warp-lang 1.0.1__py3-none-manylinux2014_aarch64.whl → 1.1.0__py3-none-manylinux2014_aarch64.whl

warp/sparse.py

@@ -1,1227 +1,1227 @@
-from typing import Any, Generic, Optional, Tuple, TypeVar, Union
-
-import warp as wp
-import warp.types
-import warp.utils
-from warp.types import Array, Cols, Matrix, Rows, Scalar, Vector
-
-# typing hints
-
-_BlockType = TypeVar("BlockType")
-
-
-class _MatrixBlockType(Matrix):
-    pass
-
-
-class _ScalarBlockType(Generic[Scalar]):
-    pass
-
-
-BlockType = Union[_MatrixBlockType[Rows, Cols, Scalar], _ScalarBlockType[Scalar]]
-
-_struct_cache = dict()
-
-
-class BsrMatrix(Generic[_BlockType]):
-    """Untyped base class for BSR and CSR matrices.
-
-    Should not be constructed directly but through functions such as :func:`bsr_zeros`.
-
-    Attributes:
-        nrow (int): Number of rows of blocks
-        ncol (int): Number of columns of blocks
-        nnz (int):  Number of non-zero blocks: must be equal to ``offsets[nrow-1]``, cached on host for convenience
-        offsets (Array[int]): Array of size at least ``1 + nrows`` such that the start and end indices of the blocks of row ``r`` are ``offsets[r]`` and ``offsets[r+1]``, respectively.
-        columns (Array[int]): Array of size at least equal to ``nnz`` containing block column indices
-        values (Array[BlockType]): Array of size at least equal to ``nnz`` containing block values
-    """
-
-    @property
-    def scalar_type(self) -> Scalar:
-        """Scalar type for individual block coefficients. For CSR matrices, this is the same as the block type"""
-        return warp.types.type_scalar_type(self.values.dtype)
-
-    @property
-    def block_shape(self) -> Tuple[int, int]:
-        """Shape of the individual blocks"""
-        return getattr(self.values.dtype, "_shape_", (1, 1))
-
-    @property
-    def block_size(self) -> int:
-        """Size of the individual blocks, i.e. number of rows per block times number of columns per block"""
-        return warp.types.type_length(self.values.dtype)
-
-    @property
-    def shape(self) -> Tuple[int, int]:
-        """Shape of the matrix, i.e. number of rows/columns of blocks times number of rows/columns per block"""
-        block_shape = self.block_shape
-        return (self.nrow * block_shape[0], self.ncol * block_shape[1])
-
-    @property
-    def dtype(self) -> type:
-        """Data type for individual block values"""
-        return self.values.dtype
-
-    @property
-    def device(self) -> wp.context.Device:
-        """Device on which offsets, columns and values are allocated -- assumed to be the same for all three arrays """
-        return self.values.device
-
-
-def bsr_matrix_t(dtype: BlockType):
-    dtype = wp.types.type_to_warp(dtype)
-
-    if not warp.types.type_is_matrix(dtype) and not dtype in warp.types.scalar_types:
-        raise ValueError(
-            f"BsrMatrix block type must be either warp matrix or scalar; got {warp.types.type_repr(dtype)}"
-        )
-
-    class BsrMatrixTyped(BsrMatrix):
-        nrow: int
-        """Number of rows of blocks"""
-        ncol: int
-        """Number of columns of blocks"""
-        nnz: int
-        """Number of non-zero blocks: equal to offsets[-1], cached on host for convenience"""
-        offsets: wp.array(dtype=int)
-        """Array of size at least 1 + nrows"""
-        columns: wp.array(dtype=int)
-        """Array of size at least equal to nnz"""
-        values: wp.array(dtype=dtype)
-
-    module = wp.get_module(BsrMatrix.__module__)
-
-    if hasattr(dtype, "_shape_"):
-        type_str = f"{warp.types.type_scalar_type(dtype).__name__}_{dtype._shape_[0]}_{dtype._shape_[1]}"
-    else:
-        type_str = dtype.__name__
-    key = f"{BsrMatrix.__qualname__}_{type_str}"
-
-    if key not in _struct_cache:
-        _struct_cache[key] = wp.codegen.Struct(
-            cls=BsrMatrixTyped,
-            key=key,
-            module=module,
-        )
-
-    return _struct_cache[key]
-
-
-def bsr_zeros(
-    rows_of_blocks: int,
-    cols_of_blocks: int,
-    block_type: BlockType,
-    device: wp.context.Devicelike = None,
-) -> BsrMatrix:
-    """
-    Constructs and returns an empty BSR or CSR matrix with the given shape
-
-    Args:
-        bsr: The BSR or CSR matrix to set to zero
-        rows_of_blocks: Number of rows of blocks
-        cols_of_blocks: Number of columns of blocks
-        block_type: Type of individual blocks. For CSR matrices, this should be a scalar type;
-                    for BSR matrices, this should be a matrix type (e.g. from :func:`warp.mat`)
-        device: Device on which to allocate the matrix arrays
-    """
-
-    bsr = bsr_matrix_t(block_type)()
-
-    bsr.nrow = rows_of_blocks
-    bsr.ncol = cols_of_blocks
-    bsr.nnz = 0
-    bsr.columns = wp.empty(shape=(0,), dtype=int, device=device)
-    bsr.values = wp.empty(shape=(0,), dtype=block_type, device=device)
-    bsr.offsets = wp.zeros(shape=(bsr.nrow + 1,), dtype=int, device=device)
-
-    return bsr
-
-
-def _bsr_ensure_fits(bsr: BsrMatrix, nrow: int = None, nnz: int = None):
-    if nrow is None:
-        nrow = bsr.nrow
-    if nnz is None:
-        nnz = bsr.nnz
-
-    if bsr.offsets.size < nrow + 1:
-        bsr.offsets = wp.empty(shape=(nrow + 1,), dtype=int, device=bsr.offsets.device)
-    if bsr.columns.size < nnz:
-        bsr.columns = wp.empty(shape=(nnz,), dtype=int, device=bsr.columns.device)
-    if bsr.values.size < nnz:
-        bsr.values = wp.empty(shape=(nnz,), dtype=bsr.values.dtype, device=bsr.values.device)
-
-
-def bsr_set_zero(bsr: BsrMatrix, rows_of_blocks: Optional[int] = None, cols_of_blocks: Optional[int] = None):
-    """
-    Sets a BSR matrix to zero, possibly changing its size
-
-    Args:
-        bsr: The BSR or CSR matrix to set to zero
-        rows_of_blocks: If not ``None``, the new number of rows of blocks
-        cols_of_blocks: If not ``None``, the new number of columns of blocks
-    """
-
-    if rows_of_blocks is not None:
-        bsr.nrow = rows_of_blocks
-    if cols_of_blocks is not None:
-        bsr.ncol = cols_of_blocks
-    bsr.nnz = 0
-    _bsr_ensure_fits(bsr)
-    bsr.offsets.zero_()
-
-
-def bsr_set_from_triplets(
-    dest: BsrMatrix[BlockType[Rows, Cols, Scalar]],
-    rows: "Array[int]",
-    columns: "Array[int]",
-    values: "Array[Union[Scalar, BlockType[Rows, Cols, Scalar]]]",
-):
-    """
-    Fills a BSR matrix with values defined by coordinate-oriented (COO) triplets, discarding existing blocks.
-
-    The first dimension of the three input arrays must match, and determines the number of non-zeros in the constructed matrix.
-
-    Args:
-        dest: Sparse matrix to populate
-        rows: Row index for each non-zero
-        columns: Columns index for each non-zero
-        values: Block values for each non-zero. Must be either a one-dimensional array with data type identical
-          to the `dest` matrix's block type, or a 3d array with data type equal to the `dest` matrix's scalar type.
-    """
-
-    if values.device != columns.device or values.device != rows.device or values.device != dest.values.device:
-        raise ValueError("All arguments must reside on the same device")
-
-    if values.shape[0] != rows.shape[0] or values.shape[0] != columns.shape[0]:
-        raise ValueError("All triplet arrays must have the same length")
-
-    # Accept either array1d(dtype) or contiguous array3d(scalar_type) as values
-    if values.ndim == 1:
-        if values.dtype != dest.values.dtype:
-            raise ValueError("Values array type must correspond to that of dest matrix")
-    elif values.ndim == 3:
-        if values.shape[1:] != dest.block_shape:
-            raise ValueError(
-                f"Last two dimensions in values array ({values.shape[1:]}) should correspond to matrix block shape {(dest.block_shape)})"
-            )
-
-        if warp.types.type_scalar_type(values.dtype) != dest.scalar_type:
-            raise ValueError("Scalar type of values array should correspond to that of matrix")
-
-        if not values.is_contiguous:
-            raise ValueError("Multi-dimensional values array should be contiguous")
-    else:
-        raise ValueError("Number of dimension for values array should be 1 or 3")
-
-    nnz = rows.shape[0]
-    if nnz == 0:
-        bsr_set_zero(dest)
-        return
-
-    # Increase dest array sizes if needed
-    _bsr_ensure_fits(dest, nnz=nnz)
-
-    device = dest.values.device
-    scalar_type = dest.scalar_type
-    from warp.context import runtime
-
-    if device.is_cpu:
-        if scalar_type == wp.float32:
-            native_func = runtime.core.bsr_matrix_from_triplets_float_host
-        elif scalar_type == wp.float64:
-            native_func = runtime.core.bsr_matrix_from_triplets_double_host
-    else:
-        if scalar_type == wp.float32:
-            native_func = runtime.core.bsr_matrix_from_triplets_float_device
-        elif scalar_type == wp.float64:
-            native_func = runtime.core.bsr_matrix_from_triplets_double_device
-
-    if not native_func:
-        raise NotImplementedError(f"bsr_from_triplets not implemented for scalar type {scalar_type}")
-
-    dest.nnz = native_func(
-        dest.block_shape[0],
-        dest.block_shape[1],
-        dest.nrow,
-        nnz,
-        rows.ptr,
-        columns.ptr,
-        values.ptr,
-        dest.offsets.ptr,
-        dest.columns.ptr,
-        dest.values.ptr,
-    )
-
-
-def bsr_assign(dest: BsrMatrix[BlockType[Rows, Cols, Scalar]], src: BsrMatrix[BlockType[Rows, Cols, Any]]):
-    """Copies the content of the `src` matrix to `dest`, casting the block values if the two matrices use distinct scalar types."""
-
-    if dest.values.device != src.values.device:
-        raise ValueError("Source and destination matrices must reside on the same device")
-
-    if dest.block_shape != src.block_shape:
-        raise ValueError("Source and destination matrices must have the same block shape")
-
-    dest.nrow = src.nrow
-    dest.ncol = src.ncol
-    dest.nnz = src.nnz
-
-    _bsr_ensure_fits(dest)
-
-    wp.copy(dest=dest.offsets, src=src.offsets, count=src.nrow + 1)
-    if src.nnz > 0:
-        wp.copy(dest=dest.columns, src=src.columns, count=src.nnz)
-        warp.utils.array_cast(out_array=dest.values, in_array=src.values, count=src.nnz)
-
-
-def bsr_copy(A: BsrMatrix, scalar_type: Optional[Scalar] = None):
-    """Returns a copy of matrix ``A``, possibly changing its scalar type.
-
-    Args:
-       scalar_type: If provided, the returned matrix will use this scalar type instead of the one from `A`.
-    """
-    if scalar_type is None:
-        block_type = A.values.dtype
-    elif A.block_shape == (1, 1):
-        block_type = scalar_type
-    else:
-        block_type = wp.types.matrix(shape=A.block_shape, dtype=scalar_type)
-
-    copy = bsr_zeros(rows_of_blocks=A.nrow, cols_of_blocks=A.ncol, block_type=block_type, device=A.values.device)
-    bsr_assign(dest=copy, src=A)
-    return copy
-
-
-def bsr_set_transpose(dest: BsrMatrix[BlockType[Cols, Rows, Scalar]], src: BsrMatrix[BlockType[Rows, Cols, Scalar]]):
-    """Assigns the transposed matrix `src` to matrix `dest`"""
-
-    if dest.values.device != src.values.device:
-        raise ValueError("All arguments must reside on the same device")
-
-    if dest.scalar_type != src.scalar_type:
-        raise ValueError("All arguments must have the same scalar type")
-
-    transpose_block_shape = src.block_shape[::-1]
-
-    if dest.block_shape != transpose_block_shape:
-        raise ValueError(f"Destination block shape must be {transpose_block_shape}")
-
-    dest.nrow = src.ncol
-    dest.ncol = src.nrow
-    dest.nnz = src.nnz
-
-    if src.nnz == 0:
-        return
-
-    # Increase dest array sizes if needed
-    _bsr_ensure_fits(dest)
-
-    from warp.context import runtime
-
-    if dest.values.device.is_cpu:
-        if dest.scalar_type == wp.float32:
-            native_func = runtime.core.bsr_transpose_float_host
-        elif dest.scalar_type == wp.float64:
-            native_func = runtime.core.bsr_transpose_double_host
-    else:
-        if dest.scalar_type == wp.float32:
-            native_func = runtime.core.bsr_transpose_float_device
-        elif dest.scalar_type == wp.float64:
-            native_func = runtime.core.bsr_transpose_double_device
-
-    if not native_func:
-        raise NotImplementedError(f"bsr_set_transpose not implemented for scalar type {dest.scalar_type}")
-
-    native_func(
-        src.block_shape[0],
-        src.block_shape[1],
-        src.nrow,
-        src.ncol,
-        src.nnz,
-        src.offsets.ptr,
-        src.columns.ptr,
-        src.values.ptr,
-        dest.offsets.ptr,
-        dest.columns.ptr,
-        dest.values.ptr,
-    )
-
-
-def bsr_transposed(A: BsrMatrix):
-    """Returns a copy of the transposed matrix `A`"""
-
-    if A.block_shape == (1, 1):
-        block_type = A.values.dtype
-    else:
-        block_type = wp.types.matrix(shape=A.block_shape[::-1], dtype=A.scalar_type)
-
-    transposed = bsr_zeros(rows_of_blocks=A.ncol, cols_of_blocks=A.nrow, block_type=block_type, device=A.values.device)
-    bsr_set_transpose(dest=transposed, src=A)
-    return transposed
-
-
-@wp.kernel
-def _bsr_get_diag_kernel(
-    A_offsets: wp.array(dtype=int),
-    A_columns: wp.array(dtype=int),
-    A_values: wp.array(dtype=Any),
-    out: wp.array(dtype=Any),
-):
-    row = wp.tid()
-    beg = A_offsets[row]
-    end = A_offsets[row + 1]
-
-    diag = wp.lower_bound(A_columns, beg, end, row)
-    if diag < end:
-        if A_columns[diag] == row:
-            out[row] = A_values[diag]
-
-
-def bsr_get_diag(A: BsrMatrix[_BlockType], out: "Optional[Array[BlockType]]" = None) -> "Array[BlockType]":
-    """Returns the array of blocks that constitute the diagonal of a sparse matrix.
-
-    Args:
-        A: the sparse matrix from which to extract the diagonal
-        out: if provided, the array into which to store the diagonal blocks
-    """
-
-    dim = min(A.nrow, A.ncol)
-
-    if out is None:
-        out = wp.zeros(shape=(dim,), dtype=A.values.dtype, device=A.values.device)
-    else:
-        if out.dtype != A.values.dtype:
-            raise ValueError(f"Output array must have type {A.values.dtype}")
-        if out.device != A.values.device:
-            raise ValueError(f"Output array must reside on device {A.values.device}")
-        if out.shape[0] < dim:
-            raise ValueError(f"Output array must be of length at least {dim}")
-
-    wp.launch(
-        kernel=_bsr_get_diag_kernel, dim=dim, device=A.values.device, inputs=[A.offsets, A.columns, A.values, out]
-    )
-
-    return out
-
-
-@wp.kernel
-def _bsr_set_diag_kernel(
-    diag: wp.array(dtype=Any),
-    A_offsets: wp.array(dtype=int),
-    A_columns: wp.array(dtype=int),
-    A_values: wp.array(dtype=Any),
-):
-    row = wp.tid()
-    A_offsets[row + 1] = row + 1
-    A_columns[row] = row
-    A_values[row] = diag[row]
-
-    if row == 0:
-        A_offsets[0] = 0
-
-
-@wp.kernel
-def _bsr_set_diag_constant_kernel(
-    diag_value: Any,
-    A_offsets: wp.array(dtype=int),
-    A_columns: wp.array(dtype=int),
-    A_values: wp.array(dtype=Any),
-):
-    row = wp.tid()
-    A_offsets[row + 1] = row + 1
-    A_columns[row] = row
-    A_values[row] = diag_value
-
-    if row == 0:
-        A_offsets[0] = 0
-
-
-def bsr_set_diag(
-    A: BsrMatrix[BlockType],
-    diag: "Union[BlockType, Array[BlockType]]",
-    rows_of_blocks: Optional[int] = None,
-    cols_of_blocks: Optional[int] = None,
-):
-    """Sets `A` as a block-diagonal matrix
-
-    Args:
-        A: the sparse matrix to modify
-        diag: Either a warp array of type ``A.values.dtype``, in which case each element will define one block of the diagonal,
-              or a constant value of type ``A.values.dtype``, in which case it will get assigned to all diagonal blocks.
-        rows_of_blocks: If not ``None``, the new number of rows of blocks
-        cols_of_blocks: If not ``None``, the new number of columns of blocks
-
-    The shape of the matrix will be defined one of the following, in that order:
-      - `rows_of_blocks` and `cols_of_blocks`, if provided. If only one is given, the second is assumed equal.
-      - the first dimension of `diag`, if `diag` is an array
-      - the current dimensions of `A` otherwise
-    """
-
-    if rows_of_blocks is None and cols_of_blocks is not None:
-        rows_of_blocks = cols_of_blocks
-    if cols_of_blocks is None and rows_of_blocks is not None:
-        cols_of_blocks = rows_of_blocks
-
-    if warp.types.is_array(diag):
-        if rows_of_blocks is None:
-            rows_of_blocks = diag.shape[0]
-            cols_of_blocks = diag.shape[0]
-
-    if rows_of_blocks is not None:
-        A.nrow = rows_of_blocks
-        A.ncol = cols_of_blocks
-
-    A.nnz = min(A.nrow, A.ncol)
-    _bsr_ensure_fits(A)
-
-    if warp.types.is_array(diag):
-        wp.launch(
-            kernel=_bsr_set_diag_kernel,
-            dim=A.nnz,
-            device=A.values.device,
-            inputs=[diag, A.offsets, A.columns, A.values],
-        )
-    else:
-        if not warp.types.type_is_value(type(diag)):
-            # Cast to launchable type
-            diag = A.values.dtype(diag)
-        wp.launch(
-            kernel=_bsr_set_diag_constant_kernel,
-            dim=A.nnz,
-            device=A.values.device,
-            inputs=[diag, A.offsets, A.columns, A.values],
-        )
-
-
-def bsr_diag(
-    diag: "Union[BlockType, Array[BlockType]]",
-    rows_of_blocks: Optional[int] = None,
-    cols_of_blocks: Optional[int] = None,
-) -> BsrMatrix["BlockType"]:
-    """Creates and returns a block-diagonal BSR matrix from an given block value or array of block values.
-
-    Args:
-        diag: Either a warp array of type ``A.values.dtype``, in which case each element will define one block of the diagonal,
-              or a constant value of type ``A.values.dtype``, in which case it will get assigned to all diagonal blocks.
-        rows_of_blocks: If not ``None``, the new number of rows of blocks
-        cols_of_blocks: If not ``None``, the new number of columns of blocks
-
-    The shape of the matrix will be defined one of the following, in that order:
-      - `rows_of_blocks` and `cols_of_blocks`, if provided. If only one is given, the second is assumed equal.
-      - the first dimension of `diag`, if `diag` is an array
-    """
-
-    if rows_of_blocks is None and cols_of_blocks is not None:
-        rows_of_blocks = cols_of_blocks
-    if cols_of_blocks is None and rows_of_blocks is not None:
-        cols_of_blocks = rows_of_blocks
-
-    if warp.types.is_array(diag):
-        if rows_of_blocks is None:
-            rows_of_blocks = diag.shape[0]
-            cols_of_blocks = diag.shape[0]
-
-        A = bsr_zeros(
-            rows_of_blocks,
-            cols_of_blocks,
-            block_type=diag.dtype,
-            device=diag.device,
-        )
-    else:
-        if rows_of_blocks is None:
-            raise ValueError(
-                "rows_of_blocks and/or cols_of_blocks must be provided for constructing a diagonal matrix with uniform diagonal"
-            )
-
-        block_type = type(diag)
-        if not warp.types.type_is_matrix(block_type) and len(getattr(diag, "shape", ())) == 2:
-            block_type = wp.mat(shape=diag.shape, dtype=diag.dtype)
-
-        A = bsr_zeros(
-            rows_of_blocks,
-            cols_of_blocks,
-            block_type=block_type,
-        )
-
-    bsr_set_diag(A, diag)
-    return A
-
-
-def bsr_set_identity(A: BsrMatrix, rows_of_blocks: Optional[int] = None):
-    """Sets `A` as the identity matrix
-
-    Args:
-        A: the sparse matrix to modify
-        rows_of_blocks: if provided, the matrix will be resized as a square matrix with `rows_of_blocks` rows and columns.
-    """
-
-    if A.block_shape == (1, 1):
-        identity = A.scalar_type(1.0)
-    else:
-        from numpy import eye
-
-        identity = eye(A.block_shape[0])
-
-    bsr_set_diag(A, diag=identity, rows_of_blocks=rows_of_blocks, cols_of_blocks=rows_of_blocks)
-
-
-def bsr_identity(
-    rows_of_blocks: int, block_type: BlockType[Rows, Rows, Scalar], device: wp.context.Devicelike = None
-) -> BsrMatrix[BlockType[Rows, Rows, Scalar]]:
-    """Creates and returns a square identity matrix.
-
-    Args:
-        rows_of_blocks: Number of rows and columns of blocks in the created matrix.
-        block_type: Block type for the newly created matrix -- must be square
-        device: Device onto which to allocate the data arrays
-    """
-    A = bsr_zeros(rows_of_blocks=rows_of_blocks, cols_of_blocks=rows_of_blocks, block_type=block_type, device=device)
-    bsr_set_identity(A)
-    return A
-
-
-@wp.kernel
-def _bsr_scale_kernel(
-    alpha: Any,
-    values: wp.array(dtype=Any),
-):
-    values[wp.tid()] = alpha * values[wp.tid()]
-
-
-def bsr_scale(x: BsrMatrix, alpha: Scalar) -> BsrMatrix:
-    """
-    Performs the operation ``x := alpha * x`` on BSR matrix `x` and returns `x`
-    """
-
-    if alpha != 1.0 and x.nnz > 0:
-        if alpha == 0.0:
-            bsr_set_zero(x)
-        else:
-            if not isinstance(alpha, x.scalar_type):
-                alpha = x.scalar_type(alpha)
-
-            wp.launch(kernel=_bsr_scale_kernel, dim=x.nnz, device=x.values.device, inputs=[alpha, x.values])
-
-    return x
-
-
-@wp.kernel
-def _bsr_get_block_row(dest_offset: int, bsr_offsets: wp.array(dtype=int), rows: wp.array(dtype=int)):
-    i = wp.tid()
-
-    row = wp.lower_bound(bsr_offsets, i + 1) - 1
-    rows[dest_offset + i] = row
-
-
-@wp.kernel
-def _bsr_axpy_add_block(
-    src_offset: int,
-    scale: Any,
-    rows: wp.array(dtype=int),
-    cols: wp.array(dtype=int),
-    dst_offsets: wp.array(dtype=int),
-    dst_columns: wp.array(dtype=int),
-    src_values: wp.array(dtype=Any),
-    dst_values: wp.array(dtype=Any),
-):
-    i = wp.tid()
-    row = rows[i + src_offset]
-    col = cols[i + src_offset]
-    beg = dst_offsets[row]
-    end = dst_offsets[row + 1]
-
-    block = wp.lower_bound(dst_columns, beg, end, col)
-
-    dst_values[block] = dst_values[block] + scale * src_values[i]
-
-
-class bsr_axpy_work_arrays:
-    """Opaque structure for persisting :func:`bsr_axpy` temporary work buffers across calls"""
-
-    def __init__(self):
-        self._reset(None)
-
-    def _reset(self, device):
-        self.device = device
-        self._sum_rows = None
-        self._sum_cols = None
-        self._old_y_values = None
-        self._old_x_values = None
-
-    def _allocate(self, device, y: BsrMatrix, sum_nnz: int):
-        if self.device != device:
-            self._reset(device)
-
-        if self._sum_rows is None or self._sum_rows.size < sum_nnz:
-            self._sum_rows = wp.empty(shape=(sum_nnz), dtype=int, device=self.device)
-        if self._sum_cols is None or self._sum_cols.size < sum_nnz:
-            self._sum_cols = wp.empty(shape=(sum_nnz), dtype=int, device=self.device)
-
-        if self._old_y_values is None or self._old_y_values.size < y.nnz:
-            self._old_y_values = wp.empty(shape=(y.nnz), dtype=y.values.dtype, device=self.device)
-
-
-def bsr_axpy(
-    x: BsrMatrix[BlockType[Rows, Cols, Scalar]],
-    y: Optional[BsrMatrix[BlockType[Rows, Cols, Scalar]]] = None,
-    alpha: Scalar = 1.0,
-    beta: Scalar = 1.0,
-    work_arrays: Optional[bsr_axpy_work_arrays] = None,
-) -> BsrMatrix[BlockType[Rows, Cols, Scalar]]:
-    """
-    Performs the sparse matrix addition ``y := alpha * X + beta * y`` on BSR matrices `x` and `y` and returns `y`.
-
-    The `x` and `y` matrices are allowed to alias.
-
-    Args:
-        x: Read-only right-hand-side.
-        y: Mutable left-hand-side. If `y` is not provided, it will be allocated and treated as zero.
-        alpha: Uniform scaling factor for `x`
-        beta: Uniform scaling factor for `y`
-        work_arrays: In most cases this function will require the use of temporary storage; this storage can be reused across calls by passing an instance of :class:`bsr_axpy_work_arrays` in `work_arrays`.
-    """
-
-    if y is None:
-        # If not output matrix is provided, allocate it for convenience
-        y = bsr_zeros(x.nrow, x.ncol, block_type=x.values.dtype, device=x.values.device)
-        beta = 0.0
-
-    # Handle easy cases first
-    if beta == 0.0 or y.nnz == 0:
-        bsr_assign(src=x, dest=y)
-        return bsr_scale(y, alpha=alpha)
-
-    if alpha == 0.0 or x.nnz == 0:
-        return bsr_scale(y, alpha=beta)
-
-    if not isinstance(alpha, y.scalar_type):
-        alpha = y.scalar_type(alpha)
-    if not isinstance(beta, y.scalar_type):
-        beta = y.scalar_type(beta)
-
-    if x == y:
-        # Aliasing case
-        return bsr_scale(y, alpha=alpha.value + beta.value)
-
-    # General case
-
-    if x.values.device != y.values.device:
-        raise ValueError("All arguments must reside on the same device")
-
-    if x.scalar_type != y.scalar_type or x.block_shape != y.block_shape:
-        raise ValueError("Matrices must have the same block type")
-
-    if x.nrow != y.nrow or x.ncol != y.ncol:
-        raise ValueError("Matrices must have the same number of rows and columns")
-
-    if work_arrays is None:
-        work_arrays = bsr_axpy_work_arrays()
-
-    sum_nnz = x.nnz + y.nnz
-    device = y.values.device
-    work_arrays._allocate(device, y, sum_nnz)
-
-    wp.copy(work_arrays._sum_cols, y.columns, 0, 0, y.nnz)
-    wp.launch(kernel=_bsr_get_block_row, device=device, dim=y.nnz, inputs=[0, y.offsets, work_arrays._sum_rows])
-
-    wp.copy(work_arrays._sum_cols, x.columns, y.nnz, 0, x.nnz)
-    wp.launch(kernel=_bsr_get_block_row, device=device, dim=x.nnz, inputs=[y.nnz, x.offsets, work_arrays._sum_rows])
-
-    # Save old y values before overwriting matrix
-    wp.copy(dest=work_arrays._old_y_values, src=y.values, count=y.nnz)
-
-    # Increase dest array sizes if needed
-    if y.columns.shape[0] < sum_nnz:
-        y.columns = wp.empty(shape=(sum_nnz,), dtype=int, device=device)
-
-    from warp.context import runtime
-
-    if device.is_cpu:
-        native_func = runtime.core.bsr_matrix_from_triplets_float_host
-    else:
-        native_func = runtime.core.bsr_matrix_from_triplets_float_device
-
-    old_y_nnz = y.nnz
-    y.nnz = native_func(
-        y.block_shape[0],
-        y.block_shape[1],
-        y.nrow,
-        sum_nnz,
-        work_arrays._sum_rows.ptr,
-        work_arrays._sum_cols.ptr,
-        0,
-        y.offsets.ptr,
-        y.columns.ptr,
-        0,
-    )
-
-    _bsr_ensure_fits(y)
-    y.values.zero_()
-
-    wp.launch(
-        kernel=_bsr_axpy_add_block,
-        device=device,
-        dim=old_y_nnz,
-        inputs=[
-            0,
-            beta,
-            work_arrays._sum_rows,
-            work_arrays._sum_cols,
-            y.offsets,
-            y.columns,
-            work_arrays._old_y_values,
-            y.values,
-        ],
-    )
-
-    wp.launch(
-        kernel=_bsr_axpy_add_block,
-        device=device,
-        dim=x.nnz,
-        inputs=[
-            old_y_nnz,
-            alpha,
-            work_arrays._sum_rows,
-            work_arrays._sum_cols,
-            y.offsets,
-            y.columns,
-            x.values,
-            y.values,
-        ],
-    )
-
-    return y
-
-
-@wp.kernel
-def _bsr_mm_count_coeffs(
-    z_nnz: int,
-    x_offsets: wp.array(dtype=int),
-    x_columns: wp.array(dtype=int),
-    y_offsets: wp.array(dtype=int),
-    counts: wp.array(dtype=int),
-):
-    row = wp.tid()
-    count = int(0)
-
-    x_beg = x_offsets[row]
-    x_end = x_offsets[row + 1]
-
-    for x_block in range(x_beg, x_end):
-        x_col = x_columns[x_block]
-        count += y_offsets[x_col + 1] - y_offsets[x_col]
-
-    counts[row + 1] = count
-
-    if row == 0:
-        counts[0] = z_nnz
-
-
-@wp.kernel
-def _bsr_mm_list_coeffs(
-    x_offsets: wp.array(dtype=int),
-    x_columns: wp.array(dtype=int),
-    y_offsets: wp.array(dtype=int),
-    y_columns: wp.array(dtype=int),
-    mm_offsets: wp.array(dtype=int),
-    mm_rows: wp.array(dtype=int),
-    mm_cols: wp.array(dtype=int),
-):
-    row = wp.tid()
-    mm_block = mm_offsets[row]
-
-    x_beg = x_offsets[row]
-    x_end = x_offsets[row + 1]
-
-    for x_block in range(x_beg, x_end):
-        x_col = x_columns[x_block]
-
-        y_beg = y_offsets[x_col]
-        y_end = y_offsets[x_col + 1]
-        for y_block in range(y_beg, y_end):
-            mm_cols[mm_block] = y_columns[y_block]
-            mm_rows[mm_block] = row
-            mm_block += 1
-
-
-@wp.kernel
-def _bsr_mm_compute_values(
-    alpha: Any,
-    x_offsets: wp.array(dtype=int),
-    x_columns: wp.array(dtype=int),
-    x_values: wp.array(dtype=Any),
-    y_offsets: wp.array(dtype=int),
-    y_columns: wp.array(dtype=int),
-    y_values: wp.array(dtype=Any),
-    mm_offsets: wp.array(dtype=int),
-    mm_cols: wp.array(dtype=int),
-    mm_values: wp.array(dtype=Any),
-):
-    row = wp.tid()
-    mm_beg = mm_offsets[row]
-    mm_end = mm_offsets[row + 1]
-
-    x_beg = x_offsets[row]
-    x_end = x_offsets[row + 1]
-    for x_block in range(x_beg, x_end):
-        x_col = x_columns[x_block]
-        ax_val = alpha * x_values[x_block]
-
-        y_beg = y_offsets[x_col]
-        y_end = y_offsets[x_col + 1]
-
-        for y_block in range(y_beg, y_end):
-            mm_block = wp.lower_bound(mm_cols, mm_beg, mm_end, y_columns[y_block])
-            mm_values[mm_block] = mm_values[mm_block] + ax_val * y_values[y_block]
-
-
-class bsr_mm_work_arrays:
-    """Opaque structure for persisting :func:`bsr_mm` temporary work buffers across calls"""
-
-    def __init__(self):
-        self._reset(None)
-
-    def _reset(self, device):
-        self.device = device
-        self._pinned_count_buffer = None
-        self._mm_row_counts = None
-        self._mm_rows = None
-        self._mm_cols = None
-        self._old_z_values = None
-        self._old_z_offsets = None
-        self._old_z_columns = None
-
-    def _allocate_stage_1(self, device, z: BsrMatrix, copied_z_nnz: int, z_aliasing: bool):
-        if self.device != device:
-            self._reset(device)
-
-        # Allocations that do not depend on any computation
-        if self.device.is_cuda:
-            if self._pinned_count_buffer is None:
-                self._pinned_count_buffer = wp.empty(shape=(1,), dtype=int, pinned=True, device="cpu")
-
-        if self._mm_row_counts is None or self._mm_row_counts.size < z.nrow + 1:
-            self._mm_row_counts = wp.empty(shape=(z.nrow + 1,), dtype=int, device=self.device)
-
-        if copied_z_nnz > 0:
-            if self._old_z_values is None or self._old_z_values.size < copied_z_nnz:
-                self._old_z_values = wp.empty(shape=(copied_z_nnz,), dtype=z.values.dtype, device=self.device)
-
-        if z_aliasing:
-            if self._old_z_columns is None or self._old_z_columns.size < z.nnz:
-                self._old_z_columns = wp.empty(shape=(z.nnz,), dtype=z.columns.dtype, device=self.device)
-            if self._old_z_offsets is None or self._old_z_offsets.size < z.nrow + 1:
-                self._old_z_offsets = wp.empty(shape=(z.nrow + 1,), dtype=z.offsets.dtype, device=self.device)
-
-    def _allocate_stage_2(self, mm_nnz: int):
-        # Allocations that depend on unmerged nnz estimate
-        if self._mm_rows is None or self._mm_rows.size < mm_nnz:
-            self._mm_rows = wp.empty(shape=(mm_nnz,), dtype=int, device=self.device)
-        if self._mm_cols is None or self._mm_cols.size < mm_nnz:
-            self._mm_cols = wp.empty(shape=(mm_nnz,), dtype=int, device=self.device)
-
-
-def bsr_mm(
-    x: BsrMatrix[BlockType[Rows, Any, Scalar]],
-    y: BsrMatrix[BlockType[Any, Cols, Scalar]],
-    z: Optional[BsrMatrix[BlockType[Rows, Cols, Scalar]]] = None,
-    alpha: Scalar = 1.0,
-    beta: Scalar = 0.0,
-    work_arrays: Optional[bsr_mm_work_arrays] = None,
-) -> BsrMatrix[BlockType[Rows, Cols, Scalar]]:
-    """
-    Performs the sparse matrix-matrix multiplication ``z := alpha * x * y + beta * z`` on BSR matrices `x`, `y` and `z`, and returns `z`.
-
-    The `x`, `y` and `z` matrices are allowed to alias.
-    If the matrix `z` is not provided as input, it will be allocated and treated as zero.
-
-    Args:
-        x: Read-only left factor of the matrix-matrix product.
-        y: Read-only right factor of the matrix-matrix product.
-        z: Mutable left-hand-side. If `z` is not provided, it will be allocated and treated as zero.
-        alpha: Uniform scaling factor for the ``x * y`` product
-        beta: Uniform scaling factor for `z`
-        work_arrays: In most cases this function will require the use of temporary storage; this storage can be reused across calls by passing an instance of :class:`bsr_mm_work_arrays` in `work_arrays`.
-    """
-
-    if z is None:
-        # If not output matrix is provided, allocate it for convenience
-        z_block_shape = (x.block_shape[0], y.block_shape[1])
-        if z_block_shape == (1, 1):
-            z_block_type = x.scalar_type
-        else:
-            z_block_type = wp.types.matrix(shape=z_block_shape, dtype=x.scalar_type)
-        z = bsr_zeros(x.nrow, y.ncol, block_type=z_block_type, device=x.values.device)
-        beta = 0.0
-
-    if x.values.device != y.values.device or x.values.device != z.values.device:
-        raise ValueError("All arguments must reside on the same device")
-
-    if x.scalar_type != y.scalar_type or x.scalar_type != z.scalar_type:
-        raise ValueError("Matrices must have the same scalar type")
-
-    if (
-        x.block_shape[0] != z.block_shape[0]
-        or y.block_shape[1] != z.block_shape[1]
-        or x.block_shape[1] != y.block_shape[0]
-    ):
-        raise ValueError("Incompatible block sizes for matrix multiplication")
-
-    if x.nrow != z.nrow or z.ncol != y.ncol or x.ncol != y.nrow:
-        raise ValueError("Incompatible number of rows/columns for matrix multiplication")
-
-    device = z.values.device
-
-    if alpha == 0.0 or x.nnz == 0 or y.nnz == 0:
-        # Easy case
-        return bsr_scale(z, beta)
-
-    if not isinstance(alpha, z.scalar_type):
-        alpha = z.scalar_type(alpha)
-    if not isinstance(beta, z.scalar_type):
-        beta = z.scalar_type(beta)
-
-    if work_arrays is None:
-        work_arrays = bsr_mm_work_arrays()
-
-    z_aliasing = z == x or z == y
-    copied_z_nnz = z.nnz if beta != 0.0 or z_aliasing else 0
-
-    work_arrays._allocate_stage_1(device, z, copied_z_nnz, z_aliasing)
-
-    # Prefix sum of number of (unmerged) mm blocks per row
-    wp.launch(
-        kernel=_bsr_mm_count_coeffs,
-        device=device,
-        dim=z.nrow,
-        inputs=[copied_z_nnz, x.offsets, x.columns, y.offsets, work_arrays._mm_row_counts],
-    )
-    warp.utils.array_scan(work_arrays._mm_row_counts, work_arrays._mm_row_counts)
-
-    # Get back total counts on host
-    if device.is_cuda:
-        wp.copy(dest=work_arrays._pinned_count_buffer, src=work_arrays._mm_row_counts, src_offset=z.nrow, count=1)
-        wp.synchronize_stream(wp.get_stream(device))
-        mm_nnz = int(work_arrays._pinned_count_buffer.numpy()[0])
-    else:
-        mm_nnz = int(work_arrays._mm_row_counts.numpy()[z.nrow])
-
-    work_arrays._allocate_stage_2(mm_nnz)
-
-    # If z has a non-zero scale, save current data before overwriting it
-    if copied_z_nnz > 0:
-        # Copy z row and column indices
-        wp.copy(dest=work_arrays._mm_cols, src=z.columns, count=copied_z_nnz)
-        wp.launch(
-            kernel=_bsr_get_block_row, device=device, dim=copied_z_nnz, inputs=[0, z.offsets, work_arrays._mm_rows]
-        )
-        # Save current z values in temporary buffer
-        wp.copy(src=z.values, dest=work_arrays._old_z_values, count=copied_z_nnz)
-        if z_aliasing:
-            # If z is aliasing with x or y, need to save topology as well
-            wp.copy(src=z.columns, dest=work_arrays._old_z_columns, count=copied_z_nnz)
-            wp.copy(src=z.offsets, dest=work_arrays._old_z_offsets, count=z.nrow + 1)
-
-    # Fill unmerged mm blocks rows and columns
-    wp.launch(
-        kernel=_bsr_mm_list_coeffs,
-        device=device,
-        dim=z.nrow,
-        inputs=[
-            x.offsets,
-            x.columns,
-            y.offsets,
-            y.columns,
-            work_arrays._mm_row_counts,
-            work_arrays._mm_rows,
-            work_arrays._mm_cols,
-        ],
-    )
-
-    # Increase dest array size if needed
-    if z.columns.shape[0] < mm_nnz:
-        z.columns = wp.empty(shape=(mm_nnz,), dtype=int, device=device)
-
-    from warp.context import runtime
-
-    if device.is_cpu:
-        native_func = runtime.core.bsr_matrix_from_triplets_float_host
-    else:
-        native_func = runtime.core.bsr_matrix_from_triplets_float_device
-
-    z.nnz = native_func(
-        z.block_shape[0],
-        z.block_shape[1],
-        z.nrow,
-        mm_nnz,
-        work_arrays._mm_rows.ptr,
-        work_arrays._mm_cols.ptr,
-        0,
-        z.offsets.ptr,
-        z.columns.ptr,
-        0,
-    )
-
-    _bsr_ensure_fits(z)
-    z.values.zero_()
-
-    if copied_z_nnz > 0:
-        # Add back original z values
-        wp.launch(
-            kernel=_bsr_axpy_add_block,
-            device=device,
-            dim=copied_z_nnz,
-            inputs=[
-                0,
-                beta,
-                work_arrays._mm_rows,
-                work_arrays._mm_cols,
-                z.offsets,
-                z.columns,
-                work_arrays._old_z_values,
-                z.values,
-            ],
-        )
-
-    # Add mm blocks to z values
-    if (warp.types.type_is_matrix(x.values.dtype) or warp.types.type_is_matrix(y.values.dtype)) and not (
-        warp.types.type_is_matrix(z.values.dtype)
-    ):
-        # Result block type is scalar, but operands are matrices
-        # Cast result to (1x1) matrix to perform multiplication
-        mm_values = z.values.view(wp.types.matrix(shape=(1, 1), dtype=z.scalar_type))
-    else:
-        mm_values = z.values
-
-    wp.launch(
-        kernel=_bsr_mm_compute_values,
-        device=device,
-        dim=z.nrow,
-        inputs=[
-            alpha,
-            work_arrays._old_z_offsets if x == z else x.offsets,
-            work_arrays._old_z_columns if x == z else x.columns,
-            work_arrays._old_z_values if x == z else x.values,
-            work_arrays._old_z_offsets if y == z else y.offsets,
-            work_arrays._old_z_columns if y == z else y.columns,
-            work_arrays._old_z_values if y == z else y.values,
-            z.offsets,
-            z.columns,
-            mm_values,
-        ],
-    )
-
-    return z
-
-
-@wp.kernel
-def _bsr_mv_kernel(
-    alpha: Any,
-    A_offsets: wp.array(dtype=int),
-    A_columns: wp.array(dtype=int),
-    A_values: wp.array(dtype=Any),
-    x: wp.array(dtype=Any),
-    beta: Any,
-    y: wp.array(dtype=Any),
-):
-    row = wp.tid()
-
-    # zero-initialize with type of y elements
-    scalar_zero = type(alpha)(0)
-    v = y.dtype(scalar_zero)
-
-    if alpha != scalar_zero:
-        beg = A_offsets[row]
-        end = A_offsets[row + 1]
-        for block in range(beg, end):
-            v += A_values[block] * x[A_columns[block]]
-        v *= alpha
-
-    if beta != scalar_zero:
-        v += beta * y[row]
-
-    y[row] = v
-
-
-def bsr_mv(
-    A: BsrMatrix[BlockType[Rows, Cols, Scalar]],
-    x: "Array[Vector[Cols, Scalar] | Scalar]",
-    y: Optional["Array[Vector[Rows, Scalar] | Scalar]"] = None,
-    alpha: Scalar = 1.0,
-    beta: Scalar = 0.0,
-    work_buffer: Optional["Array[Vector[Rows, Scalar] | Scalar]"] = None,
-) -> "Array[Vector[Rows, Scalar] | Scalar]":
-    """
-    Performs the sparse matrix-vector product ``y := alpha * A * x + beta * y`` and returns `y`.
-
-    The `x` and `y` vectors are allowed to alias.
-
-    Args:
-        A: Read-only, left matrix factor of the matrix-vector product.
-        x: Read-only, right vector factor of the matrix-vector product.
-        y: Mutable left-hand-side. If `y` is not provided, it will be allocated and treated as zero.
-        alpha: Uniform scaling factor for `x`. If zero, `x` will not be read and may be left uninitialized.
-        beta: Uniform scaling factor for `y`. If zero, `y` will not be read and may be left uninitialized.
-        work_buffer: Temporary storage is required if and only if `x` and `y` are the same vector. If provided the `work_buffer` array
-            will be used for this purpose, otherwise a temporary allocation will be performed.
-    """
-
-    if y is None:
-        # If no output array is provided, allocate one for convenience
-        y_vec_len = A.block_shape[0]
-        y_dtype = A.scalar_type if y_vec_len == 1 else wp.vec(length=y_vec_len, dtype=A.scalar_type)
-        y = wp.empty(shape=(A.nrow,), device=A.values.device, dtype=y_dtype)
-        y.zero_()
-        beta = 0.0
-
-    if not isinstance(alpha, A.scalar_type):
-        alpha = A.scalar_type(alpha)
-    if not isinstance(beta, A.scalar_type):
-        beta = A.scalar_type(beta)
-
-    if A.values.device != x.device or A.values.device != y.device:
-        raise ValueError("A, x and y must reside on the same device")
-
-    if x.shape[0] != A.ncol:
-        raise ValueError("Number of columns of A must match number of rows of x")
-    if y.shape[0] != A.nrow:
-        raise ValueError("Number of rows of A must match number of rows of y")
-
-    if x == y:
-        # Aliasing case, need temporary storage
-        if work_buffer is None:
-            work_buffer = wp.empty_like(y)
-        elif work_buffer.size < y.size:
-            raise ValueError(f"Work buffer size is insufficient, needs to be at least {y.size}")
-        elif not wp.types.types_equal(work_buffer.dtype, y.dtype):
-            raise ValueError(f"Work buffer must have same data type as y, {wp.types.type_repr(y.dtype)}")
-
-        # Save old y values before overwriting vector
-        wp.copy(dest=work_buffer, src=y, count=y.size)
-        x = work_buffer
-
-    # Promote scalar vectors to length-1 vecs and conversely
-    if warp.types.type_is_matrix(A.values.dtype):
-        if A.block_shape[0] == 1:
-            if y.dtype == A.scalar_type:
-                y = y.view(dtype=wp.vec(length=1, dtype=A.scalar_type))
-        if A.block_shape[1] == 1:
-            if x.dtype == A.scalar_type:
-                x = x.view(dtype=wp.vec(length=1, dtype=A.scalar_type))
-    else:
-        if A.block_shape[0] == 1:
-            if y.dtype != A.scalar_type:
-                y = y.view(dtype=A.scalar_type)
-        if A.block_shape[1] == 1:
-            if x.dtype != A.scalar_type:
-                x = x.view(dtype=A.scalar_type)
-
-    wp.launch(
-        kernel=_bsr_mv_kernel,
-        device=A.values.device,
-        dim=A.nrow,
-        inputs=[alpha, A.offsets, A.columns, A.values, x, beta, y],
-    )
-
-    return y
+from typing import Any, Generic, Optional, Tuple, TypeVar, Union
+
+import warp as wp
+import warp.types
+import warp.utils
+from warp.types import Array, Cols, Rows, Scalar, Vector
+
+# typing hints
+
+_BlockType = TypeVar("BlockType")
+
+
+class _MatrixBlockType(Generic[Rows, Cols, Scalar]):
+    pass
+
+
+class _ScalarBlockType(Generic[Scalar]):
+    pass
+
+
+BlockType = Union[_MatrixBlockType[Rows, Cols, Scalar], _ScalarBlockType[Scalar]]
+
+_struct_cache = {}
+
+
+class BsrMatrix(Generic[_BlockType]):
+    """Untyped base class for BSR and CSR matrices.
+
+    Should not be constructed directly but through functions such as :func:`bsr_zeros`.
+
+    Attributes:
+        nrow (int): Number of rows of blocks
+        ncol (int): Number of columns of blocks
+        nnz (int):  Number of non-zero blocks: must be equal to ``offsets[nrow-1]``, cached on host for convenience
+        offsets (Array[int]): Array of size at least ``1 + nrows`` such that the start and end indices of the blocks of row ``r`` are ``offsets[r]`` and ``offsets[r+1]``, respectively.
+        columns (Array[int]): Array of size at least equal to ``nnz`` containing block column indices
+        values (Array[BlockType]): Array of size at least equal to ``nnz`` containing block values
+    """
+
+    @property
+    def scalar_type(self) -> Scalar:
+        """Scalar type for individual block coefficients. For CSR matrices, this is the same as the block type"""
+        return warp.types.type_scalar_type(self.values.dtype)
+
+    @property
+    def block_shape(self) -> Tuple[int, int]:
+        """Shape of the individual blocks"""
+        return getattr(self.values.dtype, "_shape_", (1, 1))
+
+    @property
+    def block_size(self) -> int:
+        """Size of the individual blocks, i.e. number of rows per block times number of columns per block"""
+        return warp.types.type_length(self.values.dtype)
+
+    @property
+    def shape(self) -> Tuple[int, int]:
+        """Shape of the matrix, i.e. number of rows/columns of blocks times number of rows/columns per block"""
+        block_shape = self.block_shape
+        return (self.nrow * block_shape[0], self.ncol * block_shape[1])
+
+    @property
+    def dtype(self) -> type:
+        """Data type for individual block values"""
+        return self.values.dtype
+
+    @property
+    def device(self) -> wp.context.Device:
+        """Device on which offsets, columns and values are allocated -- assumed to be the same for all three arrays"""
+        return self.values.device
+
+
+def bsr_matrix_t(dtype: BlockType):
+    dtype = wp.types.type_to_warp(dtype)
+
+    if not warp.types.type_is_matrix(dtype) and dtype not in warp.types.scalar_types:
+        raise ValueError(
+            f"BsrMatrix block type must be either warp matrix or scalar; got {warp.types.type_repr(dtype)}"
+        )
+
+    class BsrMatrixTyped(BsrMatrix):
+        nrow: int
+        """Number of rows of blocks"""
+        ncol: int
+        """Number of columns of blocks"""
+        nnz: int
+        """Number of non-zero blocks: equal to offsets[-1], cached on host for convenience"""
+        offsets: wp.array(dtype=int)
+        """Array of size at least 1 + nrows"""
+        columns: wp.array(dtype=int)
+        """Array of size at least equal to nnz"""
+        values: wp.array(dtype=dtype)
+
+    module = wp.get_module(BsrMatrix.__module__)
+
+    if hasattr(dtype, "_shape_"):
+        type_str = f"{warp.types.type_scalar_type(dtype).__name__}_{dtype._shape_[0]}_{dtype._shape_[1]}"
+    else:
+        type_str = dtype.__name__
+    key = f"{BsrMatrix.__qualname__}_{type_str}"
+
+    if key not in _struct_cache:
+        _struct_cache[key] = wp.codegen.Struct(
+            cls=BsrMatrixTyped,
+            key=key,
+            module=module,
+        )
+
+    return _struct_cache[key]
+
+
+def bsr_zeros(
+    rows_of_blocks: int,
+    cols_of_blocks: int,
+    block_type: BlockType,
+    device: wp.context.Devicelike = None,
+) -> BsrMatrix:
+    """
+    Constructs and returns an empty BSR or CSR matrix with the given shape
+
+    Args:
+        bsr: The BSR or CSR matrix to set to zero
+        rows_of_blocks: Number of rows of blocks
+        cols_of_blocks: Number of columns of blocks
+        block_type: Type of individual blocks. For CSR matrices, this should be a scalar type;
+                    for BSR matrices, this should be a matrix type (e.g. from :func:`warp.mat`)
+        device: Device on which to allocate the matrix arrays
+    """
+
+    bsr = bsr_matrix_t(block_type)()
+
+    bsr.nrow = rows_of_blocks
+    bsr.ncol = cols_of_blocks
+    bsr.nnz = 0
+    bsr.columns = wp.empty(shape=(0,), dtype=int, device=device)
+    bsr.values = wp.empty(shape=(0,), dtype=block_type, device=device)
+    bsr.offsets = wp.zeros(shape=(bsr.nrow + 1,), dtype=int, device=device)
+
+    return bsr
+
+
+def _bsr_ensure_fits(bsr: BsrMatrix, nrow: int = None, nnz: int = None):
+    if nrow is None:
+        nrow = bsr.nrow
+    if nnz is None:
+        nnz = bsr.nnz
+
+    if bsr.offsets.size < nrow + 1:
+        bsr.offsets = wp.empty(shape=(nrow + 1,), dtype=int, device=bsr.offsets.device)
+    if bsr.columns.size < nnz:
+        bsr.columns = wp.empty(shape=(nnz,), dtype=int, device=bsr.columns.device)
+    if bsr.values.size < nnz:
+        bsr.values = wp.empty(shape=(nnz,), dtype=bsr.values.dtype, device=bsr.values.device)
+
+
+def bsr_set_zero(bsr: BsrMatrix, rows_of_blocks: Optional[int] = None, cols_of_blocks: Optional[int] = None):
+    """
+    Sets a BSR matrix to zero, possibly changing its size
+
+    Args:
+        bsr: The BSR or CSR matrix to set to zero
+        rows_of_blocks: If not ``None``, the new number of rows of blocks
+        cols_of_blocks: If not ``None``, the new number of columns of blocks
+    """
+
+    if rows_of_blocks is not None:
+        bsr.nrow = rows_of_blocks
+    if cols_of_blocks is not None:
+        bsr.ncol = cols_of_blocks
+    bsr.nnz = 0
+    _bsr_ensure_fits(bsr)
+    bsr.offsets.zero_()
+
+
+def bsr_set_from_triplets(
+    dest: BsrMatrix[BlockType[Rows, Cols, Scalar]],
+    rows: "Array[int]",
+    columns: "Array[int]",
+    values: "Array[Union[Scalar, BlockType[Rows, Cols, Scalar]]]",
+):
+    """
+    Fills a BSR matrix with values defined by coordinate-oriented (COO) triplets, discarding existing blocks.
+
+    The first dimension of the three input arrays must match, and determines the number of non-zeros in the constructed matrix.
+
+    Args:
+        dest: Sparse matrix to populate
+        rows: Row index for each non-zero
+        columns: Columns index for each non-zero
+        values: Block values for each non-zero. Must be either a one-dimensional array with data type identical
+          to the `dest` matrix's block type, or a 3d array with data type equal to the `dest` matrix's scalar type.
+    """
+
+    if values.device != columns.device or values.device != rows.device or values.device != dest.values.device:
+        raise ValueError("All arguments must reside on the same device")
+
+    if values.shape[0] != rows.shape[0] or values.shape[0] != columns.shape[0]:
+        raise ValueError("All triplet arrays must have the same length")
+
+    # Accept either array1d(dtype) or contiguous array3d(scalar_type) as values
+    if values.ndim == 1:
+        if values.dtype != dest.values.dtype:
+            raise ValueError("Values array type must correspond to that of dest matrix")
+    elif values.ndim == 3:
+        if values.shape[1:] != dest.block_shape:
+            raise ValueError(
+                f"Last two dimensions in values array ({values.shape[1:]}) should correspond to matrix block shape {(dest.block_shape)})"
+            )
+
+        if warp.types.type_scalar_type(values.dtype) != dest.scalar_type:
+            raise ValueError("Scalar type of values array should correspond to that of matrix")
+
+        if not values.is_contiguous:
+            raise ValueError("Multi-dimensional values array should be contiguous")
+    else:
+        raise ValueError("Number of dimension for values array should be 1 or 3")
+
+    nnz = rows.shape[0]
+    if nnz == 0:
+        bsr_set_zero(dest)
+        return
+
+    # Increase dest array sizes if needed
+    _bsr_ensure_fits(dest, nnz=nnz)
+
+    device = dest.values.device
+    scalar_type = dest.scalar_type
+    from warp.context import runtime
+
+    if device.is_cpu:
+        if scalar_type == wp.float32:
+            native_func = runtime.core.bsr_matrix_from_triplets_float_host
+        elif scalar_type == wp.float64:
+            native_func = runtime.core.bsr_matrix_from_triplets_double_host
+    else:
+        if scalar_type == wp.float32:
+            native_func = runtime.core.bsr_matrix_from_triplets_float_device
+        elif scalar_type == wp.float64:
+            native_func = runtime.core.bsr_matrix_from_triplets_double_device
+
+    if not native_func:
+        raise NotImplementedError(f"bsr_from_triplets not implemented for scalar type {scalar_type}")
+
+    dest.nnz = native_func(
+        dest.block_shape[0],
+        dest.block_shape[1],
+        dest.nrow,
+        nnz,
+        rows.ptr,
+        columns.ptr,
+        values.ptr,
+        dest.offsets.ptr,
+        dest.columns.ptr,
+        dest.values.ptr,
+    )
+
+
+def bsr_assign(dest: BsrMatrix[BlockType[Rows, Cols, Scalar]], src: BsrMatrix[BlockType[Rows, Cols, Any]]):
+    """Copies the content of the `src` matrix to `dest`, casting the block values if the two matrices use distinct scalar types."""
+
+    if dest.values.device != src.values.device:
+        raise ValueError("Source and destination matrices must reside on the same device")
+
+    if dest.block_shape != src.block_shape:
+        raise ValueError("Source and destination matrices must have the same block shape")
+
+    dest.nrow = src.nrow
+    dest.ncol = src.ncol
+    dest.nnz = src.nnz
+
+    _bsr_ensure_fits(dest)
+
+    wp.copy(dest=dest.offsets, src=src.offsets, count=src.nrow + 1)
+    if src.nnz > 0:
+        wp.copy(dest=dest.columns, src=src.columns, count=src.nnz)
+        warp.utils.array_cast(out_array=dest.values, in_array=src.values, count=src.nnz)
+
+
+def bsr_copy(A: BsrMatrix, scalar_type: Optional[Scalar] = None):
+    """Returns a copy of matrix ``A``, possibly changing its scalar type.
+
+    Args:
+       scalar_type: If provided, the returned matrix will use this scalar type instead of the one from `A`.
+    """
+    if scalar_type is None:
+        block_type = A.values.dtype
+    elif A.block_shape == (1, 1):
+        block_type = scalar_type
+    else:
+        block_type = wp.types.matrix(shape=A.block_shape, dtype=scalar_type)
+
+    copy = bsr_zeros(rows_of_blocks=A.nrow, cols_of_blocks=A.ncol, block_type=block_type, device=A.values.device)
+    bsr_assign(dest=copy, src=A)
+    return copy
+
+
+def bsr_set_transpose(dest: BsrMatrix[BlockType[Cols, Rows, Scalar]], src: BsrMatrix[BlockType[Rows, Cols, Scalar]]):
+    """Assigns the transposed matrix `src` to matrix `dest`"""
+
+    if dest.values.device != src.values.device:
+        raise ValueError("All arguments must reside on the same device")
+
+    if dest.scalar_type != src.scalar_type:
+        raise ValueError("All arguments must have the same scalar type")
+
+    transpose_block_shape = src.block_shape[::-1]
+
+    if dest.block_shape != transpose_block_shape:
+        raise ValueError(f"Destination block shape must be {transpose_block_shape}")
+
+    dest.nrow = src.ncol
+    dest.ncol = src.nrow
+    dest.nnz = src.nnz
+
+    if src.nnz == 0:
+        return
+
+    # Increase dest array sizes if needed
+    _bsr_ensure_fits(dest)
+
+    from warp.context import runtime
+
+    if dest.values.device.is_cpu:
+        if dest.scalar_type == wp.float32:
+            native_func = runtime.core.bsr_transpose_float_host
+        elif dest.scalar_type == wp.float64:
+            native_func = runtime.core.bsr_transpose_double_host
+    else:
+        if dest.scalar_type == wp.float32:
+            native_func = runtime.core.bsr_transpose_float_device
+        elif dest.scalar_type == wp.float64:
+            native_func = runtime.core.bsr_transpose_double_device
+
+    if not native_func:
+        raise NotImplementedError(f"bsr_set_transpose not implemented for scalar type {dest.scalar_type}")
+
+    native_func(
+        src.block_shape[0],
+        src.block_shape[1],
+        src.nrow,
+        src.ncol,
+        src.nnz,
+        src.offsets.ptr,
+        src.columns.ptr,
+        src.values.ptr,
+        dest.offsets.ptr,
+        dest.columns.ptr,
+        dest.values.ptr,
+    )
+
+
+def bsr_transposed(A: BsrMatrix):
+    """Returns a copy of the transposed matrix `A`"""
+
+    if A.block_shape == (1, 1):
+        block_type = A.values.dtype
+    else:
+        block_type = wp.types.matrix(shape=A.block_shape[::-1], dtype=A.scalar_type)
+
+    transposed = bsr_zeros(rows_of_blocks=A.ncol, cols_of_blocks=A.nrow, block_type=block_type, device=A.values.device)
+    bsr_set_transpose(dest=transposed, src=A)
+    return transposed
+
+
+@wp.kernel
+def _bsr_get_diag_kernel(
+    A_offsets: wp.array(dtype=int),
+    A_columns: wp.array(dtype=int),
+    A_values: wp.array(dtype=Any),
+    out: wp.array(dtype=Any),
+):
+    row = wp.tid()
+    beg = A_offsets[row]
+    end = A_offsets[row + 1]
+
+    diag = wp.lower_bound(A_columns, beg, end, row)
+    if diag < end:
+        if A_columns[diag] == row:
+            out[row] = A_values[diag]
+
+
+def bsr_get_diag(A: BsrMatrix[_BlockType], out: "Optional[Array[BlockType]]" = None) -> "Array[BlockType]":
+    """Returns the array of blocks that constitute the diagonal of a sparse matrix.
+
+    Args:
+        A: the sparse matrix from which to extract the diagonal
+        out: if provided, the array into which to store the diagonal blocks
+    """
+
+    dim = min(A.nrow, A.ncol)
+
+    if out is None:
+        out = wp.zeros(shape=(dim,), dtype=A.values.dtype, device=A.values.device)
+    else:
+        if out.dtype != A.values.dtype:
+            raise ValueError(f"Output array must have type {A.values.dtype}")
+        if out.device != A.values.device:
+            raise ValueError(f"Output array must reside on device {A.values.device}")
+        if out.shape[0] < dim:
+            raise ValueError(f"Output array must be of length at least {dim}")
+
+    wp.launch(
+        kernel=_bsr_get_diag_kernel, dim=dim, device=A.values.device, inputs=[A.offsets, A.columns, A.values, out]
+    )
+
+    return out
+
+
+@wp.kernel
+def _bsr_set_diag_kernel(
+    diag: wp.array(dtype=Any),
+    A_offsets: wp.array(dtype=int),
+    A_columns: wp.array(dtype=int),
+    A_values: wp.array(dtype=Any),
+):
+    row = wp.tid()
+    A_offsets[row + 1] = row + 1
+    A_columns[row] = row
+    A_values[row] = diag[row]
+
+    if row == 0:
+        A_offsets[0] = 0
+
+
+@wp.kernel
+def _bsr_set_diag_constant_kernel(
+    diag_value: Any,
+    A_offsets: wp.array(dtype=int),
+    A_columns: wp.array(dtype=int),
+    A_values: wp.array(dtype=Any),
+):
+    row = wp.tid()
+    A_offsets[row + 1] = row + 1
+    A_columns[row] = row
+    A_values[row] = diag_value
+
+    if row == 0:
+        A_offsets[0] = 0
+
+
+def bsr_set_diag(
+    A: BsrMatrix[BlockType],
+    diag: "Union[BlockType, Array[BlockType]]",
+    rows_of_blocks: Optional[int] = None,
+    cols_of_blocks: Optional[int] = None,
+):
+    """Sets `A` as a block-diagonal matrix
+
+    Args:
+        A: the sparse matrix to modify
+        diag: Either a warp array of type ``A.values.dtype``, in which case each element will define one block of the diagonal,
+              or a constant value of type ``A.values.dtype``, in which case it will get assigned to all diagonal blocks.
+        rows_of_blocks: If not ``None``, the new number of rows of blocks
+        cols_of_blocks: If not ``None``, the new number of columns of blocks
+
+    The shape of the matrix will be defined one of the following, in that order:
+      - `rows_of_blocks` and `cols_of_blocks`, if provided. If only one is given, the second is assumed equal.
+      - the first dimension of `diag`, if `diag` is an array
+      - the current dimensions of `A` otherwise
+    """
+
+    if rows_of_blocks is None and cols_of_blocks is not None:
+        rows_of_blocks = cols_of_blocks
+    if cols_of_blocks is None and rows_of_blocks is not None:
+        cols_of_blocks = rows_of_blocks
+
+    if warp.types.is_array(diag):
+        if rows_of_blocks is None:
+            rows_of_blocks = diag.shape[0]
+            cols_of_blocks = diag.shape[0]
+
+    if rows_of_blocks is not None:
+        A.nrow = rows_of_blocks
+        A.ncol = cols_of_blocks
+
+    A.nnz = min(A.nrow, A.ncol)
+    _bsr_ensure_fits(A)
+
+    if warp.types.is_array(diag):
+        wp.launch(
+            kernel=_bsr_set_diag_kernel,
+            dim=A.nnz,
+            device=A.values.device,
+            inputs=[diag, A.offsets, A.columns, A.values],
+        )
+    else:
+        if not warp.types.type_is_value(type(diag)):
+            # Cast to launchable type
+            diag = A.values.dtype(diag)
+        wp.launch(
+            kernel=_bsr_set_diag_constant_kernel,
+            dim=A.nnz,
+            device=A.values.device,
+            inputs=[diag, A.offsets, A.columns, A.values],
+        )
+
+
+def bsr_diag(
+    diag: "Union[BlockType, Array[BlockType]]",
+    rows_of_blocks: Optional[int] = None,
+    cols_of_blocks: Optional[int] = None,
+) -> BsrMatrix["BlockType"]:
+    """Creates and returns a block-diagonal BSR matrix from an given block value or array of block values.
+
+    Args:
+        diag: Either a warp array of type ``A.values.dtype``, in which case each element will define one block of the diagonal,
+              or a constant value of type ``A.values.dtype``, in which case it will get assigned to all diagonal blocks.
+        rows_of_blocks: If not ``None``, the new number of rows of blocks
+        cols_of_blocks: If not ``None``, the new number of columns of blocks
+
+    The shape of the matrix will be defined one of the following, in that order:
+      - `rows_of_blocks` and `cols_of_blocks`, if provided. If only one is given, the second is assumed equal.
+      - the first dimension of `diag`, if `diag` is an array
+    """
+
+    if rows_of_blocks is None and cols_of_blocks is not None:
+        rows_of_blocks = cols_of_blocks
+    if cols_of_blocks is None and rows_of_blocks is not None:
+        cols_of_blocks = rows_of_blocks
+
+    if warp.types.is_array(diag):
+        if rows_of_blocks is None:
+            rows_of_blocks = diag.shape[0]
+            cols_of_blocks = diag.shape[0]
+
+        A = bsr_zeros(
+            rows_of_blocks,
+            cols_of_blocks,
+            block_type=diag.dtype,
+            device=diag.device,
+        )
+    else:
+        if rows_of_blocks is None:
+            raise ValueError(
+                "rows_of_blocks and/or cols_of_blocks must be provided for constructing a diagonal matrix with uniform diagonal"
+            )
+
+        block_type = type(diag)
+        if not warp.types.type_is_matrix(block_type) and len(getattr(diag, "shape", ())) == 2:
+            block_type = wp.mat(shape=diag.shape, dtype=diag.dtype)
+
+        A = bsr_zeros(
+            rows_of_blocks,
+            cols_of_blocks,
+            block_type=block_type,
+        )
+
+    bsr_set_diag(A, diag)
+    return A
+
+
+def bsr_set_identity(A: BsrMatrix, rows_of_blocks: Optional[int] = None):
+    """Sets `A` as the identity matrix
+
+    Args:
+        A: the sparse matrix to modify
+        rows_of_blocks: if provided, the matrix will be resized as a square matrix with `rows_of_blocks` rows and columns.
+    """
+
+    if A.block_shape == (1, 1):
+        identity = A.scalar_type(1.0)
+    else:
+        from numpy import eye
+
+        identity = eye(A.block_shape[0])
+
+    bsr_set_diag(A, diag=identity, rows_of_blocks=rows_of_blocks, cols_of_blocks=rows_of_blocks)
+
+
+def bsr_identity(
+    rows_of_blocks: int, block_type: BlockType[Rows, Rows, Scalar], device: wp.context.Devicelike = None
+) -> BsrMatrix[BlockType[Rows, Rows, Scalar]]:
+    """Creates and returns a square identity matrix.
+
+    Args:
+        rows_of_blocks: Number of rows and columns of blocks in the created matrix.
+        block_type: Block type for the newly created matrix -- must be square
+        device: Device onto which to allocate the data arrays
+    """
+    A = bsr_zeros(rows_of_blocks=rows_of_blocks, cols_of_blocks=rows_of_blocks, block_type=block_type, device=device)
+    bsr_set_identity(A)
+    return A
+
+
+@wp.kernel
+def _bsr_scale_kernel(
+    alpha: Any,
+    values: wp.array(dtype=Any),
+):
+    values[wp.tid()] = alpha * values[wp.tid()]
+
+
+def bsr_scale(x: BsrMatrix, alpha: Scalar) -> BsrMatrix:
+    """
+    Performs the operation ``x := alpha * x`` on BSR matrix `x` and returns `x`
+    """
+
+    if alpha != 1.0 and x.nnz > 0:
+        if alpha == 0.0:
+            bsr_set_zero(x)
+        else:
+            if not isinstance(alpha, x.scalar_type):
+                alpha = x.scalar_type(alpha)
+
+            wp.launch(kernel=_bsr_scale_kernel, dim=x.nnz, device=x.values.device, inputs=[alpha, x.values])
+
+    return x
+
+
+@wp.kernel
+def _bsr_get_block_row(dest_offset: int, bsr_offsets: wp.array(dtype=int), rows: wp.array(dtype=int)):
+    i = wp.tid()
+
+    row = wp.lower_bound(bsr_offsets, i + 1) - 1
+    rows[dest_offset + i] = row
+
+
+@wp.kernel
+def _bsr_axpy_add_block(
+    src_offset: int,
+    scale: Any,
+    rows: wp.array(dtype=int),
+    cols: wp.array(dtype=int),
+    dst_offsets: wp.array(dtype=int),
+    dst_columns: wp.array(dtype=int),
+    src_values: wp.array(dtype=Any),
+    dst_values: wp.array(dtype=Any),
+):
+    i = wp.tid()
+    row = rows[i + src_offset]
+    col = cols[i + src_offset]
+    beg = dst_offsets[row]
+    end = dst_offsets[row + 1]
+
+    block = wp.lower_bound(dst_columns, beg, end, col)
+
+    dst_values[block] = dst_values[block] + scale * src_values[i]
+
+
+class bsr_axpy_work_arrays:
+    """Opaque structure for persisting :func:`bsr_axpy` temporary work buffers across calls"""
+
+    def __init__(self):
+        self._reset(None)
+
+    def _reset(self, device):
+        self.device = device
+        self._sum_rows = None
+        self._sum_cols = None
+        self._old_y_values = None
+        self._old_x_values = None
+
+    def _allocate(self, device, y: BsrMatrix, sum_nnz: int):
+        if self.device != device:
+            self._reset(device)
+
+        if self._sum_rows is None or self._sum_rows.size < sum_nnz:
+            self._sum_rows = wp.empty(shape=(sum_nnz), dtype=int, device=self.device)
+        if self._sum_cols is None or self._sum_cols.size < sum_nnz:
+            self._sum_cols = wp.empty(shape=(sum_nnz), dtype=int, device=self.device)
+
+        if self._old_y_values is None or self._old_y_values.size < y.nnz:
+            self._old_y_values = wp.empty(shape=(y.nnz), dtype=y.values.dtype, device=self.device)
+
+
+def bsr_axpy(
+    x: BsrMatrix[BlockType[Rows, Cols, Scalar]],
+    y: Optional[BsrMatrix[BlockType[Rows, Cols, Scalar]]] = None,
+    alpha: Scalar = 1.0,
+    beta: Scalar = 1.0,
+    work_arrays: Optional[bsr_axpy_work_arrays] = None,
+) -> BsrMatrix[BlockType[Rows, Cols, Scalar]]:
+    """
+    Performs the sparse matrix addition ``y := alpha * X + beta * y`` on BSR matrices `x` and `y` and returns `y`.
+
+    The `x` and `y` matrices are allowed to alias.
+
+    Args:
+        x: Read-only right-hand-side.
+        y: Mutable left-hand-side. If `y` is not provided, it will be allocated and treated as zero.
+        alpha: Uniform scaling factor for `x`
+        beta: Uniform scaling factor for `y`
+        work_arrays: In most cases this function will require the use of temporary storage; this storage can be reused across calls by passing an instance of :class:`bsr_axpy_work_arrays` in `work_arrays`.
+    """
+
+    if y is None:
+        # If not output matrix is provided, allocate it for convenience
+        y = bsr_zeros(x.nrow, x.ncol, block_type=x.values.dtype, device=x.values.device)
+        beta = 0.0
+
+    # Handle easy cases first
+    if beta == 0.0 or y.nnz == 0:
+        bsr_assign(src=x, dest=y)
+        return bsr_scale(y, alpha=alpha)
+
+    if alpha == 0.0 or x.nnz == 0:
+        return bsr_scale(y, alpha=beta)
+
+    if not isinstance(alpha, y.scalar_type):
+        alpha = y.scalar_type(alpha)
+    if not isinstance(beta, y.scalar_type):
+        beta = y.scalar_type(beta)
+
+    if x == y:
+        # Aliasing case
+        return bsr_scale(y, alpha=alpha.value + beta.value)
+
+    # General case
+
+    if x.values.device != y.values.device:
+        raise ValueError("All arguments must reside on the same device")
+
+    if x.scalar_type != y.scalar_type or x.block_shape != y.block_shape:
+        raise ValueError("Matrices must have the same block type")
+
+    if x.nrow != y.nrow or x.ncol != y.ncol:
+        raise ValueError("Matrices must have the same number of rows and columns")
+
+    if work_arrays is None:
+        work_arrays = bsr_axpy_work_arrays()
+
+    sum_nnz = x.nnz + y.nnz
+    device = y.values.device
+    work_arrays._allocate(device, y, sum_nnz)
+
+    wp.copy(work_arrays._sum_cols, y.columns, 0, 0, y.nnz)
+    wp.launch(kernel=_bsr_get_block_row, device=device, dim=y.nnz, inputs=[0, y.offsets, work_arrays._sum_rows])
+
+    wp.copy(work_arrays._sum_cols, x.columns, y.nnz, 0, x.nnz)
+    wp.launch(kernel=_bsr_get_block_row, device=device, dim=x.nnz, inputs=[y.nnz, x.offsets, work_arrays._sum_rows])
+
+    # Save old y values before overwriting matrix
+    wp.copy(dest=work_arrays._old_y_values, src=y.values, count=y.nnz)
+
+    # Increase dest array sizes if needed
+    if y.columns.shape[0] < sum_nnz:
+        y.columns = wp.empty(shape=(sum_nnz,), dtype=int, device=device)
+
+    from warp.context import runtime
+
+    if device.is_cpu:
+        native_func = runtime.core.bsr_matrix_from_triplets_float_host
+    else:
+        native_func = runtime.core.bsr_matrix_from_triplets_float_device
+
+    old_y_nnz = y.nnz
+    y.nnz = native_func(
+        y.block_shape[0],
+        y.block_shape[1],
+        y.nrow,
+        sum_nnz,
+        work_arrays._sum_rows.ptr,
+        work_arrays._sum_cols.ptr,
+        0,
+        y.offsets.ptr,
+        y.columns.ptr,
+        0,
+    )
+
+    _bsr_ensure_fits(y)
+    y.values.zero_()
+
+    wp.launch(
+        kernel=_bsr_axpy_add_block,
+        device=device,
+        dim=old_y_nnz,
+        inputs=[
+            0,
+            beta,
+            work_arrays._sum_rows,
+            work_arrays._sum_cols,
+            y.offsets,
+            y.columns,
+            work_arrays._old_y_values,
+            y.values,
+        ],
+    )
+
+    wp.launch(
+        kernel=_bsr_axpy_add_block,
+        device=device,
+        dim=x.nnz,
+        inputs=[
+            old_y_nnz,
+            alpha,
+            work_arrays._sum_rows,
+            work_arrays._sum_cols,
+            y.offsets,
+            y.columns,
+            x.values,
+            y.values,
+        ],
+    )
+
+    return y
+
+
+@wp.kernel
+def _bsr_mm_count_coeffs(
+    z_nnz: int,
+    x_offsets: wp.array(dtype=int),
+    x_columns: wp.array(dtype=int),
+    y_offsets: wp.array(dtype=int),
+    counts: wp.array(dtype=int),
+):
+    row = wp.tid()
+    count = int(0)
+
+    x_beg = x_offsets[row]
+    x_end = x_offsets[row + 1]
+
+    for x_block in range(x_beg, x_end):
+        x_col = x_columns[x_block]
+        count += y_offsets[x_col + 1] - y_offsets[x_col]
+
+    counts[row + 1] = count
+
+    if row == 0:
+        counts[0] = z_nnz
+
+
+@wp.kernel
+def _bsr_mm_list_coeffs(
+    x_offsets: wp.array(dtype=int),
+    x_columns: wp.array(dtype=int),
+    y_offsets: wp.array(dtype=int),
+    y_columns: wp.array(dtype=int),
+    mm_offsets: wp.array(dtype=int),
+    mm_rows: wp.array(dtype=int),
+    mm_cols: wp.array(dtype=int),
+):
+    row = wp.tid()
+    mm_block = mm_offsets[row]
+
+    x_beg = x_offsets[row]
+    x_end = x_offsets[row + 1]
+
+    for x_block in range(x_beg, x_end):
+        x_col = x_columns[x_block]
+
+        y_beg = y_offsets[x_col]
+        y_end = y_offsets[x_col + 1]
+        for y_block in range(y_beg, y_end):
+            mm_cols[mm_block] = y_columns[y_block]
+            mm_rows[mm_block] = row
+            mm_block += 1
+
+
+@wp.kernel
+def _bsr_mm_compute_values(
+    alpha: Any,
+    x_offsets: wp.array(dtype=int),
+    x_columns: wp.array(dtype=int),
+    x_values: wp.array(dtype=Any),
+    y_offsets: wp.array(dtype=int),
+    y_columns: wp.array(dtype=int),
+    y_values: wp.array(dtype=Any),
+    mm_offsets: wp.array(dtype=int),
+    mm_cols: wp.array(dtype=int),
+    mm_values: wp.array(dtype=Any),
+):
+    row = wp.tid()
+    mm_beg = mm_offsets[row]
+    mm_end = mm_offsets[row + 1]
+
+    x_beg = x_offsets[row]
+    x_end = x_offsets[row + 1]
+    for x_block in range(x_beg, x_end):
+        x_col = x_columns[x_block]
+        ax_val = alpha * x_values[x_block]
+
+        y_beg = y_offsets[x_col]
+        y_end = y_offsets[x_col + 1]
+
+        for y_block in range(y_beg, y_end):
+            mm_block = wp.lower_bound(mm_cols, mm_beg, mm_end, y_columns[y_block])
+            mm_values[mm_block] = mm_values[mm_block] + ax_val * y_values[y_block]
+
+
+class bsr_mm_work_arrays:
+    """Opaque structure for persisting :func:`bsr_mm` temporary work buffers across calls"""
+
+    def __init__(self):
+        self._reset(None)
+
+    def _reset(self, device):
+        self.device = device
+        self._pinned_count_buffer = None
+        self._mm_row_counts = None
+        self._mm_rows = None
+        self._mm_cols = None
+        self._old_z_values = None
+        self._old_z_offsets = None
+        self._old_z_columns = None
+
+    def _allocate_stage_1(self, device, z: BsrMatrix, copied_z_nnz: int, z_aliasing: bool):
+        if self.device != device:
+            self._reset(device)
+
+        # Allocations that do not depend on any computation
+        if self.device.is_cuda:
+            if self._pinned_count_buffer is None:
+                self._pinned_count_buffer = wp.empty(shape=(1,), dtype=int, pinned=True, device="cpu")
+
+        if self._mm_row_counts is None or self._mm_row_counts.size < z.nrow + 1:
+            self._mm_row_counts = wp.empty(shape=(z.nrow + 1,), dtype=int, device=self.device)
+
+        if copied_z_nnz > 0:
+            if self._old_z_values is None or self._old_z_values.size < copied_z_nnz:
+                self._old_z_values = wp.empty(shape=(copied_z_nnz,), dtype=z.values.dtype, device=self.device)
+
+        if z_aliasing:
+            if self._old_z_columns is None or self._old_z_columns.size < z.nnz:
+                self._old_z_columns = wp.empty(shape=(z.nnz,), dtype=z.columns.dtype, device=self.device)
+            if self._old_z_offsets is None or self._old_z_offsets.size < z.nrow + 1:
+                self._old_z_offsets = wp.empty(shape=(z.nrow + 1,), dtype=z.offsets.dtype, device=self.device)
+
+    def _allocate_stage_2(self, mm_nnz: int):
+        # Allocations that depend on unmerged nnz estimate
+        if self._mm_rows is None or self._mm_rows.size < mm_nnz:
+            self._mm_rows = wp.empty(shape=(mm_nnz,), dtype=int, device=self.device)
+        if self._mm_cols is None or self._mm_cols.size < mm_nnz:
+            self._mm_cols = wp.empty(shape=(mm_nnz,), dtype=int, device=self.device)
+
+
+def bsr_mm(
+    x: BsrMatrix[BlockType[Rows, Any, Scalar]],
+    y: BsrMatrix[BlockType[Any, Cols, Scalar]],
+    z: Optional[BsrMatrix[BlockType[Rows, Cols, Scalar]]] = None,
+    alpha: Scalar = 1.0,
+    beta: Scalar = 0.0,
+    work_arrays: Optional[bsr_mm_work_arrays] = None,
+) -> BsrMatrix[BlockType[Rows, Cols, Scalar]]:
+    """
+    Performs the sparse matrix-matrix multiplication ``z := alpha * x * y + beta * z`` on BSR matrices `x`, `y` and `z`, and returns `z`.
+
+    The `x`, `y` and `z` matrices are allowed to alias.
+    If the matrix `z` is not provided as input, it will be allocated and treated as zero.
+
+    Args:
+        x: Read-only left factor of the matrix-matrix product.
+        y: Read-only right factor of the matrix-matrix product.
+        z: Mutable left-hand-side. If `z` is not provided, it will be allocated and treated as zero.
+        alpha: Uniform scaling factor for the ``x * y`` product
+        beta: Uniform scaling factor for `z`
+        work_arrays: In most cases this function will require the use of temporary storage; this storage can be reused across calls by passing an instance of :class:`bsr_mm_work_arrays` in `work_arrays`.
+    """
+
+    if z is None:
+        # If not output matrix is provided, allocate it for convenience
+        z_block_shape = (x.block_shape[0], y.block_shape[1])
+        if z_block_shape == (1, 1):
+            z_block_type = x.scalar_type
+        else:
+            z_block_type = wp.types.matrix(shape=z_block_shape, dtype=x.scalar_type)
+        z = bsr_zeros(x.nrow, y.ncol, block_type=z_block_type, device=x.values.device)
+        beta = 0.0
+
+    if x.values.device != y.values.device or x.values.device != z.values.device:
+        raise ValueError("All arguments must reside on the same device")
+
+    if x.scalar_type != y.scalar_type or x.scalar_type != z.scalar_type:
+        raise ValueError("Matrices must have the same scalar type")
+
+    if (
+        x.block_shape[0] != z.block_shape[0]
+        or y.block_shape[1] != z.block_shape[1]
+        or x.block_shape[1] != y.block_shape[0]
+    ):
+        raise ValueError("Incompatible block sizes for matrix multiplication")
+
+    if x.nrow != z.nrow or z.ncol != y.ncol or x.ncol != y.nrow:
+        raise ValueError("Incompatible number of rows/columns for matrix multiplication")
+
+    device = z.values.device
+
+    if alpha == 0.0 or x.nnz == 0 or y.nnz == 0:
+        # Easy case
+        return bsr_scale(z, beta)
+
+    if not isinstance(alpha, z.scalar_type):
+        alpha = z.scalar_type(alpha)
+    if not isinstance(beta, z.scalar_type):
+        beta = z.scalar_type(beta)
+
+    if work_arrays is None:
+        work_arrays = bsr_mm_work_arrays()
+
+    z_aliasing = z == x or z == y
+    copied_z_nnz = z.nnz if beta != 0.0 or z_aliasing else 0
+
+    work_arrays._allocate_stage_1(device, z, copied_z_nnz, z_aliasing)
+
+    # Prefix sum of number of (unmerged) mm blocks per row
+    wp.launch(
+        kernel=_bsr_mm_count_coeffs,
+        device=device,
+        dim=z.nrow,
+        inputs=[copied_z_nnz, x.offsets, x.columns, y.offsets, work_arrays._mm_row_counts],
+    )
+    warp.utils.array_scan(work_arrays._mm_row_counts, work_arrays._mm_row_counts)
+
+    # Get back total counts on host
+    if device.is_cuda:
+        wp.copy(dest=work_arrays._pinned_count_buffer, src=work_arrays._mm_row_counts, src_offset=z.nrow, count=1)
+        wp.synchronize_stream(wp.get_stream(device))
+        mm_nnz = int(work_arrays._pinned_count_buffer.numpy()[0])
+    else:
+        mm_nnz = int(work_arrays._mm_row_counts.numpy()[z.nrow])
+
+    work_arrays._allocate_stage_2(mm_nnz)
+
+    # If z has a non-zero scale, save current data before overwriting it
+    if copied_z_nnz > 0:
+        # Copy z row and column indices
+        wp.copy(dest=work_arrays._mm_cols, src=z.columns, count=copied_z_nnz)
+        wp.launch(
+            kernel=_bsr_get_block_row, device=device, dim=copied_z_nnz, inputs=[0, z.offsets, work_arrays._mm_rows]
+        )
+        # Save current z values in temporary buffer
+        wp.copy(src=z.values, dest=work_arrays._old_z_values, count=copied_z_nnz)
+        if z_aliasing:
+            # If z is aliasing with x or y, need to save topology as well
+            wp.copy(src=z.columns, dest=work_arrays._old_z_columns, count=copied_z_nnz)
+            wp.copy(src=z.offsets, dest=work_arrays._old_z_offsets, count=z.nrow + 1)
+
+    # Fill unmerged mm blocks rows and columns
+    wp.launch(
+        kernel=_bsr_mm_list_coeffs,
+        device=device,
+        dim=z.nrow,
+        inputs=[
+            x.offsets,
+            x.columns,
+            y.offsets,
+            y.columns,
+            work_arrays._mm_row_counts,
+            work_arrays._mm_rows,
+            work_arrays._mm_cols,
+        ],
+    )
+
+    # Increase dest array size if needed
+    if z.columns.shape[0] < mm_nnz:
+        z.columns = wp.empty(shape=(mm_nnz,), dtype=int, device=device)
+
+    from warp.context import runtime
+
+    if device.is_cpu:
+        native_func = runtime.core.bsr_matrix_from_triplets_float_host
+    else:
+        native_func = runtime.core.bsr_matrix_from_triplets_float_device
+
+    z.nnz = native_func(
+        z.block_shape[0],
+        z.block_shape[1],
+        z.nrow,
+        mm_nnz,
+        work_arrays._mm_rows.ptr,
+        work_arrays._mm_cols.ptr,
+        0,
+        z.offsets.ptr,
+        z.columns.ptr,
+        0,
+    )
+
+    _bsr_ensure_fits(z)
+    z.values.zero_()
+
+    if copied_z_nnz > 0:
+        # Add back original z values
+        wp.launch(
+            kernel=_bsr_axpy_add_block,
+            device=device,
+            dim=copied_z_nnz,
+            inputs=[
+                0,
+                beta,
+                work_arrays._mm_rows,
+                work_arrays._mm_cols,
+                z.offsets,
+                z.columns,
+                work_arrays._old_z_values,
+                z.values,
+            ],
+        )
+
+    # Add mm blocks to z values
+    if (warp.types.type_is_matrix(x.values.dtype) or warp.types.type_is_matrix(y.values.dtype)) and not (
+        warp.types.type_is_matrix(z.values.dtype)
+    ):
+        # Result block type is scalar, but operands are matrices
+        # Cast result to (1x1) matrix to perform multiplication
+        mm_values = z.values.view(wp.types.matrix(shape=(1, 1), dtype=z.scalar_type))
+    else:
+        mm_values = z.values
+
+    wp.launch(
+        kernel=_bsr_mm_compute_values,
+        device=device,
+        dim=z.nrow,
+        inputs=[
+            alpha,
+            work_arrays._old_z_offsets if x == z else x.offsets,
+            work_arrays._old_z_columns if x == z else x.columns,
+            work_arrays._old_z_values if x == z else x.values,
+            work_arrays._old_z_offsets if y == z else y.offsets,
+            work_arrays._old_z_columns if y == z else y.columns,
+            work_arrays._old_z_values if y == z else y.values,
+            z.offsets,
+            z.columns,
+            mm_values,
+        ],
+    )
+
+    return z
+
+
+@wp.kernel
+def _bsr_mv_kernel(
+    alpha: Any,
+    A_offsets: wp.array(dtype=int),
+    A_columns: wp.array(dtype=int),
+    A_values: wp.array(dtype=Any),
+    x: wp.array(dtype=Any),
+    beta: Any,
+    y: wp.array(dtype=Any),
+):
+    row = wp.tid()
+
+    # zero-initialize with type of y elements
+    scalar_zero = type(alpha)(0)
+    v = y.dtype(scalar_zero)
+
+    if alpha != scalar_zero:
+        beg = A_offsets[row]
+        end = A_offsets[row + 1]
+        for block in range(beg, end):
+            v += A_values[block] * x[A_columns[block]]
+        v *= alpha
+
+    if beta != scalar_zero:
+        v += beta * y[row]
+
+    y[row] = v
+
+
+def bsr_mv(
+    A: BsrMatrix[BlockType[Rows, Cols, Scalar]],
+    x: "Array[Vector[Cols, Scalar] | Scalar]",
+    y: Optional["Array[Vector[Rows, Scalar] | Scalar]"] = None,
+    alpha: Scalar = 1.0,
+    beta: Scalar = 0.0,
+    work_buffer: Optional["Array[Vector[Rows, Scalar] | Scalar]"] = None,
+) -> "Array[Vector[Rows, Scalar] | Scalar]":
+    """
+    Performs the sparse matrix-vector product ``y := alpha * A * x + beta * y`` and returns `y`.
+
+    The `x` and `y` vectors are allowed to alias.
+
+    Args:
+        A: Read-only, left matrix factor of the matrix-vector product.
+        x: Read-only, right vector factor of the matrix-vector product.
+        y: Mutable left-hand-side. If `y` is not provided, it will be allocated and treated as zero.
+        alpha: Uniform scaling factor for `x`. If zero, `x` will not be read and may be left uninitialized.
+        beta: Uniform scaling factor for `y`. If zero, `y` will not be read and may be left uninitialized.
+        work_buffer: Temporary storage is required if and only if `x` and `y` are the same vector. If provided the `work_buffer` array
+            will be used for this purpose, otherwise a temporary allocation will be performed.
+    """
+
+    if y is None:
+        # If no output array is provided, allocate one for convenience
+        y_vec_len = A.block_shape[0]
+        y_dtype = A.scalar_type if y_vec_len == 1 else wp.vec(length=y_vec_len, dtype=A.scalar_type)
+        y = wp.empty(shape=(A.nrow,), device=A.values.device, dtype=y_dtype)
+        y.zero_()
+        beta = 0.0
+
+    if not isinstance(alpha, A.scalar_type):
+        alpha = A.scalar_type(alpha)
+    if not isinstance(beta, A.scalar_type):
+        beta = A.scalar_type(beta)
+
+    if A.values.device != x.device or A.values.device != y.device:
+        raise ValueError("A, x and y must reside on the same device")
+
+    if x.shape[0] != A.ncol:
+        raise ValueError("Number of columns of A must match number of rows of x")
+    if y.shape[0] != A.nrow:
+        raise ValueError("Number of rows of A must match number of rows of y")
+
+    if x == y:
+        # Aliasing case, need temporary storage
+        if work_buffer is None:
+            work_buffer = wp.empty_like(y)
+        elif work_buffer.size < y.size:
+            raise ValueError(f"Work buffer size is insufficient, needs to be at least {y.size}")
+        elif not wp.types.types_equal(work_buffer.dtype, y.dtype):
+            raise ValueError(f"Work buffer must have same data type as y, {wp.types.type_repr(y.dtype)}")
+
+        # Save old y values before overwriting vector
+        wp.copy(dest=work_buffer, src=y, count=y.size)
+        x = work_buffer
+
+    # Promote scalar vectors to length-1 vecs and conversely
+    if warp.types.type_is_matrix(A.values.dtype):
+        if A.block_shape[0] == 1:
+            if y.dtype == A.scalar_type:
+                y = y.view(dtype=wp.vec(length=1, dtype=A.scalar_type))
+        if A.block_shape[1] == 1:
+            if x.dtype == A.scalar_type:
+                x = x.view(dtype=wp.vec(length=1, dtype=A.scalar_type))
+    else:
+        if A.block_shape[0] == 1:
+            if y.dtype != A.scalar_type:
+                y = y.view(dtype=A.scalar_type)
+        if A.block_shape[1] == 1:
+            if x.dtype != A.scalar_type:
+                x = x.view(dtype=A.scalar_type)
+
+    wp.launch(
+        kernel=_bsr_mv_kernel,
+        device=A.values.device,
+        dim=A.nrow,
+        inputs=[alpha, A.offsets, A.columns, A.values, x, beta, y],
+    )
+
+    return y