warp-lang 1.9.1__py3-none-manylinux_2_34_aarch64.whl → 1.10.0rc2__py3-none-manylinux_2_34_aarch64.whl

warp/tests/sim/test_collision.py

@@ -1,743 +0,0 @@
-# SPDX-FileCopyrightText: Copyright (c) 2024 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.
-
-import unittest
-
-import warp as wp
-import warp.examples
-import warp.sim
-from warp.sim.collide import (
-    TriMeshCollisionDetector,
-    init_triangle_collision_data_kernel,
-    triangle_closest_point,
-    vertex_adjacent_to_triangle,
-)
-from warp.sim.integrator_euler import eval_triangles_contact
-from warp.tests.unittest_utils import *
-
-
-@wp.kernel
-def vertex_triangle_collision_detection_brute_force(
-    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: wp.array(dtype=wp.int32),
-    vertex_colliding_triangles_count: wp.array(dtype=wp.int32),
-    vertex_colliding_triangles_offsets: wp.array(dtype=wp.int32),
-    vertex_colliding_triangles_buffer_size: 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_buffer_offsets: wp.array(dtype=wp.int32),
-    triangle_colliding_vertices_buffer_sizes: wp.array(dtype=wp.int32),
-    triangle_colliding_vertices_min_dist: wp.array(dtype=float),
-    resize_flags: wp.array(dtype=wp.int32),
-):
-    v_index = wp.tid()
-    v = pos[v_index]
-
-    vertex_num_collisions = wp.int32(0)
-    min_dis_to_tris = query_radius
-    for tri_index in range(tri_indices.shape[0]):
-        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)
-
-        dis = wp.length(closest_p - v)
-
-        if dis < query_radius:
-            vertex_num_collisions = vertex_num_collisions + 1
-            min_dis_to_tris = wp.min(dis, min_dis_to_tris)
-
-            wp.atomic_add(triangle_colliding_vertices_count, tri_index, 1)
-            wp.atomic_min(triangle_colliding_vertices_min_dist, tri_index, dis)
-
-    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_brute_force_no_triangle_buffers(
-    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: wp.array(dtype=wp.int32),
-    vertex_colliding_triangles_count: wp.array(dtype=wp.int32),
-    vertex_colliding_triangles_offsets: wp.array(dtype=wp.int32),
-    vertex_colliding_triangles_buffer_size: 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),
-):
-    v_index = wp.tid()
-    v = pos[v_index]
-
-    vertex_num_collisions = wp.int32(0)
-    min_dis_to_tris = query_radius
-    for tri_index in range(tri_indices.shape[0]):
-        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)
-
-        dis = wp.length(closest_p - v)
-
-        if dis < query_radius:
-            vertex_num_collisions = vertex_num_collisions + 1
-            min_dis_to_tris = wp.min(dis, min_dis_to_tris)
-
-            wp.atomic_min(triangle_colliding_vertices_min_dist, tri_index, dis)
-
-    vertex_colliding_triangles_count[v_index] = vertex_num_collisions
-    vertex_colliding_triangles_min_dist[v_index] = min_dis_to_tris
-
-
-@wp.kernel
-def validate_vertex_collisions(
-    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: wp.array(dtype=wp.int32),
-    vertex_colliding_triangles_count: wp.array(dtype=wp.int32),
-    vertex_colliding_triangles_offsets: wp.array(dtype=wp.int32),
-    vertex_colliding_triangles_buffer_size: wp.array(dtype=wp.int32),
-    vertex_colliding_triangles_min_dist: wp.array(dtype=float),
-    resize_flags: wp.array(dtype=wp.int32),
-):
-    v_index = wp.tid()
-    v = pos[v_index]
-
-    num_cols = vertex_colliding_triangles_count[v_index]
-    offset = vertex_colliding_triangles_offsets[v_index]
-    min_dis = vertex_colliding_triangles_min_dist[v_index]
-    for col in range(vertex_colliding_triangles_buffer_size[v_index]):
-        vertex_index = vertex_colliding_triangles[2 * (offset + col)]
-        tri_index = vertex_colliding_triangles[2 * (offset + col) + 1]
-        if col < num_cols:
-            t1 = tri_indices[tri_index, 0]
-            t2 = tri_indices[tri_index, 1]
-            t3 = tri_indices[tri_index, 2]
-            # wp.expect_eq(vertex_on_triangle(v_index, t1, t2, t3), False)
-
-            u1 = pos[t1]
-            u2 = pos[t2]
-            u3 = pos[t3]
-
-            closest_p, bary, feature_type = triangle_closest_point(u1, u2, u3, v)
-            dis = wp.length(closest_p - v)
-            wp.expect_eq(dis < query_radius, True)
-            wp.expect_eq(dis >= min_dis, True)
-            wp.expect_eq(v_index == vertex_colliding_triangles[2 * (offset + col)], True)
-
-            # wp.printf("vertex %d, offset %d, num cols %d, colliding with triangle: %d, dis: %f\n",
-            #           v_index, offset, num_cols, tri_index, dis)
-        else:
-            wp.expect_eq(vertex_index == -1, True)
-            wp.expect_eq(tri_index == -1, True)
-
-
-@wp.kernel
-def validate_triangle_collisions(
-    query_radius: float,
-    bvh_id: wp.uint64,
-    pos: wp.array(dtype=wp.vec3),
-    tri_indices: wp.array(dtype=wp.int32, ndim=2),
-    triangle_colliding_vertices: wp.array(dtype=wp.int32),
-    triangle_colliding_vertices_count: wp.array(dtype=wp.int32),
-    triangle_colliding_vertices_buffer_offsets: wp.array(dtype=wp.int32),
-    triangle_colliding_vertices_buffer_sizes: 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()
-
-    t1 = tri_indices[tri_index, 0]
-    t2 = tri_indices[tri_index, 1]
-    t3 = tri_indices[tri_index, 2]
-    # wp.expect_eq(vertex_on_triangle(v_index, t1, t2, t3), False)
-
-    u1 = pos[t1]
-    u2 = pos[t2]
-    u3 = pos[t3]
-
-    num_cols = triangle_colliding_vertices_count[tri_index]
-    offset = triangle_colliding_vertices_buffer_offsets[tri_index]
-    min_dis = triangle_colliding_vertices_min_dist[tri_index]
-    for col in range(wp.min(num_cols, triangle_colliding_vertices_buffer_sizes[tri_index])):
-        v_index = triangle_colliding_vertices[offset + col]
-        v = pos[v_index]
-
-        closest_p, bary, feature_type = triangle_closest_point(u1, u2, u3, v)
-        dis = wp.length(closest_p - v)
-        wp.expect_eq(dis < query_radius, True)
-        wp.expect_eq(dis >= min_dis, True)
-
-        # wp.printf("vertex %d, offset %d, num cols %d, colliding with triangle: %d, dis: %f\n",
-        #           v_index, offset, num_cols, tri_index, dis)
-
-
-@wp.kernel
-def edge_edge_collision_detection_brute_force(
-    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),
-):
-    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]
-
-    min_dis_to_edges = query_radius
-    edge_num_collisions = wp.int32(0)
-    for e1_index in range(edge_indices.shape[0]):
-        e1_v0 = edge_indices[e1_index, 2]
-        e1_v1 = edge_indices[e1_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[edge_buffer_offset + edge_num_collisions] = e1_index
-            else:
-                resize_flags[1] = 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 validate_edge_collisions(
-    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),
-):
-    e0_index = wp.tid()
-
-    e0_v0 = edge_indices[e0_index, 2]
-    e0_v1 = edge_indices[e0_index, 3]
-
-    e0_v0_pos = pos[e0_v0]
-    e0_v1_pos = pos[e0_v1]
-
-    num_cols = edge_colliding_edges_count[e0_index]
-    offset = edge_colliding_edges_offsets[e0_index]
-    min_dist = edge_colliding_edges_min_dist[e0_index]
-    for col in range(edge_colliding_edges_buffer_sizes[e0_index]):
-        e1_index = edge_colliding_edges[2 * (offset + col) + 1]
-
-        if col < num_cols:
-            e1_v0 = edge_indices[e1_index, 2]
-            e1_v1 = edge_indices[e1_index, 3]
-
-            if e0_v0 == e1_v0 or e0_v0 == e1_v1 or e0_v1 == e1_v0 or e0_v1 == e1_v1:
-                wp.expect_eq(False, True)
-
-            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(c2 - c1)
-
-            wp.expect_eq(dist >= min_dist, True)
-            wp.expect_eq(e0_index == edge_colliding_edges[2 * (offset + col)], True)
-        else:
-            wp.expect_eq(e1_index == -1, True)
-            wp.expect_eq(edge_colliding_edges[2 * (offset + col)] == -1, True)
-
-
-def init_model(vs, fs, device, record_triangle_contacting_vertices=True):
-    vertices = [wp.vec3(v) for v in vs]
-
-    builder = wp.sim.ModelBuilder()
-    builder.add_cloth_mesh(
-        pos=wp.vec3(0.0, 200.0, 0.0),
-        rot=wp.quat_from_axis_angle(wp.vec3(1.0, 0.0, 0.0), 0.0),
-        scale=1.0,
-        vertices=vertices,
-        indices=fs,
-        vel=wp.vec3(0.0, 0.0, 0.0),
-        density=0.02,
-        tri_ke=0,
-        tri_ka=0,
-        tri_kd=0,
-    )
-    model = builder.finalize(device=device)
-
-    collision_detector = TriMeshCollisionDetector(model=model, record_triangle_contacting_vertices=True)
-
-    return model, collision_detector
-
-
-def get_data():
-    from pxr import Usd, UsdGeom
-
-    usd_stage = Usd.Stage.Open(os.path.join(warp.examples.get_asset_directory(), "bunny.usd"))
-    usd_geom = UsdGeom.Mesh(usd_stage.GetPrimAtPath("/root/bunny"))
-
-    vertices = np.array(usd_geom.GetPointsAttr().Get())
-    faces = np.array(usd_geom.GetFaceVertexIndicesAttr().Get())
-
-    return vertices, faces
-
-
-@unittest.skipUnless(USD_AVAILABLE, "Requires usd-core")
-def test_vertex_triangle_collision(test, device):
-    vertices, faces = get_data()
-
-    # record triangle contacting vertices
-    model, collision_detector = init_model(vertices, faces, device, True)
-
-    rs = [1e-2, 2e-2, 5e-2, 1e-1]
-
-    for query_radius in rs:
-        collision_detector.vertex_triangle_collision_detection(query_radius)
-        vertex_colliding_triangles_count_1 = collision_detector.vertex_colliding_triangles_count.numpy()
-        vertex_min_dis_1 = collision_detector.vertex_colliding_triangles_min_dist.numpy()
-
-        triangle_colliding_vertices_count_1 = collision_detector.triangle_colliding_vertices_count.numpy()
-        triangle_min_dis_1 = collision_detector.triangle_colliding_vertices_min_dist.numpy()
-
-        wp.launch(
-            kernel=validate_vertex_collisions,
-            inputs=[
-                query_radius,
-                collision_detector.bvh_tris.id,
-                collision_detector.model.particle_q,
-                collision_detector.model.tri_indices,
-                collision_detector.vertex_colliding_triangles,
-                collision_detector.vertex_colliding_triangles_count,
-                collision_detector.vertex_colliding_triangles_offsets,
-                collision_detector.vertex_colliding_triangles_buffer_sizes,
-                collision_detector.vertex_colliding_triangles_min_dist,
-                collision_detector.resize_flags,
-            ],
-            dim=model.particle_count,
-            device=device,
-        )
-
-        wp.launch(
-            kernel=validate_triangle_collisions,
-            inputs=[
-                query_radius,
-                collision_detector.bvh_tris.id,
-                collision_detector.model.particle_q,
-                collision_detector.model.tri_indices,
-                collision_detector.triangle_colliding_vertices,
-                collision_detector.triangle_colliding_vertices_count,
-                collision_detector.triangle_colliding_vertices_offsets,
-                collision_detector.triangle_colliding_vertices_buffer_sizes,
-                collision_detector.triangle_colliding_vertices_min_dist,
-                collision_detector.resize_flags,
-            ],
-            dim=model.tri_count,
-            device=model.device,
-        )
-
-        wp.launch(
-            kernel=init_triangle_collision_data_kernel,
-            inputs=[
-                query_radius,
-                collision_detector.triangle_colliding_vertices_count,
-                collision_detector.triangle_colliding_vertices_min_dist,
-                collision_detector.resize_flags,
-            ],
-            dim=model.tri_count,
-            device=model.device,
-        )
-
-        wp.launch(
-            kernel=vertex_triangle_collision_detection_brute_force,
-            inputs=[
-                query_radius,
-                collision_detector.bvh_tris.id,
-                collision_detector.model.particle_q,
-                collision_detector.model.tri_indices,
-                collision_detector.vertex_colliding_triangles,
-                collision_detector.vertex_colliding_triangles_count,
-                collision_detector.vertex_colliding_triangles_offsets,
-                collision_detector.vertex_colliding_triangles_buffer_sizes,
-                collision_detector.vertex_colliding_triangles_min_dist,
-                collision_detector.triangle_colliding_vertices,
-                collision_detector.triangle_colliding_vertices_count,
-                collision_detector.triangle_colliding_vertices_offsets,
-                collision_detector.triangle_colliding_vertices_buffer_sizes,
-                collision_detector.triangle_colliding_vertices_min_dist,
-                collision_detector.resize_flags,
-            ],
-            dim=model.particle_count,
-            device=model.device,
-        )
-
-        vertex_colliding_triangles_count_2 = collision_detector.vertex_colliding_triangles_count.numpy()
-        vertex_min_dis_2 = collision_detector.vertex_colliding_triangles_min_dist.numpy()
-
-        triangle_colliding_vertices_count_2 = collision_detector.triangle_colliding_vertices_count.numpy()
-        triangle_min_dis_2 = collision_detector.triangle_colliding_vertices_min_dist.numpy()
-
-        assert_np_equal(vertex_colliding_triangles_count_2, vertex_colliding_triangles_count_1)
-        assert_np_equal(triangle_min_dis_2, triangle_min_dis_1)
-        assert_np_equal(triangle_colliding_vertices_count_2, triangle_colliding_vertices_count_1)
-        assert_np_equal(vertex_min_dis_2, vertex_min_dis_1)
-
-        # do not record triangle contacting vertices
-        model, collision_detector = init_model(vertices, faces, device, False)
-
-        rs = [1e-2, 2e-2, 5e-2, 1e-1]
-
-    for query_radius in rs:
-        collision_detector.vertex_triangle_collision_detection(query_radius)
-        vertex_colliding_triangles_count_1 = collision_detector.vertex_colliding_triangles_count.numpy()
-        vertex_min_dis_1 = collision_detector.vertex_colliding_triangles_min_dist.numpy()
-
-        triangle_min_dis_1 = collision_detector.triangle_colliding_vertices_min_dist.numpy()
-
-        wp.launch(
-            kernel=validate_vertex_collisions,
-            inputs=[
-                query_radius,
-                collision_detector.bvh_tris.id,
-                collision_detector.model.particle_q,
-                collision_detector.model.tri_indices,
-                collision_detector.vertex_colliding_triangles,
-                collision_detector.vertex_colliding_triangles_count,
-                collision_detector.vertex_colliding_triangles_offsets,
-                collision_detector.vertex_colliding_triangles_buffer_sizes,
-                collision_detector.vertex_colliding_triangles_min_dist,
-                collision_detector.resize_flags,
-            ],
-            dim=model.particle_count,
-            device=device,
-        )
-
-        wp.launch(
-            kernel=vertex_triangle_collision_detection_brute_force_no_triangle_buffers,
-            inputs=[
-                query_radius,
-                collision_detector.bvh_tris.id,
-                collision_detector.model.particle_q,
-                collision_detector.model.tri_indices,
-                collision_detector.vertex_colliding_triangles,
-                collision_detector.vertex_colliding_triangles_count,
-                collision_detector.vertex_colliding_triangles_offsets,
-                collision_detector.vertex_colliding_triangles_buffer_sizes,
-                collision_detector.vertex_colliding_triangles_min_dist,
-                collision_detector.triangle_colliding_vertices_min_dist,
-                collision_detector.resize_flags,
-            ],
-            dim=model.particle_count,
-            device=model.device,
-        )
-
-        vertex_colliding_triangles_count_2 = collision_detector.vertex_colliding_triangles_count.numpy()
-        vertex_min_dis_2 = collision_detector.vertex_colliding_triangles_min_dist.numpy()
-        triangle_min_dis_2 = collision_detector.triangle_colliding_vertices_min_dist.numpy()
-
-        assert_np_equal(vertex_colliding_triangles_count_2, vertex_colliding_triangles_count_1)
-        assert_np_equal(triangle_min_dis_2, triangle_min_dis_1)
-        assert_np_equal(vertex_min_dis_2, vertex_min_dis_1)
-
-
-@unittest.skipUnless(USD_AVAILABLE, "Requires usd-core")
-def test_edge_edge_collision(test, device):
-    vertices, faces = get_data()
-
-    model, collision_detector = init_model(vertices, faces, device)
-
-    rs = [1e-2, 2e-2, 5e-2, 1e-1]
-    edge_edge_parallel_epsilon = 1e-5
-
-    for query_radius in rs:
-        collision_detector.edge_edge_collision_detection(query_radius)
-        edge_colliding_edges_count_1 = collision_detector.edge_colliding_edges_count.numpy()
-        edge_min_dist_1 = collision_detector.edge_colliding_edges_min_dist.numpy()
-
-        wp.launch(
-            kernel=validate_edge_collisions,
-            inputs=[
-                query_radius,
-                collision_detector.bvh_edges.id,
-                collision_detector.model.particle_q,
-                collision_detector.model.edge_indices,
-                collision_detector.edge_colliding_edges_offsets,
-                collision_detector.edge_colliding_edges_buffer_sizes,
-                edge_edge_parallel_epsilon,
-            ],
-            outputs=[
-                collision_detector.edge_colliding_edges,
-                collision_detector.edge_colliding_edges_count,
-                collision_detector.edge_colliding_edges_min_dist,
-                collision_detector.resize_flags,
-            ],
-            dim=model.particle_count,
-            device=device,
-        )
-
-        wp.launch(
-            kernel=edge_edge_collision_detection_brute_force,
-            inputs=[
-                query_radius,
-                collision_detector.bvh_edges.id,
-                collision_detector.model.particle_q,
-                collision_detector.model.edge_indices,
-                collision_detector.edge_colliding_edges_offsets,
-                collision_detector.edge_colliding_edges_buffer_sizes,
-                edge_edge_parallel_epsilon,
-            ],
-            outputs=[
-                collision_detector.edge_colliding_edges,
-                collision_detector.edge_colliding_edges_count,
-                collision_detector.edge_colliding_edges_min_dist,
-                collision_detector.resize_flags,
-            ],
-            dim=model.edge_count,
-            device=device,
-        )
-
-        edge_colliding_edges_count_2 = collision_detector.edge_colliding_edges_count.numpy()
-        edge_min_dist_2 = collision_detector.edge_colliding_edges_min_dist.numpy()
-
-        assert_np_equal(edge_colliding_edges_count_2, edge_colliding_edges_count_1)
-        assert_np_equal(edge_min_dist_1, edge_min_dist_2)
-
-
-def test_particle_collision(test, device):
-    with wp.ScopedDevice(device):
-        contact_radius = 1.23
-        builder1 = wp.sim.ModelBuilder()
-        builder1.add_cloth_grid(
-            pos=wp.vec3(0.0, 0.0, 0.0),
-            rot=wp.quat_identity(),
-            vel=wp.vec3(0.0, 0.0, 0.0),
-            dim_x=100,
-            dim_y=100,
-            cell_x=0.1,
-            cell_y=0.1,
-            mass=0.1,
-            particle_radius=contact_radius,
-        )
-
-    cloth_grid = builder1.finalize()
-    cloth_grid_particle_radius = cloth_grid.particle_radius.numpy()
-    assert_np_equal(cloth_grid_particle_radius, np.full(cloth_grid_particle_radius.shape, contact_radius), tol=1e-5)
-
-    vertices = [
-        [2.0, 0.0, 0.0],
-        [2.0, 2.0, 0.0],
-        [0.0, 0.0, 0.0],
-        [1.0, 0.0, 1.0],
-        [1.0, 1.0, 1.0],
-        [0.0, 0.0, 1.0],
-    ]
-    vertices = [wp.vec3(v) for v in vertices]
-    faces = [0, 1, 2, 3, 4, 5]
-
-    builder2 = wp.sim.ModelBuilder()
-    builder2.add_cloth_mesh(
-        pos=wp.vec3(0.0, 0.0, 0.0),
-        rot=wp.quat_from_axis_angle(wp.vec3(1.0, 0.0, 0.0), 0.0),
-        scale=1.0,
-        vertices=vertices,
-        indices=faces,
-        tri_ke=1e4,
-        tri_ka=1e4,
-        tri_kd=1e-5,
-        edge_ke=10,
-        edge_kd=0.0,
-        vel=wp.vec3(0.0, 0.0, 0.0),
-        density=0.1,
-        particle_radius=contact_radius,
-    )
-    cloth_mesh = builder2.finalize()
-    cloth_mesh_particle_radius = cloth_mesh.particle_radius.numpy()
-    assert_np_equal(cloth_mesh_particle_radius, np.full(cloth_mesh_particle_radius.shape, contact_radius), tol=1e-5)
-
-    state = cloth_mesh.state()
-    particle_f = wp.zeros_like(state.particle_q)
-    wp.launch(
-        kernel=eval_triangles_contact,
-        dim=cloth_mesh.tri_count * cloth_mesh.particle_count,
-        inputs=[
-            cloth_mesh.particle_count,
-            state.particle_q,
-            state.particle_qd,
-            cloth_mesh.tri_indices,
-            cloth_mesh.tri_materials,
-            cloth_mesh.particle_radius,
-        ],
-        outputs=[particle_f],
-    )
-    test.assertTrue((np.linalg.norm(particle_f.numpy(), axis=1) != 0).all())
-
-    builder3 = wp.sim.ModelBuilder()
-    builder3.add_cloth_mesh(
-        pos=wp.vec3(0.0, 0.0, 0.0),
-        rot=wp.quat_from_axis_angle(wp.vec3(1.0, 0.0, 0.0), 0.0),
-        scale=1.0,
-        vertices=vertices,
-        indices=faces,
-        tri_ke=1e4,
-        tri_ka=1e4,
-        tri_kd=1e-5,
-        edge_ke=10,
-        edge_kd=0.0,
-        vel=wp.vec3(0.0, 0.0, 0.0),
-        density=0.1,
-        particle_radius=0.5,
-    )
-    cloth_mesh_2 = builder3.finalize()
-    cloth_mesh_2_particle_radius = cloth_mesh_2.particle_radius.numpy()
-    assert_np_equal(cloth_mesh_2_particle_radius, np.full(cloth_mesh_2_particle_radius.shape, 0.5), tol=1e-5)
-
-    state_2 = cloth_mesh_2.state()
-    particle_f_2 = wp.zeros_like(cloth_mesh_2.particle_q)
-    wp.launch(
-        kernel=eval_triangles_contact,
-        dim=cloth_mesh_2.tri_count * cloth_mesh_2.particle_count,
-        inputs=[
-            cloth_mesh_2.particle_count,
-            state_2.particle_q,
-            state_2.particle_qd,
-            cloth_mesh_2.tri_indices,
-            cloth_mesh_2.tri_materials,
-            cloth_mesh_2.particle_radius,
-        ],
-        outputs=[particle_f_2],
-    )
-    test.assertTrue((np.linalg.norm(particle_f_2.numpy(), axis=1) == 0).all())
-
-
-def test_mesh_ground_collision_index(test, device):
-    # create a mesh with 1 triangle for testing
-    vertices = np.array(
-        [
-            [0.0, 0.0, 0.0],
-            [1.0, 1.0, 0.0],
-            [0.5, 2.0, 0.0],
-        ]
-    )
-    mesh = wp.sim.Mesh(vertices=vertices, indices=[0, 1, 2])
-    builder = wp.sim.ModelBuilder()
-    # create body with nonzero mass to ensure it is not static
-    # and contact points will be computed
-    b = builder.add_body(m=1.0)
-    builder.add_shape_mesh(
-        body=b,
-        mesh=mesh,
-        has_shape_collision=False,
-    )
-    # add another mesh that is not in contact
-    b2 = builder.add_body(m=1.0, origin=wp.transform((0.0, 3.0, 0.0), wp.quat_identity()))
-    builder.add_shape_mesh(
-        body=b2,
-        mesh=mesh,
-        has_shape_collision=False,
-    )
-    model = builder.finalize(device=device)
-    test.assertEqual(model.rigid_contact_max, 6)
-    test.assertEqual(model.shape_contact_pair_count, 0)
-    test.assertEqual(model.shape_ground_contact_pair_count, 2)
-    model.ground = True
-    # ensure all the mesh vertices will be within the contact margin
-    model.rigid_contact_margin = 2.0
-    state = model.state()
-    wp.sim.collide(model, state)
-    test.assertEqual(model.rigid_contact_count.numpy()[0], 3)
-    tids = model.rigid_contact_tids.list()
-    test.assertEqual(sorted(tids), [-1, -1, -1, 0, 1, 2])
-    tids = [t for t in tids if t != -1]
-    # retrieve the mesh vertices from the contact thread indices
-    assert_np_equal(model.rigid_contact_point0.numpy()[:3], vertices[tids])
-    assert_np_equal(model.rigid_contact_point1.numpy()[:3, 0], vertices[tids, 0])
-    assert_np_equal(model.rigid_contact_point1.numpy()[:3, 1:], np.zeros((3, 2)))
-    assert_np_equal(model.rigid_contact_normal.numpy()[:3], np.tile([0.0, 1.0, 0.0], (3, 1)))
-
-
-devices = get_test_devices(mode="basic")
-
-
-class TestCollision(unittest.TestCase):
-    pass
-
-
-add_function_test(TestCollision, "test_vertex_triangle_collision", test_vertex_triangle_collision, devices=devices)
-add_function_test(TestCollision, "test_edge_edge_collision", test_edge_edge_collision, devices=devices)
-add_function_test(TestCollision, "test_particle_collision", test_particle_collision, devices=devices)
-add_function_test(TestCollision, "test_mesh_ground_collision_index", test_mesh_ground_collision_index, devices=devices)
-
-if __name__ == "__main__":
-    wp.clear_kernel_cache()
-    unittest.main(verbosity=2, failfast=True)