warp-lang 1.9.0__py3-none-win_amd64.whl → 1.10.0rc2__py3-none-win_amd64.whl

warp/sim/collide.py

@@ -1,2570 +0,0 @@
-# SPDX-FileCopyrightText: Copyright (c) 2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
-# SPDX-License-Identifier: Apache-2.0
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-# http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-"""
-Collision handling functions and kernels.
-"""
-
-from typing import Optional
-
-import numpy as np
-
-import warp as wp
-from warp.sim.model import Model, State
-
-from .model import PARTICLE_FLAG_ACTIVE, ModelShapeGeometry
-
-# types of triangle's closest point to a point
-TRI_CONTACT_FEATURE_VERTEX_A = wp.constant(0)
-TRI_CONTACT_FEATURE_VERTEX_B = wp.constant(1)
-TRI_CONTACT_FEATURE_VERTEX_C = wp.constant(2)
-TRI_CONTACT_FEATURE_EDGE_AB = wp.constant(3)
-TRI_CONTACT_FEATURE_EDGE_AC = wp.constant(4)
-TRI_CONTACT_FEATURE_EDGE_BC = wp.constant(5)
-TRI_CONTACT_FEATURE_FACE_INTERIOR = wp.constant(6)
-
-# constants used to access TriMeshCollisionDetector.resize_flags
-VERTEX_COLLISION_BUFFER_OVERFLOW_INDEX = wp.constant(0)
-TRI_COLLISION_BUFFER_OVERFLOW_INDEX = wp.constant(1)
-EDGE_COLLISION_BUFFER_OVERFLOW_INDEX = wp.constant(2)
-TRI_TRI_COLLISION_BUFFER_OVERFLOW_INDEX = wp.constant(3)
-
-
-@wp.func
-def build_orthonormal_basis(n: wp.vec3):
-    """
-    Builds an orthonormal basis given a normal vector `n`. Return the two axes that are perpendicular to `n`.
-
-    :param n: A 3D vector (list or array-like) representing the normal vector
-    """
-    b1 = wp.vec3()
-    b2 = wp.vec3()
-    if n[2] < 0.0:
-        a = 1.0 / (1.0 - n[2])
-        b = n[0] * n[1] * a
-        b1[0] = 1.0 - n[0] * n[0] * a
-        b1[1] = -b
-        b1[2] = n[0]
-
-        b2[0] = b
-        b2[1] = n[1] * n[1] * a - 1.0
-        b2[2] = -n[1]
-    else:
-        a = 1.0 / (1.0 + n[2])
-        b = -n[0] * n[1] * a
-        b1[0] = 1.0 - n[0] * n[0] * a
-        b1[1] = b
-        b1[2] = -n[0]
-
-        b2[0] = b
-        b2[1] = 1.0 - n[1] * n[1] * a
-        b2[2] = -n[1]
-
-    return b1, b2
-
-
-@wp.func
-def triangle_closest_point_barycentric(a: wp.vec3, b: wp.vec3, c: wp.vec3, p: wp.vec3):
-    ab = b - a
-    ac = c - a
-    ap = p - a
-
-    d1 = wp.dot(ab, ap)
-    d2 = wp.dot(ac, ap)
-
-    if d1 <= 0.0 and d2 <= 0.0:
-        return wp.vec3(1.0, 0.0, 0.0)
-
-    bp = p - b
-    d3 = wp.dot(ab, bp)
-    d4 = wp.dot(ac, bp)
-
-    if d3 >= 0.0 and d4 <= d3:
-        return wp.vec3(0.0, 1.0, 0.0)
-
-    vc = d1 * d4 - d3 * d2
-    v = d1 / (d1 - d3)
-    if vc <= 0.0 and d1 >= 0.0 and d3 <= 0.0:
-        return wp.vec3(1.0 - v, v, 0.0)
-
-    cp = p - c
-    d5 = wp.dot(ab, cp)
-    d6 = wp.dot(ac, cp)
-
-    if d6 >= 0.0 and d5 <= d6:
-        return wp.vec3(0.0, 0.0, 1.0)
-
-    vb = d5 * d2 - d1 * d6
-    w = d2 / (d2 - d6)
-    if vb <= 0.0 and d2 >= 0.0 and d6 <= 0.0:
-        return wp.vec3(1.0 - w, 0.0, w)
-
-    va = d3 * d6 - d5 * d4
-    w = (d4 - d3) / ((d4 - d3) + (d5 - d6))
-    if va <= 0.0 and (d4 - d3) >= 0.0 and (d5 - d6) >= 0.0:
-        return wp.vec3(0.0, 1.0 - w, w)
-
-    denom = 1.0 / (va + vb + vc)
-    v = vb * denom
-    w = vc * denom
-
-    return wp.vec3(1.0 - v - w, v, w)
-
-
-@wp.func
-def triangle_closest_point(a: wp.vec3, b: wp.vec3, c: wp.vec3, p: wp.vec3):
-    """
-    feature_type type:
-        TRI_CONTACT_FEATURE_VERTEX_A
-        TRI_CONTACT_FEATURE_VERTEX_B
-        TRI_CONTACT_FEATURE_VERTEX_C
-        TRI_CONTACT_FEATURE_EDGE_AB      : at edge A-B
-        TRI_CONTACT_FEATURE_EDGE_AC      : at edge A-C
-        TRI_CONTACT_FEATURE_EDGE_BC      : at edge B-C
-        TRI_CONTACT_FEATURE_FACE_INTERIOR
-    """
-    ab = b - a
-    ac = c - a
-    ap = p - a
-
-    d1 = wp.dot(ab, ap)
-    d2 = wp.dot(ac, ap)
-    if d1 <= 0.0 and d2 <= 0.0:
-        feature_type = TRI_CONTACT_FEATURE_VERTEX_A
-        bary = wp.vec3(1.0, 0.0, 0.0)
-        return a, bary, feature_type
-
-    bp = p - b
-    d3 = wp.dot(ab, bp)
-    d4 = wp.dot(ac, bp)
-    if d3 >= 0.0 and d4 <= d3:
-        feature_type = TRI_CONTACT_FEATURE_VERTEX_B
-        bary = wp.vec3(0.0, 1.0, 0.0)
-        return b, bary, feature_type
-
-    cp = p - c
-    d5 = wp.dot(ab, cp)
-    d6 = wp.dot(ac, cp)
-    if d6 >= 0.0 and d5 <= d6:
-        feature_type = TRI_CONTACT_FEATURE_VERTEX_C
-        bary = wp.vec3(0.0, 0.0, 1.0)
-        return c, bary, feature_type
-
-    vc = d1 * d4 - d3 * d2
-    if vc <= 0.0 and d1 >= 0.0 and d3 <= 0.0:
-        v = d1 / (d1 - d3)
-        feature_type = TRI_CONTACT_FEATURE_EDGE_AB
-        bary = wp.vec3(1.0 - v, v, 0.0)
-        return a + v * ab, bary, feature_type
-
-    vb = d5 * d2 - d1 * d6
-    if vb <= 0.0 and d2 >= 0.0 and d6 <= 0.0:
-        v = d2 / (d2 - d6)
-        feature_type = TRI_CONTACT_FEATURE_EDGE_AC
-        bary = wp.vec3(1.0 - v, 0.0, v)
-        return a + v * ac, bary, feature_type
-
-    va = d3 * d6 - d5 * d4
-    if va <= 0.0 and (d4 - d3) >= 0.0 and (d5 - d6) >= 0.0:
-        v = (d4 - d3) / ((d4 - d3) + (d5 - d6))
-        feature_type = TRI_CONTACT_FEATURE_EDGE_BC
-        bary = wp.vec3(0.0, 1.0 - v, v)
-        return b + v * (c - b), bary, feature_type
-
-    denom = 1.0 / (va + vb + vc)
-    v = vb * denom
-    w = vc * denom
-    feature_type = TRI_CONTACT_FEATURE_FACE_INTERIOR
-    bary = wp.vec3(1.0 - v - w, v, w)
-    return a + v * ab + w * ac, bary, feature_type
-
-
-@wp.func
-def sphere_sdf(center: wp.vec3, radius: float, p: wp.vec3):
-    return wp.length(p - center) - radius
-
-
-@wp.func
-def sphere_sdf_grad(center: wp.vec3, radius: float, p: wp.vec3):
-    return wp.normalize(p - center)
-
-
-@wp.func
-def box_sdf(upper: wp.vec3, p: wp.vec3):
-    # adapted from https://www.iquilezles.org/www/articles/distfunctions/distfunctions.htm
-    qx = abs(p[0]) - upper[0]
-    qy = abs(p[1]) - upper[1]
-    qz = abs(p[2]) - upper[2]
-
-    e = wp.vec3(wp.max(qx, 0.0), wp.max(qy, 0.0), wp.max(qz, 0.0))
-
-    return wp.length(e) + wp.min(wp.max(qx, wp.max(qy, qz)), 0.0)
-
-
-@wp.func
-def box_sdf_grad(upper: wp.vec3, p: wp.vec3):
-    qx = abs(p[0]) - upper[0]
-    qy = abs(p[1]) - upper[1]
-    qz = abs(p[2]) - upper[2]
-
-    # exterior case
-    if qx > 0.0 or qy > 0.0 or qz > 0.0:
-        x = wp.clamp(p[0], -upper[0], upper[0])
-        y = wp.clamp(p[1], -upper[1], upper[1])
-        z = wp.clamp(p[2], -upper[2], upper[2])
-
-        return wp.normalize(p - wp.vec3(x, y, z))
-
-    sx = wp.sign(p[0])
-    sy = wp.sign(p[1])
-    sz = wp.sign(p[2])
-
-    # x projection
-    if (qx > qy and qx > qz) or (qy == 0.0 and qz == 0.0):
-        return wp.vec3(sx, 0.0, 0.0)
-
-    # y projection
-    if (qy > qx and qy > qz) or (qx == 0.0 and qz == 0.0):
-        return wp.vec3(0.0, sy, 0.0)
-
-    # z projection
-    return wp.vec3(0.0, 0.0, sz)
-
-
-@wp.func
-def capsule_sdf(radius: float, half_height: float, p: wp.vec3):
-    if p[1] > half_height:
-        return wp.length(wp.vec3(p[0], p[1] - half_height, p[2])) - radius
-
-    if p[1] < -half_height:
-        return wp.length(wp.vec3(p[0], p[1] + half_height, p[2])) - radius
-
-    return wp.length(wp.vec3(p[0], 0.0, p[2])) - radius
-
-
-@wp.func
-def capsule_sdf_grad(radius: float, half_height: float, p: wp.vec3):
-    if p[1] > half_height:
-        return wp.normalize(wp.vec3(p[0], p[1] - half_height, p[2]))
-
-    if p[1] < -half_height:
-        return wp.normalize(wp.vec3(p[0], p[1] + half_height, p[2]))
-
-    return wp.normalize(wp.vec3(p[0], 0.0, p[2]))
-
-
-@wp.func
-def cylinder_sdf(radius: float, half_height: float, p: wp.vec3):
-    dx = wp.length(wp.vec3(p[0], 0.0, p[2])) - radius
-    dy = wp.abs(p[1]) - half_height
-    return wp.min(wp.max(dx, dy), 0.0) + wp.length(wp.vec2(wp.max(dx, 0.0), wp.max(dy, 0.0)))
-
-
-@wp.func
-def cylinder_sdf_grad(radius: float, half_height: float, p: wp.vec3):
-    dx = wp.length(wp.vec3(p[0], 0.0, p[2])) - radius
-    dy = wp.abs(p[1]) - half_height
-    if dx > dy:
-        return wp.normalize(wp.vec3(p[0], 0.0, p[2]))
-    return wp.vec3(0.0, wp.sign(p[1]), 0.0)
-
-
-@wp.func
-def cone_sdf(radius: float, half_height: float, p: wp.vec3):
-    dx = wp.length(wp.vec3(p[0], 0.0, p[2])) - radius * (p[1] + half_height) / (2.0 * half_height)
-    dy = wp.abs(p[1]) - half_height
-    return wp.min(wp.max(dx, dy), 0.0) + wp.length(wp.vec2(wp.max(dx, 0.0), wp.max(dy, 0.0)))
-
-
-@wp.func
-def cone_sdf_grad(radius: float, half_height: float, p: wp.vec3):
-    dx = wp.length(wp.vec3(p[0], 0.0, p[2])) - radius * (p[1] + half_height) / (2.0 * half_height)
-    dy = wp.abs(p[1]) - half_height
-    if dy < 0.0 or dx == 0.0:
-        return wp.vec3(0.0, wp.sign(p[1]), 0.0)
-    return wp.normalize(wp.vec3(p[0], 0.0, p[2])) + wp.vec3(0.0, radius / (2.0 * half_height), 0.0)
-
-
-@wp.func
-def plane_sdf(width: float, length: float, p: wp.vec3):
-    # SDF for a quad in the xz plane
-    if width > 0.0 and length > 0.0:
-        d = wp.max(wp.abs(p[0]) - width, wp.abs(p[2]) - length)
-        return wp.max(d, wp.abs(p[1]))
-    return p[1]
-
-
-@wp.func
-def closest_point_plane(width: float, length: float, point: wp.vec3):
-    # projects the point onto the quad in the xz plane (if width and length > 0.0, otherwise the plane is infinite)
-    if width > 0.0:
-        x = wp.clamp(point[0], -width, width)
-    else:
-        x = point[0]
-    if length > 0.0:
-        z = wp.clamp(point[2], -length, length)
-    else:
-        z = point[2]
-    return wp.vec3(x, 0.0, z)
-
-
-@wp.func
-def closest_point_line_segment(a: wp.vec3, b: wp.vec3, point: wp.vec3):
-    ab = b - a
-    ap = point - a
-    t = wp.dot(ap, ab) / wp.dot(ab, ab)
-    t = wp.clamp(t, 0.0, 1.0)
-    return a + t * ab
-
-
-@wp.func
-def closest_point_box(upper: wp.vec3, point: wp.vec3):
-    # closest point to box surface
-    x = wp.clamp(point[0], -upper[0], upper[0])
-    y = wp.clamp(point[1], -upper[1], upper[1])
-    z = wp.clamp(point[2], -upper[2], upper[2])
-    if wp.abs(point[0]) <= upper[0] and wp.abs(point[1]) <= upper[1] and wp.abs(point[2]) <= upper[2]:
-        # the point is inside, find closest face
-        sx = wp.abs(wp.abs(point[0]) - upper[0])
-        sy = wp.abs(wp.abs(point[1]) - upper[1])
-        sz = wp.abs(wp.abs(point[2]) - upper[2])
-        # return closest point on closest side, handle corner cases
-        if (sx < sy and sx < sz) or (sy == 0.0 and sz == 0.0):
-            x = wp.sign(point[0]) * upper[0]
-        elif (sy < sx and sy < sz) or (sx == 0.0 and sz == 0.0):
-            y = wp.sign(point[1]) * upper[1]
-        else:
-            z = wp.sign(point[2]) * upper[2]
-    return wp.vec3(x, y, z)
-
-
-@wp.func
-def get_box_vertex(point_id: int, upper: wp.vec3):
-    # box vertex numbering:
-    #    6---7
-    #    |\  |\       y
-    #    | 2-+-3      |
-    #    4-+-5 |   z \|
-    #     \|  \|      o---x
-    #      0---1
-    # get the vertex of the box given its ID (0-7)
-    sign_x = float(point_id % 2) * 2.0 - 1.0
-    sign_y = float((point_id // 2) % 2) * 2.0 - 1.0
-    sign_z = float((point_id // 4) % 2) * 2.0 - 1.0
-    return wp.vec3(sign_x * upper[0], sign_y * upper[1], sign_z * upper[2])
-
-
-@wp.func
-def get_box_edge(edge_id: int, upper: wp.vec3):
-    # get the edge of the box given its ID (0-11)
-    if edge_id < 4:
-        # edges along x: 0-1, 2-3, 4-5, 6-7
-        i = edge_id * 2
-        j = i + 1
-        return wp.spatial_vector(get_box_vertex(i, upper), get_box_vertex(j, upper))
-    elif edge_id < 8:
-        # edges along y: 0-2, 1-3, 4-6, 5-7
-        edge_id -= 4
-        i = edge_id % 2 + edge_id // 2 * 4
-        j = i + 2
-        return wp.spatial_vector(get_box_vertex(i, upper), get_box_vertex(j, upper))
-    # edges along z: 0-4, 1-5, 2-6, 3-7
-    edge_id -= 8
-    i = edge_id
-    j = i + 4
-    return wp.spatial_vector(get_box_vertex(i, upper), get_box_vertex(j, upper))
-
-
-@wp.func
-def get_plane_edge(edge_id: int, plane_width: float, plane_length: float):
-    # get the edge of the plane given its ID (0-3)
-    p0x = (2.0 * float(edge_id % 2) - 1.0) * plane_width
-    p0z = (2.0 * float(edge_id // 2) - 1.0) * plane_length
-    if edge_id == 0 or edge_id == 3:
-        p1x = p0x
-        p1z = -p0z
-    else:
-        p1x = -p0x
-        p1z = p0z
-    return wp.spatial_vector(wp.vec3(p0x, 0.0, p0z), wp.vec3(p1x, 0.0, p1z))
-
-
-@wp.func
-def closest_edge_coordinate_box(upper: wp.vec3, edge_a: wp.vec3, edge_b: wp.vec3, max_iter: int):
-    # find point on edge closest to box, return its barycentric edge coordinate
-    # Golden-section search
-    a = float(0.0)
-    b = float(1.0)
-    h = b - a
-    invphi = 0.61803398875  # 1 / phi
-    invphi2 = 0.38196601125  # 1 / phi^2
-    c = a + invphi2 * h
-    d = a + invphi * h
-    query = (1.0 - c) * edge_a + c * edge_b
-    yc = box_sdf(upper, query)
-    query = (1.0 - d) * edge_a + d * edge_b
-    yd = box_sdf(upper, query)
-
-    for _k in range(max_iter):
-        if yc < yd:  # yc > yd to find the maximum
-            b = d
-            d = c
-            yd = yc
-            h = invphi * h
-            c = a + invphi2 * h
-            query = (1.0 - c) * edge_a + c * edge_b
-            yc = box_sdf(upper, query)
-        else:
-            a = c
-            c = d
-            yc = yd
-            h = invphi * h
-            d = a + invphi * h
-            query = (1.0 - d) * edge_a + d * edge_b
-            yd = box_sdf(upper, query)
-
-    if yc < yd:
-        return 0.5 * (a + d)
-    return 0.5 * (c + b)
-
-
-@wp.func
-def closest_edge_coordinate_plane(
-    plane_width: float,
-    plane_length: float,
-    edge_a: wp.vec3,
-    edge_b: wp.vec3,
-    max_iter: int,
-):
-    # find point on edge closest to plane, return its barycentric edge coordinate
-    # Golden-section search
-    a = float(0.0)
-    b = float(1.0)
-    h = b - a
-    invphi = 0.61803398875  # 1 / phi
-    invphi2 = 0.38196601125  # 1 / phi^2
-    c = a + invphi2 * h
-    d = a + invphi * h
-    query = (1.0 - c) * edge_a + c * edge_b
-    yc = plane_sdf(plane_width, plane_length, query)
-    query = (1.0 - d) * edge_a + d * edge_b
-    yd = plane_sdf(plane_width, plane_length, query)
-
-    for _k in range(max_iter):
-        if yc < yd:  # yc > yd to find the maximum
-            b = d
-            d = c
-            yd = yc
-            h = invphi * h
-            c = a + invphi2 * h
-            query = (1.0 - c) * edge_a + c * edge_b
-            yc = plane_sdf(plane_width, plane_length, query)
-        else:
-            a = c
-            c = d
-            yc = yd
-            h = invphi * h
-            d = a + invphi * h
-            query = (1.0 - d) * edge_a + d * edge_b
-            yd = plane_sdf(plane_width, plane_length, query)
-
-    if yc < yd:
-        return 0.5 * (a + d)
-    return 0.5 * (c + b)
-
-
-@wp.func
-def closest_edge_coordinate_capsule(radius: float, half_height: float, edge_a: wp.vec3, edge_b: wp.vec3, max_iter: int):
-    # find point on edge closest to capsule, return its barycentric edge coordinate
-    # Golden-section search
-    a = float(0.0)
-    b = float(1.0)
-    h = b - a
-    invphi = 0.61803398875  # 1 / phi
-    invphi2 = 0.38196601125  # 1 / phi^2
-    c = a + invphi2 * h
-    d = a + invphi * h
-    query = (1.0 - c) * edge_a + c * edge_b
-    yc = capsule_sdf(radius, half_height, query)
-    query = (1.0 - d) * edge_a + d * edge_b
-    yd = capsule_sdf(radius, half_height, query)
-
-    for _k in range(max_iter):
-        if yc < yd:  # yc > yd to find the maximum
-            b = d
-            d = c
-            yd = yc
-            h = invphi * h
-            c = a + invphi2 * h
-            query = (1.0 - c) * edge_a + c * edge_b
-            yc = capsule_sdf(radius, half_height, query)
-        else:
-            a = c
-            c = d
-            yc = yd
-            h = invphi * h
-            d = a + invphi * h
-            query = (1.0 - d) * edge_a + d * edge_b
-            yd = capsule_sdf(radius, half_height, query)
-
-    if yc < yd:
-        return 0.5 * (a + d)
-
-    return 0.5 * (c + b)
-
-
-@wp.func
-def mesh_sdf(mesh: wp.uint64, point: wp.vec3, max_dist: float):
-    face_index = int(0)
-    face_u = float(0.0)
-    face_v = float(0.0)
-    sign = float(0.0)
-    res = wp.mesh_query_point_sign_normal(mesh, point, max_dist, sign, face_index, face_u, face_v)
-
-    if res:
-        closest = wp.mesh_eval_position(mesh, face_index, face_u, face_v)
-        return wp.length(point - closest) * sign
-    return max_dist
-
-
-@wp.func
-def closest_point_mesh(mesh: wp.uint64, point: wp.vec3, max_dist: float):
-    face_index = int(0)
-    face_u = float(0.0)
-    face_v = float(0.0)
-    sign = float(0.0)
-    res = wp.mesh_query_point_sign_normal(mesh, point, max_dist, sign, face_index, face_u, face_v)
-
-    if res:
-        return wp.mesh_eval_position(mesh, face_index, face_u, face_v)
-    # return arbitrary point from mesh
-    return wp.mesh_eval_position(mesh, 0, 0.0, 0.0)
-
-
-@wp.func
-def closest_edge_coordinate_mesh(mesh: wp.uint64, edge_a: wp.vec3, edge_b: wp.vec3, max_iter: int, max_dist: float):
-    # find point on edge closest to mesh, return its barycentric edge coordinate
-    # Golden-section search
-    a = float(0.0)
-    b = float(1.0)
-    h = b - a
-    invphi = 0.61803398875  # 1 / phi
-    invphi2 = 0.38196601125  # 1 / phi^2
-    c = a + invphi2 * h
-    d = a + invphi * h
-    query = (1.0 - c) * edge_a + c * edge_b
-    yc = mesh_sdf(mesh, query, max_dist)
-    query = (1.0 - d) * edge_a + d * edge_b
-    yd = mesh_sdf(mesh, query, max_dist)
-
-    for _k in range(max_iter):
-        if yc < yd:  # yc > yd to find the maximum
-            b = d
-            d = c
-            yd = yc
-            h = invphi * h
-            c = a + invphi2 * h
-            query = (1.0 - c) * edge_a + c * edge_b
-            yc = mesh_sdf(mesh, query, max_dist)
-        else:
-            a = c
-            c = d
-            yc = yd
-            h = invphi * h
-            d = a + invphi * h
-            query = (1.0 - d) * edge_a + d * edge_b
-            yd = mesh_sdf(mesh, query, max_dist)
-
-    if yc < yd:
-        return 0.5 * (a + d)
-    return 0.5 * (c + b)
-
-
-@wp.func
-def volume_grad(volume: wp.uint64, p: wp.vec3):
-    eps = 0.05  # TODO make this a parameter
-    q = wp.volume_world_to_index(volume, p)
-
-    # compute gradient of the SDF using finite differences
-    dx = wp.volume_sample_f(volume, q + wp.vec3(eps, 0.0, 0.0), wp.Volume.LINEAR) - wp.volume_sample_f(
-        volume, q - wp.vec3(eps, 0.0, 0.0), wp.Volume.LINEAR
-    )
-    dy = wp.volume_sample_f(volume, q + wp.vec3(0.0, eps, 0.0), wp.Volume.LINEAR) - wp.volume_sample_f(
-        volume, q - wp.vec3(0.0, eps, 0.0), wp.Volume.LINEAR
-    )
-    dz = wp.volume_sample_f(volume, q + wp.vec3(0.0, 0.0, eps), wp.Volume.LINEAR) - wp.volume_sample_f(
-        volume, q - wp.vec3(0.0, 0.0, eps), wp.Volume.LINEAR
-    )
-
-    return wp.normalize(wp.vec3(dx, dy, dz))
-
-
-@wp.func
-def counter_increment(counter: wp.array(dtype=int), counter_index: int, tids: wp.array(dtype=int), tid: int):
-    # increment counter, remember which thread received which counter value
-    count = wp.atomic_add(counter, counter_index, 1)
-    tids[tid] = count
-    return count
-
-
-@wp.func_replay(counter_increment)
-def replay_counter_increment(counter: wp.array(dtype=int), counter_index: int, tids: wp.array(dtype=int), tid: int):
-    return tids[tid]
-
-
-@wp.func
-def limited_counter_increment(
-    counter: wp.array(dtype=int), counter_index: int, tids: wp.array(dtype=int), tid: int, index_limit: int
-):
-    # increment counter but only if it is smaller than index_limit, remember which thread received which counter value
-    count = wp.atomic_add(counter, counter_index, 1)
-    if count < index_limit or index_limit < 0:
-        tids[tid] = count
-        return count
-    tids[tid] = -1
-    return -1
-
-
-@wp.func_replay(limited_counter_increment)
-def replay_limited_counter_increment(
-    counter: wp.array(dtype=int), counter_index: int, tids: wp.array(dtype=int), tid: int, index_limit: int
-):
-    return tids[tid]
-
-
-@wp.kernel
-def create_soft_contacts(
-    particle_x: wp.array(dtype=wp.vec3),
-    particle_radius: wp.array(dtype=float),
-    particle_flags: wp.array(dtype=wp.uint32),
-    body_X_wb: wp.array(dtype=wp.transform),
-    shape_X_bs: wp.array(dtype=wp.transform),
-    shape_body: wp.array(dtype=int),
-    geo: ModelShapeGeometry,
-    margin: float,
-    soft_contact_max: int,
-    shape_count: int,
-    # outputs
-    soft_contact_count: wp.array(dtype=int),
-    soft_contact_particle: wp.array(dtype=int),
-    soft_contact_shape: wp.array(dtype=int),
-    soft_contact_body_pos: wp.array(dtype=wp.vec3),
-    soft_contact_body_vel: wp.array(dtype=wp.vec3),
-    soft_contact_normal: wp.array(dtype=wp.vec3),
-    soft_contact_tids: wp.array(dtype=int),
-):
-    tid = wp.tid()
-    particle_index, shape_index = tid // shape_count, tid % shape_count
-    if (particle_flags[particle_index] & PARTICLE_FLAG_ACTIVE) == 0:
-        return
-
-    rigid_index = shape_body[shape_index]
-
-    px = particle_x[particle_index]
-    radius = particle_radius[particle_index]
-
-    X_wb = wp.transform_identity()
-    if rigid_index >= 0:
-        X_wb = body_X_wb[rigid_index]
-
-    X_bs = shape_X_bs[shape_index]
-
-    X_ws = wp.transform_multiply(X_wb, X_bs)
-    X_sw = wp.transform_inverse(X_ws)
-
-    # transform particle position to shape local space
-    x_local = wp.transform_point(X_sw, px)
-
-    # geo description
-    geo_type = geo.type[shape_index]
-    geo_scale = geo.scale[shape_index]
-
-    # evaluate shape sdf
-    d = 1.0e6
-    n = wp.vec3()
-    v = wp.vec3()
-
-    if geo_type == wp.sim.GEO_SPHERE:
-        d = sphere_sdf(wp.vec3(), geo_scale[0], x_local)
-        n = sphere_sdf_grad(wp.vec3(), geo_scale[0], x_local)
-
-    if geo_type == wp.sim.GEO_BOX:
-        d = box_sdf(geo_scale, x_local)
-        n = box_sdf_grad(geo_scale, x_local)
-
-    if geo_type == wp.sim.GEO_CAPSULE:
-        d = capsule_sdf(geo_scale[0], geo_scale[1], x_local)
-        n = capsule_sdf_grad(geo_scale[0], geo_scale[1], x_local)
-
-    if geo_type == wp.sim.GEO_CYLINDER:
-        d = cylinder_sdf(geo_scale[0], geo_scale[1], x_local)
-        n = cylinder_sdf_grad(geo_scale[0], geo_scale[1], x_local)
-
-    if geo_type == wp.sim.GEO_CONE:
-        d = cone_sdf(geo_scale[0], geo_scale[1], x_local)
-        n = cone_sdf_grad(geo_scale[0], geo_scale[1], x_local)
-
-    if geo_type == wp.sim.GEO_MESH:
-        mesh = geo.source[shape_index]
-
-        face_index = int(0)
-        face_u = float(0.0)
-        face_v = float(0.0)
-        sign = float(0.0)
-
-        min_scale = wp.min(geo_scale)
-        if wp.mesh_query_point_sign_normal(
-            mesh, wp.cw_div(x_local, geo_scale), margin + radius / min_scale, sign, face_index, face_u, face_v
-        ):
-            shape_p = wp.mesh_eval_position(mesh, face_index, face_u, face_v)
-            shape_v = wp.mesh_eval_velocity(mesh, face_index, face_u, face_v)
-
-            shape_p = wp.cw_mul(shape_p, geo_scale)
-            shape_v = wp.cw_mul(shape_v, geo_scale)
-
-            delta = x_local - shape_p
-
-            d = wp.length(delta) * sign
-            n = wp.normalize(delta) * sign
-            v = shape_v
-
-    if geo_type == wp.sim.GEO_SDF:
-        volume = geo.source[shape_index]
-        xpred_local = wp.volume_world_to_index(volume, wp.cw_div(x_local, geo_scale))
-        nn = wp.vec3(0.0, 0.0, 0.0)
-        d = wp.volume_sample_grad_f(volume, xpred_local, wp.Volume.LINEAR, nn)
-        n = wp.normalize(nn)
-
-    if geo_type == wp.sim.GEO_PLANE:
-        d = plane_sdf(geo_scale[0], geo_scale[1], x_local)
-        n = wp.vec3(0.0, 1.0, 0.0)
-
-    if d < margin + radius:
-        index = counter_increment(soft_contact_count, 0, soft_contact_tids, tid)
-
-        if index < soft_contact_max:
-            # compute contact point in body local space
-            body_pos = wp.transform_point(X_bs, x_local - n * d)
-            body_vel = wp.transform_vector(X_bs, v)
-
-            world_normal = wp.transform_vector(X_ws, n)
-
-            soft_contact_shape[index] = shape_index
-            soft_contact_body_pos[index] = body_pos
-            soft_contact_body_vel[index] = body_vel
-            soft_contact_particle[index] = particle_index
-            soft_contact_normal[index] = world_normal
-
-
-@wp.kernel(enable_backward=False)
-def count_contact_points(
-    contact_pairs: wp.array(dtype=int, ndim=2),
-    geo: ModelShapeGeometry,
-    mesh_contact_max: int,
-    # outputs
-    contact_count: wp.array(dtype=int),
-):
-    tid = wp.tid()
-    shape_a = contact_pairs[tid, 0]
-    shape_b = contact_pairs[tid, 1]
-
-    if shape_b == -1:
-        actual_shape_a = shape_a
-        actual_type_a = geo.type[shape_a]
-        # ground plane
-        actual_type_b = wp.sim.GEO_PLANE
-        actual_shape_b = -1
-    else:
-        type_a = geo.type[shape_a]
-        type_b = geo.type[shape_b]
-        # unique ordering of shape pairs
-        if type_a < type_b:
-            actual_shape_a = shape_a
-            actual_shape_b = shape_b
-            actual_type_a = type_a
-            actual_type_b = type_b
-        else:
-            actual_shape_a = shape_b
-            actual_shape_b = shape_a
-            actual_type_a = type_b
-            actual_type_b = type_a
-
-    # determine how many contact points need to be evaluated
-    num_contacts = 0
-    num_actual_contacts = 0
-    if actual_type_a == wp.sim.GEO_SPHERE:
-        num_contacts = 1
-        num_actual_contacts = 1
-    elif actual_type_a == wp.sim.GEO_CAPSULE:
-        if actual_type_b == wp.sim.GEO_PLANE:
-            if geo.scale[actual_shape_b][0] == 0.0 and geo.scale[actual_shape_b][1] == 0.0:
-                num_contacts = 2  # vertex-based collision for infinite plane
-                num_actual_contacts = 2
-            else:
-                num_contacts = 2 + 4  # vertex-based collision + plane edges
-                num_actual_contacts = 2 + 4
-        elif actual_type_b == wp.sim.GEO_MESH:
-            num_contacts_a = 2
-            mesh_b = wp.mesh_get(geo.source[actual_shape_b])
-            num_contacts_b = mesh_b.points.shape[0]
-            num_contacts = num_contacts_a + num_contacts_b
-            if mesh_contact_max > 0:
-                num_contacts_b = wp.min(mesh_contact_max, num_contacts_b)
-            num_actual_contacts = num_contacts_a + num_contacts_b
-        else:
-            num_contacts = 2
-            num_actual_contacts = 2
-    elif actual_type_a == wp.sim.GEO_BOX:
-        if actual_type_b == wp.sim.GEO_BOX:
-            num_contacts = 24
-            num_actual_contacts = 24
-        elif actual_type_b == wp.sim.GEO_MESH:
-            num_contacts_a = 8
-            mesh_b = wp.mesh_get(geo.source[actual_shape_b])
-            num_contacts_b = mesh_b.points.shape[0]
-            num_contacts = num_contacts_a + num_contacts_b
-            if mesh_contact_max > 0:
-                num_contacts_b = wp.min(mesh_contact_max, num_contacts_b)
-            num_actual_contacts = num_contacts_a + num_contacts_b
-        elif actual_type_b == wp.sim.GEO_PLANE:
-            if geo.scale[actual_shape_b][0] == 0.0 and geo.scale[actual_shape_b][1] == 0.0:
-                num_contacts = 8  # vertex-based collision
-                num_actual_contacts = 8
-            else:
-                num_contacts = 8 + 4  # vertex-based collision + plane edges
-                num_actual_contacts = 8 + 4
-        else:
-            num_contacts = 8
-            num_actual_contacts = 8
-    elif actual_type_a == wp.sim.GEO_MESH:
-        mesh_a = wp.mesh_get(geo.source[actual_shape_a])
-        num_contacts_a = mesh_a.points.shape[0]
-        if mesh_contact_max > 0:
-            num_contacts_a = wp.min(mesh_contact_max, num_contacts_a)
-        if actual_type_b == wp.sim.GEO_MESH:
-            mesh_b = wp.mesh_get(geo.source[actual_shape_b])
-            num_contacts_b = mesh_b.points.shape[0]
-            num_contacts = num_contacts_a + num_contacts_b
-            if mesh_contact_max > 0:
-                num_contacts_b = wp.min(mesh_contact_max, num_contacts_b)
-        else:
-            num_contacts_b = 0
-        num_contacts = num_contacts_a + num_contacts_b
-        num_actual_contacts = num_contacts_a + num_contacts_b
-    elif actual_type_a == wp.sim.GEO_PLANE:
-        return  # no plane-plane contacts
-    else:
-        wp.printf(
-            "count_contact_points: unsupported geometry type combination %d and %d\n", actual_type_a, actual_type_b
-        )
-
-    wp.atomic_add(contact_count, 0, num_contacts)
-    wp.atomic_add(contact_count, 1, num_actual_contacts)
-
-
-@wp.kernel(enable_backward=False)
-def broadphase_collision_pairs(
-    contact_pairs: wp.array(dtype=int, ndim=2),
-    body_q: wp.array(dtype=wp.transform),
-    shape_X_bs: wp.array(dtype=wp.transform),
-    shape_body: wp.array(dtype=int),
-    body_mass: wp.array(dtype=float),
-    num_shapes: int,
-    geo: ModelShapeGeometry,
-    collision_radius: wp.array(dtype=float),
-    rigid_contact_max: int,
-    rigid_contact_margin: float,
-    mesh_contact_max: int,
-    iterate_mesh_vertices: bool,
-    # outputs
-    contact_count: wp.array(dtype=int),
-    contact_shape0: wp.array(dtype=int),
-    contact_shape1: wp.array(dtype=int),
-    contact_point_id: wp.array(dtype=int),
-    contact_point_limit: wp.array(dtype=int),
-):
-    tid = wp.tid()
-    shape_a = contact_pairs[tid, 0]
-    shape_b = contact_pairs[tid, 1]
-
-    mass_a = 0.0
-    mass_b = 0.0
-    rigid_a = shape_body[shape_a]
-    if rigid_a == -1:
-        X_ws_a = shape_X_bs[shape_a]
-    else:
-        X_ws_a = wp.transform_multiply(body_q[rigid_a], shape_X_bs[shape_a])
-        mass_a = body_mass[rigid_a]
-    rigid_b = shape_body[shape_b]
-    if rigid_b == -1:
-        X_ws_b = shape_X_bs[shape_b]
-    else:
-        X_ws_b = wp.transform_multiply(body_q[rigid_b], shape_X_bs[shape_b])
-        mass_b = body_mass[rigid_b]
-    if mass_a == 0.0 and mass_b == 0.0:
-        # skip if both bodies are static
-        return
-
-    type_a = geo.type[shape_a]
-    type_b = geo.type[shape_b]
-    # unique ordering of shape pairs
-    if type_a < type_b:
-        actual_shape_a = shape_a
-        actual_shape_b = shape_b
-        actual_type_a = type_a
-        actual_type_b = type_b
-        actual_X_ws_a = X_ws_a
-        actual_X_ws_b = X_ws_b
-    else:
-        actual_shape_a = shape_b
-        actual_shape_b = shape_a
-        actual_type_a = type_b
-        actual_type_b = type_a
-        actual_X_ws_a = X_ws_b
-        actual_X_ws_b = X_ws_a
-
-    p_a = wp.transform_get_translation(actual_X_ws_a)
-    if actual_type_b == wp.sim.GEO_PLANE:
-        if actual_type_a == wp.sim.GEO_PLANE:
-            return
-        query_b = wp.transform_point(wp.transform_inverse(actual_X_ws_b), p_a)
-        scale = geo.scale[actual_shape_b]
-        closest = closest_point_plane(scale[0], scale[1], query_b)
-        d = wp.length(query_b - closest)
-        r_a = collision_radius[actual_shape_a]
-        if d > r_a + rigid_contact_margin:
-            return
-    else:
-        p_b = wp.transform_get_translation(actual_X_ws_b)
-        d = wp.length(p_a - p_b) * 0.5 - 0.1
-        r_a = collision_radius[actual_shape_a]
-        r_b = collision_radius[actual_shape_b]
-        if d > r_a + r_b + rigid_contact_margin:
-            return
-
-    pair_index_ab = actual_shape_a * num_shapes + actual_shape_b
-    pair_index_ba = actual_shape_b * num_shapes + actual_shape_a
-
-    # determine how many contact points need to be evaluated
-    num_contacts = 0
-    if actual_type_a == wp.sim.GEO_SPHERE:
-        num_contacts = 1
-    elif actual_type_a == wp.sim.GEO_CAPSULE:
-        if actual_type_b == wp.sim.GEO_PLANE:
-            if geo.scale[actual_shape_b][0] == 0.0 and geo.scale[actual_shape_b][1] == 0.0:
-                num_contacts = 2  # vertex-based collision for infinite plane
-            else:
-                num_contacts = 2 + 4  # vertex-based collision + plane edges
-        elif actual_type_b == wp.sim.GEO_MESH:
-            num_contacts_a = 2
-            mesh_b = wp.mesh_get(geo.source[actual_shape_b])
-            if iterate_mesh_vertices:
-                num_contacts_b = mesh_b.points.shape[0]
-            else:
-                num_contacts_b = 0
-            num_contacts = num_contacts_a + num_contacts_b
-            index = wp.atomic_add(contact_count, 0, num_contacts)
-            if index + num_contacts - 1 >= rigid_contact_max:
-                print("Number of rigid contacts exceeded limit. Increase Model.rigid_contact_max.")
-                return
-            # allocate contact points from capsule A against mesh B
-            for i in range(num_contacts_a):
-                contact_shape0[index + i] = actual_shape_a
-                contact_shape1[index + i] = actual_shape_b
-                contact_point_id[index + i] = i
-            # allocate contact points from mesh B against capsule A
-            for i in range(num_contacts_b):
-                contact_shape0[index + num_contacts_a + i] = actual_shape_b
-                contact_shape1[index + num_contacts_a + i] = actual_shape_a
-                contact_point_id[index + num_contacts_a + i] = i
-            if mesh_contact_max > 0 and contact_point_limit and pair_index_ba < contact_point_limit.shape[0]:
-                num_contacts_b = wp.min(mesh_contact_max, num_contacts_b)
-                contact_point_limit[pair_index_ba] = num_contacts_b
-            return
-        else:
-            num_contacts = 2
-    elif actual_type_a == wp.sim.GEO_BOX:
-        if actual_type_b == wp.sim.GEO_BOX:
-            index = wp.atomic_add(contact_count, 0, 24)
-            if index + 23 >= rigid_contact_max:
-                print("Number of rigid contacts exceeded limit. Increase Model.rigid_contact_max.")
-                return
-            # allocate contact points from box A against B
-            for i in range(12):  # 12 edges
-                contact_shape0[index + i] = shape_a
-                contact_shape1[index + i] = shape_b
-                contact_point_id[index + i] = i
-            # allocate contact points from box B against A
-            for i in range(12):
-                contact_shape0[index + 12 + i] = shape_b
-                contact_shape1[index + 12 + i] = shape_a
-                contact_point_id[index + 12 + i] = i
-            return
-        elif actual_type_b == wp.sim.GEO_MESH:
-            num_contacts_a = 8
-            mesh_b = wp.mesh_get(geo.source[actual_shape_b])
-            if iterate_mesh_vertices:
-                num_contacts_b = mesh_b.points.shape[0]
-            else:
-                num_contacts_b = 0
-            num_contacts = num_contacts_a + num_contacts_b
-            index = wp.atomic_add(contact_count, 0, num_contacts)
-            if index + num_contacts - 1 >= rigid_contact_max:
-                print("Number of rigid contacts exceeded limit. Increase Model.rigid_contact_max.")
-                return
-            # allocate contact points from box A against mesh B
-            for i in range(num_contacts_a):
-                contact_shape0[index + i] = actual_shape_a
-                contact_shape1[index + i] = actual_shape_b
-                contact_point_id[index + i] = i
-            # allocate contact points from mesh B against box A
-            for i in range(num_contacts_b):
-                contact_shape0[index + num_contacts_a + i] = actual_shape_b
-                contact_shape1[index + num_contacts_a + i] = actual_shape_a
-                contact_point_id[index + num_contacts_a + i] = i
-
-            if mesh_contact_max > 0 and contact_point_limit and pair_index_ba < contact_point_limit.shape[0]:
-                num_contacts_b = wp.min(mesh_contact_max, num_contacts_b)
-                contact_point_limit[pair_index_ba] = num_contacts_b
-            return
-        elif actual_type_b == wp.sim.GEO_PLANE:
-            if geo.scale[actual_shape_b][0] == 0.0 and geo.scale[actual_shape_b][1] == 0.0:
-                num_contacts = 8  # vertex-based collision
-            else:
-                num_contacts = 8 + 4  # vertex-based collision + plane edges
-        else:
-            num_contacts = 8
-    elif actual_type_a == wp.sim.GEO_MESH:
-        mesh_a = wp.mesh_get(geo.source[actual_shape_a])
-        num_contacts_a = mesh_a.points.shape[0]
-        num_contacts_b = 0
-        if actual_type_b == wp.sim.GEO_MESH:
-            mesh_b = wp.mesh_get(geo.source[actual_shape_b])
-            num_contacts_b = mesh_b.points.shape[0]
-        elif actual_type_b != wp.sim.GEO_PLANE:
-            print("broadphase_collision_pairs: unsupported geometry type for mesh collision")
-            return
-        num_contacts = num_contacts_a + num_contacts_b
-        if num_contacts > 0:
-            index = wp.atomic_add(contact_count, 0, num_contacts)
-            if index + num_contacts - 1 >= rigid_contact_max:
-                print("Mesh contact: Number of rigid contacts exceeded limit. Increase Model.rigid_contact_max.")
-                return
-            # allocate contact points from mesh A against B
-            for i in range(num_contacts_a):
-                contact_shape0[index + i] = actual_shape_a
-                contact_shape1[index + i] = actual_shape_b
-                contact_point_id[index + i] = i
-            # allocate contact points from mesh B against A
-            for i in range(num_contacts_b):
-                contact_shape0[index + num_contacts_a + i] = actual_shape_b
-                contact_shape1[index + num_contacts_a + i] = actual_shape_a
-                contact_point_id[index + num_contacts_a + i] = i
-
-            if mesh_contact_max > 0 and contact_point_limit:
-                num_contacts_a = wp.min(mesh_contact_max, num_contacts_a)
-                num_contacts_b = wp.min(mesh_contact_max, num_contacts_b)
-                if pair_index_ab < contact_point_limit.shape[0]:
-                    contact_point_limit[pair_index_ab] = num_contacts_a
-                if pair_index_ba < contact_point_limit.shape[0]:
-                    contact_point_limit[pair_index_ba] = num_contacts_b
-        return
-    elif actual_type_a == wp.sim.GEO_PLANE:
-        return  # no plane-plane contacts
-    else:
-        print("broadphase_collision_pairs: unsupported geometry type")
-
-    if num_contacts > 0:
-        index = wp.atomic_add(contact_count, 0, num_contacts)
-        if index + num_contacts - 1 >= rigid_contact_max:
-            print("Number of rigid contacts exceeded limit. Increase Model.rigid_contact_max.")
-            return
-        # allocate contact points
-        for i in range(num_contacts):
-            cp_index = index + i
-            contact_shape0[cp_index] = actual_shape_a
-            contact_shape1[cp_index] = actual_shape_b
-            contact_point_id[cp_index] = i
-        if contact_point_limit:
-            if pair_index_ab < contact_point_limit.shape[0]:
-                contact_point_limit[pair_index_ab] = num_contacts
-            if pair_index_ba < contact_point_limit.shape[0]:
-                contact_point_limit[pair_index_ba] = 0
-
-
-@wp.kernel
-def handle_contact_pairs(
-    body_q: wp.array(dtype=wp.transform),
-    shape_X_bs: wp.array(dtype=wp.transform),
-    shape_body: wp.array(dtype=int),
-    geo: ModelShapeGeometry,
-    rigid_contact_margin: float,
-    contact_broad_shape0: wp.array(dtype=int),
-    contact_broad_shape1: wp.array(dtype=int),
-    num_shapes: int,
-    contact_point_id: wp.array(dtype=int),
-    contact_point_limit: wp.array(dtype=int),
-    edge_sdf_iter: int,
-    # outputs
-    contact_count: wp.array(dtype=int),
-    contact_shape0: wp.array(dtype=int),
-    contact_shape1: wp.array(dtype=int),
-    contact_point0: wp.array(dtype=wp.vec3),
-    contact_point1: wp.array(dtype=wp.vec3),
-    contact_offset0: wp.array(dtype=wp.vec3),
-    contact_offset1: wp.array(dtype=wp.vec3),
-    contact_normal: wp.array(dtype=wp.vec3),
-    contact_thickness: wp.array(dtype=float),
-    contact_pairwise_counter: wp.array(dtype=int),
-    contact_tids: wp.array(dtype=int),
-):
-    tid = wp.tid()
-    shape_a = contact_broad_shape0[tid]
-    shape_b = contact_broad_shape1[tid]
-    if shape_a == shape_b:
-        return
-
-    if contact_point_limit:
-        pair_index = shape_a * num_shapes + shape_b
-        contact_limit = contact_point_limit[pair_index]
-        if contact_pairwise_counter[pair_index] >= contact_limit:
-            # reached limit of contact points per contact pair
-            return
-
-    point_id = contact_point_id[tid]
-
-    rigid_a = shape_body[shape_a]
-    X_wb_a = wp.transform_identity()
-    if rigid_a >= 0:
-        X_wb_a = body_q[rigid_a]
-    X_bs_a = shape_X_bs[shape_a]
-    X_ws_a = wp.transform_multiply(X_wb_a, X_bs_a)
-    X_sw_a = wp.transform_inverse(X_ws_a)
-    X_bw_a = wp.transform_inverse(X_wb_a)
-    geo_type_a = geo.type[shape_a]
-    geo_scale_a = geo.scale[shape_a]
-    min_scale_a = min(geo_scale_a)
-    thickness_a = geo.thickness[shape_a]
-    # is_solid_a = geo.is_solid[shape_a]
-
-    rigid_b = shape_body[shape_b]
-    X_wb_b = wp.transform_identity()
-    if rigid_b >= 0:
-        X_wb_b = body_q[rigid_b]
-    X_bs_b = shape_X_bs[shape_b]
-    X_ws_b = wp.transform_multiply(X_wb_b, X_bs_b)
-    X_sw_b = wp.transform_inverse(X_ws_b)
-    X_bw_b = wp.transform_inverse(X_wb_b)
-    geo_type_b = geo.type[shape_b]
-    geo_scale_b = geo.scale[shape_b]
-    min_scale_b = min(geo_scale_b)
-    thickness_b = geo.thickness[shape_b]
-    # is_solid_b = geo.is_solid[shape_b]
-
-    distance = 1.0e6
-    u = float(0.0)
-    thickness = thickness_a + thickness_b
-
-    if geo_type_a == wp.sim.GEO_SPHERE:
-        p_a_world = wp.transform_get_translation(X_ws_a)
-        if geo_type_b == wp.sim.GEO_SPHERE:
-            p_b_world = wp.transform_get_translation(X_ws_b)
-        elif geo_type_b == wp.sim.GEO_BOX:
-            # contact point in frame of body B
-            p_a_body = wp.transform_point(X_sw_b, p_a_world)
-            p_b_body = closest_point_box(geo_scale_b, p_a_body)
-            p_b_world = wp.transform_point(X_ws_b, p_b_body)
-        elif geo_type_b == wp.sim.GEO_CAPSULE:
-            half_height_b = geo_scale_b[1]
-            # capsule B
-            A_b = wp.transform_point(X_ws_b, wp.vec3(0.0, half_height_b, 0.0))
-            B_b = wp.transform_point(X_ws_b, wp.vec3(0.0, -half_height_b, 0.0))
-            p_b_world = closest_point_line_segment(A_b, B_b, p_a_world)
-        elif geo_type_b == wp.sim.GEO_MESH:
-            mesh_b = geo.source[shape_b]
-            query_b_local = wp.transform_point(X_sw_b, p_a_world)
-            face_index = int(0)
-            face_u = float(0.0)
-            face_v = float(0.0)
-            sign = float(0.0)
-            max_dist = (thickness + rigid_contact_margin) / min_scale_b
-            res = wp.mesh_query_point_sign_normal(
-                mesh_b, wp.cw_div(query_b_local, geo_scale_b), max_dist, sign, face_index, face_u, face_v
-            )
-            if res:
-                shape_p = wp.mesh_eval_position(mesh_b, face_index, face_u, face_v)
-                shape_p = wp.cw_mul(shape_p, geo_scale_b)
-                p_b_world = wp.transform_point(X_ws_b, shape_p)
-            else:
-                return
-        elif geo_type_b == wp.sim.GEO_PLANE:
-            p_b_body = closest_point_plane(geo_scale_b[0], geo_scale_b[1], wp.transform_point(X_sw_b, p_a_world))
-            p_b_world = wp.transform_point(X_ws_b, p_b_body)
-        else:
-            print("Unsupported geometry type in sphere collision handling")
-            print(geo_type_b)
-            return
-        diff = p_a_world - p_b_world
-        normal = wp.normalize(diff)
-        distance = wp.dot(diff, normal)
-
-    elif geo_type_a == wp.sim.GEO_BOX and geo_type_b == wp.sim.GEO_BOX:
-        # edge-based box contact
-        edge = get_box_edge(point_id, geo_scale_a)
-        edge0_world = wp.transform_point(X_ws_a, wp.spatial_top(edge))
-        edge1_world = wp.transform_point(X_ws_a, wp.spatial_bottom(edge))
-        edge0_b = wp.transform_point(X_sw_b, edge0_world)
-        edge1_b = wp.transform_point(X_sw_b, edge1_world)
-        max_iter = edge_sdf_iter
-        u = closest_edge_coordinate_box(geo_scale_b, edge0_b, edge1_b, max_iter)
-        p_a_world = (1.0 - u) * edge0_world + u * edge1_world
-
-        # find closest point + contact normal on box B
-        query_b = wp.transform_point(X_sw_b, p_a_world)
-        p_b_body = closest_point_box(geo_scale_b, query_b)
-        p_b_world = wp.transform_point(X_ws_b, p_b_body)
-        diff = p_a_world - p_b_world
-
-        normal = wp.transform_vector(X_ws_b, box_sdf_grad(geo_scale_b, query_b))
-        distance = wp.dot(diff, normal)
-
-    elif geo_type_a == wp.sim.GEO_BOX and geo_type_b == wp.sim.GEO_CAPSULE:
-        half_height_b = geo_scale_b[1]
-        # capsule B
-        # depending on point id, we query an edge from 0 to 0.5 or 0.5 to 1
-        e0 = wp.vec3(0.0, -half_height_b * float(point_id % 2), 0.0)
-        e1 = wp.vec3(0.0, half_height_b * float((point_id + 1) % 2), 0.0)
-        edge0_world = wp.transform_point(X_ws_b, e0)
-        edge1_world = wp.transform_point(X_ws_b, e1)
-        edge0_a = wp.transform_point(X_sw_a, edge0_world)
-        edge1_a = wp.transform_point(X_sw_a, edge1_world)
-        max_iter = edge_sdf_iter
-        u = closest_edge_coordinate_box(geo_scale_a, edge0_a, edge1_a, max_iter)
-        p_b_world = (1.0 - u) * edge0_world + u * edge1_world
-        # find closest point + contact normal on box A
-        query_a = wp.transform_point(X_sw_a, p_b_world)
-        p_a_body = closest_point_box(geo_scale_a, query_a)
-        p_a_world = wp.transform_point(X_ws_a, p_a_body)
-        diff = p_a_world - p_b_world
-        # the contact point inside the capsule should already be outside the box
-        normal = -wp.transform_vector(X_ws_a, box_sdf_grad(geo_scale_a, query_a))
-        distance = wp.dot(diff, normal)
-
-    elif geo_type_a == wp.sim.GEO_BOX and geo_type_b == wp.sim.GEO_PLANE:
-        plane_width = geo_scale_b[0]
-        plane_length = geo_scale_b[1]
-        if point_id < 8:
-            # vertex-based contact
-            p_a_body = get_box_vertex(point_id, geo_scale_a)
-            p_a_world = wp.transform_point(X_ws_a, p_a_body)
-            query_b = wp.transform_point(X_sw_b, p_a_world)
-            p_b_body = closest_point_plane(plane_width, plane_length, query_b)
-            p_b_world = wp.transform_point(X_ws_b, p_b_body)
-            diff = p_a_world - p_b_world
-            normal = wp.transform_vector(X_ws_b, wp.vec3(0.0, 1.0, 0.0))
-            if plane_width > 0.0 and plane_length > 0.0:
-                if wp.abs(query_b[0]) > plane_width or wp.abs(query_b[2]) > plane_length:
-                    # skip, we will evaluate the plane edge contact with the box later
-                    return
-                # check whether the COM is above the plane
-                # sign = wp.sign(wp.dot(wp.transform_get_translation(X_ws_a) - p_b_world, normal))
-                # if sign < 0.0:
-                #     # the entire box is most likely below the plane
-                #     return
-            # the contact point is within plane boundaries
-            distance = wp.dot(diff, normal)
-        else:
-            # contact between box A and edges of finite plane B
-            edge = get_plane_edge(point_id - 8, plane_width, plane_length)
-            edge0_world = wp.transform_point(X_ws_b, wp.spatial_top(edge))
-            edge1_world = wp.transform_point(X_ws_b, wp.spatial_bottom(edge))
-            edge0_a = wp.transform_point(X_sw_a, edge0_world)
-            edge1_a = wp.transform_point(X_sw_a, edge1_world)
-            max_iter = edge_sdf_iter
-            u = closest_edge_coordinate_box(geo_scale_a, edge0_a, edge1_a, max_iter)
-            p_b_world = (1.0 - u) * edge0_world + u * edge1_world
-
-            # find closest point + contact normal on box A
-            query_a = wp.transform_point(X_sw_a, p_b_world)
-            p_a_body = closest_point_box(geo_scale_a, query_a)
-            p_a_world = wp.transform_point(X_ws_a, p_a_body)
-            query_b = wp.transform_point(X_sw_b, p_a_world)
-            if wp.abs(query_b[0]) > plane_width or wp.abs(query_b[2]) > plane_length:
-                # ensure that the closest point is actually inside the plane
-                return
-            diff = p_a_world - p_b_world
-            com_a = wp.transform_get_translation(X_ws_a)
-            query_b = wp.transform_point(X_sw_b, com_a)
-            if wp.abs(query_b[0]) > plane_width or wp.abs(query_b[2]) > plane_length:
-                # the COM is outside the plane
-                normal = wp.normalize(com_a - p_b_world)
-            else:
-                normal = wp.transform_vector(X_ws_b, wp.vec3(0.0, 1.0, 0.0))
-            distance = wp.dot(diff, normal)
-
-    elif geo_type_a == wp.sim.GEO_CAPSULE and geo_type_b == wp.sim.GEO_CAPSULE:
-        # find closest edge coordinate to capsule SDF B
-        half_height_a = geo_scale_a[1]
-        half_height_b = geo_scale_b[1]
-        # edge from capsule A
-        # depending on point id, we query an edge from 0 to 0.5 or 0.5 to 1
-        e0 = wp.vec3(0.0, half_height_a * float(point_id % 2), 0.0)
-        e1 = wp.vec3(0.0, -half_height_a * float((point_id + 1) % 2), 0.0)
-        edge0_world = wp.transform_point(X_ws_a, e0)
-        edge1_world = wp.transform_point(X_ws_a, e1)
-        edge0_b = wp.transform_point(X_sw_b, edge0_world)
-        edge1_b = wp.transform_point(X_sw_b, edge1_world)
-        max_iter = edge_sdf_iter
-        u = closest_edge_coordinate_capsule(geo_scale_b[0], geo_scale_b[1], edge0_b, edge1_b, max_iter)
-        p_a_world = (1.0 - u) * edge0_world + u * edge1_world
-        p0_b_world = wp.transform_point(X_ws_b, wp.vec3(0.0, half_height_b, 0.0))
-        p1_b_world = wp.transform_point(X_ws_b, wp.vec3(0.0, -half_height_b, 0.0))
-        p_b_world = closest_point_line_segment(p0_b_world, p1_b_world, p_a_world)
-        diff = p_a_world - p_b_world
-        normal = wp.normalize(diff)
-        distance = wp.dot(diff, normal)
-
-    elif geo_type_a == wp.sim.GEO_CAPSULE and geo_type_b == wp.sim.GEO_MESH:
-        # find closest edge coordinate to mesh SDF B
-        half_height_a = geo_scale_a[1]
-        # edge from capsule A
-        # depending on point id, we query an edge from -h to 0 or 0 to h
-        e0 = wp.vec3(0.0, -half_height_a * float(point_id % 2), 0.0)
-        e1 = wp.vec3(0.0, half_height_a * float((point_id + 1) % 2), 0.0)
-        edge0_world = wp.transform_point(X_ws_a, e0)
-        edge1_world = wp.transform_point(X_ws_a, e1)
-        edge0_b = wp.transform_point(X_sw_b, edge0_world)
-        edge1_b = wp.transform_point(X_sw_b, edge1_world)
-        max_iter = edge_sdf_iter
-        max_dist = (rigid_contact_margin + thickness) / min_scale_b
-        mesh_b = geo.source[shape_b]
-        u = closest_edge_coordinate_mesh(
-            mesh_b, wp.cw_div(edge0_b, geo_scale_b), wp.cw_div(edge1_b, geo_scale_b), max_iter, max_dist
-        )
-        p_a_world = (1.0 - u) * edge0_world + u * edge1_world
-        query_b_local = wp.transform_point(X_sw_b, p_a_world)
-        mesh_b = geo.source[shape_b]
-
-        face_index = int(0)
-        face_u = float(0.0)
-        face_v = float(0.0)
-        sign = float(0.0)
-        res = wp.mesh_query_point_sign_normal(
-            mesh_b, wp.cw_div(query_b_local, geo_scale_b), max_dist, sign, face_index, face_u, face_v
-        )
-        if res:
-            shape_p = wp.mesh_eval_position(mesh_b, face_index, face_u, face_v)
-            shape_p = wp.cw_mul(shape_p, geo_scale_b)
-            p_b_world = wp.transform_point(X_ws_b, shape_p)
-            p_a_world = closest_point_line_segment(edge0_world, edge1_world, p_b_world)
-            # contact direction vector in world frame
-            diff = p_a_world - p_b_world
-            normal = wp.normalize(diff)
-            distance = wp.dot(diff, normal)
-        else:
-            return
-
-    elif geo_type_a == wp.sim.GEO_MESH and geo_type_b == wp.sim.GEO_CAPSULE:
-        # vertex-based contact
-        mesh = wp.mesh_get(geo.source[shape_a])
-        body_a_pos = wp.cw_mul(mesh.points[point_id], geo_scale_a)
-        p_a_world = wp.transform_point(X_ws_a, body_a_pos)
-        # find closest point + contact normal on capsule B
-        half_height_b = geo_scale_b[1]
-        A_b = wp.transform_point(X_ws_b, wp.vec3(0.0, half_height_b, 0.0))
-        B_b = wp.transform_point(X_ws_b, wp.vec3(0.0, -half_height_b, 0.0))
-        p_b_world = closest_point_line_segment(A_b, B_b, p_a_world)
-        diff = p_a_world - p_b_world
-        # this is more reliable in practice than using the SDF gradient
-        normal = wp.normalize(diff)
-        distance = wp.dot(diff, normal)
-
-    elif geo_type_a == wp.sim.GEO_CAPSULE and geo_type_b == wp.sim.GEO_PLANE:
-        plane_width = geo_scale_b[0]
-        plane_length = geo_scale_b[1]
-        if point_id < 2:
-            # vertex-based collision
-            half_height_a = geo_scale_a[1]
-            side = float(point_id) * 2.0 - 1.0
-            p_a_world = wp.transform_point(X_ws_a, wp.vec3(0.0, side * half_height_a, 0.0))
-            query_b = wp.transform_point(X_sw_b, p_a_world)
-            p_b_body = closest_point_plane(geo_scale_b[0], geo_scale_b[1], query_b)
-            p_b_world = wp.transform_point(X_ws_b, p_b_body)
-            diff = p_a_world - p_b_world
-            if geo_scale_b[0] > 0.0 and geo_scale_b[1] > 0.0:
-                normal = wp.normalize(diff)
-            else:
-                normal = wp.transform_vector(X_ws_b, wp.vec3(0.0, 1.0, 0.0))
-            distance = wp.dot(diff, normal)
-        else:
-            # contact between capsule A and edges of finite plane B
-            plane_width = geo_scale_b[0]
-            plane_length = geo_scale_b[1]
-            edge = get_plane_edge(point_id - 2, plane_width, plane_length)
-            edge0_world = wp.transform_point(X_ws_b, wp.spatial_top(edge))
-            edge1_world = wp.transform_point(X_ws_b, wp.spatial_bottom(edge))
-            edge0_a = wp.transform_point(X_sw_a, edge0_world)
-            edge1_a = wp.transform_point(X_sw_a, edge1_world)
-            max_iter = edge_sdf_iter
-            u = closest_edge_coordinate_capsule(geo_scale_a[0], geo_scale_a[1], edge0_a, edge1_a, max_iter)
-            p_b_world = (1.0 - u) * edge0_world + u * edge1_world
-
-            # find closest point + contact normal on capsule A
-            half_height_a = geo_scale_a[1]
-            p0_a_world = wp.transform_point(X_ws_a, wp.vec3(0.0, half_height_a, 0.0))
-            p1_a_world = wp.transform_point(X_ws_a, wp.vec3(0.0, -half_height_a, 0.0))
-            p_a_world = closest_point_line_segment(p0_a_world, p1_a_world, p_b_world)
-            diff = p_a_world - p_b_world
-            # normal = wp.transform_vector(X_ws_b, wp.vec3(0.0, 1.0, 0.0))
-            normal = wp.normalize(diff)
-            distance = wp.dot(diff, normal)
-
-    elif geo_type_a == wp.sim.GEO_MESH and geo_type_b == wp.sim.GEO_BOX:
-        # vertex-based contact
-        mesh = wp.mesh_get(geo.source[shape_a])
-        body_a_pos = wp.cw_mul(mesh.points[point_id], geo_scale_a)
-        p_a_world = wp.transform_point(X_ws_a, body_a_pos)
-        # find closest point + contact normal on box B
-        query_b = wp.transform_point(X_sw_b, p_a_world)
-        p_b_body = closest_point_box(geo_scale_b, query_b)
-        p_b_world = wp.transform_point(X_ws_b, p_b_body)
-        diff = p_a_world - p_b_world
-        # this is more reliable in practice than using the SDF gradient
-        normal = wp.normalize(diff)
-        if box_sdf(geo_scale_b, query_b) < 0.0:
-            normal = -normal
-        distance = wp.dot(diff, normal)
-
-    elif geo_type_a == wp.sim.GEO_BOX and geo_type_b == wp.sim.GEO_MESH:
-        # vertex-based contact
-        query_a = get_box_vertex(point_id, geo_scale_a)
-        p_a_world = wp.transform_point(X_ws_a, query_a)
-        query_b_local = wp.transform_point(X_sw_b, p_a_world)
-        mesh_b = geo.source[shape_b]
-        max_dist = (rigid_contact_margin + thickness) / min_scale_b
-        face_index = int(0)
-        face_u = float(0.0)
-        face_v = float(0.0)
-        sign = float(0.0)
-        res = wp.mesh_query_point_sign_normal(
-            mesh_b, wp.cw_div(query_b_local, geo_scale_b), max_dist, sign, face_index, face_u, face_v
-        )
-
-        if res:
-            shape_p = wp.mesh_eval_position(mesh_b, face_index, face_u, face_v)
-            shape_p = wp.cw_mul(shape_p, geo_scale_b)
-            p_b_world = wp.transform_point(X_ws_b, shape_p)
-            # contact direction vector in world frame
-            diff_b = p_a_world - p_b_world
-            normal = wp.normalize(diff_b) * sign
-            distance = wp.dot(diff_b, normal)
-        else:
-            return
-
-    elif geo_type_a == wp.sim.GEO_MESH and geo_type_b == wp.sim.GEO_MESH:
-        # vertex-based contact
-        mesh = wp.mesh_get(geo.source[shape_a])
-        mesh_b = geo.source[shape_b]
-
-        body_a_pos = wp.cw_mul(mesh.points[point_id], geo_scale_a)
-        p_a_world = wp.transform_point(X_ws_a, body_a_pos)
-        query_b_local = wp.transform_point(X_sw_b, p_a_world)
-
-        face_index = int(0)
-        face_u = float(0.0)
-        face_v = float(0.0)
-        sign = float(0.0)
-        min_scale = min(min_scale_a, min_scale_b)
-        max_dist = (rigid_contact_margin + thickness) / min_scale
-
-        res = wp.mesh_query_point_sign_normal(
-            mesh_b, wp.cw_div(query_b_local, geo_scale_b), max_dist, sign, face_index, face_u, face_v
-        )
-
-        if res:
-            shape_p = wp.mesh_eval_position(mesh_b, face_index, face_u, face_v)
-            shape_p = wp.cw_mul(shape_p, geo_scale_b)
-            p_b_world = wp.transform_point(X_ws_b, shape_p)
-            # contact direction vector in world frame
-            diff_b = p_a_world - p_b_world
-            normal = wp.normalize(diff_b) * sign
-            distance = wp.dot(diff_b, normal)
-        else:
-            return
-
-    elif geo_type_a == wp.sim.GEO_MESH and geo_type_b == wp.sim.GEO_PLANE:
-        # vertex-based contact
-        mesh = wp.mesh_get(geo.source[shape_a])
-        body_a_pos = wp.cw_mul(mesh.points[point_id], geo_scale_a)
-        p_a_world = wp.transform_point(X_ws_a, body_a_pos)
-        query_b = wp.transform_point(X_sw_b, p_a_world)
-        p_b_body = closest_point_plane(geo_scale_b[0], geo_scale_b[1], query_b)
-        p_b_world = wp.transform_point(X_ws_b, p_b_body)
-        diff = p_a_world - p_b_world
-
-        # if the plane is infinite or the point is within the plane we fix the normal to prevent intersections
-        if (geo_scale_b[0] == 0.0 and geo_scale_b[1] == 0.0) or (
-            wp.abs(query_b[0]) < geo_scale_b[0] and wp.abs(query_b[2]) < geo_scale_b[1]
-        ):
-            normal = wp.transform_vector(X_ws_b, wp.vec3(0.0, 1.0, 0.0))
-            distance = wp.dot(diff, normal)
-        else:
-            normal = wp.normalize(diff)
-            distance = wp.dot(diff, normal)
-            # ignore extreme penetrations (e.g. when mesh is below the plane)
-            if distance < -rigid_contact_margin:
-                return
-
-    else:
-        print("Unsupported geometry pair in collision handling")
-        return
-
-    d = distance - thickness
-    if d < rigid_contact_margin:
-        if contact_pairwise_counter:
-            pair_contact_id = limited_counter_increment(
-                contact_pairwise_counter, pair_index, contact_tids, tid, contact_limit
-            )
-            if pair_contact_id == -1:
-                # wp.printf("Reached contact point limit %d >= %d for shape pair %d and %d (pair_index: %d)\n",
-                #           contact_pairwise_counter[pair_index], contact_limit, shape_a, shape_b, pair_index)
-                # reached contact point limit
-                return
-        index = counter_increment(contact_count, 0, contact_tids, tid)
-        if index == -1:
-            return
-        contact_shape0[index] = shape_a
-        contact_shape1[index] = shape_b
-        # transform from world into body frame (so the contact point includes the shape transform)
-        contact_point0[index] = wp.transform_point(X_bw_a, p_a_world)
-        contact_point1[index] = wp.transform_point(X_bw_b, p_b_world)
-        contact_offset0[index] = wp.transform_vector(X_bw_a, -thickness_a * normal)
-        contact_offset1[index] = wp.transform_vector(X_bw_b, thickness_b * normal)
-        contact_normal[index] = normal
-        contact_thickness[index] = thickness
-
-
-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``).
-    """
-
-    if requires_grad is None:
-        requires_grad = model.requires_grad
-
-    with wp.ScopedTimer("collide", False):
-        # generate soft contacts for particles and shapes except ground plane (last shape)
-        if model.particle_count and model.shape_count > 1:
-            if requires_grad:
-                model.soft_contact_body_pos = wp.empty_like(model.soft_contact_body_pos)
-                model.soft_contact_body_vel = wp.empty_like(model.soft_contact_body_vel)
-                model.soft_contact_normal = wp.empty_like(model.soft_contact_normal)
-            # clear old count
-            model.soft_contact_count.zero_()
-            wp.launch(
-                kernel=create_soft_contacts,
-                dim=model.particle_count * (model.shape_count - 1),
-                inputs=[
-                    state.particle_q,
-                    model.particle_radius,
-                    model.particle_flags,
-                    state.body_q,
-                    model.shape_transform,
-                    model.shape_body,
-                    model.shape_geo,
-                    model.soft_contact_margin,
-                    model.soft_contact_max,
-                    model.shape_count - 1,
-                ],
-                outputs=[
-                    model.soft_contact_count,
-                    model.soft_contact_particle,
-                    model.soft_contact_shape,
-                    model.soft_contact_body_pos,
-                    model.soft_contact_body_vel,
-                    model.soft_contact_normal,
-                    model.soft_contact_tids,
-                ],
-                device=model.device,
-            )
-
-        if model.shape_contact_pair_count or (model.ground and model.shape_ground_contact_pair_count):
-            # clear old count
-            model.rigid_contact_count.zero_()
-
-            model.rigid_contact_broad_shape0.fill_(-1)
-            model.rigid_contact_broad_shape1.fill_(-1)
-
-        if model.shape_contact_pair_count:
-            wp.launch(
-                kernel=broadphase_collision_pairs,
-                dim=model.shape_contact_pair_count,
-                inputs=[
-                    model.shape_contact_pairs,
-                    state.body_q,
-                    model.shape_transform,
-                    model.shape_body,
-                    model.body_mass,
-                    model.shape_count,
-                    model.shape_geo,
-                    model.shape_collision_radius,
-                    model.rigid_contact_max,
-                    model.rigid_contact_margin,
-                    model.rigid_mesh_contact_max,
-                    iterate_mesh_vertices,
-                ],
-                outputs=[
-                    model.rigid_contact_count,
-                    model.rigid_contact_broad_shape0,
-                    model.rigid_contact_broad_shape1,
-                    model.rigid_contact_point_id,
-                    model.rigid_contact_point_limit,
-                ],
-                device=model.device,
-                record_tape=False,
-            )
-
-        if model.ground and model.shape_ground_contact_pair_count:
-            wp.launch(
-                kernel=broadphase_collision_pairs,
-                dim=model.shape_ground_contact_pair_count,
-                inputs=[
-                    model.shape_ground_contact_pairs,
-                    state.body_q,
-                    model.shape_transform,
-                    model.shape_body,
-                    model.body_mass,
-                    model.shape_count,
-                    model.shape_geo,
-                    model.shape_collision_radius,
-                    model.rigid_contact_max,
-                    model.rigid_contact_margin,
-                    model.rigid_mesh_contact_max,
-                    iterate_mesh_vertices,
-                ],
-                outputs=[
-                    model.rigid_contact_count,
-                    model.rigid_contact_broad_shape0,
-                    model.rigid_contact_broad_shape1,
-                    model.rigid_contact_point_id,
-                    model.rigid_contact_point_limit,
-                ],
-                device=model.device,
-                record_tape=False,
-            )
-
-        if model.shape_contact_pair_count or (model.ground and model.shape_ground_contact_pair_count):
-            if requires_grad:
-                model.rigid_contact_point0 = wp.empty_like(model.rigid_contact_point0)
-                model.rigid_contact_point1 = wp.empty_like(model.rigid_contact_point1)
-                model.rigid_contact_offset0 = wp.empty_like(model.rigid_contact_offset0)
-                model.rigid_contact_offset1 = wp.empty_like(model.rigid_contact_offset1)
-                model.rigid_contact_normal = wp.empty_like(model.rigid_contact_normal)
-                model.rigid_contact_thickness = wp.empty_like(model.rigid_contact_thickness)
-                model.rigid_contact_count = wp.zeros_like(model.rigid_contact_count)
-                model.rigid_contact_tids = wp.full_like(model.rigid_contact_tids, -1)
-                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.fill_(-1)
-
-                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)
-
-            wp.launch(
-                kernel=handle_contact_pairs,
-                dim=model.rigid_contact_max,
-                inputs=[
-                    state.body_q,
-                    model.shape_transform,
-                    model.shape_body,
-                    model.shape_geo,
-                    model.rigid_contact_margin,
-                    model.rigid_contact_broad_shape0,
-                    model.rigid_contact_broad_shape1,
-                    model.shape_count,
-                    model.rigid_contact_point_id,
-                    model.rigid_contact_point_limit,
-                    edge_sdf_iter,
-                ],
-                outputs=[
-                    model.rigid_contact_count,
-                    model.rigid_contact_shape0,
-                    model.rigid_contact_shape1,
-                    model.rigid_contact_point0,
-                    model.rigid_contact_point1,
-                    model.rigid_contact_offset0,
-                    model.rigid_contact_offset1,
-                    model.rigid_contact_normal,
-                    model.rigid_contact_thickness,
-                    model.rigid_contact_pairwise_counter,
-                    model.rigid_contact_tids,
-                ],
-                device=model.device,
-            )
-
-
-@wp.func
-def compute_tri_aabb(
-    v1: wp.vec3,
-    v2: wp.vec3,
-    v3: wp.vec3,
-):
-    lower = wp.min(wp.min(v1, v2), v3)
-    upper = wp.max(wp.max(v1, v2), v3)
-
-    return lower, upper
-
-
-@wp.kernel
-def compute_tri_aabbs(
-    pos: wp.array(dtype=wp.vec3),
-    tri_indices: wp.array(dtype=wp.int32, ndim=2),
-    lower_bounds: wp.array(dtype=wp.vec3),
-    upper_bounds: wp.array(dtype=wp.vec3),
-):
-    t_id = wp.tid()
-
-    v1 = pos[tri_indices[t_id, 0]]
-    v2 = pos[tri_indices[t_id, 1]]
-    v3 = pos[tri_indices[t_id, 2]]
-
-    lower, upper = compute_tri_aabb(v1, v2, v3)
-
-    lower_bounds[t_id] = lower
-    upper_bounds[t_id] = upper
-
-
-@wp.kernel
-def compute_edge_aabbs(
-    pos: wp.array(dtype=wp.vec3),
-    edge_indices: wp.array(dtype=wp.int32, ndim=2),
-    lower_bounds: wp.array(dtype=wp.vec3),
-    upper_bounds: wp.array(dtype=wp.vec3),
-):
-    e_id = wp.tid()
-
-    v1 = pos[edge_indices[e_id, 2]]
-    v2 = pos[edge_indices[e_id, 3]]
-
-    lower_bounds[e_id] = wp.min(v1, v2)
-    upper_bounds[e_id] = wp.max(v1, v2)
-
-
-@wp.func
-def tri_is_neighbor(a_1: wp.int32, a_2: wp.int32, a_3: wp.int32, b_1: wp.int32, b_2: wp.int32, b_3: wp.int32):
-    tri_is_neighbor = (
-        a_1 == b_1
-        or a_1 == b_2
-        or a_1 == b_3
-        or a_2 == b_1
-        or a_2 == b_2
-        or a_2 == b_3
-        or a_3 == b_1
-        or a_3 == b_2
-        or a_3 == b_3
-    )
-
-    return tri_is_neighbor
-
-
-@wp.func
-def vertex_adjacent_to_triangle(v: wp.int32, a: wp.int32, b: wp.int32, c: wp.int32):
-    return v == a or v == b or v == c
-
-
-@wp.kernel
-def init_triangle_collision_data_kernel(
-    query_radius: float,
-    # outputs
-    triangle_colliding_vertices_count: wp.array(dtype=wp.int32),
-    triangle_colliding_vertices_min_dist: wp.array(dtype=float),
-    resize_flags: wp.array(dtype=wp.int32),
-):
-    tri_index = wp.tid()
-
-    triangle_colliding_vertices_count[tri_index] = 0
-    triangle_colliding_vertices_min_dist[tri_index] = query_radius
-
-    if tri_index == 0:
-        for i in range(3):
-            resize_flags[i] = 0
-
-
-@wp.kernel
-def vertex_triangle_collision_detection_kernel(
-    query_radius: float,
-    bvh_id: wp.uint64,
-    pos: wp.array(dtype=wp.vec3),
-    tri_indices: wp.array(dtype=wp.int32, ndim=2),
-    vertex_colliding_triangles_offsets: wp.array(dtype=wp.int32),
-    vertex_colliding_triangles_buffer_sizes: wp.array(dtype=wp.int32),
-    triangle_colliding_vertices_offsets: wp.array(dtype=wp.int32),
-    triangle_colliding_vertices_buffer_sizes: wp.array(dtype=wp.int32),
-    # outputs
-    vertex_colliding_triangles: wp.array(dtype=wp.int32),
-    vertex_colliding_triangles_count: wp.array(dtype=wp.int32),
-    vertex_colliding_triangles_min_dist: wp.array(dtype=float),
-    triangle_colliding_vertices: wp.array(dtype=wp.int32),
-    triangle_colliding_vertices_count: wp.array(dtype=wp.int32),
-    triangle_colliding_vertices_min_dist: wp.array(dtype=float),
-    resize_flags: wp.array(dtype=wp.int32),
-):
-    """
-    This function applies discrete collision detection between vertices and triangles. It uses pre-allocated spaces to
-    record the collision data. This collision detector works both ways, i.e., it records vertices' colliding triangles to
-    `vertex_colliding_triangles`, and records each triangles colliding vertices to `triangle_colliding_vertices`.
-
-    This function assumes that all the vertices are on triangles, and can be indexed from the pos argument.
-
-    Note:
-
-        The collision date buffer is pre-allocated and cannot be changed during collision detection, therefore, the space
-        may not be enough. If the space is not enough to record all the collision information, the function will set a
-        certain element in resized_flag to be true. The user can reallocate the buffer based on vertex_colliding_triangles_count
-        and vertex_colliding_triangles_count.
-
-    Attributes:
-        bvh_id (int): the bvh id you want to collide with
-        query_radius (float): the contact radius. vertex-triangle pairs whose distance are less than this will get detected
-        pos (array): positions of all the vertices that make up triangles
-        vertex_colliding_triangles (array): flattened buffer of vertices' collision triangles
-        vertex_colliding_triangles_count (array): number of triangles each vertex collides
-        vertex_colliding_triangles_offsets (array): where each vertex' collision buffer starts
-        vertex_colliding_triangles_buffer_sizes (array): size of each vertex' collision buffer, will be modified if resizing is needed
-        vertex_colliding_triangles_min_dist (array): each vertex' min distance to all (non-neighbor) triangles
-        triangle_colliding_vertices (array): positions of all the triangles' collision vertices, every two elements
-            records the vertex index and a triangle index it collides to
-        triangle_colliding_vertices_count (array): number of triangles each vertex collides
-        triangle_colliding_vertices_offsets (array): where each triangle's collision buffer starts
-        triangle_colliding_vertices_buffer_sizes (array): size of each triangle's collision buffer, will be modified if resizing is needed
-        triangle_colliding_vertices_min_dist (array): each triangle's min distance to all (non-self) vertices
-        resized_flag (array): size == 3, (vertex_buffer_resize_required, triangle_buffer_resize_required, edge_buffer_resize_required)
-    """
-
-    v_index = wp.tid()
-    v = pos[v_index]
-    vertex_buffer_offset = vertex_colliding_triangles_offsets[v_index]
-    vertex_buffer_size = vertex_colliding_triangles_offsets[v_index + 1] - vertex_buffer_offset
-
-    lower = wp.vec3(v[0] - query_radius, v[1] - query_radius, v[2] - query_radius)
-    upper = wp.vec3(v[0] + query_radius, v[1] + query_radius, v[2] + query_radius)
-
-    query = wp.bvh_query_aabb(bvh_id, lower, upper)
-
-    tri_index = wp.int32(0)
-    vertex_num_collisions = wp.int32(0)
-    min_dis_to_tris = query_radius
-    while wp.bvh_query_next(query, tri_index):
-        t1 = tri_indices[tri_index, 0]
-        t2 = tri_indices[tri_index, 1]
-        t3 = tri_indices[tri_index, 2]
-        if vertex_adjacent_to_triangle(v_index, t1, t2, t3):
-            continue
-
-        u1 = pos[t1]
-        u2 = pos[t2]
-        u3 = pos[t3]
-
-        closest_p, bary, feature_type = triangle_closest_point(u1, u2, u3, v)
-
-        dist = wp.length(closest_p - v)
-
-        if dist < query_radius:
-            # record v-f collision to vertex
-            min_dis_to_tris = wp.min(min_dis_to_tris, dist)
-            if vertex_num_collisions < vertex_buffer_size:
-                vertex_colliding_triangles[2 * (vertex_buffer_offset + vertex_num_collisions)] = v_index
-                vertex_colliding_triangles[2 * (vertex_buffer_offset + vertex_num_collisions) + 1] = tri_index
-            else:
-                resize_flags[VERTEX_COLLISION_BUFFER_OVERFLOW_INDEX] = 1
-
-            vertex_num_collisions = vertex_num_collisions + 1
-
-            wp.atomic_min(triangle_colliding_vertices_min_dist, tri_index, dist)
-            tri_buffer_size = triangle_colliding_vertices_buffer_sizes[tri_index]
-            tri_num_collisions = wp.atomic_add(triangle_colliding_vertices_count, tri_index, 1)
-
-            if tri_num_collisions < tri_buffer_size:
-                tri_buffer_offset = triangle_colliding_vertices_offsets[tri_index]
-                # record v-f collision to triangle
-                triangle_colliding_vertices[tri_buffer_offset + tri_num_collisions] = v_index
-            else:
-                resize_flags[TRI_COLLISION_BUFFER_OVERFLOW_INDEX] = 1
-
-    vertex_colliding_triangles_count[v_index] = vertex_num_collisions
-    vertex_colliding_triangles_min_dist[v_index] = min_dis_to_tris
-
-
-@wp.kernel
-def vertex_triangle_collision_detection_no_triangle_buffers_kernel(
-    query_radius: float,
-    bvh_id: wp.uint64,
-    pos: wp.array(dtype=wp.vec3),
-    tri_indices: wp.array(dtype=wp.int32, ndim=2),
-    vertex_colliding_triangles_offsets: wp.array(dtype=wp.int32),
-    vertex_colliding_triangles_buffer_sizes: wp.array(dtype=wp.int32),
-    # outputs
-    vertex_colliding_triangles: wp.array(dtype=wp.int32),
-    vertex_colliding_triangles_count: wp.array(dtype=wp.int32),
-    vertex_colliding_triangles_min_dist: wp.array(dtype=float),
-    triangle_colliding_vertices_min_dist: wp.array(dtype=float),
-    resize_flags: wp.array(dtype=wp.int32),
-):
-    """
-    This function applies discrete collision detection between vertices and triangles. It uses pre-allocated spaces to
-    record the collision data. Unlike `vertex_triangle_collision_detection_kernel`, this collision detection kernel
-    works only in one way, i.e., it only records vertices' colliding triangles to `vertex_colliding_triangles`.
-
-    This function assumes that all the vertices are on triangles, and can be indexed from the pos argument.
-
-    Note:
-
-        The collision date buffer is pre-allocated and cannot be changed during collision detection, therefore, the space
-        may not be enough. If the space is not enough to record all the collision information, the function will set a
-        certain element in resized_flag to be true. The user can reallocate the buffer based on vertex_colliding_triangles_count
-        and vertex_colliding_triangles_count.
-
-    Attributes:
-        bvh_id (int): the bvh id you want to collide with
-        query_radius (float): the contact radius. vertex-triangle pairs whose distance are less than this will get detected
-        pos (array): positions of all the vertices that make up triangles
-        vertex_colliding_triangles (array): flattened buffer of vertices' collision triangles, every two elements records
-            the vertex index and a triangle index it collides to
-        vertex_colliding_triangles_count (array): number of triangles each vertex collides
-        vertex_colliding_triangles_offsets (array): where each vertex' collision buffer starts
-        vertex_colliding_triangles_buffer_sizes (array): size of each vertex' collision buffer, will be modified if resizing is needed
-        vertex_colliding_triangles_min_dist (array): each vertex' min distance to all (non-neighbor) triangles
-        triangle_colliding_vertices_min_dist (array): each triangle's min distance to all (non-self) vertices
-        resized_flag (array): size == 3, (vertex_buffer_resize_required, triangle_buffer_resize_required, edge_buffer_resize_required)
-    """
-
-    v_index = wp.tid()
-    v = pos[v_index]
-    vertex_buffer_offset = vertex_colliding_triangles_offsets[v_index]
-    vertex_buffer_size = vertex_colliding_triangles_offsets[v_index + 1] - vertex_buffer_offset
-
-    lower = wp.vec3(v[0] - query_radius, v[1] - query_radius, v[2] - query_radius)
-    upper = wp.vec3(v[0] + query_radius, v[1] + query_radius, v[2] + query_radius)
-
-    query = wp.bvh_query_aabb(bvh_id, lower, upper)
-
-    tri_index = wp.int32(0)
-    vertex_num_collisions = wp.int32(0)
-    min_dis_to_tris = query_radius
-    while wp.bvh_query_next(query, tri_index):
-        t1 = tri_indices[tri_index, 0]
-        t2 = tri_indices[tri_index, 1]
-        t3 = tri_indices[tri_index, 2]
-        if vertex_adjacent_to_triangle(v_index, t1, t2, t3):
-            continue
-
-        u1 = pos[t1]
-        u2 = pos[t2]
-        u3 = pos[t3]
-
-        closest_p, bary, feature_type = triangle_closest_point(u1, u2, u3, v)
-
-        dist = wp.length(closest_p - v)
-
-        if dist < query_radius:
-            # record v-f collision to vertex
-            min_dis_to_tris = wp.min(min_dis_to_tris, dist)
-            if vertex_num_collisions < vertex_buffer_size:
-                vertex_colliding_triangles[2 * (vertex_buffer_offset + vertex_num_collisions)] = v_index
-                vertex_colliding_triangles[2 * (vertex_buffer_offset + vertex_num_collisions) + 1] = tri_index
-            else:
-                resize_flags[VERTEX_COLLISION_BUFFER_OVERFLOW_INDEX] = 1
-
-            vertex_num_collisions = vertex_num_collisions + 1
-
-            wp.atomic_min(triangle_colliding_vertices_min_dist, tri_index, dist)
-
-    vertex_colliding_triangles_count[v_index] = vertex_num_collisions
-    vertex_colliding_triangles_min_dist[v_index] = min_dis_to_tris
-
-
-@wp.kernel
-def edge_colliding_edges_detection_kernel(
-    query_radius: float,
-    bvh_id: wp.uint64,
-    pos: wp.array(dtype=wp.vec3),
-    edge_indices: wp.array(dtype=wp.int32, ndim=2),
-    edge_colliding_edges_offsets: wp.array(dtype=wp.int32),
-    edge_colliding_edges_buffer_sizes: wp.array(dtype=wp.int32),
-    edge_edge_parallel_epsilon: float,
-    # outputs
-    edge_colliding_edges: wp.array(dtype=wp.int32),
-    edge_colliding_edges_count: wp.array(dtype=wp.int32),
-    edge_colliding_edges_min_dist: wp.array(dtype=float),
-    resize_flags: wp.array(dtype=wp.int32),
-):
-    """
-    bvh_id (int): the bvh id you want to do collision detection on
-    query_radius (float):
-    pos (array): positions of all the vertices that make up edges
-    edge_colliding_triangles (array): flattened buffer of edges' collision edges
-    edge_colliding_edges_count (array): number of edges each edge collides
-    edge_colliding_triangles_offsets (array): where each edge's collision buffer starts
-    edge_colliding_triangles_buffer_size (array): size of each edge's collision buffer, will be modified if resizing is needed
-    edge_min_dis_to_triangles (array): each vertex' min distance to all (non-neighbor) triangles
-    resized_flag (array): size == 3, (vertex_buffer_resize_required, triangle_buffer_resize_required, edge_buffer_resize_required)
-    """
-    e_index = wp.tid()
-
-    e0_v0 = edge_indices[e_index, 2]
-    e0_v1 = edge_indices[e_index, 3]
-
-    e0_v0_pos = pos[e0_v0]
-    e0_v1_pos = pos[e0_v1]
-
-    lower = wp.min(e0_v0_pos, e0_v1_pos)
-    upper = wp.max(e0_v0_pos, e0_v1_pos)
-
-    lower = wp.vec3(lower[0] - query_radius, lower[1] - query_radius, lower[2] - query_radius)
-    upper = wp.vec3(upper[0] + query_radius, upper[1] + query_radius, upper[2] + query_radius)
-
-    query = wp.bvh_query_aabb(bvh_id, lower, upper)
-
-    colliding_edge_index = wp.int32(0)
-    edge_num_collisions = wp.int32(0)
-    min_dis_to_edges = query_radius
-    while wp.bvh_query_next(query, colliding_edge_index):
-        e1_v0 = edge_indices[colliding_edge_index, 2]
-        e1_v1 = edge_indices[colliding_edge_index, 3]
-
-        if e0_v0 == e1_v0 or e0_v0 == e1_v1 or e0_v1 == e1_v0 or e0_v1 == e1_v1:
-            continue
-
-        e1_v0_pos = pos[e1_v0]
-        e1_v1_pos = pos[e1_v1]
-
-        st = wp.closest_point_edge_edge(e0_v0_pos, e0_v1_pos, e1_v0_pos, e1_v1_pos, edge_edge_parallel_epsilon)
-        s = st[0]
-        t = st[1]
-        c1 = e0_v0_pos + (e0_v1_pos - e0_v0_pos) * s
-        c2 = e1_v0_pos + (e1_v1_pos - e1_v0_pos) * t
-
-        dist = wp.length(c1 - c2)
-        if dist < query_radius:
-            edge_buffer_offset = edge_colliding_edges_offsets[e_index]
-            edge_buffer_size = edge_colliding_edges_offsets[e_index + 1] - edge_buffer_offset
-
-            # record e-e collision to e0, and leave e1; e1 will detect this collision from its own thread
-            min_dis_to_edges = wp.min(min_dis_to_edges, dist)
-            if edge_num_collisions < edge_buffer_size:
-                edge_colliding_edges[2 * (edge_buffer_offset + edge_num_collisions)] = e_index
-                edge_colliding_edges[2 * (edge_buffer_offset + edge_num_collisions) + 1] = colliding_edge_index
-            else:
-                resize_flags[EDGE_COLLISION_BUFFER_OVERFLOW_INDEX] = 1
-
-            edge_num_collisions = edge_num_collisions + 1
-
-    edge_colliding_edges_count[e_index] = edge_num_collisions
-    edge_colliding_edges_min_dist[e_index] = min_dis_to_edges
-
-
-@wp.kernel
-def triangle_triangle_collision_detection_kernel(
-    bvh_id: wp.uint64,
-    pos: wp.array(dtype=wp.vec3),
-    tri_indices: wp.array(dtype=wp.int32, ndim=2),
-    triangle_intersecting_triangles_offsets: wp.array(dtype=wp.int32),
-    # outputs
-    triangle_intersecting_triangles: wp.array(dtype=wp.int32),
-    triangle_intersecting_triangles_count: wp.array(dtype=wp.int32),
-    resize_flags: wp.array(dtype=wp.int32),
-):
-    tri_index = wp.tid()
-    t1_v1 = tri_indices[tri_index, 0]
-    t1_v2 = tri_indices[tri_index, 1]
-    t1_v3 = tri_indices[tri_index, 2]
-
-    v1 = pos[t1_v1]
-    v2 = pos[t1_v2]
-    v3 = pos[t1_v3]
-
-    lower, upper = compute_tri_aabb(v1, v2, v3)
-
-    buffer_offset = triangle_intersecting_triangles_offsets[tri_index]
-    buffer_size = triangle_intersecting_triangles_offsets[tri_index + 1] - buffer_offset
-
-    query = wp.bvh_query_aabb(bvh_id, lower, upper)
-    tri_index_2 = wp.int32(0)
-    intersection_count = wp.int32(0)
-    while wp.bvh_query_next(query, tri_index_2):
-        t2_v1 = tri_indices[tri_index_2, 0]
-        t2_v2 = tri_indices[tri_index_2, 1]
-        t2_v3 = tri_indices[tri_index_2, 2]
-
-        # filter out intersection test with neighbor triangles
-        if (
-            vertex_adjacent_to_triangle(t1_v1, t2_v1, t2_v2, t2_v3)
-            or vertex_adjacent_to_triangle(t1_v2, t2_v1, t2_v2, t2_v3)
-            or vertex_adjacent_to_triangle(t1_v3, t2_v1, t2_v2, t2_v3)
-        ):
-            continue
-
-        u1 = pos[t2_v1]
-        u2 = pos[t2_v2]
-        u3 = pos[t2_v3]
-
-        if wp.intersect_tri_tri(v1, v2, v3, u1, u2, u3):
-            if intersection_count < buffer_size:
-                triangle_intersecting_triangles[buffer_offset + intersection_count] = tri_index_2
-            else:
-                resize_flags[TRI_TRI_COLLISION_BUFFER_OVERFLOW_INDEX] = 1
-            intersection_count = intersection_count + 1
-
-    triangle_intersecting_triangles_count[tri_index] = intersection_count
-
-
-@wp.struct
-class TriMeshCollisionInfo:
-    vertex_indices: wp.array(dtype=wp.int32)
-    # size: 2 x sum(vertex_colliding_triangles_buffer_sizes)
-    # every two elements records the vertex index and a triangle index it collides to
-    vertex_colliding_triangles: wp.array(dtype=wp.int32)
-    vertex_colliding_triangles_offsets: wp.array(dtype=wp.int32)
-    vertex_colliding_triangles_buffer_sizes: wp.array(dtype=wp.int32)
-    vertex_colliding_triangles_count: wp.array(dtype=wp.int32)
-    vertex_colliding_triangles_min_dist: wp.array(dtype=float)
-
-    triangle_colliding_vertices: wp.array(dtype=wp.int32)
-    triangle_colliding_vertices_offsets: wp.array(dtype=wp.int32)
-    triangle_colliding_vertices_buffer_sizes: wp.array(dtype=wp.int32)
-    triangle_colliding_vertices_count: wp.array(dtype=wp.int32)
-    triangle_colliding_vertices_min_dist: wp.array(dtype=float)
-
-    # size: 2 x sum(edge_colliding_edges_buffer_sizes)
-    # every two elements records the edge index and an edge index it collides to
-    edge_colliding_edges: wp.array(dtype=wp.int32)
-    edge_colliding_edges_offsets: wp.array(dtype=wp.int32)
-    edge_colliding_edges_buffer_sizes: wp.array(dtype=wp.int32)
-    edge_colliding_edges_count: wp.array(dtype=wp.int32)
-    edge_colliding_edges_min_dist: wp.array(dtype=float)
-
-
-@wp.func
-def get_vertex_colliding_triangles_count(col_info: TriMeshCollisionInfo, v: int):
-    return wp.min(col_info.vertex_colliding_triangles_count[v], col_info.vertex_colliding_triangles_buffer_sizes[v])
-
-
-@wp.func
-def get_vertex_colliding_triangles(col_info: TriMeshCollisionInfo, v: int, i_collision: int):
-    offset = col_info.vertex_colliding_triangles_offsets[v]
-    return col_info.vertex_colliding_triangles[2 * (offset + i_collision) + 1]
-
-
-@wp.func
-def get_vertex_collision_buffer_vertex_index(col_info: TriMeshCollisionInfo, v: int, i_collision: int):
-    offset = col_info.vertex_colliding_triangles_offsets[v]
-    return col_info.vertex_colliding_triangles[2 * (offset + i_collision)]
-
-
-@wp.func
-def get_triangle_colliding_vertices_count(col_info: TriMeshCollisionInfo, tri: int):
-    return wp.min(
-        col_info.triangle_colliding_vertices_count[tri], col_info.triangle_colliding_vertices_buffer_sizes[tri]
-    )
-
-
-@wp.func
-def get_triangle_colliding_vertices(col_info: TriMeshCollisionInfo, tri: int, i_collision: int):
-    offset = col_info.triangle_colliding_vertices_offsets[tri]
-    return col_info.triangle_colliding_vertices[offset + i_collision]
-
-
-@wp.func
-def get_edge_colliding_edges_count(col_info: TriMeshCollisionInfo, e: int):
-    return wp.min(col_info.edge_colliding_edges_count[e], col_info.edge_colliding_edges_buffer_sizes[e])
-
-
-@wp.func
-def get_edge_colliding_edges(col_info: TriMeshCollisionInfo, e: int, i_collision: int):
-    offset = col_info.edge_colliding_edges_offsets[e]
-    return col_info.edge_colliding_edges[2 * (offset + i_collision) + 1]
-
-
-@wp.func
-def get_edge_collision_buffer_edge_index(col_info: TriMeshCollisionInfo, e: int, i_collision: int):
-    offset = col_info.edge_colliding_edges_offsets[e]
-    return col_info.edge_colliding_edges[2 * (offset + i_collision)]
-
-
-class TriMeshCollisionDetector:
-    def __init__(
-        self,
-        model: Model,
-        record_triangle_contacting_vertices=False,
-        vertex_positions=None,
-        vertex_collision_buffer_pre_alloc=8,
-        vertex_collision_buffer_max_alloc=256,
-        triangle_collision_buffer_pre_alloc=16,
-        triangle_collision_buffer_max_alloc=256,
-        edge_collision_buffer_pre_alloc=8,
-        edge_collision_buffer_max_alloc=256,
-        triangle_triangle_collision_buffer_pre_alloc=8,
-        triangle_triangle_collision_buffer_max_alloc=256,
-        edge_edge_parallel_epsilon=1e-5,
-    ):
-        self.model = model
-        self.record_triangle_contacting_vertices = record_triangle_contacting_vertices
-        self.vertex_positions = model.particle_q if vertex_positions is None else vertex_positions
-        self.device = model.device
-        self.vertex_collision_buffer_pre_alloc = vertex_collision_buffer_pre_alloc
-        self.vertex_collision_buffer_max_alloc = vertex_collision_buffer_max_alloc
-        self.triangle_collision_buffer_pre_alloc = triangle_collision_buffer_pre_alloc
-        self.triangle_collision_buffer_max_alloc = triangle_collision_buffer_max_alloc
-        self.edge_collision_buffer_pre_alloc = edge_collision_buffer_pre_alloc
-        self.edge_collision_buffer_max_alloc = edge_collision_buffer_max_alloc
-        self.triangle_triangle_collision_buffer_pre_alloc = triangle_triangle_collision_buffer_pre_alloc
-        self.triangle_triangle_collision_buffer_max_alloc = triangle_triangle_collision_buffer_max_alloc
-
-        self.edge_edge_parallel_epsilon = edge_edge_parallel_epsilon
-
-        self.lower_bounds_tris = wp.array(shape=(model.tri_count,), dtype=wp.vec3, device=model.device)
-        self.upper_bounds_tris = wp.array(shape=(model.tri_count,), dtype=wp.vec3, device=model.device)
-        wp.launch(
-            kernel=compute_tri_aabbs,
-            inputs=[self.vertex_positions, model.tri_indices, self.lower_bounds_tris, self.upper_bounds_tris],
-            dim=model.tri_count,
-            device=model.device,
-        )
-
-        self.bvh_tris = wp.Bvh(self.lower_bounds_tris, self.upper_bounds_tris)
-
-        # collision detections results
-
-        # vertex collision buffers
-        self.vertex_colliding_triangles = wp.zeros(
-            shape=(2 * model.particle_count * self.vertex_collision_buffer_pre_alloc,),
-            dtype=wp.int32,
-            device=self.device,
-        )
-        self.vertex_colliding_triangles_count = wp.array(
-            shape=(model.particle_count,), dtype=wp.int32, device=self.device
-        )
-        self.vertex_colliding_triangles_min_dist = wp.array(
-            shape=(model.particle_count,), dtype=float, device=self.device
-        )
-        self.vertex_colliding_triangles_buffer_sizes = wp.full(
-            shape=(model.particle_count,),
-            value=self.vertex_collision_buffer_pre_alloc,
-            dtype=wp.int32,
-            device=self.device,
-        )
-        self.vertex_colliding_triangles_offsets = wp.array(
-            shape=(model.particle_count + 1,), dtype=wp.int32, device=self.device
-        )
-        self.compute_collision_buffer_offsets(
-            self.vertex_colliding_triangles_buffer_sizes, self.vertex_colliding_triangles_offsets
-        )
-
-        if record_triangle_contacting_vertices:
-            # triangle collision buffers
-            self.triangle_colliding_vertices = wp.zeros(
-                shape=(model.tri_count * self.triangle_collision_buffer_pre_alloc,), dtype=wp.int32, device=self.device
-            )
-            self.triangle_colliding_vertices_count = wp.zeros(
-                shape=(model.tri_count,), dtype=wp.int32, device=self.device
-            )
-            self.triangle_colliding_vertices_buffer_sizes = wp.full(
-                shape=(model.tri_count,),
-                value=self.triangle_collision_buffer_pre_alloc,
-                dtype=wp.int32,
-                device=self.device,
-            )
-
-            self.triangle_colliding_vertices_offsets = wp.array(
-                shape=(model.tri_count + 1,), dtype=wp.int32, device=self.device
-            )
-            self.compute_collision_buffer_offsets(
-                self.triangle_colliding_vertices_buffer_sizes, self.triangle_colliding_vertices_offsets
-            )
-        else:
-            self.triangle_colliding_vertices = None
-            self.triangle_colliding_vertices_count = None
-            self.triangle_colliding_vertices_buffer_sizes = None
-            self.triangle_colliding_vertices_offsets = None
-
-        # this is need regardless of whether we record triangle contacting vertices
-        self.triangle_colliding_vertices_min_dist = wp.array(shape=(model.tri_count,), dtype=float, device=self.device)
-
-        # edge collision buffers
-        self.edge_colliding_edges = wp.zeros(
-            shape=(2 * model.edge_count * self.edge_collision_buffer_pre_alloc,), dtype=wp.int32, device=self.device
-        )
-        self.edge_colliding_edges_count = wp.zeros(shape=(model.edge_count,), dtype=wp.int32, device=self.device)
-        self.edge_colliding_edges_buffer_sizes = wp.full(
-            shape=(model.edge_count,),
-            value=self.edge_collision_buffer_pre_alloc,
-            dtype=wp.int32,
-            device=self.device,
-        )
-        self.edge_colliding_edges_offsets = wp.array(shape=(model.edge_count + 1,), dtype=wp.int32, device=self.device)
-        self.compute_collision_buffer_offsets(self.edge_colliding_edges_buffer_sizes, self.edge_colliding_edges_offsets)
-        self.edge_colliding_edges_min_dist = wp.array(shape=(model.edge_count,), dtype=float, device=self.device)
-
-        self.lower_bounds_edges = wp.array(shape=(model.edge_count,), dtype=wp.vec3, device=model.device)
-        self.upper_bounds_edges = wp.array(shape=(model.edge_count,), dtype=wp.vec3, device=model.device)
-        wp.launch(
-            kernel=compute_edge_aabbs,
-            inputs=[self.vertex_positions, model.edge_indices, self.lower_bounds_edges, self.upper_bounds_edges],
-            dim=model.edge_count,
-            device=model.device,
-        )
-
-        self.bvh_edges = wp.Bvh(self.lower_bounds_edges, self.upper_bounds_edges)
-
-        self.resize_flags = wp.zeros(shape=(4,), dtype=wp.int32, device=self.device)
-
-        self.collision_info = self.get_collision_data()
-
-        # data for triangle-triangle intersection; they will only be initialized on demand, as triangle-triangle intersection is not needed for simulation
-        self.triangle_intersecting_triangles = None
-        self.triangle_intersecting_triangles_count = None
-        self.triangle_intersecting_triangles_offsets = None
-
-    def get_collision_data(self):
-        collision_info = TriMeshCollisionInfo()
-
-        collision_info.vertex_colliding_triangles = self.vertex_colliding_triangles
-        collision_info.vertex_colliding_triangles_offsets = self.vertex_colliding_triangles_offsets
-        collision_info.vertex_colliding_triangles_buffer_sizes = self.vertex_colliding_triangles_buffer_sizes
-        collision_info.vertex_colliding_triangles_count = self.vertex_colliding_triangles_count
-        collision_info.vertex_colliding_triangles_min_dist = self.vertex_colliding_triangles_min_dist
-
-        if self.record_triangle_contacting_vertices:
-            collision_info.triangle_colliding_vertices = self.triangle_colliding_vertices
-            collision_info.triangle_colliding_vertices_offsets = self.triangle_colliding_vertices_offsets
-            collision_info.triangle_colliding_vertices_buffer_sizes = self.triangle_colliding_vertices_buffer_sizes
-            collision_info.triangle_colliding_vertices_count = self.triangle_colliding_vertices_count
-
-        collision_info.triangle_colliding_vertices_min_dist = self.triangle_colliding_vertices_min_dist
-
-        collision_info.edge_colliding_edges = self.edge_colliding_edges
-        collision_info.edge_colliding_edges_offsets = self.edge_colliding_edges_offsets
-        collision_info.edge_colliding_edges_buffer_sizes = self.edge_colliding_edges_buffer_sizes
-        collision_info.edge_colliding_edges_count = self.edge_colliding_edges_count
-        collision_info.edge_colliding_edges_min_dist = self.edge_colliding_edges_min_dist
-
-        return collision_info
-
-    def compute_collision_buffer_offsets(
-        self, buffer_sizes: wp.array(dtype=wp.int32), offsets: wp.array(dtype=wp.int32)
-    ):
-        assert offsets.size == buffer_sizes.size + 1
-        offsets_np = np.empty(shape=(offsets.size,), dtype=np.int32)
-        offsets_np[1:] = np.cumsum(buffer_sizes.numpy())[:]
-        offsets_np[0] = 0
-
-        offsets.assign(offsets_np)
-
-    def rebuild(self, new_pos=None):
-        if new_pos is not None:
-            self.vertex_positions = new_pos
-
-        wp.launch(
-            kernel=compute_tri_aabbs,
-            inputs=[
-                self.vertex_positions,
-                self.model.tri_indices,
-            ],
-            outputs=[self.lower_bounds_tris, self.upper_bounds_tris],
-            dim=self.model.tri_count,
-            device=self.model.device,
-        )
-        self.bvh_tris = wp.Bvh(self.lower_bounds_tris, self.upper_bounds_tris)
-
-        wp.launch(
-            kernel=compute_edge_aabbs,
-            inputs=[self.vertex_positions, self.model.edge_indices],
-            outputs=[self.lower_bounds_edges, self.upper_bounds_edges],
-            dim=self.model.edge_count,
-            device=self.model.device,
-        )
-        self.bvh_edges = wp.Bvh(self.lower_bounds_edges, self.upper_bounds_edges)
-
-    def refit(self, new_pos=None):
-        if new_pos is not None:
-            self.vertex_positions = new_pos
-
-        self.refit_triangles()
-        self.refit_edges()
-
-    def refit_triangles(self):
-        wp.launch(
-            kernel=compute_tri_aabbs,
-            inputs=[self.vertex_positions, self.model.tri_indices, self.lower_bounds_tris, self.upper_bounds_tris],
-            dim=self.model.tri_count,
-            device=self.model.device,
-        )
-        self.bvh_tris.refit()
-
-    def refit_edges(self):
-        wp.launch(
-            kernel=compute_edge_aabbs,
-            inputs=[self.vertex_positions, self.model.edge_indices, self.lower_bounds_edges, self.upper_bounds_edges],
-            dim=self.model.edge_count,
-            device=self.model.device,
-        )
-        self.bvh_edges.refit()
-
-    def vertex_triangle_collision_detection(self, query_radius):
-        self.vertex_colliding_triangles.fill_(-1)
-
-        if self.record_triangle_contacting_vertices:
-            wp.launch(
-                kernel=init_triangle_collision_data_kernel,
-                inputs=[
-                    query_radius,
-                ],
-                outputs=[
-                    self.triangle_colliding_vertices_count,
-                    self.triangle_colliding_vertices_min_dist,
-                    self.resize_flags,
-                ],
-                dim=self.model.tri_count,
-                device=self.model.device,
-            )
-
-            wp.launch(
-                kernel=vertex_triangle_collision_detection_kernel,
-                inputs=[
-                    query_radius,
-                    self.bvh_tris.id,
-                    self.vertex_positions,
-                    self.model.tri_indices,
-                    self.vertex_colliding_triangles_offsets,
-                    self.vertex_colliding_triangles_buffer_sizes,
-                    self.triangle_colliding_vertices_offsets,
-                    self.triangle_colliding_vertices_buffer_sizes,
-                ],
-                outputs=[
-                    self.vertex_colliding_triangles,
-                    self.vertex_colliding_triangles_count,
-                    self.vertex_colliding_triangles_min_dist,
-                    self.triangle_colliding_vertices,
-                    self.triangle_colliding_vertices_count,
-                    self.triangle_colliding_vertices_min_dist,
-                    self.resize_flags,
-                ],
-                dim=self.model.particle_count,
-                device=self.model.device,
-            )
-        else:
-            self.triangle_colliding_vertices_min_dist.fill_(query_radius)
-            wp.launch(
-                kernel=vertex_triangle_collision_detection_no_triangle_buffers_kernel,
-                inputs=[
-                    query_radius,
-                    self.bvh_tris.id,
-                    self.vertex_positions,
-                    self.model.tri_indices,
-                    self.vertex_colliding_triangles_offsets,
-                    self.vertex_colliding_triangles_buffer_sizes,
-                ],
-                outputs=[
-                    self.vertex_colliding_triangles,
-                    self.vertex_colliding_triangles_count,
-                    self.vertex_colliding_triangles_min_dist,
-                    self.triangle_colliding_vertices_min_dist,
-                    self.resize_flags,
-                ],
-                dim=self.model.particle_count,
-                device=self.model.device,
-            )
-
-    def edge_edge_collision_detection(self, query_radius):
-        self.edge_colliding_edges.fill_(-1)
-        wp.launch(
-            kernel=edge_colliding_edges_detection_kernel,
-            inputs=[
-                query_radius,
-                self.bvh_edges.id,
-                self.vertex_positions,
-                self.model.edge_indices,
-                self.edge_colliding_edges_offsets,
-                self.edge_colliding_edges_buffer_sizes,
-                self.edge_edge_parallel_epsilon,
-            ],
-            outputs=[
-                self.edge_colliding_edges,
-                self.edge_colliding_edges_count,
-                self.edge_colliding_edges_min_dist,
-                self.resize_flags,
-            ],
-            dim=self.model.edge_count,
-            device=self.model.device,
-        )
-
-    def triangle_triangle_intersection_detection(self):
-        if self.triangle_intersecting_triangles is None:
-            self.triangle_intersecting_triangles = wp.zeros(
-                shape=(self.model.tri_count * self.triangle_triangle_collision_buffer_pre_alloc,),
-                dtype=wp.int32,
-                device=self.device,
-            )
-
-        if self.triangle_intersecting_triangles_count is None:
-            self.triangle_intersecting_triangles_count = wp.array(
-                shape=(self.model.tri_count,), dtype=wp.int32, device=self.device
-            )
-
-        if self.triangle_intersecting_triangles_offsets is None:
-            buffer_sizes = np.full((self.model.tri_count,), self.triangle_triangle_collision_buffer_pre_alloc)
-            offsets = np.zeros((self.model.tri_count + 1,), dtype=np.int32)
-            offsets[1:] = np.cumsum(buffer_sizes)
-
-            self.triangle_intersecting_triangles_offsets = wp.array(offsets, dtype=wp.int32, device=self.device)
-
-        wp.launch(
-            kernel=triangle_triangle_collision_detection_kernel,
-            inputs=[
-                self.bvh_tris.id,
-                self.vertex_positions,
-                self.model.tri_indices,
-                self.triangle_intersecting_triangles_offsets,
-            ],
-            outputs=[
-                self.triangle_intersecting_triangles,
-                self.triangle_intersecting_triangles_count,
-                self.resize_flags,
-            ],
-            dim=self.model.tri_count,
-            device=self.model.device,
-        )