warp-lang 1.7.0__py3-none-macosx_10_13_universal2.whl → 1.7.2rc1__py3-none-macosx_10_13_universal2.whl

warp/sim/inertia.py

@@ -15,131 +15,14 @@
 
 """Helper functions for computing rigid body inertia properties."""
 
-import math
-from typing import List, Union
+from __future__ import annotations
 
 import numpy as np
 
 import warp as wp
 
 
-@wp.func
-def triangle_inertia(
-    p: wp.vec3,
-    q: wp.vec3,
-    r: wp.vec3,
-    density: float,
-    com: wp.vec3,
-    # outputs
-    mass: wp.array(dtype=float, ndim=1),
-    inertia: wp.array(dtype=wp.mat33, ndim=1),
-):
-    pcom = p - com
-    qcom = q - com
-    rcom = r - com
-
-    Dm = wp.mat33(pcom[0], qcom[0], rcom[0], pcom[1], qcom[1], rcom[1], pcom[2], qcom[2], rcom[2])
-
-    volume = wp.abs(wp.determinant(Dm) / 6.0)
-
-    # accumulate mass
-    wp.atomic_add(mass, 0, 4.0 * density * volume)
-
-    alpha = wp.sqrt(5.0) / 5.0
-    mid = (com + p + q + r) / 4.0
-    off_mid = mid - com
-
-    # displacement of quadrature point from COM
-    d0 = alpha * (p - mid) + off_mid
-    d1 = alpha * (q - mid) + off_mid
-    d2 = alpha * (r - mid) + off_mid
-    d3 = alpha * (com - mid) + off_mid
-
-    # accumulate inertia
-    identity = wp.mat33(1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0)
-    I = wp.dot(d0, d0) * identity - wp.outer(d0, d0)
-    I += wp.dot(d1, d1) * identity - wp.outer(d1, d1)
-    I += wp.dot(d2, d2) * identity - wp.outer(d2, d2)
-    I += wp.dot(d3, d3) * identity - wp.outer(d3, d3)
-
-    wp.atomic_add(inertia, 0, (density * volume) * I)
-
-    return volume
-
-
-@wp.kernel
-def compute_solid_mesh_inertia(
-    # inputs
-    com: wp.vec3,
-    weight: float,
-    indices: wp.array(dtype=int, ndim=1),
-    vertices: wp.array(dtype=wp.vec3, ndim=1),
-    # outputs
-    mass: wp.array(dtype=float, ndim=1),
-    inertia: wp.array(dtype=wp.mat33, ndim=1),
-    volume: wp.array(dtype=float, ndim=1),
-):
-    i = wp.tid()
-
-    p = vertices[indices[i * 3 + 0]]
-    q = vertices[indices[i * 3 + 1]]
-    r = vertices[indices[i * 3 + 2]]
-
-    vol = triangle_inertia(p, q, r, weight, com, mass, inertia)
-    wp.atomic_add(volume, 0, vol)
-
-
-@wp.kernel
-def compute_hollow_mesh_inertia(
-    # inputs
-    com: wp.vec3,
-    density: float,
-    indices: wp.array(dtype=int, ndim=1),
-    vertices: wp.array(dtype=wp.vec3, ndim=1),
-    thickness: wp.array(dtype=float, ndim=1),
-    # outputs
-    mass: wp.array(dtype=float, ndim=1),
-    inertia: wp.array(dtype=wp.mat33, ndim=1),
-    volume: wp.array(dtype=float, ndim=1),
-):
-    tid = wp.tid()
-    i = indices[tid * 3 + 0]
-    j = indices[tid * 3 + 1]
-    k = indices[tid * 3 + 2]
-
-    vi = vertices[i]
-    vj = vertices[j]
-    vk = vertices[k]
-
-    normal = -wp.normalize(wp.cross(vj - vi, vk - vi))
-    ti = normal * thickness[i]
-    tj = normal * thickness[j]
-    tk = normal * thickness[k]
-
-    # wedge vertices
-    vi0 = vi - ti
-    vi1 = vi + ti
-    vj0 = vj - tj
-    vj1 = vj + tj
-    vk0 = vk - tk
-    vk1 = vk + tk
-
-    triangle_inertia(vi0, vj0, vk0, density, com, mass, inertia)
-    triangle_inertia(vj0, vk1, vk0, density, com, mass, inertia)
-    triangle_inertia(vj0, vj1, vk1, density, com, mass, inertia)
-    triangle_inertia(vj0, vi1, vj1, density, com, mass, inertia)
-    triangle_inertia(vj0, vi0, vi1, density, com, mass, inertia)
-    triangle_inertia(vj1, vi1, vk1, density, com, mass, inertia)
-    triangle_inertia(vi1, vi0, vk0, density, com, mass, inertia)
-    triangle_inertia(vi1, vk0, vk1, density, com, mass, inertia)
-
-    # compute volume
-    a = wp.length(wp.cross(vj - vi, vk - vi)) * 0.5
-    vol = a * (thickness[i] + thickness[j] + thickness[k]) / 3.0
-    wp.atomic_add(volume, 0, vol)
-
-
-def compute_sphere_inertia(density: float, r: float) -> tuple:
+def compute_sphere_inertia(density: float, r: float) -> tuple[float, wp.vec3, wp.mat33]:
     """Helper to compute mass and inertia of a solid sphere
 
     Args:
@@ -151,7 +34,7 @@ def compute_sphere_inertia(density: float, r: float) -> tuple:
         A tuple of (mass, inertia) with inertia specified around the origin
     """
 
-    v = 4.0 / 3.0 * math.pi * r * r * r
+    v = 4.0 / 3.0 * wp.pi * r * r * r
 
     m = density * v
     Ia = 2.0 / 5.0 * m * r * r
@@ -161,7 +44,7 @@ def compute_sphere_inertia(density: float, r: float) -> tuple:
     return (m, wp.vec3(), I)
 
 
-def compute_capsule_inertia(density: float, r: float, h: float) -> tuple:
+def compute_capsule_inertia(density: float, r: float, h: float) -> tuple[float, wp.vec3, wp.mat33]:
     """Helper to compute mass and inertia of a solid capsule extending along the y-axis
 
     Args:
@@ -174,8 +57,8 @@ def compute_capsule_inertia(density: float, r: float, h: float) -> tuple:
         A tuple of (mass, inertia) with inertia specified around the origin
     """
 
-    ms = density * (4.0 / 3.0) * math.pi * r * r * r
-    mc = density * math.pi * r * r * h
+    ms = density * (4.0 / 3.0) * wp.pi * r * r * r
+    mc = density * wp.pi * r * r * h
 
     # total mass
     m = ms + mc
@@ -189,7 +72,7 @@ def compute_capsule_inertia(density: float, r: float, h: float) -> tuple:
     return (m, wp.vec3(), I)
 
 
-def compute_cylinder_inertia(density: float, r: float, h: float) -> tuple:
+def compute_cylinder_inertia(density: float, r: float, h: float) -> tuple[float, wp.vec3, wp.mat33]:
     """Helper to compute mass and inertia of a solid cylinder extending along the y-axis
 
     Args:
@@ -202,7 +85,7 @@ def compute_cylinder_inertia(density: float, r: float, h: float) -> tuple:
         A tuple of (mass, inertia) with inertia specified around the origin
     """
 
-    m = density * math.pi * r * r * h
+    m = density * wp.pi * r * r * h
 
     Ia = 1 / 12 * m * (3 * r * r + h * h)
     Ib = 1 / 2 * m * r * r
@@ -212,7 +95,7 @@ def compute_cylinder_inertia(density: float, r: float, h: float) -> tuple:
     return (m, wp.vec3(), I)
 
 
-def compute_cone_inertia(density: float, r: float, h: float) -> tuple:
+def compute_cone_inertia(density: float, r: float, h: float) -> tuple[float, wp.vec3, wp.mat33]:
     """Helper to compute mass and inertia of a solid cone extending along the y-axis
 
     Args:
@@ -225,7 +108,7 @@ def compute_cone_inertia(density: float, r: float, h: float) -> tuple:
         A tuple of (mass, inertia) with inertia specified around the origin
     """
 
-    m = density * math.pi * r * r * h / 3.0
+    m = density * wp.pi * r * r * h / 3.0
 
     Ia = 1 / 20 * m * (3 * r * r + 2 * h * h)
     Ib = 3 / 10 * m * r * r
@@ -235,7 +118,7 @@ def compute_cone_inertia(density: float, r: float, h: float) -> tuple:
     return (m, wp.vec3(), I)
 
 
-def compute_box_inertia(density: float, w: float, h: float, d: float) -> tuple:
+def compute_box_inertia(density: float, w: float, h: float, d: float) -> tuple[float, wp.vec3, wp.mat33]:
     """Helper to compute mass and inertia of a solid box
 
     Args:
@@ -261,63 +144,213 @@ def compute_box_inertia(density: float, w: float, h: float, d: float) -> tuple:
     return (m, wp.vec3(), I)
 
 
+@wp.func
+def triangle_inertia(
+    v0: wp.vec3,
+    v1: wp.vec3,
+    v2: wp.vec3,
+):
+    vol = wp.dot(v0, wp.cross(v1, v2)) / 6.0  # tetra volume (0,v0,v1,v2)
+    first = vol * (v0 + v1 + v2) / 4.0  # first-order integral
+
+    # second-order integral (symmetric)
+    o00, o11, o22 = wp.outer(v0, v0), wp.outer(v1, v1), wp.outer(v2, v2)
+    o01, o02, o12 = wp.outer(v0, v1), wp.outer(v0, v2), wp.outer(v1, v2)
+    o01t, o02t, o12t = wp.transpose(o01), wp.transpose(o02), wp.transpose(o12)
+
+    second = (vol / 10.0) * (o00 + o11 + o22)
+    second += (vol / 20.0) * (o01 + o01t + o02 + o02t + o12 + o12t)
+
+    return vol, first, second
+
+
+@wp.kernel
+def compute_solid_mesh_inertia(
+    indices: wp.array(dtype=int),
+    vertices: wp.array(dtype=wp.vec3),
+    # outputs
+    volume: wp.array(dtype=float),
+    first: wp.array(dtype=wp.vec3),
+    second: wp.array(dtype=wp.mat33),
+):
+    i = wp.tid()
+    p = vertices[indices[i * 3 + 0]]
+    q = vertices[indices[i * 3 + 1]]
+    r = vertices[indices[i * 3 + 2]]
+
+    v, f, s = triangle_inertia(p, q, r)
+    wp.atomic_add(volume, 0, v)
+    wp.atomic_add(first, 0, f)
+    wp.atomic_add(second, 0, s)
+
+
+@wp.kernel
+def compute_hollow_mesh_inertia(
+    indices: wp.array(dtype=int),
+    vertices: wp.array(dtype=wp.vec3),
+    thickness: wp.array(dtype=float),
+    # outputs
+    volume: wp.array(dtype=float),
+    first: wp.array(dtype=wp.vec3),
+    second: wp.array(dtype=wp.mat33),
+):
+    tid = wp.tid()
+    i = indices[tid * 3 + 0]
+    j = indices[tid * 3 + 1]
+    k = indices[tid * 3 + 2]
+
+    vi = vertices[i]
+    vj = vertices[j]
+    vk = vertices[k]
+
+    normal = -wp.normalize(wp.cross(vj - vi, vk - vi))
+    ti = normal * thickness[i]
+    tj = normal * thickness[j]
+    tk = normal * thickness[k]
+
+    # wedge vertices
+    vi0 = vi - ti
+    vi1 = vi + ti
+    vj0 = vj - tj
+    vj1 = vj + tj
+    vk0 = vk - tk
+    vk1 = vk + tk
+
+    v_total = 0.0
+    f_total = wp.vec3(0.0)
+    s_total = wp.mat33(0.0)
+
+    v, f, s = triangle_inertia(vi0, vj0, vk0)
+    v_total += v
+    f_total += f
+    s_total += s
+    v, f, s = triangle_inertia(vj0, vk1, vk0)
+    v_total += v
+    f_total += f
+    s_total += s
+    v, f, s = triangle_inertia(vj0, vj1, vk1)
+    v_total += v
+    f_total += f
+    s_total += s
+    v, f, s = triangle_inertia(vj0, vi1, vj1)
+    v_total += v
+    f_total += f
+    s_total += s
+    v, f, s = triangle_inertia(vj0, vi0, vi1)
+    v_total += v
+    f_total += f
+    s_total += s
+    v, f, s = triangle_inertia(vj1, vi1, vk1)
+    v_total += v
+    f_total += f
+    s_total += s
+    v, f, s = triangle_inertia(vi1, vi0, vk0)
+    v_total += v
+    f_total += f
+    s_total += s
+    v, f, s = triangle_inertia(vi1, vk0, vk1)
+    v_total += v
+    f_total += f
+    s_total += s
+
+    wp.atomic_add(volume, 0, v_total)
+    wp.atomic_add(first, 0, f_total)
+    wp.atomic_add(second, 0, s_total)
+
+
 def compute_mesh_inertia(
-    density: float, vertices: list, indices: list, is_solid: bool = True, thickness: Union[List[float], float] = 0.001
-) -> tuple:
-    """Computes mass, center of mass, 3x3 inertia matrix, and volume for a mesh."""
-    com = wp.vec3(np.mean(vertices, 0))
+    density: float,
+    vertices: list,
+    indices: list,
+    is_solid: bool = True,
+    thickness: list[float] | float = 0.001,
+) -> tuple[float, wp.vec3, wp.mat33, float]:
+    """
+    Compute the mass, center of mass, inertia, and volume of a triangular mesh.
+
+    Args:
+        density: The density of the mesh material.
+        vertices: A list of vertex positions (3D coordinates).
+        indices: A list of triangle indices (each triangle is defined by 3 vertex indices).
+        is_solid: If True, compute inertia for a solid mesh; if False, for a hollow mesh using the given thickness.
+        thickness: Thickness of the mesh if it is hollow. Can be a single value or a list of values for each vertex.
+
+    Returns:
+        A tuple containing:
+            - mass: The mass of the mesh.
+            - com: The center of mass (3D coordinates).
+            - I: The inertia tensor (3x3 matrix).
+            - volume: The signed volume of the mesh.
+    """
 
     indices = np.array(indices).flatten()
     num_tris = len(indices) // 3
 
-    # compute signed inertia for each tetrahedron
-    # formed with the interior point, using an order-2
-    # quadrature: https://www.sciencedirect.com/science/article/pii/S0377042712001604#br000040
-
     # Allocating for mass and inertia
+    com_warp = wp.zeros(1, dtype=wp.vec3)
     I_warp = wp.zeros(1, dtype=wp.mat33)
-    mass_warp = wp.zeros(1, dtype=float)
     vol_warp = wp.zeros(1, dtype=float)
 
+    wp_vertices = wp.array(vertices, dtype=wp.vec3)
+    wp_indices = wp.array(indices, dtype=int)
+
     if is_solid:
-        weight = 0.25
-        # alpha = math.sqrt(5.0) / 5.0
         wp.launch(
             kernel=compute_solid_mesh_inertia,
             dim=num_tris,
             inputs=[
-                com,
-                weight,
-                wp.array(indices, dtype=int),
-                wp.array(vertices, dtype=wp.vec3),
+                wp_indices,
+                wp_vertices,
+            ],
+            outputs=[
+                vol_warp,
+                com_warp,
+                I_warp,
             ],
-            outputs=[mass_warp, I_warp, vol_warp],
         )
     else:
-        weight = 0.25 * density
         if isinstance(thickness, float):
             thickness = [thickness] * len(vertices)
         wp.launch(
             kernel=compute_hollow_mesh_inertia,
             dim=num_tris,
             inputs=[
-                com,
-                weight,
-                wp.array(indices, dtype=int),
-                wp.array(vertices, dtype=wp.vec3),
+                wp_indices,
+                wp_vertices,
                 wp.array(thickness, dtype=float),
             ],
-            outputs=[mass_warp, I_warp, vol_warp],
+            outputs=[
+                vol_warp,
+                com_warp,
+                I_warp,
+            ],
         )
 
-    # Extract mass and inertia and save to class attributes.
-    mass = float(mass_warp.numpy()[0] * density)
-    I = wp.mat33(*(I_warp.numpy()[0] * density))
-    volume = float(vol_warp.numpy()[0])
-    return mass, com, I, volume
+    V_tot = float(vol_warp.numpy()[0])  # signed volume
+    F_tot = com_warp.numpy()[0]  # first moment
+    S_tot = I_warp.numpy()[0]  # second moment
+
+    # If the winding is inward, flip signs
+    if V_tot < 0:
+        V_tot = -V_tot
+        F_tot = -F_tot
+        S_tot = -S_tot
+
+    mass = density * V_tot
+    if V_tot > 0.0:
+        com = F_tot / V_tot
+    else:
+        com = F_tot
+
+    S_tot *= density  # include density
+    I_origin = np.trace(S_tot) * np.eye(3) - S_tot  # inertia about origin
+    r = com
+    I_com = I_origin - mass * ((r @ r) * np.eye(3) - np.outer(r, r))
+
+    return mass, wp.vec3(*com), wp.mat33(*I_com), V_tot
 
 
-def transform_inertia(m, I, p, q):
+def transform_inertia(m, I, p, q) -> wp.mat33:
     R = wp.quat_to_matrix(q)
 
     # Steiner's theorem

warp/sim/integrator_euler.py

@@ -42,6 +42,9 @@ def eval_springs(
     i = spring_indices[tid * 2 + 0]
     j = spring_indices[tid * 2 + 1]
 
+    if i == -1 or j == -1:
+        return
+
     ke = spring_stiffness[tid]
     kd = spring_damping[tid]
     rest = spring_rest_lengths[tid]

warp/sim/integrator_xpbd.py

@@ -401,6 +401,9 @@ def solve_springs(
     i = spring_indices[tid * 2 + 0]
     j = spring_indices[tid * 2 + 1]
 
+    if i == -1 or j == -1:
+        return
+
     ke = spring_stiffness[tid]
     kd = spring_damping[tid]
     rest = spring_rest_lengths[tid]

warp/sim/model.py

@@ -633,6 +633,7 @@ class Model:
         soft_contact_body_pos (array), Positional offset of soft contact point in body frame, shape [soft_contact_max], vec3
         soft_contact_body_vel (array), Linear velocity of soft contact point in body frame, shape [soft_contact_max], vec3
         soft_contact_normal (array), Contact surface normal of soft contact point in world space, shape [soft_contact_max], vec3
+        soft_contact_tids (array), Thread indices of the soft contact points, shape [soft_contact_max], int
 
         rigid_contact_max (int): Maximum number of potential rigid body contact points to generate ignoring the `rigid_mesh_contact_max` limit.
         rigid_contact_max_limited (int): Maximum number of potential rigid body contact points to generate respecting the `rigid_mesh_contact_max` limit.
@@ -650,6 +651,12 @@ class Model:
         rigid_contact_thickness (array): Total contact thickness, shape [rigid_contact_max], float
         rigid_contact_shape0 (array): Index of shape 0 per contact, shape [rigid_contact_max], int
         rigid_contact_shape1 (array): Index of shape 1 per contact, shape [rigid_contact_max], int
+        rigid_contact_tids (array): Triangle indices of the contact points, shape [rigid_contact_max], int
+        rigid_contact_pairwise_counter (array): Pairwise counter for contact generation, shape [rigid_contact_max], int
+        rigid_contact_broad_shape0 (array): Broadphase shape index of shape 0 per contact, shape [rigid_contact_max], int
+        rigid_contact_broad_shape1 (array): Broadphase shape index of shape 1 per contact, shape [rigid_contact_max], int
+        rigid_contact_point_id (array): Contact point ID, shape [rigid_contact_max], int
+        rigid_contact_point_limit (array): Contact point limit, shape [rigid_contact_max], int
 
         ground (bool): Whether the ground plane and ground contacts are enabled
         ground_plane (array): Ground plane 3D normal and offset, shape [4], float
@@ -805,6 +812,7 @@ class Model:
         self.soft_contact_body_pos = None
         self.soft_contact_body_vel = None
         self.soft_contact_normal = None
+        self.soft_contact_tids = None
 
         self.rigid_contact_max = 0
         self.rigid_contact_max_limited = 0
@@ -822,6 +830,12 @@ class Model:
         self.rigid_contact_thickness = None
         self.rigid_contact_shape0 = None
         self.rigid_contact_shape1 = None
+        self.rigid_contact_tids = None
+        self.rigid_contact_pairwise_counter = None
+        self.rigid_contact_broad_shape0 = None
+        self.rigid_contact_broad_shape1 = None
+        self.rigid_contact_point_id = None
+        self.rigid_contact_point_limit = None
 
         # toggles ground contact for all shapes
         self.ground = True
@@ -1380,7 +1394,13 @@ class ModelBuilder:
     def add_articulation(self):
         self.articulation_start.append(self.joint_count)
 
-    def add_builder(self, builder, xform=None, update_num_env_count=True, separate_collision_group=True):
+    def add_builder(
+        self,
+        builder: ModelBuilder,
+        xform: Transform | None = None,
+        update_num_env_count: bool = True,
+        separate_collision_group: bool = True,
+    ):
         """Copies the data from `builder`, another `ModelBuilder` to this `ModelBuilder`.
 
         Args:
@@ -1429,7 +1449,7 @@ class ModelBuilder:
                 self.shape_body.append(-1)
                 # apply offset transform to root bodies
                 if xform is not None:
-                    self.shape_transform.append(xform * builder.shape_transform[s])
+                    self.shape_transform.append(xform * wp.transform(*builder.shape_transform[s]))
                 else:
                     self.shape_transform.append(builder.shape_transform[s])
 
@@ -1448,7 +1468,7 @@ class ModelBuilder:
                         joint_q[qi : qi + 3] = tf.p
                         joint_q[qi + 3 : qi + 7] = tf.q
                     elif builder.joint_parent[i] == -1:
-                        joint_X_p[i] = xform * joint_X_p[i]
+                        joint_X_p[i] = xform * wp.transform(*joint_X_p[i])
             self.joint_X_p.extend(joint_X_p)
             self.joint_q.extend(joint_q)
 
@@ -1464,7 +1484,7 @@ class ModelBuilder:
 
         for i in range(builder.body_count):
             if xform is not None:
-                self.body_q.append(xform * builder.body_q[i])
+                self.body_q.append(xform * wp.transform(*builder.body_q[i]))
             else:
                 self.body_q.append(builder.body_q[i])
 
@@ -2580,22 +2600,24 @@ class ModelBuilder:
                         )
                     if last_dynamic_body > -1:
                         self.shape_body[shape] = body_data[last_dynamic_body]["id"]
-                        source_m = body_data[last_dynamic_body]["mass"]
-                        source_com = body_data[last_dynamic_body]["com"]
-                        # add inertia to last_dynamic_body
-                        m = body_data[child_body]["mass"]
-                        com = wp.transform_point(incoming_xform, body_data[child_body]["com"])
-                        inertia = body_data[child_body]["inertia"]
-                        body_data[last_dynamic_body]["inertia"] += wp.sim.transform_inertia(
-                            m, inertia, incoming_xform.p, incoming_xform.q
-                        )
-                        body_data[last_dynamic_body]["mass"] += m
-                        body_data[last_dynamic_body]["com"] = (m * com + source_m * source_com) / (m + source_m)
                         body_data[last_dynamic_body]["shapes"].append(shape)
-                        # indicate to recompute inverse mass, inertia for this body
-                        body_data[last_dynamic_body]["inv_mass"] = None
                     else:
                         self.shape_body[shape] = -1
+
+                if last_dynamic_body > -1:
+                    source_m = body_data[last_dynamic_body]["mass"]
+                    source_com = body_data[last_dynamic_body]["com"]
+                    # add inertia to last_dynamic_body
+                    m = body_data[child_body]["mass"]
+                    com = wp.transform_point(incoming_xform, body_data[child_body]["com"])
+                    inertia = body_data[child_body]["inertia"]
+                    body_data[last_dynamic_body]["inertia"] += wp.sim.transform_inertia(
+                        m, inertia, incoming_xform.p, incoming_xform.q
+                    )
+                    body_data[last_dynamic_body]["mass"] += m
+                    body_data[last_dynamic_body]["com"] = (m * com + source_m * source_com) / (m + source_m)
+                    # indicate to recompute inverse mass, inertia for this body
+                    body_data[last_dynamic_body]["inv_mass"] = None
             else:
                 joint["parent_xform"] = incoming_xform * joint["parent_xform"]
                 joint["parent"] = last_dynamic_body
@@ -3470,9 +3492,10 @@ class ModelBuilder:
         self.shape_ground_collision.append(has_ground_collision)
         self.shape_shape_collision.append(has_shape_collision)
 
-        (m, c, I) = compute_shape_mass(type, scale, src, density, is_solid, thickness)
-
-        self._update_body_mass(body, m, I, pos + c, rot)
+        if density > 0.0:
+            (m, c, I) = compute_shape_mass(type, scale, src, density, is_solid, thickness)
+            com_body = wp.transform_point(wp.transform(pos, rot), c)
+            self._update_body_mass(body, m, I, com_body, rot)
         return shape
 
     # particles
@@ -4010,15 +4033,16 @@ class ModelBuilder:
             )  # opposite 0, opposite 1, vertex 0, vertex 1
 
             # skip constraints open edges
-            if e.f0 != -1 and e.f1 != -1:
-                spring_indices.add((min(e.o0, e.o1), max(e.o0, e.o1)))
+            spring_indices.add((min(e.v0, e.v1), max(e.v0, e.v1)))
+            if e.f0 != -1:
                 spring_indices.add((min(e.o0, e.v0), max(e.o0, e.v0)))
                 spring_indices.add((min(e.o0, e.v1), max(e.o0, e.v1)))
-
+            if e.f1 != -1:
                 spring_indices.add((min(e.o1, e.v0), max(e.o1, e.v0)))
                 spring_indices.add((min(e.o1, e.v1), max(e.o1, e.v1)))
 
-                spring_indices.add((min(e.v0, e.v1), max(e.v0, e.v1)))
+            if e.f0 != -1 and e.f1 != -1:
+                spring_indices.add((min(e.o0, e.o1), max(e.o0, e.o1)))
 
         if add_springs:
             for i, j in spring_indices:
@@ -4129,14 +4153,15 @@ class ModelBuilder:
         if add_springs:
             spring_indices = set()
             for i, j, k, l in edge_indices:
-                spring_indices.add((min(i, j), max(i, j)))
-                spring_indices.add((min(i, k), max(i, k)))
-                spring_indices.add((min(i, l), max(i, l)))
-
-                spring_indices.add((min(j, k), max(j, k)))
-                spring_indices.add((min(j, l), max(j, l)))
-
                 spring_indices.add((min(k, l), max(k, l)))
+                if i != -1:
+                    spring_indices.add((min(i, k), max(i, k)))
+                    spring_indices.add((min(i, l), max(i, l)))
+                if j != -1:
+                    spring_indices.add((min(j, k), max(j, k)))
+                    spring_indices.add((min(j, l), max(j, l)))
+                if i != -1 and j != -1:
+                    spring_indices.add((min(i, j), max(i, j)))
 
             for i, j in spring_indices:
                 self.add_spring(i, j, spring_ke, spring_kd, control=0.0)

warp/sim/render.py

@@ -273,6 +273,10 @@ def CreateSimRenderer(renderer):
                             continue
                         tf = joint_tf[i]
                         body = int(joint_parent[i])
+                        if body >= 0 and body < len(self.body_names):
+                            body = self.body_names[body]
+                        else:
+                            body = None
                         # if body == -1:
                         #     continue
                         num_linear_axes = int(joint_axis_dim[i][0])

warp/sparse.py

@@ -273,8 +273,8 @@ def bsr_matrix_t(dtype: BlockType):
 
     if key not in _struct_cache:
         _struct_cache[key] = wp.codegen.Struct(
-            cls=BsrMatrixTyped,
             key=key,
+            cls=BsrMatrixTyped,
             module=module,
         )