs
+                Path(build_dir).mkdir(parents=True, exist_ok=True)
+
+                # build CPU
+                if device.is_cpu:
+                    # build
+                    try:
+                        source_code_path = os.path.join(build_dir, "module_codegen.cpp")
+
+                        # write cpp sources
+                        cpp_source = builder.codegen("cpu")
 
-                cuda_hash_path = module_path + f".sm{output_arch}.hash"
+                        with open(source_code_path, "w") as cpp_file:
+                            cpp_file.write(cpp_source)
 
-                # check cache
-                if warp.config.cache_kernels and os.path.isfile(cuda_hash_path) and os.path.isfile(output_path):
-                    with open(cuda_hash_path, "rb") as f:
-                        cache_hash = f.read()
+                        output_path = os.path.join(build_dir, output_name)
 
-                    if cache_hash == module_hash:
-                        cuda_module = warp.build.load_cuda(output_path, device)
-                        if cuda_module is not None:
-                            self.cuda_modules[device.context] = cuda_module
-                            return True
+                        # build object code
+                        with ScopedTimer("Compile x86", active=warp.config.verbose):
+                            warp.build.build_cpu(
+                                output_path,
+                                source_code_path,
+                                mode=self.options["mode"],
+                                fast_math=self.options["fast_math"],
+                                verify_fp=warp.config.verify_fp,
+                            )
+
+                    except Exception as e:
+                        self.cpu_build_failed = True
+                        raise (e)
+
+                elif device.is_cuda:
+                    # build
+                    try:
+                        source_code_path = os.path.join(build_dir, "module_codegen.cu")
+
+                        # write cuda sources
+                        cu_source = builder.codegen("cuda")
+
+                        with open(source_code_path, "w") as cu_file:
+                            cu_file.write(cu_source)
+
+                        output_path = os.path.join(build_dir, output_name)
+
+                        # generate PTX or CUBIN
+                        with ScopedTimer("Compile CUDA", active=warp.config.verbose):
+                            warp.build.build_cuda(
+                                source_code_path,
+                                output_arch,
+                                output_path,
+                                config=self.options["mode"],
+                                fast_math=self.options["fast_math"],
+                                verify_fp=warp.config.verify_fp,
+                            )
+
+                    except Exception as e:
+                        self.cuda_build_failed = True
+                        raise (e)
+
+                # -----------------------------------------------------------
+                # update cache
 
-                # build
                 try:
-                    cu_path = os.path.join(gen_path, module_name + ".cu")
-
-                    # write cuda sources
-                    cu_source = builder.codegen("cuda")
-
-                    cu_file = open(cu_path, "w")
-                    cu_file.write(cu_source)
-                    cu_file.close()
-
-                    # generate PTX or CUBIN
-                    with ScopedTimer("Compile CUDA", active=warp.config.verbose):
-                        warp.build.build_cuda(
-                            cu_path,
-                            output_arch,
-                            output_path,
-                            config=self.options["mode"],
-                            fast_math=self.options["fast_math"],
-                            verify_fp=warp.config.verify_fp,
-                        )
-
-                    # update cuda hash
-                    with open(cuda_hash_path, "wb") as f:
-                        f.write(module_hash)
-
-                    # load the module
-                    cuda_module = warp.build.load_cuda(output_path, device)
-                    if cuda_module is not None:
-                        self.cuda_modules[device.context] = cuda_module
-                    else:
-                        raise Exception(f"Failed to load CUDA module '{self.name}'")
+                    # Copy process-specific build directory to a process-independent location
+                    os.rename(build_dir, module_dir)
+                except (OSError, FileExistsError):
+                    # another process likely updated the module dir first
+                    pass
 
-                except Exception as e:
-                    self.cuda_build_failed = True
-                    raise (e)
+                if os.path.exists(module_dir):
+                    if not os.path.exists(binary_path):
+                        # copy our output file to the destination module
+                        # this is necessary in case different processes
+                        # have different GPU architectures / devices
+                        try:
+                            os.rename(output_path, binary_path)
+                        except (OSError, FileExistsError):
+                            # another process likely updated the module dir first
+                            pass
 
-            return True
+                    try:
+                        final_source_path = os.path.join(module_dir, os.path.basename(source_code_path))
+                        if not os.path.exists(final_source_path):
+                            os.rename(source_code_path, final_source_path)
+                    except (OSError, FileExistsError):
+                        # another process likely updated the module dir first
+                        pass
+                    except Exception as e:
+                        # We don't need source_code_path to be copied successfully to proceed, so warn and keep running
+                        warp.utils.warn(f"Exception when renaming {source_code_path}: {e}")
+
+            # -----------------------------------------------------------
+            # Load CPU or CUDA binary
+            if device.is_cpu:
+                runtime.llvm.load_obj(binary_path.encode("utf-8"), module_name.encode("utf-8"))
+                self.cpu_module = module_name
+
+            elif device.is_cuda:
+                cuda_module = warp.build.load_cuda(binary_path, device)
+                if cuda_module is not None:
+                    self.cuda_modules[device.context] = cuda_module
+                else:
+                    raise Exception(f"Failed to load CUDA module '{self.name}'")
+
+            if build_dir:
+                import shutil
+
+                # clean up build_dir used for this process regardless
+                shutil.rmtree(build_dir, ignore_errors=True)
+
+        return True
 
     def unload(self):
         if self.cpu_module:
@@ -2578,22 +2647,36 @@ class Runtime:
             ]
             self.core.cutlass_gemm.restype = ctypes.c_bool
 
-            self.core.volume_create_host.argtypes = [ctypes.c_void_p, ctypes.c_uint64]
+            self.core.volume_create_host.argtypes = [ctypes.c_void_p, ctypes.c_uint64, ctypes.c_bool, ctypes.c_bool]
             self.core.volume_create_host.restype = ctypes.c_uint64
-            self.core.volume_get_buffer_info_host.argtypes = [
+            self.core.volume_get_tiles_host.argtypes = [
                 ctypes.c_uint64,
-                ctypes.POINTER(ctypes.c_void_p),
-                ctypes.POINTER(ctypes.c_uint64),
+                ctypes.c_void_p,
             ]
-            self.core.volume_get_tiles_host.argtypes = [
+            self.core.volume_get_voxels_host.argtypes = [
                 ctypes.c_uint64,
-                ctypes.POINTER(ctypes.c_void_p),
-                ctypes.POINTER(ctypes.c_uint64),
+                ctypes.c_void_p,
             ]
             self.core.volume_destroy_host.argtypes = [ctypes.c_uint64]
 
-            self.core.volume_create_device.argtypes = [ctypes.c_void_p, ctypes.c_void_p, ctypes.c_uint64]
+            self.core.volume_create_device.argtypes = [
+                ctypes.c_void_p,
+                ctypes.c_void_p,
+                ctypes.c_uint64,
+                ctypes.c_bool,
+                ctypes.c_bool,
+            ]
             self.core.volume_create_device.restype = ctypes.c_uint64
+            self.core.volume_get_tiles_device.argtypes = [
+                ctypes.c_uint64,
+                ctypes.c_void_p,
+            ]
+            self.core.volume_get_voxels_device.argtypes = [
+                ctypes.c_uint64,
+                ctypes.c_void_p,
+            ]
+            self.core.volume_destroy_device.argtypes = [ctypes.c_uint64]
+
             self.core.volume_f_from_tiles_device.argtypes = [
                 ctypes.c_void_p,
                 ctypes.c_void_p,
@@ -2632,24 +2715,68 @@ class Runtime:
                 ctypes.c_bool,
             ]
             self.core.volume_i_from_tiles_device.restype = ctypes.c_uint64
-            self.core.volume_get_buffer_info_device.argtypes = [
-                ctypes.c_uint64,
-                ctypes.POINTER(ctypes.c_void_p),
-                ctypes.POINTER(ctypes.c_uint64),
+            self.core.volume_index_from_tiles_device.argtypes = [
+                ctypes.c_void_p,
+                ctypes.c_void_p,
+                ctypes.c_int,
+                ctypes.c_float,
+                ctypes.c_float,
+                ctypes.c_float,
+                ctypes.c_float,
+                ctypes.c_bool,
             ]
-            self.core.volume_get_tiles_device.argtypes = [
+            self.core.volume_index_from_tiles_device.restype = ctypes.c_uint64
+            self.core.volume_from_active_voxels_device.argtypes = [
+                ctypes.c_void_p,
+                ctypes.c_void_p,
+                ctypes.c_int,
+                ctypes.c_float,
+                ctypes.c_float,
+                ctypes.c_float,
+                ctypes.c_float,
+                ctypes.c_bool,
+            ]
+            self.core.volume_from_active_voxels_device.restype = ctypes.c_uint64
+
+            self.core.volume_get_buffer_info.argtypes = [
                 ctypes.c_uint64,
                 ctypes.POINTER(ctypes.c_void_p),
                 ctypes.POINTER(ctypes.c_uint64),
             ]
-            self.core.volume_destroy_device.argtypes = [ctypes.c_uint64]
-
             self.core.volume_get_voxel_size.argtypes = [
                 ctypes.c_uint64,
                 ctypes.POINTER(ctypes.c_float),
                 ctypes.POINTER(ctypes.c_float),
                 ctypes.POINTER(ctypes.c_float),
             ]
+            self.core.volume_get_tile_and_voxel_count.argtypes = [
+                ctypes.c_uint64,
+                ctypes.POINTER(ctypes.c_uint32),
+                ctypes.POINTER(ctypes.c_uint64),
+            ]
+            self.core.volume_get_grid_info.argtypes = [
+                ctypes.c_uint64,
+                ctypes.POINTER(ctypes.c_uint64),
+                ctypes.POINTER(ctypes.c_uint32),
+                ctypes.POINTER(ctypes.c_uint32),
+                ctypes.c_float * 3,
+                ctypes.c_float * 9,
+                ctypes.c_char * 16,
+            ]
+            self.core.volume_get_grid_info.restype = ctypes.c_char_p
+            self.core.volume_get_blind_data_count.argtypes = [
+                ctypes.c_uint64,
+            ]
+            self.core.volume_get_blind_data_count.restype = ctypes.c_uint64
+            self.core.volume_get_blind_data_info.argtypes = [
+                ctypes.c_uint64,
+                ctypes.c_uint32,
+                ctypes.POINTER(ctypes.c_void_p),
+                ctypes.POINTER(ctypes.c_uint64),
+                ctypes.POINTER(ctypes.c_uint32),
+                ctypes.c_char * 16,
+            ]
+            self.core.volume_get_blind_data_info.restype = ctypes.c_char_p
 
             bsr_matrix_from_triplets_argtypes = [
                 ctypes.c_int,
@@ -3194,12 +3321,10 @@ class Runtime:
                 raise RuntimeError(f"CUDA error detected: {err}")
 
 
-def assert_initialized():
-    assert runtime is not None, "Warp not initialized, call wp.init() before use"
-
-
 # global entry points
 def is_cpu_available():
+    init()
+
     return runtime.llvm
 
 
@@ -3221,7 +3346,7 @@ def is_cuda_driver_initialized() -> bool:
 
     This can be helpful in cases in which ``cuInit()`` was called before a fork.
     """
-    assert_initialized()
+    init()
 
     return runtime.core.cuda_driver_is_initialized()
 
@@ -3229,7 +3354,7 @@ def is_cuda_driver_initialized() -> bool:
 def get_devices() -> List[Device]:
     """Returns a list of devices supported in this environment."""
 
-    assert_initialized()
+    init()
 
     devices = []
     if is_cpu_available():
@@ -3242,7 +3367,7 @@ def get_devices() -> List[Device]:
 def get_cuda_device_count() -> int:
     """Returns the number of CUDA devices supported in this environment."""
 
-    assert_initialized()
+    init()
 
     return len(runtime.cuda_devices)
 
@@ -3250,7 +3375,7 @@ def get_cuda_device_count() -> int:
 def get_cuda_device(ordinal: Union[int, None] = None) -> Device:
     """Returns the CUDA device with the given ordinal or the current CUDA device if ordinal is None."""
 
-    assert_initialized()
+    init()
 
     if ordinal is None:
         return runtime.get_current_cuda_device()
@@ -3261,7 +3386,7 @@ def get_cuda_device(ordinal: Union[int, None] = None) -> Device:
 def get_cuda_devices() -> List[Device]:
     """Returns a list of CUDA devices supported in this environment."""
 
-    assert_initialized()
+    init()
 
     return runtime.cuda_devices
 
@@ -3269,7 +3394,7 @@ def get_cuda_devices() -> List[Device]:
 def get_preferred_device() -> Device:
     """Returns the preferred compute device, CUDA if available and CPU otherwise."""
 
-    assert_initialized()
+    init()
 
     if is_cuda_available():
         return runtime.cuda_devices[0]
@@ -3282,7 +3407,7 @@ def get_preferred_device() -> Device:
 def get_device(ident: Devicelike = None) -> Device:
     """Returns the device identified by the argument."""
 
-    assert_initialized()
+    init()
 
     return runtime.get_device(ident)
 
@@ -3290,7 +3415,7 @@ def get_device(ident: Devicelike = None) -> Device:
 def set_device(ident: Devicelike):
     """Sets the target device identified by the argument."""
 
-    assert_initialized()
+    init()
 
     device = runtime.get_device(ident)
     runtime.set_default_device(device)
@@ -3311,7 +3436,7 @@ def map_cuda_device(alias: str, context: ctypes.c_void_p = None) -> Device:
         The associated wp.Device.
     """
 
-    assert_initialized()
+    init()
 
     return runtime.map_cuda_device(alias, context)
 
@@ -3319,7 +3444,7 @@ def map_cuda_device(alias: str, context: ctypes.c_void_p = None) -> Device:
 def unmap_cuda_device(alias: str):
     """Remove a CUDA device with the given alias."""
 
-    assert_initialized()
+    init()
 
     runtime.unmap_cuda_device(alias)
 
@@ -3327,7 +3452,7 @@ def unmap_cuda_device(alias: str):
 def is_mempool_supported(device: Devicelike):
     """Check if CUDA memory pool allocators are available on the device."""
 
-    assert_initialized()
+    init()
 
     device = runtime.get_device(device)
 
@@ -3337,7 +3462,7 @@ def is_mempool_supported(device: Devicelike):
 def is_mempool_enabled(device: Devicelike):
     """Check if CUDA memory pool allocators are enabled on the device."""
 
-    assert_initialized()
+    init()
 
     device = runtime.get_device(device)
 
@@ -3357,7 +3482,7 @@ def set_mempool_enabled(device: Devicelike, enable: bool):
     prior to graph capture.
     """
 
-    assert_initialized()
+    init()
 
     device = runtime.get_device(device)
 
@@ -3387,7 +3512,7 @@ def set_mempool_release_threshold(device: Devicelike, threshold: Union[int, floa
     For example, 1024**3 means one GiB of memory.
     """
 
-    assert_initialized()
+    init()
 
     device = runtime.get_device(device)
 
@@ -3409,7 +3534,7 @@ def set_mempool_release_threshold(device: Devicelike, threshold: Union[int, floa
 def get_mempool_release_threshold(device: Devicelike):
     """Get the CUDA memory pool release threshold on the device."""
 
-    assert_initialized()
+    init()
 
     device = runtime.get_device(device)
 
@@ -3432,7 +3557,7 @@ def is_peer_access_supported(target_device: Devicelike, peer_device: Devicelike)
         A Boolean value indicating if this peer access is supported by the system.
     """
 
-    assert_initialized()
+    init()
 
     target_device = runtime.get_device(target_device)
     peer_device = runtime.get_device(peer_device)
@@ -3453,7 +3578,7 @@ def is_peer_access_enabled(target_device: Devicelike, peer_device: Devicelike):
         A Boolean value indicating if this peer access is currently enabled.
     """
 
-    assert_initialized()
+    init()
 
     target_device = runtime.get_device(target_device)
     peer_device = runtime.get_device(peer_device)
@@ -3474,7 +3599,7 @@ def set_peer_access_enabled(target_device: Devicelike, peer_device: Devicelike,
     CUDA pooled allocators, use `set_mempool_access_enabled()`.
     """
 
-    assert_initialized()
+    init()
 
     target_device = runtime.get_device(target_device)
     peer_device = runtime.get_device(peer_device)
@@ -3505,7 +3630,7 @@ def is_mempool_access_supported(target_device: Devicelike, peer_device: Deviceli
         A Boolean value indicating if this memory pool access is supported by the system.
     """
 
-    assert_initialized()
+    init()
 
     return target_device.is_mempool_supported and is_peer_access_supported(target_device, peer_device)
 
@@ -3520,7 +3645,7 @@ def is_mempool_access_enabled(target_device: Devicelike, peer_device: Devicelike
         A Boolean value indicating if this peer access is currently enabled.
     """
 
-    assert_initialized()
+    init()
 
     target_device = runtime.get_device(target_device)
     peer_device = runtime.get_device(peer_device)
@@ -3538,7 +3663,7 @@ def set_mempool_access_enabled(target_device: Devicelike, peer_device: Devicelik
     default CUDA allocators, use `set_peer_access_enabled()`.
     """
 
-    assert_initialized()
+    init()
 
     target_device = runtime.get_device(target_device)
     peer_device = runtime.get_device(peer_device)
@@ -3640,34 +3765,87 @@ def wait_stream(stream: Stream, event: Event = None):
 
 class RegisteredGLBuffer:
     """
-    Helper object to register a GL buffer with CUDA so that it can be mapped to a Warp array.
+    Helper class to register a GL buffer with CUDA so that it can be mapped to a Warp array.
+
+    Example usage::
+
+        import warp as wp
+        import numpy as np
+        from pyglet.gl import *
+
+        wp.init()
+
+        # create a GL buffer
+        gl_buffer_id = GLuint()
+        glGenBuffers(1, gl_buffer_id)
+
+        # copy some data to the GL buffer
+        glBindBuffer(GL_ARRAY_BUFFER, gl_buffer_id)
+        gl_data = np.arange(1024, dtype=np.float32)
+        glBufferData(GL_ARRAY_BUFFER, gl_data.nbytes, gl_data.ctypes.data, GL_DYNAMIC_DRAW)
+        glBindBuffer(GL_ARRAY_BUFFER, 0)
+
+        # register the GL buffer with CUDA
+        cuda_gl_buffer = wp.RegisteredGLBuffer(gl_buffer_id)
+
+        # map the GL buffer to a Warp array
+        arr = cuda_gl_buffer.map(dtype=wp.float32, shape=(1024,))
+        # launch a Warp kernel to manipulate or read the array
+        wp.launch(my_kernel, dim=1024, inputs=[arr])
+        # unmap the GL buffer
+        cuda_gl_buffer.unmap()
     """
 
-    # Specifies no hints about how this resource will be used.
-    # It is therefore assumed that this resource will be
-    # read from and written to by CUDA. This is the default value.
     NONE = 0x00
+    """
+    Flag that specifies no hints about how this resource will be used.
+    It is therefore assumed that this resource will be
+    read from and written to by CUDA. This is the default value.
+    """
 
-    # Specifies that CUDA will not write to this resource.
     READ_ONLY = 0x01
+    """
+    Flag that specifies that CUDA will not write to this resource.
+    """
 
-    # Specifies that CUDA will not read from this resource and will write over the
-    # entire contents of the resource, so none of the data previously
-    # stored in the resource will be preserved.
     WRITE_DISCARD = 0x02
+    """
+    Flag that specifies that CUDA will not read from this resource and will write over the
+    entire contents of the resource, so none of the data previously
+    stored in the resource will be preserved.
+    """
 
-    def __init__(self, gl_buffer_id: int, device: Devicelike = None, flags: int = NONE):
-        """Create a new RegisteredGLBuffer object.
+    __fallback_warning_shown = False
 
+    def __init__(self, gl_buffer_id: int, device: Devicelike = None, flags: int = NONE, fallback_to_copy: bool = True):
+        """
         Args:
             gl_buffer_id: The OpenGL buffer id (GLuint).
             device: The device to register the buffer with.  If None, the current device will be used.
-            flags: A combination of the flags constants.
+            flags: A combination of the flags constants :attr:`NONE`, :attr:`READ_ONLY`, and :attr:`WRITE_DISCARD`.
+            fallback_to_copy: If True and CUDA/OpenGL interop is not available, fall back to copy operations between the Warp array and the OpenGL buffer. Otherwise, a ``RuntimeError`` will be raised.
+
+        Note:
+
+            The ``fallback_to_copy`` option (to use copy operations if CUDA graphics interop functionality is not available) requires pyglet version 2.0 or later. Install via ``pip install pyglet==2.*``.
         """
         self.gl_buffer_id = gl_buffer_id
         self.device = get_device(device)
         self.context = self.device.context
+        self.flags = flags
+        self.fallback_to_copy = fallback_to_copy
         self.resource = runtime.core.cuda_graphics_register_gl_buffer(self.context, gl_buffer_id, flags)
+        if self.resource is None:
+            if self.fallback_to_copy:
+                self.warp_buffer = None
+                self.warp_buffer_cpu = None
+                if not RegisteredGLBuffer.__fallback_warning_shown:
+                    warp.utils.warn(
+                        "Could not register GL buffer since CUDA/OpenGL interoperability is not available. Falling back to copy operations between the Warp array and the OpenGL buffer.",
+                    )
+                    RegisteredGLBuffer.__fallback_warning_shown = True
+            else:
+                raise RuntimeError(f"Failed to register OpenGL buffer {gl_buffer_id} with CUDA")
 
     def __del__(self):
         if not self.resource:
@@ -3687,18 +3865,48 @@ class RegisteredGLBuffer:
         Returns:
             A Warp array object representing the mapped OpenGL buffer.
         """
-        runtime.core.cuda_graphics_map(self.context, self.resource)
-        ctypes.POINTER(ctypes.c_uint64), ctypes.POINTER(ctypes.c_size_t)
-        ptr = ctypes.c_uint64(0)
-        size = ctypes.c_size_t(0)
-        runtime.core.cuda_graphics_device_ptr_and_size(
-            self.context, self.resource, ctypes.byref(ptr), ctypes.byref(size)
-        )
-        return warp.array(ptr=ptr.value, dtype=dtype, shape=shape, device=self.device)
+        if self.resource is not None:
+            runtime.core.cuda_graphics_map(self.context, self.resource)
+            ptr = ctypes.c_uint64(0)
+            size = ctypes.c_size_t(0)
+            runtime.core.cuda_graphics_device_ptr_and_size(
+                self.context, self.resource, ctypes.byref(ptr), ctypes.byref(size)
+            )
+            return warp.array(ptr=ptr.value, dtype=dtype, shape=shape, device=self.device)
+        elif self.fallback_to_copy:
+            if self.warp_buffer is None or self.warp_buffer.dtype != dtype or self.warp_buffer.shape != shape:
+                self.warp_buffer = warp.empty(shape, dtype, device=self.device)
+                self.warp_buffer_cpu = warp.empty(shape, dtype, device="cpu", pinned=True)
+
+            if self.flags == self.READ_ONLY or self.flags == self.NONE:
+                # copy from OpenGL buffer to Warp array
+                from pyglet import gl
+
+                gl.glBindBuffer(gl.GL_ARRAY_BUFFER, self.gl_buffer_id)
+                nbytes = self.warp_buffer.size * warp.types.type_size_in_bytes(dtype)
+                gl.glGetBufferSubData(gl.GL_ARRAY_BUFFER, 0, nbytes, self.warp_buffer_cpu.ptr)
+                gl.glBindBuffer(gl.GL_ARRAY_BUFFER, 0)
+                warp.copy(self.warp_buffer, self.warp_buffer_cpu)
+            return self.warp_buffer
+
+        return None
 
     def unmap(self):
         """Unmap the OpenGL buffer."""
-        runtime.core.cuda_graphics_unmap(self.context, self.resource)
+        if self.resource is not None:
+            runtime.core.cuda_graphics_unmap(self.context, self.resource)
+        elif self.fallback_to_copy:
+            if self.warp_buffer is None:
+                raise RuntimeError("RegisteredGLBuffer first has to be mapped")
+
+            if self.flags == self.WRITE_DISCARD or self.flags == self.NONE:
+                # copy from Warp array to OpenGL buffer
+                from pyglet import gl
+
+                gl.glBindBuffer(gl.GL_ARRAY_BUFFER, self.gl_buffer_id)
+                buffer = self.warp_buffer.numpy()
+                gl.glBufferData(gl.GL_ARRAY_BUFFER, buffer.nbytes, buffer.ctypes.data, gl.GL_DYNAMIC_DRAW)
+                gl.glBindBuffer(gl.GL_ARRAY_BUFFER, 0)
 
 
 def zeros(
@@ -4253,7 +4461,7 @@ def launch(
             If negative or zero, the maximum hardware value will be used.
     """
 
-    assert_initialized()
+    init()
 
     # if stream is specified, use the associated device
     if stream is not None:
@@ -4496,7 +4704,7 @@ def force_load(device: Union[Device, str, List[Device], List[str]] = None, modul
 
 
 def load_module(
-    module: Union[Module, ModuleType, str] = None, device: Union[Device, str] = None, recursive: bool = False
+    module: Union[Module, types.ModuleType, str] = None, device: Union[Device, str] = None, recursive: bool = False
 ):
     """Force user-defined module to be compiled and loaded
 
@@ -4514,7 +4722,7 @@ def load_module(
         module_name = module.__name__
     elif isinstance(module, Module):
         module_name = module.name
-    elif isinstance(module, ModuleType):
+    elif isinstance(module, types.ModuleType):
         module_name = module.__name__
     elif isinstance(module, str):
         module_name = module
@@ -4863,13 +5071,20 @@ def copy(
 
     # copy gradient, if needed
     if hasattr(src, "grad") and src.grad is not None and hasattr(dest, "grad") and dest.grad is not None:
-        copy(dest.grad, src.grad, stream=stream)
+        copy(dest.grad, src.grad, dest_offset=dest_offset, src_offset=src_offset, count=count, stream=stream)
 
         if runtime.tape:
-            runtime.tape.record_func(backward=lambda: adj_copy(dest.grad, src.grad, stream=stream), arrays=[dest, src])
+            runtime.tape.record_func(
+                backward=lambda: adj_copy(
+                    dest.grad, src.grad, dest_offset=dest_offset, src_offset=src_offset, count=count, stream=stream
+                ),
+                arrays=[dest, src],
+            )
 
 
-def adj_copy(adj_dest: warp.array, adj_src: warp.array, stream: Stream = None):
+def adj_copy(
+    adj_dest: warp.array, adj_src: warp.array, dest_offset: int, src_offset: int, count: int, stream: Stream = None
+):
     """Copy adjoint operation for wp.copy() calls on the tape.
 
     Args:
@@ -4877,7 +5092,7 @@ def adj_copy(adj_dest: warp.array, adj_src: warp.array, stream: Stream = None):
         adj_src: Source array adjoint
         stream: The stream on which the copy was performed in the forward pass
     """
-    copy(adj_src, adj_dest, stream=stream)
+    copy(adj_src, adj_dest, dest_offset=dest_offset, src_offset=src_offset, count=count, stream=stream)
 
 
 def type_str(t):