warp-lang 1.0.2__py3-none-manylinux2014_x86_64.whl → 1.2.0__py3-none-manylinux2014_x86_64.whl

warp/utils.py

@@ -1,821 +1,1008 @@
-# Copyright (c) 2022 NVIDIA CORPORATION.  All rights reserved.
-# NVIDIA CORPORATION and its licensors retain all intellectual property
-# and proprietary rights in and to this software, related documentation
-# and any modifications thereto.  Any use, reproduction, disclosure or
-# distribution of this software and related documentation without an express
-# license agreement from NVIDIA CORPORATION is strictly prohibited.
-
-import cProfile
-import os
-import sys
-import time
-import warnings
-from typing import Any
-
-import numpy as np
-
-import warp as wp
-import warp.types
-
-
-warnings_seen = set()
-
-
-def warp_showwarning(message, category, filename, lineno, file=None, line=None):
-    """Version of warnings.showwarning that always prints to sys.stdout."""
-
-    if warp.config.verbose_warnings:
-        s =  f"Warp {category.__name__}: {message} ({filename}:{lineno})\n"
-
-        if line is None:
-            try:
-                import linecache
-                line = linecache.getline(filename, lineno)
-            except Exception:
-                # When a warning is logged during Python shutdown, linecache
-                # and the import machinery don't work anymore
-                line = None
-                linecache = None
-        else:
-            line = line
-        if line:
-            line = line.strip()
-            s += "  %s\n" % line
-    else:
-        # simple warning
-        s =  f"Warp {category.__name__}: {message}\n"
-
-    sys.stdout.write(s)
-
-
-def warn(message, category=None, stacklevel=1):
-    if (category, message) in warnings_seen:
-        return
-
-    with warnings.catch_warnings():
-        warnings.simplefilter("default")  # Change the filter in this process
-        warnings.showwarning = warp_showwarning
-        warnings.warn(message, category, stacklevel + 1)  # Increment stacklevel by 1 since we are in a wrapper
-
-    if category is DeprecationWarning:
-        warnings_seen.add((category, message))
-
-
-# expand a 7-vec to a tuple of arrays
-def transform_expand(t):
-    return wp.transform(np.array(t[0:3]), np.array(t[3:7]))
-
-
-@wp.func
-def quat_between_vectors(a: wp.vec3, b: wp.vec3) -> wp.quat:
-    """
-    Compute the quaternion that rotates vector a to vector b
-    """
-    a = wp.normalize(a)
-    b = wp.normalize(b)
-    c = wp.cross(a, b)
-    d = wp.dot(a, b)
-    q = wp.quat(c[0], c[1], c[2], 1.0 + d)
-    return wp.normalize(q)
-
-
-def array_scan(in_array, out_array, inclusive=True):
-    if in_array.device != out_array.device:
-        raise RuntimeError("Array storage devices do not match")
-
-    if in_array.size != out_array.size:
-        raise RuntimeError("Array storage sizes do not match")
-
-    if in_array.dtype != out_array.dtype:
-        raise RuntimeError("Array data types do not match")
-
-    if in_array.size == 0:
-        return
-
-    from warp.context import runtime
-
-    if in_array.device.is_cpu:
-        if in_array.dtype == wp.int32:
-            runtime.core.array_scan_int_host(in_array.ptr, out_array.ptr, in_array.size, inclusive)
-        elif in_array.dtype == wp.float32:
-            runtime.core.array_scan_float_host(in_array.ptr, out_array.ptr, in_array.size, inclusive)
-        else:
-            raise RuntimeError("Unsupported data type")
-    elif in_array.device.is_cuda:
-        if in_array.dtype == wp.int32:
-            runtime.core.array_scan_int_device(in_array.ptr, out_array.ptr, in_array.size, inclusive)
-        elif in_array.dtype == wp.float32:
-            runtime.core.array_scan_float_device(in_array.ptr, out_array.ptr, in_array.size, inclusive)
-        else:
-            raise RuntimeError("Unsupported data type")
-
-
-def radix_sort_pairs(keys, values, count: int):
-    if keys.device != values.device:
-        raise RuntimeError("Array storage devices do not match")
-
-    if count == 0:
-        return
-
-    if keys.size < 2 * count or values.size < 2 * count:
-        raise RuntimeError("Array storage must be large enough to contain 2*count elements")
-
-    from warp.context import runtime
-
-    if keys.device.is_cpu:
-        if keys.dtype == wp.int32 and values.dtype == wp.int32:
-            runtime.core.radix_sort_pairs_int_host(keys.ptr, values.ptr, count)
-        else:
-            raise RuntimeError("Unsupported data type")
-    elif keys.device.is_cuda:
-        if keys.dtype == wp.int32 and values.dtype == wp.int32:
-            runtime.core.radix_sort_pairs_int_device(keys.ptr, values.ptr, count)
-        else:
-            raise RuntimeError("Unsupported data type")
-
-
-def runlength_encode(values, run_values, run_lengths, run_count=None, value_count=None):
-    if run_values.device != values.device or run_lengths.device != values.device:
-        raise RuntimeError("Array storage devices do not match")
-
-    if value_count is None:
-        value_count = values.size
-
-    if run_values.size < value_count or run_lengths.size < value_count:
-        raise RuntimeError("Output array storage sizes must be at least equal to value_count")
-
-    if values.dtype != run_values.dtype:
-        raise RuntimeError("values and run_values data types do not match")
-
-    if run_lengths.dtype != wp.int32:
-        raise RuntimeError("run_lengths array must be of type int32")
-
-    # User can provide a device output array for storing the number of runs
-    # For convenience, if no such array is provided, number of runs is returned on host
-    if run_count is None:
-        if value_count == 0:
-            return 0
-        run_count = wp.empty(shape=(1,), dtype=int, device=values.device)
-        host_return = True
-    else:
-        if run_count.device != values.device:
-            raise RuntimeError("run_count storage device does not match other arrays")
-        if run_count.dtype != wp.int32:
-            raise RuntimeError("run_count array must be of type int32")
-        if value_count == 0:
-            run_count.zero_()
-            return 0
-        host_return = False
-
-    from warp.context import runtime
-
-    if values.device.is_cpu:
-        if values.dtype == wp.int32:
-            runtime.core.runlength_encode_int_host(
-                values.ptr, run_values.ptr, run_lengths.ptr, run_count.ptr, value_count
-            )
-        else:
-            raise RuntimeError("Unsupported data type")
-    elif values.device.is_cuda:
-        if values.dtype == wp.int32:
-            runtime.core.runlength_encode_int_device(
-                values.ptr, run_values.ptr, run_lengths.ptr, run_count.ptr, value_count
-            )
-        else:
-            raise RuntimeError("Unsupported data type")
-
-    if host_return:
-        return int(run_count.numpy()[0])
-
-
-def array_sum(values, out=None, value_count=None, axis=None):
-    if value_count is None:
-        if axis is None:
-            value_count = values.size
-        else:
-            value_count = values.shape[axis]
-
-    if axis is None:
-        output_shape = (1,)
-    else:
-
-        def output_dim(ax, dim):
-            return 1 if ax == axis else dim
-
-        output_shape = tuple(output_dim(ax, dim) for ax, dim in enumerate(values.shape))
-
-    type_length = wp.types.type_length(values.dtype)
-    scalar_type = wp.types.type_scalar_type(values.dtype)
-
-    # User can provide a device output array for storing the number of runs
-    # For convenience, if no such array is provided, number of runs is returned on host
-    if out is None:
-        host_return = True
-        out = wp.empty(shape=output_shape, dtype=values.dtype, device=values.device)
-    else:
-        host_return = False
-        if out.device != values.device:
-            raise RuntimeError("out storage device should match values array")
-        if out.dtype != values.dtype:
-            raise RuntimeError(f"out array should have type {values.dtype.__name__}")
-        if out.shape != output_shape:
-            raise RuntimeError(f"out array should have shape {output_shape}")
-
-    if value_count == 0:
-        out.zero_()
-        if axis is None and host_return:
-            return out.numpy()[0]
-        return out
-
-    from warp.context import runtime
-
-    if values.device.is_cpu:
-        if scalar_type == wp.float32:
-            native_func = runtime.core.array_sum_float_host
-        elif scalar_type == wp.float64:
-            native_func = runtime.core.array_sum_double_host
-        else:
-            raise RuntimeError("Unsupported data type")
-    elif values.device.is_cuda:
-        if scalar_type == wp.float32:
-            native_func = runtime.core.array_sum_float_device
-        elif scalar_type == wp.float64:
-            native_func = runtime.core.array_sum_double_device
-        else:
-            raise RuntimeError("Unsupported data type")
-
-    if axis is None:
-        stride = wp.types.type_size_in_bytes(values.dtype)
-        native_func(values.ptr, out.ptr, value_count, stride, type_length)
-
-        if host_return:
-            return out.numpy()[0]
-    else:
-        stride = values.strides[axis]
-        for idx in np.ndindex(output_shape):
-            out_offset = sum(i * s for i, s in zip(idx, out.strides))
-            val_offset = sum(i * s for i, s in zip(idx, values.strides))
-
-            native_func(
-                values.ptr + val_offset,
-                out.ptr + out_offset,
-                value_count,
-                stride,
-                type_length,
-            )
-
-        if host_return:
-            return out
-
-
-def array_inner(a, b, out=None, count=None, axis=None):
-    if a.size != b.size:
-        raise RuntimeError("Array storage sizes do not match")
-
-    if a.device != b.device:
-        raise RuntimeError("Array storage devices do not match")
-
-    if a.dtype != b.dtype:
-        raise RuntimeError("Array data types do not match")
-
-    if count is None:
-        if axis is None:
-            count = a.size
-        else:
-            count = a.shape[axis]
-
-    if axis is None:
-        output_shape = (1,)
-    else:
-
-        def output_dim(ax, dim):
-            return 1 if ax == axis else dim
-
-        output_shape = tuple(output_dim(ax, dim) for ax, dim in enumerate(a.shape))
-
-    type_length = wp.types.type_length(a.dtype)
-    scalar_type = wp.types.type_scalar_type(a.dtype)
-
-    # User can provide a device output array for storing the number of runs
-    # For convenience, if no such array is provided, number of runs is returned on host
-    if out is None:
-        host_return = True
-        out = wp.empty(shape=output_shape, dtype=scalar_type, device=a.device)
-    else:
-        host_return = False
-        if out.device != a.device:
-            raise RuntimeError("out storage device should match values array")
-        if out.dtype != scalar_type:
-            raise RuntimeError(f"out array should have type {scalar_type.__name__}")
-        if out.shape != output_shape:
-            raise RuntimeError(f"out array should have shape {output_shape}")
-
-    if count == 0:
-        if axis is None and host_return:
-            return 0.0
-        out.zero_()
-        return out
-
-    from warp.context import runtime
-
-    if a.device.is_cpu:
-        if scalar_type == wp.float32:
-            native_func = runtime.core.array_inner_float_host
-        elif scalar_type == wp.float64:
-            native_func = runtime.core.array_inner_double_host
-        else:
-            raise RuntimeError("Unsupported data type")
-    elif a.device.is_cuda:
-        if scalar_type == wp.float32:
-            native_func = runtime.core.array_inner_float_device
-        elif scalar_type == wp.float64:
-            native_func = runtime.core.array_inner_double_device
-        else:
-            raise RuntimeError("Unsupported data type")
-
-    if axis is None:
-        stride_a = wp.types.type_size_in_bytes(a.dtype)
-        stride_b = wp.types.type_size_in_bytes(b.dtype)
-        native_func(a.ptr, b.ptr, out.ptr, count, stride_a, stride_b, type_length)
-
-        if host_return:
-            return out.numpy()[0]
-    else:
-        stride_a = a.strides[axis]
-        stride_b = b.strides[axis]
-
-        for idx in np.ndindex(output_shape):
-            out_offset = sum(i * s for i, s in zip(idx, out.strides))
-            a_offset = sum(i * s for i, s in zip(idx, a.strides))
-            b_offset = sum(i * s for i, s in zip(idx, b.strides))
-
-            native_func(
-                a.ptr + a_offset,
-                b.ptr + b_offset,
-                out.ptr + out_offset,
-                count,
-                stride_a,
-                stride_b,
-                type_length,
-            )
-
-        if host_return:
-            return out
-
-
-@wp.kernel
-def _array_cast_kernel(
-    dest: Any,
-    src: Any,
-):
-    i = wp.tid()
-    dest[i] = dest.dtype(src[i])
-
-
-def array_cast(in_array, out_array, count=None):
-    if in_array.device != out_array.device:
-        raise RuntimeError("Array storage devices do not match")
-
-    in_array_data_shape = getattr(in_array.dtype, "_shape_", ())
-    out_array_data_shape = getattr(out_array.dtype, "_shape_", ())
-
-    if in_array.ndim != out_array.ndim or in_array_data_shape != out_array_data_shape:
-        # Number of dimensions or data type shape do not match.
-        # Flatten arrays and do cast at the scalar level
-        in_array = in_array.flatten()
-        out_array = out_array.flatten()
-
-        in_array_data_length = warp.types.type_length(in_array.dtype)
-        out_array_data_length = warp.types.type_length(out_array.dtype)
-        in_array_scalar_type = wp.types.type_scalar_type(in_array.dtype)
-        out_array_scalar_type = wp.types.type_scalar_type(out_array.dtype)
-
-        in_array = wp.array(
-            data=None,
-            ptr=in_array.ptr,
-            capacity=in_array.capacity,
-            device=in_array.device,
-            dtype=in_array_scalar_type,
-            shape=in_array.shape[0] * in_array_data_length,
-        )
-
-        out_array = wp.array(
-            data=None,
-            ptr=out_array.ptr,
-            capacity=out_array.capacity,
-            device=out_array.device,
-            dtype=out_array_scalar_type,
-            shape=out_array.shape[0] * out_array_data_length,
-        )
-
-        if count is not None:
-            count *= in_array_data_length
-
-    if count is None:
-        count = in_array.size
-
-    if in_array.ndim == 1:
-        dim = count
-    elif count < in_array.size:
-        raise RuntimeError("Partial cast is not supported for arrays with more than one dimension")
-    else:
-        dim = in_array.shape
-
-    if in_array.dtype == out_array.dtype:
-        # Same data type, can simply copy
-        wp.copy(dest=out_array, src=in_array, count=count)
-    else:
-        wp.launch(kernel=_array_cast_kernel, dim=dim, inputs=[out_array, in_array], device=out_array.device)
-
-
-# code snippet for invoking cProfile
-# cp = cProfile.Profile()
-# cp.enable()
-# for i in range(1000):
-#     self.state = self.integrator.forward(self.model, self.state, self.sim_dt)
-
-# cp.disable()
-# cp.print_stats(sort='tottime')
-# exit(0)
-
-
-# helper kernels for initializing NVDB volumes from a dense array
-@wp.kernel
-def copy_dense_volume_to_nano_vdb_v(volume: wp.uint64, values: wp.array(dtype=wp.vec3, ndim=3)):
-    i, j, k = wp.tid()
-    wp.volume_store_v(volume, i, j, k, values[i, j, k])
-
-
-@wp.kernel
-def copy_dense_volume_to_nano_vdb_f(volume: wp.uint64, values: wp.array(dtype=wp.float32, ndim=3)):
-    i, j, k = wp.tid()
-    wp.volume_store_f(volume, i, j, k, values[i, j, k])
-
-
-@wp.kernel
-def copy_dense_volume_to_nano_vdb_i(volume: wp.uint64, values: wp.array(dtype=wp.int32, ndim=3)):
-    i, j, k = wp.tid()
-    wp.volume_store_i(volume, i, j, k, values[i, j, k])
-
-
-# represent an edge between v0, v1 with connected faces f0, f1, and opposite vertex o0, and o1
-# winding is such that first tri can be reconstructed as {v0, v1, o0}, and second tri as { v1, v0, o1 }
-class MeshEdge:
-    def __init__(self, v0, v1, o0, o1, f0, f1):
-        self.v0 = v0  # vertex 0
-        self.v1 = v1  # vertex 1
-        self.o0 = o0  # opposite vertex 1
-        self.o1 = o1  # opposite vertex 2
-        self.f0 = f0  # index of tri1
-        self.f1 = f1  # index of tri2
-
-
-class MeshAdjacency:
-    def __init__(self, indices, num_tris):
-        # map edges (v0, v1) to faces (f0, f1)
-        self.edges = {}
-        self.indices = indices
-
-        for index, tri in enumerate(indices):
-            self.add_edge(tri[0], tri[1], tri[2], index)
-            self.add_edge(tri[1], tri[2], tri[0], index)
-            self.add_edge(tri[2], tri[0], tri[1], index)
-
-    def add_edge(self, i0, i1, o, f):  # index1, index2, index3, index of triangle
-        key = (min(i0, i1), max(i0, i1))
-        edge = None
-
-        if key in self.edges:
-            edge = self.edges[key]
-
-            if edge.f1 != -1:
-                print("Detected non-manifold edge")
-                return
-            else:
-                # update other side of the edge
-                edge.o1 = o
-                edge.f1 = f
-        else:
-            # create new edge with opposite yet to be filled
-            edge = MeshEdge(i0, i1, o, -1, f, -1)
-
-        self.edges[key] = edge
-
-
-def mem_report(): #pragma: no cover
-    def _mem_report(tensors, mem_type):
-        """Print the selected tensors of type
-        There are two major storage types in our major concern:
-            - GPU: tensors transferred to CUDA devices
-            - CPU: tensors remaining on the system memory (usually unimportant)
-        Args:
-            - tensors: the tensors of specified type
-            - mem_type: 'CPU' or 'GPU' in current implementation"""
-        total_numel = 0
-        total_mem = 0
-        visited_data = []
-        for tensor in tensors:
-            if tensor.is_sparse:
-                continue
-            # a data_ptr indicates a memory block allocated
-            data_ptr = tensor.storage().data_ptr()
-            if data_ptr in visited_data:
-                continue
-            visited_data.append(data_ptr)
-
-            numel = tensor.storage().size()
-            total_numel += numel
-            element_size = tensor.storage().element_size()
-            mem = numel * element_size / 1024 / 1024  # 32bit=4Byte, MByte
-            total_mem += mem
-            element_type = type(tensor).__name__
-            size = tuple(tensor.size())
-
-            # print('%s\t\t%s\t\t%.2f' % (
-            #     element_type,
-            #     size,
-            #     mem) )
-        print("Type: %s Total Tensors: %d \tUsed Memory Space: %.2f MBytes" % (mem_type, total_numel, total_mem))
-
-    import gc
-
-    import torch
-
-    gc.collect()
-
-    LEN = 65
-    objects = gc.get_objects()
-    # print('%s\t%s\t\t\t%s' %('Element type', 'Size', 'Used MEM(MBytes)') )
-    tensors = [obj for obj in objects if torch.is_tensor(obj)]
-    cuda_tensors = [t for t in tensors if t.is_cuda]
-    host_tensors = [t for t in tensors if not t.is_cuda]
-    _mem_report(cuda_tensors, "GPU")
-    _mem_report(host_tensors, "CPU")
-    print("=" * LEN)
-
-
-
-class ScopedDevice:
-    def __init__(self, device):
-        self.device = wp.get_device(device)
-
-    def __enter__(self):
-        # save the previous default device
-        self.saved_device = self.device.runtime.default_device
-
-        # make this the default device
-        self.device.runtime.default_device = self.device
-
-        # make it the current CUDA device so that device alias "cuda" will evaluate to this device
-        self.device.context_guard.__enter__()
-
-        return self.device
-
-    def __exit__(self, exc_type, exc_value, traceback):
-        # restore original CUDA context
-        self.device.context_guard.__exit__(exc_type, exc_value, traceback)
-
-        # restore original target device
-        self.device.runtime.default_device = self.saved_device
-
-
-class ScopedStream:
-    def __init__(self, stream, sync_enter=True, sync_exit=False):
-        self.stream = stream
-        self.sync_enter = sync_enter
-        self.sync_exit = sync_exit
-        if stream is not None:
-            self.device = stream.device
-            self.device_scope = ScopedDevice(self.device)
-
-    def __enter__(self):
-        if self.stream is not None:
-            self.device_scope.__enter__()
-            self.saved_stream = self.device.stream
-            self.device.set_stream(self.stream, self.sync_enter)
-
-        return self.stream
-
-    def __exit__(self, exc_type, exc_value, traceback):
-        if self.stream is not None:
-            self.device.set_stream(self.saved_stream, self.sync_exit)
-            self.device_scope.__exit__(exc_type, exc_value, traceback)
-
-
-# timer utils
-class ScopedTimer:
-    indent = -1
-
-    enabled = True
-
-    def __init__(
-        self,
-        name,
-        active=True,
-        print=True,
-        detailed=False,
-        dict=None,
-        use_nvtx=False,
-        color="rapids",
-        synchronize=False,
-    ):
-        """Context manager object for a timer
-
-        Parameters:
-            name (str): Name of timer
-            active (bool): Enables this timer
-            print (bool): At context manager exit, print elapsed time to sys.stdout
-            detailed (bool): Collects additional profiling data using cProfile and calls ``print_stats()`` at context exit
-            dict (dict): A dictionary of lists to which the elapsed time will be appended using ``name`` as a key
-            use_nvtx (bool): If true, timing functionality is replaced by an NVTX range
-            color (int or str): ARGB value (e.g. 0x00FFFF) or color name (e.g. 'cyan') associated with the NVTX range
-            synchronize (bool): Synchronize the CPU thread with any outstanding CUDA work to return accurate GPU timings
-
-        Attributes:
-            elapsed (float): The duration of the ``with`` block used with this object
-        """
-        self.name = name
-        self.active = active and self.enabled
-        self.print = print
-        self.detailed = detailed
-        self.dict = dict
-        self.use_nvtx = use_nvtx
-        self.color = color
-        self.synchronize = synchronize
-        self.elapsed = 0.0
-
-        if self.dict is not None:
-            if name not in self.dict:
-                self.dict[name] = []
-
-    def __enter__(self):
-        if self.active:
-            if self.synchronize:
-                wp.synchronize()
-
-            if self.use_nvtx:
-                import nvtx
-
-                self.nvtx_range_id = nvtx.start_range(self.name, color=self.color)
-                return self
-
-            if self.detailed:
-                self.cp = cProfile.Profile()
-                self.cp.clear()
-                self.cp.enable()
-
-            if self.print:
-                ScopedTimer.indent += 1
-
-            self.start = time.perf_counter_ns()
-
-        return self
-
-    def __exit__(self, exc_type, exc_value, traceback):
-        if self.active:
-            if self.synchronize:
-                wp.synchronize()
-
-            if self.use_nvtx:
-                import nvtx
-
-                nvtx.end_range(self.nvtx_range_id)
-                return
-
-            self.elapsed = (time.perf_counter_ns() - self.start) / 1000000.0
-
-            if self.detailed:
-                self.cp.disable()
-                self.cp.print_stats(sort="tottime")
-
-            if self.dict is not None:
-                self.dict[self.name].append(self.elapsed)
-
-            if self.print:
-                indent = ""
-                for i in range(ScopedTimer.indent):
-                    indent += "\t"
-
-                print("{}{} took {:.2f} ms".format(indent, self.name, self.elapsed))
-
-                ScopedTimer.indent -= 1
-
-
-# Allow temporarily enabling/disabling mempool allocators
-class ScopedMempool:
-    def __init__(self, device, enable: bool):
-        self.device = wp.get_device(device)
-        self.enable = enable
-
-    def __enter__(self):
-        self.saved_setting = wp.is_mempool_enabled(self.device)
-        wp.set_mempool_enabled(self.device, self.enable)
-
-    def __exit__(self, exc_type, exc_value, traceback):
-        wp.set_mempool_enabled(self.device, self.saved_setting)
-
-
-# Allow temporarily enabling/disabling mempool access
-class ScopedMempoolAccess:
-    def __init__(self, target_device, peer_device, enable: bool):
-        self.target_device = target_device
-        self.peer_device = peer_device
-        self.enable = enable
-
-    def __enter__(self):
-        self.saved_setting = wp.is_mempool_access_enabled(self.target_device, self.peer_device)
-        wp.set_mempool_access_enabled(self.target_device, self.peer_device, self.enable)
-
-    def __exit__(self, exc_type, exc_value, traceback):
-        wp.set_mempool_access_enabled(self.target_device, self.peer_device, self.saved_setting)
-
-
-# Allow temporarily enabling/disabling peer access
-class ScopedPeerAccess:
-    def __init__(self, target_device, peer_device, enable: bool):
-        self.target_device = target_device
-        self.peer_device = peer_device
-        self.enable = enable
-
-    def __enter__(self):
-        self.saved_setting = wp.is_peer_access_enabled(self.target_device, self.peer_device)
-        wp.set_peer_access_enabled(self.target_device, self.peer_device, self.enable)
-
-    def __exit__(self, exc_type, exc_value, traceback):
-        wp.set_peer_access_enabled(self.target_device, self.peer_device, self.saved_setting)
-
-
-class ScopedCapture:
-    def __init__(self, device=None, stream=None, force_module_load=None, external=False):
-        self.device = device
-        self.stream = stream
-        self.force_module_load = force_module_load
-        self.external = external
-        self.active = False
-        self.graph = None
-
-    def __enter__(self):
-        try:
-            wp.capture_begin(
-                device=self.device, stream=self.stream, force_module_load=self.force_module_load, external=self.external
-            )
-            self.active = True
-            return self
-        except:
-            raise
-
-    def __exit__(self, exc_type, exc_value, traceback):
-        if self.active:
-            try:
-                self.graph = wp.capture_end(device=self.device, stream=self.stream)
-            finally:
-                self.active = False
-
-
-# helper kernels for adj_matmul
-@wp.kernel
-def add_kernel_2d(x: wp.array2d(dtype=Any), acc: wp.array2d(dtype=Any), beta: Any):
-    i, j = wp.tid()
-
-    x[i,j] = x[i,j] + beta * acc[i,j]
-
-
-@wp.kernel
-def add_kernel_3d(x: wp.array3d(dtype=Any), acc: wp.array3d(dtype=Any), beta: Any):
-    i, j, k = wp.tid()
-
-    x[i,j,k] = x[i,j,k] + beta * acc[i,j,k]
-
-
-# explicit instantiations of generic kernels for adj_matmul
-for T in [wp.float16, wp.float32, wp.float64]:
-    wp.overload(add_kernel_2d, [wp.array2d(dtype=T), wp.array2d(dtype=T), T])
-    wp.overload(add_kernel_3d, [wp.array3d(dtype=T), wp.array3d(dtype=T), T])
-
-
-def check_iommu():
-    """Check if IOMMU is enabled on Linux, which can affect peer-to-peer transfers.
-
-    Returns:
-        A Boolean indicating whether IOMMU is configured properly for peer-to-peer transfers.
-        On Linux, this function attempts to determine if IOMMU is enabled and will return `False` if IOMMU is detected.
-        On other operating systems, it always return `True`.
-    """
-
-    if sys.platform == "linux":
-        # On modern Linux, there should be IOMMU-related entries in the /sys file system.
-        # This should be more reliable than checking kernel logs like dmesg.
-        if os.path.isdir("/sys/class/iommu") and os.listdir("/sys/class/iommu"):
-            return False
-        if os.path.isdir("/sys/kernel/iommu_groups") and os.listdir("/sys/kernel/iommu_groups"):
-            return False
-
-        # HACK: disable P2P tests on misbehaving agents
-        disable_p2p_tests = os.getenv("WARP_DISABLE_P2P_TESTS", default="0")
-        if int(disable_p2p_tests):
-            return False
-
-        return True
-    else:
-        # doesn't matter
-        return True
+# Copyright (c) 2022 NVIDIA CORPORATION.  All rights reserved.
+# NVIDIA CORPORATION and its licensors retain all intellectual property
+# and proprietary rights in and to this software, related documentation
+# and any modifications thereto.  Any use, reproduction, disclosure or
+# distribution of this software and related documentation without an express
+# license agreement from NVIDIA CORPORATION is strictly prohibited.
+
+import cProfile
+import ctypes
+import os
+import sys
+import time
+import warnings
+from typing import Any
+
+import numpy as np
+
+import warp as wp
+import warp.context
+import warp.types
+
+warnings_seen = set()
+
+
+def warp_showwarning(message, category, filename, lineno, file=None, line=None):
+    """Version of warnings.showwarning that always prints to sys.stdout."""
+
+    if warp.config.verbose_warnings:
+        s = f"Warp {category.__name__}: {message} ({filename}:{lineno})\n"
+
+        if line is None:
+            try:
+                import linecache
+
+                line = linecache.getline(filename, lineno)
+            except Exception:
+                # When a warning is logged during Python shutdown, linecache
+                # and the import machinery don't work anymore
+                line = None
+                linecache = None
+        else:
+            line = line
+        if line:
+            line = line.strip()
+            s += "  %s\n" % line
+    else:
+        # simple warning
+        s = f"Warp {category.__name__}: {message}\n"
+
+    sys.stdout.write(s)
+
+
+def warn(message, category=None, stacklevel=1):
+    if (category, message) in warnings_seen:
+        return
+
+    with warnings.catch_warnings():
+        warnings.simplefilter("default")  # Change the filter in this process
+        warnings.showwarning = warp_showwarning
+        warnings.warn(
+            message,
+            category,
+            stacklevel=stacklevel + 1,  # Increment stacklevel by 1 since we are in a wrapper
+        )
+
+    if category is DeprecationWarning:
+        warnings_seen.add((category, message))
+
+
+# expand a 7-vec to a tuple of arrays
+def transform_expand(t):
+    return wp.transform(np.array(t[0:3]), np.array(t[3:7]))
+
+
+@wp.func
+def quat_between_vectors(a: wp.vec3, b: wp.vec3) -> wp.quat:
+    """
+    Compute the quaternion that rotates vector a to vector b
+    """
+    a = wp.normalize(a)
+    b = wp.normalize(b)
+    c = wp.cross(a, b)
+    d = wp.dot(a, b)
+    q = wp.quat(c[0], c[1], c[2], 1.0 + d)
+    return wp.normalize(q)
+
+
+def array_scan(in_array, out_array, inclusive=True):
+    if in_array.device != out_array.device:
+        raise RuntimeError("Array storage devices do not match")
+
+    if in_array.size != out_array.size:
+        raise RuntimeError("Array storage sizes do not match")
+
+    if in_array.dtype != out_array.dtype:
+        raise RuntimeError("Array data types do not match")
+
+    if in_array.size == 0:
+        return
+
+    from warp.context import runtime
+
+    if in_array.device.is_cpu:
+        if in_array.dtype == wp.int32:
+            runtime.core.array_scan_int_host(in_array.ptr, out_array.ptr, in_array.size, inclusive)
+        elif in_array.dtype == wp.float32:
+            runtime.core.array_scan_float_host(in_array.ptr, out_array.ptr, in_array.size, inclusive)
+        else:
+            raise RuntimeError("Unsupported data type")
+    elif in_array.device.is_cuda:
+        if in_array.dtype == wp.int32:
+            runtime.core.array_scan_int_device(in_array.ptr, out_array.ptr, in_array.size, inclusive)
+        elif in_array.dtype == wp.float32:
+            runtime.core.array_scan_float_device(in_array.ptr, out_array.ptr, in_array.size, inclusive)
+        else:
+            raise RuntimeError("Unsupported data type")
+
+
+def radix_sort_pairs(keys, values, count: int):
+    if keys.device != values.device:
+        raise RuntimeError("Array storage devices do not match")
+
+    if count == 0:
+        return
+
+    if keys.size < 2 * count or values.size < 2 * count:
+        raise RuntimeError("Array storage must be large enough to contain 2*count elements")
+
+    from warp.context import runtime
+
+    if keys.device.is_cpu:
+        if keys.dtype == wp.int32 and values.dtype == wp.int32:
+            runtime.core.radix_sort_pairs_int_host(keys.ptr, values.ptr, count)
+        else:
+            raise RuntimeError("Unsupported data type")
+    elif keys.device.is_cuda:
+        if keys.dtype == wp.int32 and values.dtype == wp.int32:
+            runtime.core.radix_sort_pairs_int_device(keys.ptr, values.ptr, count)
+        else:
+            raise RuntimeError("Unsupported data type")
+
+
+def runlength_encode(values, run_values, run_lengths, run_count=None, value_count=None):
+    if run_values.device != values.device or run_lengths.device != values.device:
+        raise RuntimeError("Array storage devices do not match")
+
+    if value_count is None:
+        value_count = values.size
+
+    if run_values.size < value_count or run_lengths.size < value_count:
+        raise RuntimeError("Output array storage sizes must be at least equal to value_count")
+
+    if values.dtype != run_values.dtype:
+        raise RuntimeError("values and run_values data types do not match")
+
+    if run_lengths.dtype != wp.int32:
+        raise RuntimeError("run_lengths array must be of type int32")
+
+    # User can provide a device output array for storing the number of runs
+    # For convenience, if no such array is provided, number of runs is returned on host
+    if run_count is None:
+        if value_count == 0:
+            return 0
+        run_count = wp.empty(shape=(1,), dtype=int, device=values.device)
+        host_return = True
+    else:
+        if run_count.device != values.device:
+            raise RuntimeError("run_count storage device does not match other arrays")
+        if run_count.dtype != wp.int32:
+            raise RuntimeError("run_count array must be of type int32")
+        if value_count == 0:
+            run_count.zero_()
+            return 0
+        host_return = False
+
+    from warp.context import runtime
+
+    if values.device.is_cpu:
+        if values.dtype == wp.int32:
+            runtime.core.runlength_encode_int_host(
+                values.ptr, run_values.ptr, run_lengths.ptr, run_count.ptr, value_count
+            )
+        else:
+            raise RuntimeError("Unsupported data type")
+    elif values.device.is_cuda:
+        if values.dtype == wp.int32:
+            runtime.core.runlength_encode_int_device(
+                values.ptr, run_values.ptr, run_lengths.ptr, run_count.ptr, value_count
+            )
+        else:
+            raise RuntimeError("Unsupported data type")
+
+    if host_return:
+        return int(run_count.numpy()[0])
+
+
+def array_sum(values, out=None, value_count=None, axis=None):
+    if value_count is None:
+        if axis is None:
+            value_count = values.size
+        else:
+            value_count = values.shape[axis]
+
+    if axis is None:
+        output_shape = (1,)
+    else:
+
+        def output_dim(ax, dim):
+            return 1 if ax == axis else dim
+
+        output_shape = tuple(output_dim(ax, dim) for ax, dim in enumerate(values.shape))
+
+    type_length = wp.types.type_length(values.dtype)
+    scalar_type = wp.types.type_scalar_type(values.dtype)
+
+    # User can provide a device output array for storing the number of runs
+    # For convenience, if no such array is provided, number of runs is returned on host
+    if out is None:
+        host_return = True
+        out = wp.empty(shape=output_shape, dtype=values.dtype, device=values.device)
+    else:
+        host_return = False
+        if out.device != values.device:
+            raise RuntimeError("out storage device should match values array")
+        if out.dtype != values.dtype:
+            raise RuntimeError(f"out array should have type {values.dtype.__name__}")
+        if out.shape != output_shape:
+            raise RuntimeError(f"out array should have shape {output_shape}")
+
+    if value_count == 0:
+        out.zero_()
+        if axis is None and host_return:
+            return out.numpy()[0]
+        return out
+
+    from warp.context import runtime
+
+    if values.device.is_cpu:
+        if scalar_type == wp.float32:
+            native_func = runtime.core.array_sum_float_host
+        elif scalar_type == wp.float64:
+            native_func = runtime.core.array_sum_double_host
+        else:
+            raise RuntimeError("Unsupported data type")
+    elif values.device.is_cuda:
+        if scalar_type == wp.float32:
+            native_func = runtime.core.array_sum_float_device
+        elif scalar_type == wp.float64:
+            native_func = runtime.core.array_sum_double_device
+        else:
+            raise RuntimeError("Unsupported data type")
+
+    if axis is None:
+        stride = wp.types.type_size_in_bytes(values.dtype)
+        native_func(values.ptr, out.ptr, value_count, stride, type_length)
+
+        if host_return:
+            return out.numpy()[0]
+    else:
+        stride = values.strides[axis]
+        for idx in np.ndindex(output_shape):
+            out_offset = sum(i * s for i, s in zip(idx, out.strides))
+            val_offset = sum(i * s for i, s in zip(idx, values.strides))
+
+            native_func(
+                values.ptr + val_offset,
+                out.ptr + out_offset,
+                value_count,
+                stride,
+                type_length,
+            )
+
+        if host_return:
+            return out
+
+
+def array_inner(a, b, out=None, count=None, axis=None):
+    if a.size != b.size:
+        raise RuntimeError("Array storage sizes do not match")
+
+    if a.device != b.device:
+        raise RuntimeError("Array storage devices do not match")
+
+    if a.dtype != b.dtype:
+        raise RuntimeError("Array data types do not match")
+
+    if count is None:
+        if axis is None:
+            count = a.size
+        else:
+            count = a.shape[axis]
+
+    if axis is None:
+        output_shape = (1,)
+    else:
+
+        def output_dim(ax, dim):
+            return 1 if ax == axis else dim
+
+        output_shape = tuple(output_dim(ax, dim) for ax, dim in enumerate(a.shape))
+
+    type_length = wp.types.type_length(a.dtype)
+    scalar_type = wp.types.type_scalar_type(a.dtype)
+
+    # User can provide a device output array for storing the number of runs
+    # For convenience, if no such array is provided, number of runs is returned on host
+    if out is None:
+        host_return = True
+        out = wp.empty(shape=output_shape, dtype=scalar_type, device=a.device)
+    else:
+        host_return = False
+        if out.device != a.device:
+            raise RuntimeError("out storage device should match values array")
+        if out.dtype != scalar_type:
+            raise RuntimeError(f"out array should have type {scalar_type.__name__}")
+        if out.shape != output_shape:
+            raise RuntimeError(f"out array should have shape {output_shape}")
+
+    if count == 0:
+        if axis is None and host_return:
+            return 0.0
+        out.zero_()
+        return out
+
+    from warp.context import runtime
+
+    if a.device.is_cpu:
+        if scalar_type == wp.float32:
+            native_func = runtime.core.array_inner_float_host
+        elif scalar_type == wp.float64:
+            native_func = runtime.core.array_inner_double_host
+        else:
+            raise RuntimeError("Unsupported data type")
+    elif a.device.is_cuda:
+        if scalar_type == wp.float32:
+            native_func = runtime.core.array_inner_float_device
+        elif scalar_type == wp.float64:
+            native_func = runtime.core.array_inner_double_device
+        else:
+            raise RuntimeError("Unsupported data type")
+
+    if axis is None:
+        stride_a = wp.types.type_size_in_bytes(a.dtype)
+        stride_b = wp.types.type_size_in_bytes(b.dtype)
+        native_func(a.ptr, b.ptr, out.ptr, count, stride_a, stride_b, type_length)
+
+        if host_return:
+            return out.numpy()[0]
+    else:
+        stride_a = a.strides[axis]
+        stride_b = b.strides[axis]
+
+        for idx in np.ndindex(output_shape):
+            out_offset = sum(i * s for i, s in zip(idx, out.strides))
+            a_offset = sum(i * s for i, s in zip(idx, a.strides))
+            b_offset = sum(i * s for i, s in zip(idx, b.strides))
+
+            native_func(
+                a.ptr + a_offset,
+                b.ptr + b_offset,
+                out.ptr + out_offset,
+                count,
+                stride_a,
+                stride_b,
+                type_length,
+            )
+
+        if host_return:
+            return out
+
+
+@wp.kernel
+def _array_cast_kernel(
+    dest: Any,
+    src: Any,
+):
+    i = wp.tid()
+    dest[i] = dest.dtype(src[i])
+
+
+def array_cast(in_array, out_array, count=None):
+    if in_array.device != out_array.device:
+        raise RuntimeError("Array storage devices do not match")
+
+    in_array_data_shape = getattr(in_array.dtype, "_shape_", ())
+    out_array_data_shape = getattr(out_array.dtype, "_shape_", ())
+
+    if in_array.ndim != out_array.ndim or in_array_data_shape != out_array_data_shape:
+        # Number of dimensions or data type shape do not match.
+        # Flatten arrays and do cast at the scalar level
+        in_array = in_array.flatten()
+        out_array = out_array.flatten()
+
+        in_array_data_length = warp.types.type_length(in_array.dtype)
+        out_array_data_length = warp.types.type_length(out_array.dtype)
+        in_array_scalar_type = wp.types.type_scalar_type(in_array.dtype)
+        out_array_scalar_type = wp.types.type_scalar_type(out_array.dtype)
+
+        in_array = wp.array(
+            data=None,
+            ptr=in_array.ptr,
+            capacity=in_array.capacity,
+            device=in_array.device,
+            dtype=in_array_scalar_type,
+            shape=in_array.shape[0] * in_array_data_length,
+        )
+
+        out_array = wp.array(
+            data=None,
+            ptr=out_array.ptr,
+            capacity=out_array.capacity,
+            device=out_array.device,
+            dtype=out_array_scalar_type,
+            shape=out_array.shape[0] * out_array_data_length,
+        )
+
+        if count is not None:
+            count *= in_array_data_length
+
+    if count is None:
+        count = in_array.size
+
+    if in_array.ndim == 1:
+        dim = count
+    elif count < in_array.size:
+        raise RuntimeError("Partial cast is not supported for arrays with more than one dimension")
+    else:
+        dim = in_array.shape
+
+    if in_array.dtype == out_array.dtype:
+        # Same data type, can simply copy
+        wp.copy(dest=out_array, src=in_array, count=count)
+    else:
+        wp.launch(kernel=_array_cast_kernel, dim=dim, inputs=[out_array, in_array], device=out_array.device)
+
+
+# code snippet for invoking cProfile
+# cp = cProfile.Profile()
+# cp.enable()
+# for i in range(1000):
+#     self.state = self.integrator.forward(self.model, self.state, self.sim_dt)
+
+# cp.disable()
+# cp.print_stats(sort='tottime')
+# exit(0)
+
+
+# helper kernels for initializing NVDB volumes from a dense array
+@wp.kernel
+def copy_dense_volume_to_nano_vdb_v(volume: wp.uint64, values: wp.array(dtype=wp.vec3, ndim=3)):
+    i, j, k = wp.tid()
+    wp.volume_store_v(volume, i, j, k, values[i, j, k])
+
+
+@wp.kernel
+def copy_dense_volume_to_nano_vdb_f(volume: wp.uint64, values: wp.array(dtype=wp.float32, ndim=3)):
+    i, j, k = wp.tid()
+    wp.volume_store_f(volume, i, j, k, values[i, j, k])
+
+
+@wp.kernel
+def copy_dense_volume_to_nano_vdb_i(volume: wp.uint64, values: wp.array(dtype=wp.int32, ndim=3)):
+    i, j, k = wp.tid()
+    wp.volume_store_i(volume, i, j, k, values[i, j, k])
+
+
+# represent an edge between v0, v1 with connected faces f0, f1, and opposite vertex o0, and o1
+# winding is such that first tri can be reconstructed as {v0, v1, o0}, and second tri as { v1, v0, o1 }
+class MeshEdge:
+    def __init__(self, v0, v1, o0, o1, f0, f1):
+        self.v0 = v0  # vertex 0
+        self.v1 = v1  # vertex 1
+        self.o0 = o0  # opposite vertex 1
+        self.o1 = o1  # opposite vertex 2
+        self.f0 = f0  # index of tri1
+        self.f1 = f1  # index of tri2
+
+
+class MeshAdjacency:
+    def __init__(self, indices, num_tris):
+        # map edges (v0, v1) to faces (f0, f1)
+        self.edges = {}
+        self.indices = indices
+
+        for index, tri in enumerate(indices):
+            self.add_edge(tri[0], tri[1], tri[2], index)
+            self.add_edge(tri[1], tri[2], tri[0], index)
+            self.add_edge(tri[2], tri[0], tri[1], index)
+
+    def add_edge(self, i0, i1, o, f):  # index1, index2, index3, index of triangle
+        key = (min(i0, i1), max(i0, i1))
+        edge = None
+
+        if key in self.edges:
+            edge = self.edges[key]
+
+            if edge.f1 != -1:
+                print("Detected non-manifold edge")
+                return
+            else:
+                # update other side of the edge
+                edge.o1 = o
+                edge.f1 = f
+        else:
+            # create new edge with opposite yet to be filled
+            edge = MeshEdge(i0, i1, o, -1, f, -1)
+
+        self.edges[key] = edge
+
+
+def mem_report():  # pragma: no cover
+    def _mem_report(tensors, mem_type):
+        """Print the selected tensors of type
+        There are two major storage types in our major concern:
+            - GPU: tensors transferred to CUDA devices
+            - CPU: tensors remaining on the system memory (usually unimportant)
+        Args:
+            - tensors: the tensors of specified type
+            - mem_type: 'CPU' or 'GPU' in current implementation"""
+        total_numel = 0
+        total_mem = 0
+        visited_data = []
+        for tensor in tensors:
+            if tensor.is_sparse:
+                continue
+            # a data_ptr indicates a memory block allocated
+            data_ptr = tensor.storage().data_ptr()
+            if data_ptr in visited_data:
+                continue
+            visited_data.append(data_ptr)
+
+            numel = tensor.storage().size()
+            total_numel += numel
+            element_size = tensor.storage().element_size()
+            mem = numel * element_size / 1024 / 1024  # 32bit=4Byte, MByte
+            total_mem += mem
+        print("Type: %s Total Tensors: %d \tUsed Memory Space: %.2f MBytes" % (mem_type, total_numel, total_mem))
+
+    import gc
+
+    import torch
+
+    gc.collect()
+
+    LEN = 65
+    objects = gc.get_objects()
+    # print('%s\t%s\t\t\t%s' %('Element type', 'Size', 'Used MEM(MBytes)') )
+    tensors = [obj for obj in objects if torch.is_tensor(obj)]
+    cuda_tensors = [t for t in tensors if t.is_cuda]
+    host_tensors = [t for t in tensors if not t.is_cuda]
+    _mem_report(cuda_tensors, "GPU")
+    _mem_report(host_tensors, "CPU")
+    print("=" * LEN)
+
+
+class ScopedDevice:
+    def __init__(self, device):
+        self.device = wp.get_device(device)
+
+    def __enter__(self):
+        # save the previous default device
+        self.saved_device = self.device.runtime.default_device
+
+        # make this the default device
+        self.device.runtime.default_device = self.device
+
+        # make it the current CUDA device so that device alias "cuda" will evaluate to this device
+        self.device.context_guard.__enter__()
+
+        return self.device
+
+    def __exit__(self, exc_type, exc_value, traceback):
+        # restore original CUDA context
+        self.device.context_guard.__exit__(exc_type, exc_value, traceback)
+
+        # restore original target device
+        self.device.runtime.default_device = self.saved_device
+
+
+class ScopedStream:
+    def __init__(self, stream, sync_enter=True, sync_exit=False):
+        self.stream = stream
+        self.sync_enter = sync_enter
+        self.sync_exit = sync_exit
+        if stream is not None:
+            self.device = stream.device
+            self.device_scope = ScopedDevice(self.device)
+
+    def __enter__(self):
+        if self.stream is not None:
+            self.device_scope.__enter__()
+            self.saved_stream = self.device.stream
+            self.device.set_stream(self.stream, self.sync_enter)
+
+        return self.stream
+
+    def __exit__(self, exc_type, exc_value, traceback):
+        if self.stream is not None:
+            self.device.set_stream(self.saved_stream, self.sync_exit)
+            self.device_scope.__exit__(exc_type, exc_value, traceback)
+
+
+TIMING_KERNEL = 1
+TIMING_KERNEL_BUILTIN = 2
+TIMING_MEMCPY = 4
+TIMING_MEMSET = 8
+TIMING_GRAPH = 16
+TIMING_ALL = 0xFFFFFFFF
+
+
+# timer utils
+class ScopedTimer:
+    indent = -1
+
+    enabled = True
+
+    def __init__(
+        self,
+        name,
+        active=True,
+        print=True,
+        detailed=False,
+        dict=None,
+        use_nvtx=False,
+        color="rapids",
+        synchronize=False,
+        cuda_filter=0,
+        report_func=None,
+        skip_tape=False,
+    ):
+        """Context manager object for a timer
+
+        Parameters:
+            name (str): Name of timer
+            active (bool): Enables this timer
+            print (bool): At context manager exit, print elapsed time to sys.stdout
+            detailed (bool): Collects additional profiling data using cProfile and calls ``print_stats()`` at context exit
+            dict (dict): A dictionary of lists to which the elapsed time will be appended using ``name`` as a key
+            use_nvtx (bool): If true, timing functionality is replaced by an NVTX range
+            color (int or str): ARGB value (e.g. 0x00FFFF) or color name (e.g. 'cyan') associated with the NVTX range
+            synchronize (bool): Synchronize the CPU thread with any outstanding CUDA work to return accurate GPU timings
+            cuda_filter (int): Filter flags for CUDA activity timing, e.g. ``warp.TIMING_KERNEL`` or ``warp.TIMING_ALL``
+            report_func (Callable): A callback function to print the activity report (``wp.timing_print()`` is used by default)
+            skip_tape (bool): If true, the timer will not be recorded in the tape
+
+        Attributes:
+            elapsed (float): The duration of the ``with`` block used with this object
+            timing_results (list[TimingResult]): The list of activity timing results, if collection was requested using ``cuda_filter``
+        """
+        self.name = name
+        self.active = active and self.enabled
+        self.print = print
+        self.detailed = detailed
+        self.dict = dict
+        self.use_nvtx = use_nvtx
+        self.color = color
+        self.synchronize = synchronize
+        self.skip_tape = skip_tape
+        self.elapsed = 0.0
+        self.cuda_filter = cuda_filter
+        self.report_func = report_func or wp.timing_print
+
+        if self.dict is not None:
+            if name not in self.dict:
+                self.dict[name] = []
+
+    def __enter__(self):
+        if not self.skip_tape and warp.context.runtime is not None and warp.context.runtime.tape is not None:
+            warp.context.runtime.tape.record_scope_begin(self.name)
+        if self.active:
+            if self.synchronize:
+                wp.synchronize()
+
+            if self.cuda_filter:
+                # begin CUDA activity collection, synchronizing if needed
+                timing_begin(self.cuda_filter, synchronize=not self.synchronize)
+
+            if self.detailed:
+                self.cp = cProfile.Profile()
+                self.cp.clear()
+                self.cp.enable()
+
+            if self.use_nvtx:
+                import nvtx
+
+                self.nvtx_range_id = nvtx.start_range(self.name, color=self.color)
+
+            if self.print:
+                ScopedTimer.indent += 1
+
+            self.start = time.perf_counter_ns()
+
+        return self
+
+    def __exit__(self, exc_type, exc_value, traceback):
+        if not self.skip_tape and warp.context.runtime is not None and warp.context.runtime.tape is not None:
+            warp.context.runtime.tape.record_scope_end()
+        if self.active:
+            if self.synchronize:
+                wp.synchronize()
+
+            self.elapsed = (time.perf_counter_ns() - self.start) / 1000000.0
+
+            if self.use_nvtx:
+                import nvtx
+
+                nvtx.end_range(self.nvtx_range_id)
+
+            if self.detailed:
+                self.cp.disable()
+                self.cp.print_stats(sort="tottime")
+
+            if self.cuda_filter:
+                # end CUDA activity collection, synchronizing if needed
+                self.timing_results = timing_end(synchronize=not self.synchronize)
+            else:
+                self.timing_results = []
+
+            if self.dict is not None:
+                self.dict[self.name].append(self.elapsed)
+
+            if self.print:
+                indent = "\t" * ScopedTimer.indent
+
+                if self.timing_results:
+                    self.report_func(self.timing_results, indent=indent)
+                    print()
+
+                print(f"{indent}{self.name} took {self.elapsed :.2f} ms")
+
+                ScopedTimer.indent -= 1
+
+
+# Allow temporarily enabling/disabling mempool allocators
+class ScopedMempool:
+    def __init__(self, device, enable: bool):
+        self.device = wp.get_device(device)
+        self.enable = enable
+
+    def __enter__(self):
+        self.saved_setting = wp.is_mempool_enabled(self.device)
+        wp.set_mempool_enabled(self.device, self.enable)
+
+    def __exit__(self, exc_type, exc_value, traceback):
+        wp.set_mempool_enabled(self.device, self.saved_setting)
+
+
+# Allow temporarily enabling/disabling mempool access
+class ScopedMempoolAccess:
+    def __init__(self, target_device, peer_device, enable: bool):
+        self.target_device = target_device
+        self.peer_device = peer_device
+        self.enable = enable
+
+    def __enter__(self):
+        self.saved_setting = wp.is_mempool_access_enabled(self.target_device, self.peer_device)
+        wp.set_mempool_access_enabled(self.target_device, self.peer_device, self.enable)
+
+    def __exit__(self, exc_type, exc_value, traceback):
+        wp.set_mempool_access_enabled(self.target_device, self.peer_device, self.saved_setting)
+
+
+# Allow temporarily enabling/disabling peer access
+class ScopedPeerAccess:
+    def __init__(self, target_device, peer_device, enable: bool):
+        self.target_device = target_device
+        self.peer_device = peer_device
+        self.enable = enable
+
+    def __enter__(self):
+        self.saved_setting = wp.is_peer_access_enabled(self.target_device, self.peer_device)
+        wp.set_peer_access_enabled(self.target_device, self.peer_device, self.enable)
+
+    def __exit__(self, exc_type, exc_value, traceback):
+        wp.set_peer_access_enabled(self.target_device, self.peer_device, self.saved_setting)
+
+
+class ScopedCapture:
+    def __init__(self, device=None, stream=None, force_module_load=None, external=False):
+        self.device = device
+        self.stream = stream
+        self.force_module_load = force_module_load
+        self.external = external
+        self.active = False
+        self.graph = None
+
+    def __enter__(self):
+        try:
+            wp.capture_begin(
+                device=self.device, stream=self.stream, force_module_load=self.force_module_load, external=self.external
+            )
+            self.active = True
+            return self
+        except:
+            raise
+
+    def __exit__(self, exc_type, exc_value, traceback):
+        if self.active:
+            try:
+                self.graph = wp.capture_end(device=self.device, stream=self.stream)
+            finally:
+                self.active = False
+
+
+# helper kernels for adj_matmul
+@wp.kernel
+def add_kernel_2d(x: wp.array2d(dtype=Any), acc: wp.array2d(dtype=Any), beta: Any):
+    i, j = wp.tid()
+
+    x[i, j] = x[i, j] + beta * acc[i, j]
+
+
+@wp.kernel
+def add_kernel_3d(x: wp.array3d(dtype=Any), acc: wp.array3d(dtype=Any), beta: Any):
+    i, j, k = wp.tid()
+
+    x[i, j, k] = x[i, j, k] + beta * acc[i, j, k]
+
+
+# explicit instantiations of generic kernels for adj_matmul
+for T in [wp.float16, wp.float32, wp.float64]:
+    wp.overload(add_kernel_2d, [wp.array2d(dtype=T), wp.array2d(dtype=T), T])
+    wp.overload(add_kernel_3d, [wp.array3d(dtype=T), wp.array3d(dtype=T), T])
+
+
+def check_iommu():
+    """Check if IOMMU is enabled on Linux, which can affect peer-to-peer transfers.
+
+    Returns:
+        A Boolean indicating whether IOMMU is configured properly for peer-to-peer transfers.
+        On Linux, this function attempts to determine if IOMMU is enabled and will return `False` if IOMMU is detected.
+        On other operating systems, it always return `True`.
+    """
+
+    if sys.platform == "linux":
+        # On modern Linux, there should be IOMMU-related entries in the /sys file system.
+        # This should be more reliable than checking kernel logs like dmesg.
+        if os.path.isdir("/sys/class/iommu") and os.listdir("/sys/class/iommu"):
+            return False
+        if os.path.isdir("/sys/kernel/iommu_groups") and os.listdir("/sys/kernel/iommu_groups"):
+            return False
+
+        # HACK: disable P2P tests on misbehaving agents
+        disable_p2p_tests = os.getenv("WARP_DISABLE_P2P_TESTS", default="0")
+        if int(disable_p2p_tests):
+            return False
+
+        return True
+    else:
+        # doesn't matter
+        return True
+
+
+class timing_result_t(ctypes.Structure):
+    """CUDA timing struct for fetching values from C++"""
+
+    _fields_ = [
+        ("context", ctypes.c_void_p),
+        ("name", ctypes.c_char_p),
+        ("filter", ctypes.c_int),
+        ("elapsed", ctypes.c_float),
+    ]
+
+
+class TimingResult:
+    """Timing result for a single activity.
+
+    Parameters:
+        raw_result (warp.utils.timing_result_t): The result structure obtained from C++ (internal use only)
+
+    Attributes:
+        device (warp.Device): The device where the activity was recorded.
+        name (str): The activity name.
+        filter (int): The type of activity (e.g., ``warp.TIMING_KERNEL``).
+        elapsed (float): The elapsed time in milliseconds.
+    """
+
+    def __init__(self, device, name, filter, elapsed):
+        self.device = device
+        self.name = name
+        self.filter = filter
+        self.elapsed = elapsed
+
+
+def timing_begin(cuda_filter=TIMING_ALL, synchronize=True):
+    """Begin detailed activity timing.
+
+    Parameters:
+        cuda_filter (int): Filter flags for CUDA activity timing, e.g. ``warp.TIMING_KERNEL`` or ``warp.TIMING_ALL``
+        synchronize (bool): Whether to synchronize all CUDA devices before timing starts
+    """
+
+    if synchronize:
+        warp.synchronize()
+
+    warp.context.runtime.core.cuda_timing_begin(cuda_filter)
+
+
+def timing_end(synchronize=True):
+    """End detailed activity timing.
+
+    Parameters:
+        synchronize (bool): Whether to synchronize all CUDA devices before timing ends
+
+    Returns:
+        list[TimingResult]: A list of ``TimingResult`` objects for all recorded activities.
+    """
+
+    if synchronize:
+        warp.synchronize()
+
+    # get result count
+    count = warp.context.runtime.core.cuda_timing_get_result_count()
+
+    # get result array from C++
+    result_buffer = (timing_result_t * count)()
+    warp.context.runtime.core.cuda_timing_end(ctypes.byref(result_buffer), count)
+
+    # prepare Python result list
+    results = []
+    for r in result_buffer:
+        device = warp.context.runtime.context_map.get(r.context)
+        filter = r.filter
+        elapsed = r.elapsed
+
+        name = r.name.decode()
+        if filter == TIMING_KERNEL:
+            if name.endswith("forward"):
+                # strip trailing "_cuda_kernel_forward"
+                name = f"forward kernel {name[:-20]}"
+            else:
+                # strip trailing "_cuda_kernel_backward"
+                name = f"backward kernel {name[:-21]}"
+        elif filter == TIMING_KERNEL_BUILTIN:
+            if name.startswith("wp::"):
+                name = f"builtin kernel {name[4:]}"
+            else:
+                name = f"builtin kernel {name}"
+
+        results.append(TimingResult(device, name, filter, elapsed))
+
+    return results
+
+
+def timing_print(results, indent=""):
+    """Print timing results.
+
+    Parameters:
+        results (list[TimingResult]): List of ``TimingResult`` objects.
+        indent (str): Optional indentation for the output.
+    """
+
+    if not results:
+        print("No activity")
+        return
+
+    class Aggregate:
+        def __init__(self, count=0, elapsed=0):
+            self.count = count
+            self.elapsed = elapsed
+
+    device_totals = {}
+    activity_totals = {}
+
+    max_name_len = len("Activity")
+    for r in results:
+        name_len = len(r.name)
+        max_name_len = max(max_name_len, name_len)
+
+    activity_width = max_name_len + 1
+    activity_dashes = "-" * activity_width
+
+    print(f"{indent}CUDA timeline:")
+    print(f"{indent}----------------+---------+{activity_dashes}")
+    print(f"{indent}Time            | Device  | Activity")
+    print(f"{indent}----------------+---------+{activity_dashes}")
+    for r in results:
+        device_agg = device_totals.get(r.device.alias)
+        if device_agg is None:
+            device_totals[r.device.alias] = Aggregate(count=1, elapsed=r.elapsed)
+        else:
+            device_agg.count += 1
+            device_agg.elapsed += r.elapsed
+
+        activity_agg = activity_totals.get(r.name)
+        if activity_agg is None:
+            activity_totals[r.name] = Aggregate(count=1, elapsed=r.elapsed)
+        else:
+            activity_agg.count += 1
+            activity_agg.elapsed += r.elapsed
+
+        print(f"{indent}{r.elapsed :12.6f} ms | {r.device.alias :7s} | {r.name}")
+
+    print()
+    print(f"{indent}CUDA activity summary:")
+    print(f"{indent}----------------+---------+{activity_dashes}")
+    print(f"{indent}Total time      | Count   | Activity")
+    print(f"{indent}----------------+---------+{activity_dashes}")
+    for name, agg in activity_totals.items():
+        print(f"{indent}{agg.elapsed :12.6f} ms | {agg.count :7d} | {name}")
+
+    print()
+    print(f"{indent}CUDA device summary:")
+    print(f"{indent}----------------+---------+{activity_dashes}")
+    print(f"{indent}Total time      | Count   | Device")
+    print(f"{indent}----------------+---------+{activity_dashes}")
+    for device, agg in device_totals.items():
+        print(f"{indent}{agg.elapsed :12.6f} ms | {agg.count :7d} | {device}")