warp-lang 1.6.2__py3-none-macosx_10_13_universal2.whl → 1.7.0__py3-none-macosx_10_13_universal2.whl

warp/native/volume_builder.cu

@@ -267,11 +267,21 @@ __device__ std::enable_if_t<nanovdb::BuildTraits<typename Node::BuildType>::is_i
 {
 }
 
+template <typename T>
+struct alignas(alignof(T)) AlignedProxy
+{
+    char data[sizeof(T)];
+};
+
 template <typename Tree, typename NodeT>
 __global__ void setInternalBBoxAndBackgroundValue(Tree *tree, const typename Tree::BuildType background_value)
 {
     using BBox = nanovdb::math::BBox<typename NodeT::CoordT>;
-    __shared__ BBox bbox;
+    using BBoxProxy = AlignedProxy<BBox>;
+
+    __shared__ BBoxProxy bbox_mem;
+
+    BBox& bbox = reinterpret_cast<BBox&>(bbox_mem);
 
     const unsigned node_count = tree->mNodeCount[NodeT::LEVEL];
     const unsigned node_id = blockIdx.x;
@@ -281,7 +291,7 @@ __global__ void setInternalBBoxAndBackgroundValue(Tree *tree, const typename Tre
 
         if (threadIdx.x == 0)
         {
-            bbox = BBox();
+            new(&bbox) BBox();
         }
 
         __syncthreads();
@@ -313,14 +323,17 @@ __global__ void setRootBBoxAndBackgroundValue(nanovdb::Grid<Tree> *grid,
                                               const typename Tree::BuildType background_value)
 {
     using BBox = typename Tree::RootNodeType::BBoxType;
-    __shared__ BBox bbox;
+    using BBoxProxy = AlignedProxy<BBox>;
+    __shared__ BBoxProxy bbox_mem;
+
+    BBox& bbox = reinterpret_cast<BBox&>(bbox_mem);
 
     Tree &tree = grid->tree();
     const unsigned upper_count = tree.mNodeCount[2];
 
     if (threadIdx.x == 0)
     {
-        bbox = BBox();
+        new(&bbox) BBox();
     }
 
     __syncthreads();
@@ -450,12 +463,14 @@ void build_grid_from_points(nanovdb::Grid<nanovdb::NanoTree<BuildT>> *&out_grid,
     grid_handle.buffer().detachDeviceData();
 }
 
-template void build_grid_from_points(nanovdb::Grid<nanovdb::NanoTree<float>> *&, size_t &, const void *, size_t, bool,
-                                     const BuildGridParams<float> &);
-template void build_grid_from_points(nanovdb::Grid<nanovdb::NanoTree<nanovdb::Vec3f>> *&, size_t &, const void *,
-                                     size_t, bool, const BuildGridParams<nanovdb::Vec3f> &);
-template void build_grid_from_points(nanovdb::Grid<nanovdb::NanoTree<int32_t>> *&, size_t &, const void *, size_t, bool,
-                                     const BuildGridParams<int32_t> &);
+
+#define EXPAND_BUILDER_TYPE(type) \
+template void build_grid_from_points(nanovdb::Grid<nanovdb::NanoTree<type>> *&, size_t &, const void *, size_t, bool, \
+                                     const BuildGridParams<type> &);
+
+WP_VOLUME_BUILDER_INSTANTIATE_TYPES
+#undef EXPAND_BUILDER_TYPE
+
 template void build_grid_from_points(nanovdb::Grid<nanovdb::NanoTree<nanovdb::ValueIndex>> *&, size_t &, const void *,
                                      size_t, bool, const BuildGridParams<nanovdb::ValueIndex> &);
 template void build_grid_from_points(nanovdb::Grid<nanovdb::NanoTree<nanovdb::ValueOnIndex>> *&, size_t &, const void *,

warp/native/volume_builder.h

@@ -19,6 +19,12 @@
 
 #include <nanovdb/NanoVDB.h>
 
+#define WP_VOLUME_BUILDER_INSTANTIATE_TYPES                                                                            \
+    EXPAND_BUILDER_TYPE(int32_t)                                                                                       \
+    EXPAND_BUILDER_TYPE(float)                                                                                         \
+    EXPAND_BUILDER_TYPE(nanovdb::Vec3f)                                                                                \
+    EXPAND_BUILDER_TYPE(nanovdb::Vec4f)                                                                                \
+
 template <typename BuildT> struct BuildGridParams
 {
     nanovdb::Map map;

warp/native/warp.cpp

@@ -151,11 +151,6 @@ int is_cuda_compatibility_enabled()
     return int(WP_ENABLE_CUDA_COMPATIBILITY);
 }
 
-int is_cutlass_enabled()
-{
-    return int(WP_ENABLE_CUTLASS);
-}
-
 int is_mathdx_enabled()
 {
     return int(WP_ENABLE_MATHDX);
@@ -1004,6 +999,8 @@ WP_API int cuda_device_is_mempool_supported(int ordinal) { return 0; }
 WP_API int cuda_device_is_ipc_supported(int ordinal) { return 0; }
 WP_API int cuda_device_set_mempool_release_threshold(int ordinal, uint64_t threshold) { return 0; }
 WP_API uint64_t cuda_device_get_mempool_release_threshold(int ordinal) { return 0; }
+WP_API uint64_t cuda_device_get_mempool_used_mem_current(int ordinal) { return 0; }
+WP_API uint64_t cuda_device_get_mempool_used_mem_high(int ordinal) { return 0; }
 WP_API void cuda_device_get_memory_info(int ordinal, size_t* free_mem, size_t* total_mem) {}
 
 WP_API void* cuda_context_get_current() { return NULL; }
@@ -1033,6 +1030,7 @@ WP_API void* cuda_ipc_open_event_handle(void* context, char* handle) { return NU
 
 WP_API void* cuda_stream_create(void* context, int priority) { return NULL; }
 WP_API void cuda_stream_destroy(void* context, void* stream) {}
+WP_API int cuda_stream_query(void* stream) { return 0; }
 WP_API void cuda_stream_register(void* context, void* stream) {}
 WP_API void cuda_stream_unregister(void* context, void* stream) {}
 WP_API void* cuda_stream_get_current() { return NULL; }
@@ -1045,7 +1043,8 @@ WP_API int cuda_stream_get_priority(void* stream) { return 0; }
 
 WP_API void* cuda_event_create(void* context, unsigned flags) { return NULL; }
 WP_API void cuda_event_destroy(void* event) {}
-WP_API void cuda_event_record(void* event, void* stream) {}
+WP_API int cuda_event_query(void* event) { return 0; }
+WP_API void cuda_event_record(void* event, void* stream, bool timing) {}
 WP_API void cuda_event_synchronize(void* event) {}
 WP_API float cuda_event_elapsed_time(void* start_event, void* end_event) { return 0.0f; }
 

warp/native/warp.cu

@@ -1888,6 +1888,62 @@ uint64_t cuda_device_get_mempool_release_threshold(int ordinal)
     return threshold;
 }
 
+uint64_t cuda_device_get_mempool_used_mem_current(int ordinal)
+{
+    if (ordinal < 0 || ordinal > int(g_devices.size()))
+    {
+        fprintf(stderr, "Invalid device ordinal %d\n", ordinal);
+        return 0;
+    }
+
+    if (!g_devices[ordinal].is_mempool_supported)
+        return 0;
+
+    cudaMemPool_t pool;
+    if (!check_cuda(cudaDeviceGetDefaultMemPool(&pool, ordinal)))
+    {
+        fprintf(stderr, "Warp error: Failed to get memory pool on device %d\n", ordinal);
+        return 0;
+    }
+
+    uint64_t mem_used = 0;
+    if (!check_cuda(cudaMemPoolGetAttribute(pool, cudaMemPoolAttrUsedMemCurrent, &mem_used)))
+    {
+        fprintf(stderr, "Warp error: Failed to get amount of currently used memory from the memory pool on device %d\n", ordinal);
+        return 0;
+    }
+
+    return mem_used;
+}
+
+uint64_t cuda_device_get_mempool_used_mem_high(int ordinal)
+{
+    if (ordinal < 0 || ordinal > int(g_devices.size()))
+    {
+        fprintf(stderr, "Invalid device ordinal %d\n", ordinal);
+        return 0;
+    }
+
+    if (!g_devices[ordinal].is_mempool_supported)
+        return 0;
+
+    cudaMemPool_t pool;
+    if (!check_cuda(cudaDeviceGetDefaultMemPool(&pool, ordinal)))
+    {
+        fprintf(stderr, "Warp error: Failed to get memory pool on device %d\n", ordinal);
+        return 0;
+    }
+
+    uint64_t mem_high_water_mark = 0;
+    if (!check_cuda(cudaMemPoolGetAttribute(pool, cudaMemPoolAttrUsedMemHigh, &mem_high_water_mark)))
+    {
+        fprintf(stderr, "Warp error: Failed to get memory usage high water mark from the memory pool on device %d\n", ordinal);
+        return 0;
+    }
+
+    return mem_high_water_mark;
+}
+
 void cuda_device_get_memory_info(int ordinal, size_t* free_mem, size_t* total_mem)
 {
     // use temporary storage if user didn't specify pointers
@@ -2371,6 +2427,19 @@ void cuda_stream_destroy(void* context, void* stream)
     check_cu(cuStreamDestroy_f(static_cast<CUstream>(stream)));
 }
 
+int cuda_stream_query(void* stream)
+{
+    CUresult res =  cuStreamQuery_f(static_cast<CUstream>(stream));
+
+    if ((res != CUDA_SUCCESS) && (res != CUDA_ERROR_NOT_READY))
+    {
+        // Abnormal, print out error
+        check_cu(res);
+    }
+
+    return res;
+}
+
 void cuda_stream_register(void* context, void* stream)
 {
     if (!stream)
@@ -2465,9 +2534,30 @@ void cuda_event_destroy(void* event)
     check_cu(cuEventDestroy_f(static_cast<CUevent>(event)));
 }
 
-void cuda_event_record(void* event, void* stream)
+int cuda_event_query(void* event)
+{
+    CUresult res = cuEventQuery_f(static_cast<CUevent>(event));
+
+    if ((res != CUDA_SUCCESS) && (res != CUDA_ERROR_NOT_READY))
+    {
+        // Abnormal, print out error
+        check_cu(res);
+    }
+
+    return res;
+}
+
+void cuda_event_record(void* event, void* stream, bool timing)
 {
-    check_cu(cuEventRecord_f(static_cast<CUevent>(event), static_cast<CUstream>(stream)));
+    if (timing && !g_captures.empty() && cuda_stream_is_capturing(stream))
+    {
+        // record timing event during graph capture
+        check_cu(cuEventRecordWithFlags_f(static_cast<CUevent>(event), static_cast<CUstream>(stream), CU_EVENT_RECORD_EXTERNAL));
+    }
+    else
+    {
+        check_cu(cuEventRecord_f(static_cast<CUevent>(event), static_cast<CUstream>(stream)));
+    }
 }
 
 void cuda_event_synchronize(void* event)
@@ -2814,6 +2904,12 @@ size_t cuda_compile_program(const char* cuda_src, const char* program_name, int
         opts.push_back("--define-macro=WP_VERIFY_FP");
     else
         opts.push_back("--undefine-macro=WP_VERIFY_FP");
+
+#if WP_ENABLE_MATHDX
+    opts.push_back("--define-macro=WP_ENABLE_MATHDX=1");
+#else
+    opts.push_back("--define-macro=WP_ENABLE_MATHDX=0");
+#endif
     
     if (fast_math)
         opts.push_back("--use_fast_math");
@@ -2823,10 +2919,6 @@ size_t cuda_compile_program(const char* cuda_src, const char* program_name, int
     else
         opts.push_back("--fmad=false");
 
-    char include_cutlass[max_path];
-    sprintf(include_cutlass, "--include-path=%s/cutlass/include", include_dir);
-    opts.push_back(include_cutlass);
-
     std::vector<std::string> cuda_include_opt;
     for(int i = 0; i < num_cuda_include_dirs; i++)
     {
@@ -3182,7 +3274,7 @@ size_t cuda_compile_program(const char* cuda_src, const char* program_name, int
         std::vector<char> lto(lto_size);
         CHECK_CUSOLVER(cusolverGetLTOIR(h, lto.size(), lto.data()));   
 
-        // This fatbin is universal, ie it is the same for any instantations of a cusolver device function
+        // This fatbin is universal, ie it is the same for any instantiations of a cusolver device function
         size_t fatbin_size = 0;
         CHECK_CUSOLVER(cusolverGetUniversalFATBINSize(h, &fatbin_size));
 
@@ -3539,9 +3631,6 @@ void cuda_timing_end(timing_result_t* results, int size)
 #include "sparse.cu"
 #include "volume.cu"
 #include "volume_builder.cu"
-#if WP_ENABLE_CUTLASS
-    #include "cutlass_gemm.cu"
-#endif
 
 //#include "spline.inl"
 //#include "volume.inl"

warp/native/warp.h

@@ -41,8 +41,6 @@ extern "C"
     WP_API int is_cuda_enabled();
     // whether Warp was compiled with enhanced CUDA compatibility
     WP_API int is_cuda_compatibility_enabled();
-    // whether Warp was compiled with CUTLASS support
-    WP_API int is_cutlass_enabled();
     // whether Warp was compiled with MathDx support
     WP_API int is_mathdx_enabled();
     // whether Warp was compiled with debug support
@@ -112,10 +110,6 @@ extern "C"
     WP_API void hash_grid_destroy_device(uint64_t id);
     WP_API void hash_grid_update_device(uint64_t id, float cell_width, const wp::array_t<wp::vec3>* points);
 
-    WP_API bool cutlass_gemm(void* context, int compute_capability, int m, int n, int k, const char* datatype,
-                             const void* a, const void* b, const void* c, void* d, float alpha, float beta,
-                             bool row_major_a, bool row_major_b, bool allow_tf32x3_arith, int batch_count);
-
     WP_API uint64_t volume_create_host(void* buf, uint64_t size, bool copy, bool owner);
     WP_API void volume_get_tiles_host(uint64_t id, void* buf);
     WP_API void volume_get_voxels_host(uint64_t id, void* buf);
@@ -126,9 +120,7 @@ extern "C"
     WP_API void volume_get_voxels_device(uint64_t id, void* buf);
     WP_API void volume_destroy_device(uint64_t id);
     
-    WP_API uint64_t volume_f_from_tiles_device(void* context, void* points, int num_points, float transform[9], float translation[3], bool points_in_world_space, float bg_value);
-    WP_API uint64_t volume_v_from_tiles_device(void* context, void* points, int num_points, float transform[9], float translation[3], bool points_in_world_space, float bg_value[3]);
-    WP_API uint64_t volume_i_from_tiles_device(void* context, void* points, int num_points, float transform[9], float translation[3], bool points_in_world_space, int bg_value);
+    WP_API uint64_t volume_from_tiles_device(void* context, void* points, int num_points, float transform[9], float translation[3], bool points_in_world_space, const void* bg_value, uint32_t bg_value_size, const char* bg_value_type);
     WP_API uint64_t volume_index_from_tiles_device(void* context, void* points, int num_points, float transform[9], float translation[3], bool points_in_world_space);
     WP_API uint64_t volume_from_active_voxels_device(void* context, void* points, int num_points, float transform[9], float translation[3], bool points_in_world_space);
 
@@ -173,6 +165,15 @@ extern "C"
     WP_API void radix_sort_pairs_float_host(uint64_t keys, uint64_t values, int n);
     WP_API void radix_sort_pairs_float_device(uint64_t keys, uint64_t values, int n);
 
+    WP_API void radix_sort_pairs_int64_host(uint64_t keys, uint64_t values, int n);
+    WP_API void radix_sort_pairs_int64_device(uint64_t keys, uint64_t values, int n);
+
+    WP_API void segmented_sort_pairs_float_host(uint64_t keys, uint64_t values, int n, uint64_t segment_start_indices, uint64_t segment_end_indices, int num_segments);
+    WP_API void segmented_sort_pairs_float_device(uint64_t keys, uint64_t values, int n, uint64_t segment_start_indices, uint64_t segment_end_indices, int num_segments);
+
+    WP_API void segmented_sort_pairs_int_host(uint64_t keys, uint64_t values, int n, uint64_t segment_start_indices, uint64_t segment_end_indices, int num_segments);
+    WP_API void segmented_sort_pairs_int_device(uint64_t keys, uint64_t values, int n, uint64_t segment_start_indices, uint64_t segment_end_indices, int num_segments);
+
     WP_API void runlength_encode_int_host(uint64_t values, uint64_t run_values, uint64_t run_lengths, uint64_t run_count, int n);
     WP_API void runlength_encode_int_device(uint64_t values, uint64_t run_values, uint64_t run_lengths, uint64_t run_count, int n);
 
@@ -185,6 +186,7 @@ extern "C"
         int* tpl_columns,
         void* tpl_values,
         bool prune_numerical_zeros,
+        bool masked,
         int* bsr_offsets,
         int* bsr_columns,
         void* bsr_values,
@@ -199,6 +201,7 @@ extern "C"
         int* tpl_columns,
         void* tpl_values,
         bool prune_numerical_zeros,
+        bool masked,
         int* bsr_offsets,
         int* bsr_columns,
         void* bsr_values,
@@ -213,6 +216,7 @@ extern "C"
         int* tpl_columns,
         void* tpl_values,
         bool prune_numerical_zeros,
+        bool masked,
         int* bsr_offsets,
         int* bsr_columns,
         void* bsr_values,
@@ -227,6 +231,7 @@ extern "C"
         int* tpl_columns,
         void* tpl_values,
         bool prune_numerical_zeros,
+        bool masked,
         int* bsr_offsets,
         int* bsr_columns,
         void* bsr_values,
@@ -283,6 +288,8 @@ extern "C"
     WP_API int cuda_device_is_ipc_supported(int ordinal);
     WP_API int cuda_device_set_mempool_release_threshold(int ordinal, uint64_t threshold);
     WP_API uint64_t cuda_device_get_mempool_release_threshold(int ordinal);
+    WP_API uint64_t cuda_device_get_mempool_used_mem_current(int ordinal);
+    WP_API uint64_t cuda_device_get_mempool_used_mem_high(int ordinal);
     WP_API void cuda_device_get_memory_info(int ordinal, size_t* free_mem, size_t* total_mem);
 
     WP_API void* cuda_context_get_current();
@@ -318,6 +325,7 @@ extern "C"
 
     WP_API void* cuda_stream_create(void* context, int priority);
     WP_API void cuda_stream_destroy(void* context, void* stream);
+    WP_API int cuda_stream_query(void* stream);
     WP_API void cuda_stream_register(void* context, void* stream);
     WP_API void cuda_stream_unregister(void* context, void* stream);
     WP_API void* cuda_stream_get_current();
@@ -330,7 +338,8 @@ extern "C"
 
     WP_API void* cuda_event_create(void* context, unsigned flags);
     WP_API void cuda_event_destroy(void* event);
-    WP_API void cuda_event_record(void* event, void* stream);
+    WP_API int cuda_event_query(void* event);
+    WP_API void cuda_event_record(void* event, void* stream, bool timing=false);
     WP_API void cuda_event_synchronize(void* event);
     WP_API float cuda_event_elapsed_time(void* start_event, void* end_event);
 

warp/optim/linear.py

@@ -866,7 +866,7 @@ def _diag_mv_vec_kernel(
 def _inverse_diag_coefficient(coeff: Any, use_abs: wp.bool):
     zero = type(coeff)(0.0)
     one = type(coeff)(1.0)
-    return wp.select(coeff == zero, one / wp.select(use_abs, coeff, wp.abs(coeff)), one)
+    return wp.where(coeff == zero, one, one / wp.where(use_abs, wp.abs(coeff), coeff))
 
 
 @wp.kernel
@@ -917,7 +917,7 @@ def _cg_kernel_1(
 ):
     i = wp.tid()
 
-    alpha = wp.select(resid[0] > tol, rz_old.dtype(0.0), rz_old[0] / p_Ap[0])
+    alpha = wp.where(resid[0] > tol, rz_old[0] / p_Ap[0], rz_old.dtype(0.0))
 
     x[i] = x[i] + alpha * p[i]
     r[i] = r[i] - alpha * Ap[i]
@@ -935,7 +935,7 @@ def _cg_kernel_2(
     #    p = r + (rz_new / rz_old) * p;
     i = wp.tid()
 
-    beta = wp.select(resid[0] > tol, rz_old.dtype(0.0), rz_new[0] / rz_old[0])
+    beta = wp.where(resid[0] > tol, rz_new[0] / rz_old[0], rz_old.dtype(0.0))
 
     p[i] = z[i] + beta * p[i]
 
@@ -955,7 +955,7 @@ def _cr_kernel_1(
 ):
     i = wp.tid()
 
-    alpha = wp.select(resid[0] > tol and y_Ap[0] > 0.0, zAz_old.dtype(0.0), zAz_old[0] / y_Ap[0])
+    alpha = wp.where(resid[0] > tol and y_Ap[0] > 0.0, zAz_old[0] / y_Ap[0], zAz_old.dtype(0.0))
 
     x[i] = x[i] + alpha * p[i]
     r[i] = r[i] - alpha * Ap[i]
@@ -976,7 +976,7 @@ def _cr_kernel_2(
     #    p = r + (rz_new / rz_old) * p;
     i = wp.tid()
 
-    beta = wp.select(resid[0] > tol and zAz_old[0] > 0.0, zAz_old.dtype(0.0), zAz_new[0] / zAz_old[0])
+    beta = wp.where(resid[0] > tol and zAz_old[0] > 0.0, zAz_new[0] / zAz_old[0], zAz_old.dtype(0.0))
 
     p[i] = z[i] + beta * p[i]
     Ap[i] = Az[i] + beta * Ap[i]
@@ -995,7 +995,7 @@ def _bicgstab_kernel_1(
 ):
     i = wp.tid()
 
-    alpha = wp.select(resid[0] > tol, rho_old.dtype(0.0), rho_old[0] / r0v[0])
+    alpha = wp.where(resid[0] > tol, rho_old[0] / r0v[0], rho_old.dtype(0.0))
 
     x[i] += alpha * y[i]
     r[i] -= alpha * v[i]
@@ -1014,7 +1014,7 @@ def _bicgstab_kernel_2(
 ):
     i = wp.tid()
 
-    omega = wp.select(resid[0] > tol, st.dtype(0.0), st[0] / tt[0])
+    omega = wp.where(resid[0] > tol, st[0] / tt[0], st.dtype(0.0))
 
     x[i] += omega * z[i]
     r[i] -= omega * t[i]
@@ -1034,8 +1034,8 @@ def _bicgstab_kernel_3(
 ):
     i = wp.tid()
 
-    beta = wp.select(resid[0] > tol, st.dtype(0.0), rho_new[0] * tt[0] / (r0v[0] * st[0]))
-    beta_omega = wp.select(resid[0] > tol, st.dtype(0.0), rho_new[0] / r0v[0])
+    beta = wp.where(resid[0] > tol, rho_new[0] * tt[0] / (r0v[0] * st[0]), st.dtype(0.0))
+    beta_omega = wp.where(resid[0] > tol, rho_new[0] / r0v[0], st.dtype(0.0))
 
     p[i] = r[i] + beta * p[i] - beta_omega * v[i]
 
@@ -1123,7 +1123,7 @@ def _gmres_arnoldi_normalize_kernel(
     alpha: wp.array(dtype=Any),
 ):
     tid = wp.tid()
-    y[tid] = wp.select(alpha[0] == alpha.dtype(0.0), x[tid] / wp.sqrt(alpha[0]), x[tid])
+    y[tid] = wp.where(alpha[0] == alpha.dtype(0.0), x[tid], x[tid] / wp.sqrt(alpha[0]))
 
 
 @wp.kernel

warp/sim/articulation.py

@@ -30,7 +30,7 @@ def compute_2d_rotational_dofs(
     """
     Computes the rotation quaternion and 3D angular velocity given the joint axes, coordinates and velocities.
     """
-    q_off = wp.quat_from_matrix(wp.mat33(axis_0, axis_1, wp.cross(axis_0, axis_1)))
+    q_off = wp.quat_from_matrix(wp.matrix_from_cols(axis_0, axis_1, wp.cross(axis_0, axis_1)))
 
     # body local axes
     local_0 = wp.quat_rotate(q_off, wp.vec3(1.0, 0.0, 0.0))
@@ -60,7 +60,7 @@ def invert_2d_rotational_dofs(
     """
     Computes generalized joint position and velocity coordinates for a 2D rotational joint given the joint axes, relative orientations and angular velocity differences between the two bodies the joint connects.
     """
-    q_off = wp.quat_from_matrix(wp.mat33(axis_0, axis_1, wp.cross(axis_0, axis_1)))
+    q_off = wp.quat_from_matrix(wp.matrix_from_cols(axis_0, axis_1, wp.cross(axis_0, axis_1)))
     q_pc = wp.quat_inverse(q_off) * wp.quat_inverse(q_p) * q_c * q_off
 
     # decompose to a compound rotation each axis
@@ -106,7 +106,7 @@ def compute_3d_rotational_dofs(
     """
     Computes the rotation quaternion and 3D angular velocity given the joint axes, coordinates and velocities.
     """
-    q_off = wp.quat_from_matrix(wp.mat33(axis_0, axis_1, axis_2))
+    q_off = wp.quat_from_matrix(wp.matrix_from_cols(axis_0, axis_1, axis_2))
 
     # body local axes
     local_0 = wp.quat_rotate(q_off, wp.vec3(1.0, 0.0, 0.0))
@@ -136,7 +136,7 @@ def invert_3d_rotational_dofs(
     """
     Computes generalized joint position and velocity coordinates for a 3D rotational joint given the joint axes, relative orientations and angular velocity differences between the two bodies the joint connects.
     """
-    q_off = wp.quat_from_matrix(wp.mat33(axis_0, axis_1, axis_2))
+    q_off = wp.quat_from_matrix(wp.matrix_from_cols(axis_0, axis_1, axis_2))
     q_pc = wp.quat_inverse(q_off) * wp.quat_inverse(q_p) * q_c * q_off
 
     # decompose to a compound rotation each axis

warp/sim/collide.py

@@ -17,10 +17,12 @@
 Collision handling functions and kernels.
 """
 
+from typing import Optional
+
 import numpy as np
 
 import warp as wp
-from warp.sim.model import Model
+from warp.sim.model import Model, State
 
 from .model import PARTICLE_FLAG_ACTIVE, ModelShapeGeometry
 
@@ -1556,17 +1558,23 @@ def handle_contact_pairs(
         contact_thickness[index] = thickness
 
 
-def collide(model, state, edge_sdf_iter: int = 10, iterate_mesh_vertices: bool = True, requires_grad: bool = None):
-    """
-    Generates contact points for the particles and rigid bodies in the model,
-    to be used in the contact dynamics kernel of the integrator.
+def collide(
+    model: Model,
+    state: State,
+    edge_sdf_iter: int = 10,
+    iterate_mesh_vertices: bool = True,
+    requires_grad: Optional[bool] = None,
+) -> None:
+    """Generate contact points for the particles and rigid bodies in the model for use in contact-dynamics kernels.
 
     Args:
-        model: the model to be simulated
-        state: the state of the model
-        edge_sdf_iter: number of search iterations for finding closest contact points between edges and SDF
-        iterate_mesh_vertices: whether to iterate over all vertices of a mesh for contact generation (used for capsule/box <> mesh collision)
-        requires_grad: whether to duplicate contact arrays for gradient computation (if None uses model.requires_grad)
+        model: The model to be simulated.
+        state: The state of the model.
+        edge_sdf_iter: Number of search iterations for finding closest contact points between edges and SDF.
+        iterate_mesh_vertices: Whether to iterate over all vertices of a mesh for contact generation
+            (used for capsule/box <> mesh collision).
+        requires_grad: Whether to duplicate contact arrays for gradient computation
+            (if ``None``, uses ``model.requires_grad``).
     """
 
     if requires_grad is None:
@@ -1685,13 +1693,16 @@ def collide(model, state, edge_sdf_iter: int = 10, iterate_mesh_vertices: bool =
                 model.rigid_contact_tids = wp.zeros_like(model.rigid_contact_tids)
                 model.rigid_contact_shape0 = wp.empty_like(model.rigid_contact_shape0)
                 model.rigid_contact_shape1 = wp.empty_like(model.rigid_contact_shape1)
+
                 if model.rigid_contact_pairwise_counter is not None:
                     model.rigid_contact_pairwise_counter = wp.zeros_like(model.rigid_contact_pairwise_counter)
             else:
                 model.rigid_contact_count.zero_()
                 model.rigid_contact_tids.zero_()
+
                 if model.rigid_contact_pairwise_counter is not None:
                     model.rigid_contact_pairwise_counter.zero_()
+
             model.rigid_contact_shape0.fill_(-1)
             model.rigid_contact_shape1.fill_(-1)